CN111791212A

CN111791212A - Cableway type self-walking intelligent inspection robot system

Info

Publication number: CN111791212A
Application number: CN202010719696.9A
Authority: CN
Inventors: 呼延斌; 刘文革; 刘明; 王彦召
Original assignee: E Cheng Rongchuang Information Technology Co Ltd
Current assignee: E Cheng Rongchuang Information Technology Co Ltd
Priority date: 2020-07-23
Filing date: 2020-07-23
Publication date: 2020-10-20

Abstract

The invention provides a cableway type self-walking intelligent inspection robot system, which belongs to the technical field of inspection robots and comprises the following components: the bearing channel is provided with two parallel ropeways which are arranged at intervals; the robot is provided with a travelling wheel which is suitable for moving on the bearing channel; the outer surface of the travelling wheel is provided with a first annular groove, and a cableway is accommodated in the first annular groove; a main tower; an intermediate tower; according to the cableway type self-walking intelligent inspection robot system, the plurality of intermediate towers are arranged between the main towers to support a cableway, so that the overall deflection of the cableway is reduced, the sag of the cableway is improved, the cableway is kept smooth, and the smooth passing of a robot on the cableway is ensured.

Description

Cableway type self-walking intelligent inspection robot system

Technical Field

The invention relates to the technical field of inspection robots, in particular to a cableway type self-walking intelligent inspection robot system.

Background

The traditional monitoring mode comprises manual timing inspection and video monitoring equipment fixed and installed at multiple points, but the traditional monitoring mode is high in labor intensity and low in working efficiency in complex environments with wide areas, intensive forests and the like.

In the prior art, a large-span cableway is erected over a monitoring area to serve as a bearing channel, so that a mobile robot moves on the bearing channel; the mobile robot realizes the problems of patrol, safety monitoring, perimeter precaution and the like in the area.

However, the ropeway with large span is supported only by the iron towers at the two ends, and the ropeway is down-warped, so that the bearing channel cannot be kept smooth, and the robot cannot move smoothly.

Disclosure of Invention

Therefore, the invention aims to overcome the defect that the cableway flexible-down mobile robot cannot smoothly pass through the cableway by only supporting points at two ends of the cableway in the prior art, and provides a cableway type self-walking intelligent inspection robot system.

The invention provides a cableway type self-walking intelligent inspection robot system, which comprises:

the bearing channel is suitable for spanning over the area to be monitored; the device comprises two parallel ropeways arranged at intervals;

a robot having a camera device for monitoring; a travelling wheel suitable for moving on the bearing channel is arranged; the outer surface of the travelling wheel is provided with a first annular groove, and a cableway is accommodated in the first annular groove;

the two main towers are arranged at two ends of the bearing channel; are respectively connected with the two ends of the cableway;

an intermediate tower disposed between the main towers; the upper end is connected with the cableway; the upper surface of the middle tower is provided with a cable saddle for the robot to pass through.

Preferably, the robot is provided with a falling prevention device with a blocking pin; a push-and-support plate is arranged on the cable-passing saddle;

the blocking pin extends towards the lower part of the travelling wheel to block the blocking state of the opening of the first annular groove, and the blocking pin is also in an avoiding state of being abutted and retracted by the pushing and supporting plate to avoid the opening below the first annular groove.

Preferably, the cable saddle comprises: the cableway device comprises a base, a supporting frame and a cable, wherein the base is provided with a containing groove for containing a cableway, and a supporting surface for supporting the cableway is arranged in the containing groove;

the lifting plates are arranged on two sides of the accommodating groove of the base; the upper surface of the lifting plate is a lifting surface suitable for the moving of the walking wheels.

Preferably, the cable saddle further comprises:

the supporting wheels are provided with a plurality of supporting wheels which are sequentially arranged in the accommodating groove; and a second annular groove is formed in the riding wheel, and a plurality of second annular grooves form a supporting surface for supporting the cableway.

Preferably, the lifting surface is arranged in an arc shape.

Preferably, the supporting surface formed by the second annular groove of the riding wheel is arranged in an arc shape.

Preferably, the anti-falling device comprises: the sleeve is provided with an accommodating cavity and is connected with a frame of the robot;

the blocking pin is arranged in the accommodating cavity of the sleeve in a sliding manner; has a blocking state partially extending out of the accommodating cavity and an avoiding state retracting into the accommodating cavity.

The elastic piece is arranged in the accommodating cavity of the sleeve; there is a driving force that drives the blocking pin to extend out of the sleeve.

As a preferred scheme, the pushing plate is attached to one side, close to the robot, of the base; two ends of the pushing plate are provided with pushing parts, and the pushing parts are obliquely arranged towards the direction far away from the robot; the pushing part is arranged at the lower end of the cableway.

Preferably, the anti-falling device further comprises: one end of the rolling piece is rotatably arranged at one end of the blocking pin far away from the sleeve; the other end of the rolling piece is suitable for being abutted against the pushing plate.

Preferably, the robot includes:

the travelling wheels are symmetrically arranged on two sides of the frame; the frame is provided with a driving device for driving the travelling wheels to rotate;

the main function bin is connected with the lower end of the frame; the main function bin comprises: the system comprises a holder, a high-definition wide-angle camera, a high-definition zoom camera, a thermal infrared imager, environment monitoring equipment and deterrent striking equipment;

and a damping device is arranged between the frame and the main function bin.

The technical scheme of the invention has the following advantages:

1. the invention provides a cableway type self-walking intelligent inspection robot system, which comprises: the robot comprises a bearing channel, a robot, a main tower and an intermediate tower; a plurality of middle towers are arranged between the main towers to support the cableway, so that the overall deflection of the cableway is reduced, the sag of the cableway is improved, the cableway is kept smooth, and the smooth passing of the robot on the cableway is ensured; meanwhile, a cable saddle is arranged at the joint of the middle tower and the cableway, so that the robot can smoothly pass through the joint of the middle tower and the cableway, and the robot can smoothly pass through the middle tower while the middle tower is arranged.

2. The cableway type self-walking intelligent inspection robot system provided by the invention is characterized in that the robot is provided with an anti-falling device, when a blocking pin is in a blocking state, the blocking pin is matched with a first annular groove of a walking wheel to form a closed space, so that when the walking wheel moves on a cableway, the cableway is limited in the first annular groove of the walking wheel through the anti-falling device, and the cableway is prevented from being separated from the first annular groove of the walking wheel under unexpected conditions;

the cable passing saddle is provided with a pushing and supporting plate, the pushing and supporting plate can enable the blocking pin to be in an avoiding state, and the walking wheel and the anti-falling device of the robot can be guaranteed to smoothly pass through the connecting position of the middle tower and the cableway.

3. The invention provides a cableway type self-walking intelligent inspection robot system, wherein a cable saddle comprises: a base and a lifting plate; the supporting surface in the base is used for supporting the cableway; and the lifting surface on the lifting plate is used for supporting the moving of the walking wheels.

4. The cableway type self-walking intelligent inspection robot system provided by the invention has the advantages that the lifting surface is arranged in an arc shape, and the supporting surface formed by the second annular groove of the supporting wheel is arranged in an arc shape; the cableway is arranged on the supporting surface of the supporting wheel, when the robot moves from one side of the cable saddle to the other side, the walking wheel passes through the lifting surface, the arc-shaped arrangement enables the walking path of the robot to be smoother, and the vibration of the robot in the moving process is reduced.

5. The invention provides a cableway type self-walking intelligent inspection robot system, which comprises an anti-falling device and a control system, wherein the anti-falling device comprises: a sleeve, a blocking pin and an elastic member; the structural arrangement can realize the ejection and retraction of the blocking pin on the anti-falling device.

6. The invention provides a cableway type self-walking intelligent inspection robot system, which further comprises an anti-falling device, wherein the anti-falling device comprises: the rolling piece is rotatably arranged at one end of the blocking pin, and the other end of the rolling piece is abutted against the pushing plate; when the robot moves along the cableway, the pushing plate is abutted against the blocking pin, and the friction force between the pushing plate and the blocking pin can be reduced due to the arrangement of the rolling piece.

7. The invention provides a cableway type self-walking intelligent inspection robot system, wherein a damping device is arranged between a frame and a main function bin; the vibration of the robot to the main function bin is reduced in the moving process, and the shooting effect of the camera device on the main function bin is guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a front view structural diagram of a cableway type self-walking intelligent inspection robot system of the present invention.

Fig. 2 is a front view of the robot shown in fig. 1.

Fig. 3 is a schematic structural view of the road wheel and the anti-falling device of the invention.

FIG. 4 is a front perspective view of the fall arrest device of the present invention in a blocking condition.

FIG. 5 is a front perspective view of the fall arrest device of the present invention in an avoidance position.

Fig. 6 is a schematic structural view of the road wheel and the cable saddle of the present invention.

Fig. 7 is a perspective view of the cable saddle of the present invention.

Fig. 8 is a schematic structural view of the cable saddle and the cableway of the present invention.

Description of reference numerals:

1. a cableway; 2. a robot; 3. a main tower; 4. an intermediate tower; 5. a frame; 6. a main function bin;

7. a traveling wheel; 8. a damping device; 9. a first annular groove; 10. the anti-falling device; 11. a sleeve; 12.

a blocking pin; 13. an elastic member; 14. a pulley; 15. an accommodating chamber; 16. a cable saddle; 17. a base; 18.

a lifting plate; 19. a riding wheel; 20. a pushing plate; 21. a pushing part.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The cableway type self-walking intelligent inspection robot system provided by the embodiment comprises a bearing channel, a robot 2, a main tower 3 and an intermediate tower 4, as shown in fig. 1; a plurality of middle towers 4 are arranged between the

main towers

3, 2 are arranged in the embodiment, the cableway 1 is supported, the integral deflection of the cableway 1 is reduced, the sag of the cableway 1 is improved, the cableway 1 is kept smooth, and the smooth passing of the robot 2 on the cableway 1 is ensured; meanwhile, a cable passing saddle 16 is arranged at the joint of the middle tower 4 and the cableway 1, and is used for enabling the robot 2 to smoothly pass through the joint of the middle tower 4 and the cableway 1, so that the robot 2 can smoothly pass through the middle tower 4 while the middle tower 4 is arranged.

The bearing channel is erected above an area to be monitored, the erection height is generally not lower than 10 m, the bearing channel adopts a left rope way 1 and a right rope way 1 which are parallel to each other as a moving channel of the robot 2, and the two rope ways 1 have the characteristics of stable structure, large bearing capacity and the like.

The two ends of the cableway 1 are supported through the main towers 3, in order to prevent the phenomenon of downwarping in the middle of the cableway 1, a plurality of middle towers 4 are arranged in the middle of the cableway 1, and the connecting part of the middle towers 4 and the cableway 1 is arranged on the cable saddle 16, so that the robot 2 can pass through smoothly.

As shown in fig. 2, the robot 2 includes a frame 5, two sides of the frame 5 are symmetrically provided with four walking wheels 7, the walking wheels 7 stably straddle two cableways 1, and the walking wheels 7 are driven to rotate by a driving motor on a driving device of the robot, so that the robot can move back and forth on the cableways 1; the lower end of the frame 5 is provided with a main function bin 6; and a damping device 8 is arranged between the frame 5 and the main function bin 6.

As shown in fig. 3, the outer surface of the travelling wheel 7 is provided with a first annular groove 9, and the cableway 1 is accommodated in the first annular groove 9; an anti-falling device 10 is arranged below each travelling wheel 7, a blocking pin 12 is arranged on each anti-falling device 10, the blocking pin 12 is matched with the first annular groove 9 of each travelling wheel 7 to form a closed space, so that when the travelling wheels 7 move on the cableway 1, the cableway 1 is limited in the first annular groove 9 of each travelling wheel 7 through the anti-falling device 10, and the cableway 1 is prevented from being separated from the first annular groove 9 of each travelling wheel in an unexpected situation.

As shown in fig. 4 and 5, the outer surface of the fall preventing device 10 is a sleeve 11, the sleeve 11 is connected with the frame 5 of the robot 2, an accommodating cavity 15 is arranged in the sleeve 11, an elastic element 13 is arranged in the accommodating cavity 15, one end of the elastic element 13 abuts against the bottom wall of the accommodating cavity 15, and the other end abuts against one end of the blocking pin 12; the elastic member 13 has a driving force to drive the blocking pin 12 to protrude out of the sleeve 11; the elastic member 13 is preferably a spring; as shown in fig. 4, the blocking pin 12 is in a blocking state protruding toward the lower side of the road wheel 7 to block the opening of the first annular groove 9; as shown in fig. 5, the blocking pin 12 is in an escape state in which it is retracted by abutment of the urging plate 20 to escape from the opening below the first annular groove 9. Further, in order to reduce the friction force during the contact between the blocking pin 12 and the pushing plate 20, a pulley 14 is rotatably disposed at the end of the blocking pin 12, and the rolling direction of the pulley 14 is perpendicular to the rolling direction of the travelling wheel 7.

Alternatively, a round ball may be rotatably disposed at the end of the blocking pin 12.

As shown in fig. 6, in order for the robot 2 to smoothly pass through the connection between the intermediate tower 4 and the cableway 1, a cable saddle 16 is provided on the top of the intermediate tower 4;

as shown in fig. 7, the cable saddle 16 has a base 17, the lower end of the base 17 is connected to the upper end of the middle tower 4, the upper end of the base 17 has an accommodating groove, inner side surfaces of two side walls of the accommodating groove are respectively attached with a lifting plate 18, the upper surface of the lifting plate 18 has a lifting surface, and the lifting surface is suitable for the traveling wheels 7 of the robot 2 to move; the lifting surface is arranged in an arc shape, so that the robot 2 can pass through the lifting surface smoothly; a plurality of riding wheels 19 are sequentially arranged in the accommodating groove, each riding wheel 19 is provided with a second annular groove, the second annular grooves form a supporting surface, and the supporting surface is used for supporting the cableway 1 and reducing the downwarping phenomenon of the cableway 1; a pushing plate 20 is attached to one side of the base 17 close to the robot 2.

As shown in fig. 8, two ends of the abutting plate 20 have abutting portions 21, and the abutting portions 21 are disposed in an inclined manner in a direction away from the robot 2; the pushing part 21 is arranged at the lower end of the cableway 1; when the robot 2 approaches from one end to the cable saddle 16, the end of the pushing part 21 of the pushing plate 20 contacts with the pulley 14 on the blocking pin 12, and the pushing part 21 is disposed obliquely, so that the pushing part 21 gradually pushes the blocking pin 12 from the blocking state to the avoiding state of the retraction accommodating cavity 15 in the moving process of the robot 2, so that the robot 2 smoothly passes through the cable saddle 16.

The frame 5 is connected with the main function bin 6 through a hanging bolt, and a shock pad is arranged on the hanging bolt. Reduce the robot 2 and move the in-process, to the vibration in main function storehouse 6, guarantee main function storehouse 6 and go up camera device's shooting effect.

The main function cabin 6 comprises: cloud platform, high definition wide angle camera, high definition zoom camera, thermal infrared imager, environmental monitoring equipment and deterrent strike equipment.

Method of use and principles

Main towers 3 are respectively arranged at two ends of an area to be monitored, the cableway 1 is erected on the main towers 3, an intermediate tower 4 is arranged between the main towers 3 to support the cableway 1, the robot 2 walks on the cableway 1, and the blocking pin 12 is in a blocking state in a normal state; when the robot 2 gradually approaches to the cable saddle 16, the blocking pin 12 firstly touches the pushing part 21 of the pushing plate 20, and along with the movement of the robot 2, the blocking pin 12 retracts into the accommodating cavity 15, so that the blocking pin 12 is in an avoiding state; the walking wheels 7 of the robot 2 move on the lifting surface of the lifting plate 18, so that the robot 2 is ensured to smoothly pass through the cable saddle 16, and the whole monitoring process is completed.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. The utility model provides a cableway formula is patrolled and examined robot system from intelligence of walking which characterized in that includes:

the bearing channel is suitable for spanning over the area to be monitored; the device comprises two spaced parallel ropeways (1);

a robot (2) having an imaging device for monitoring; a travelling wheel (7) suitable for moving on the bearing channel is arranged; the outer surface of the travelling wheel (7) is provided with a first annular groove (9), and the first annular groove (9) is suitable for accommodating the cableway (1);

the two main towers (3) are arranged at two ends of the bearing channel; are respectively connected with the two ends of the cableway (1);

intermediate towers (4) provided between the main towers (3); the upper end is connected with the cableway (1); the upper surface of the middle tower (4) is provided with a cable saddle (16) for the robot (2) to pass through.

2. The cableway self-walking intelligent inspection robot system according to claim 1,

the robot (2) is provided with a falling prevention device (10) with a blocking pin (12); a push-and-hold plate (20) is arranged on the cable saddle (16);

the blocking pin (12) extends towards the lower part of the travelling wheel (7) to block a blocking state at an opening of the first annular groove (9), and is also in an avoiding state in which the blocking pin is abutted and retracted by the pushing plate (20) to avoid the opening below the first annular groove (9).

3. The cableway self-walking intelligent inspection robot system according to claim 2, wherein the cable saddle (16) comprises:

the base (17) is provided with a containing groove for placing the cableway (1), and a supporting surface for supporting the cableway (1) is arranged in the containing groove;

the lifting plates (18) are arranged on two sides of the accommodating groove of the base (17); the upper surface of the lifting plate (18) is a lifting surface suitable for the moving of the walking wheels (7).

4. The cableway self-walking intelligent inspection robot system according to claim 3, wherein the cable saddle (16) further comprises:

a plurality of riding wheels (19) which are arranged in the accommodating groove in sequence; the riding wheel (19) is provided with a second annular groove, and the second annular grooves form a supporting surface for supporting the ropeway (1).

5. The cableway self-walking intelligent inspection robot system according to claim 3, wherein the lifting surfaces are arranged in an arc.

6. The cableway self-walking intelligent inspection robot system according to claim 4, wherein the supporting surface formed by the second annular groove of the supporting wheel (19) is arc-shaped.

7. Cableway self-walking intelligent inspection robot system according to any one of claims 2 to 6, characterized in that the fall arrest device (10) comprises:

a sleeve (11) having a receiving chamber (15) and connected to the frame of the robot (2);

the blocking pin (12) is arranged in the accommodating cavity (15) of the sleeve (11) in a sliding mode; a blocking state with a part extending out of the accommodating cavity (15) and an avoiding state with a part retracting into the accommodating cavity (15);

an elastic element (13) arranged in the housing chamber (15) of the sleeve (11); has a driving force for driving the blocking pin (12) to extend out of the sleeve (11).

8. The cableway self-walking intelligent inspection robot system according to any one of claims 3-6, wherein the pushing and supporting plate (20) is attached to one side of the base (17) close to the robot (2); two ends of the pushing and supporting plate (20) are provided with pushing and supporting parts (21), and the pushing and supporting parts (21) are obliquely arranged towards the direction far away from the robot (2); the pushing and supporting part (21) is arranged at the lower end of the cableway (1).

9. The cableway self-walking intelligent inspection robot system according to any one of claims 2-6, wherein the fall arrest device (10) further comprises: one end of the rolling piece is rotatably arranged on the stop pin (12); the other end of the rolling member is suitable for abutting against the pushing and abutting plate (20).

10. Cableway self-walking intelligent inspection robot system according to any one of claims 1 to 9, characterized in that the robot (2) comprises:

the two sides of the frame (5) are symmetrically provided with walking wheels (7); the frame (5) is provided with a driving device for driving the travelling wheels (7) to rotate;

the main function bin (6) is connected with the lower end of the frame (5); the main function cabin (6) comprises: the system comprises a holder, a high-definition wide-angle camera, a high-definition zoom camera, a thermal infrared imager, environment monitoring equipment and deterrent striking equipment;

and a damping device (8) is arranged between the frame (5) and the main function bin (6).