CN112171637B - Robot cable walking mechanism and method for underground cable inspection - Google Patents
Robot cable walking mechanism and method for underground cable inspection Download PDFInfo
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- CN112171637B CN112171637B CN202011014364.7A CN202011014364A CN112171637B CN 112171637 B CN112171637 B CN 112171637B CN 202011014364 A CN202011014364 A CN 202011014364A CN 112171637 B CN112171637 B CN 112171637B
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- vehicle body
- cable
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
Abstract
The invention discloses a robot cable walking mechanism and a method for underground cable inspection, wherein the mechanism comprises the following components: the two vehicle body units are connected through a bendable connecting mechanism, and each vehicle body unit comprises a base body and two sliding frames which are symmetrically arranged on the left side and the right side of the base body and can adapt to cables with different diameters. The shell of the invention is made of light metal, can run on the cable and reduce the fluctuation of the cable; the installation is convenient, and the requirement on the environment is low.
Description
Technical Field
The invention relates to the field of electric power facility detection, in particular to a robot cable travelling mechanism for underground cable inspection.
Background
At present, most mine accidents in China are caused by cable faults, so that the detection of the mine electric wires and cables and the timely discovery, maintenance and replacement of the electric wires and cables are important contents of underground safety production. The safety operation of the power cable in the underground tunnel directly influences the safety and reliability of mine power supply, but the traditional underground cable detection and maintenance mode also has problems. At present, most of underground cable detection modes still adopt a mode of combining manual inspection and a fixed-point power monitoring system, and the traditional inspection mode has the following problems:
1) although the accuracy of the traditional manual inspection mode is very high compared with other inspection modes, the worker needs to walk several kilometers each time, the workload is very large, and the efficiency is not high. In addition, the narrow and complex working environment under the mine and the possible existence of harmful gas are considered to be dangerous for workers.
2) The fixed point power detection system is a fixed, discrete detection system that, while covering a significant portion, also has monitoring blind spots.
Traditional cable running gear only is applicable to the unrestrained unsettled cable of environment, and the cable has the large segment circuit to paste ground under the ore deposit, and the surrounding environment is difficult to confirm, needs to adopt a new light and reliable cable running gear.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a robot cable traveling mechanism for underground cable inspection, which can implement autonomous inspection of cables in a complex underground environment.
In order to achieve the purpose, the invention adopts the scheme that:
a robot cable running gear for cable patrols and examines in mine includes:
the two body units are connected through a bendable connecting mechanism, each body unit comprises a base body and two sliding frames symmetrically arranged on the left side and the right side of the width direction of the base body, wherein,
the base body is connected with the upper part of the cable through a driven wheel, and the sliding frame is connected with the side part of the cable through a travelling wheel;
a first connecting rod is arranged between the base body and the driven wheel, the first connecting rod is an elastic telescopic rod in the base body, and the elastic telescopic rod is fixed in the base body;
the base body is provided with a sliding chute, and the upper part of the inner wall of the sliding chute is provided with a rack extending along the width direction of the base body;
the sliding block extending into the sliding groove is arranged on the sliding frame;
the bulge is arranged on the side wall of one side of the sliding block;
the elastic element is arranged between the bottom of the sliding block and the bottom of the sliding chute, and under the elastic force of the elastic element, the bulge on one side of the sliding block can be clamped with the rack on the upper part of the inner wall of the sliding chute so as to realize the fixation of the relative position between the sliding frame and the base body;
and the control unit is arranged in the base body and is in signal connection with the traveling wheels.
A second connecting rod is arranged between the travelling wheel and the sliding frame, and a detachable connecting structure is arranged between the second connecting rod and the left and right travelling wheels.
The driven wheel and the travelling wheel are both of arc-shaped concave structures which are matched with the surfaces of the cables, and the concave surfaces are covered with high-friction-coefficient material coatings.
The bendable connecting mechanism is a multi-section flexible connecting mechanism.
The elastic element is a spring piece or a spring.
The material of the sliding frame is light metal.
And a piezoelectric acceleration sensor is also arranged in the base body and sends detected piezoelectric data to the control unit.
The front end of the first vehicle body unit and the front end of the second vehicle body unit are respectively provided with a push shovel with a brush.
The invention further discloses a walking method based on the robot cable walking mechanism for underground cable inspection,
in an un-started state, after a worker places a vehicle body above a cable, the worker presses the sliding frame to overcome the elastic force of the elastic element between the sliding frame and the base body, at the moment, a protrusion on the sliding block is separated from the rack in the sliding groove on the base body, the sliding frame can slide on the base body along the width direction of the base body, the distance between the left travelling wheel and the right travelling wheel is adjustable, when the sliding frame is adjusted to a proper position, the pressing force is released, under the elastic force of the elastic element, the sliding frame and the base body are relatively fixed, and the travelling wheels on two sides clamp the cable;
after the work is started, according to a set walking direction, the control unit starts a driving module of a first vehicle body unit positioned in front and suspends a driving module of a second vehicle body unit positioned in rear, a driven wheel on the first vehicle body unit is used for stabilizing the first vehicle body unit, and a walking wheel and a driven wheel on the second vehicle body unit are also used as stabilizing devices and are not driven, so that the whole vehicle is more stable and cannot be laterally turned;
similarly, when the vehicle needs to move backwards, the control module starts the driving module of the second vehicle body unit positioned at the back, suspends the driving module of the first vehicle body unit positioned at the front, and the walking wheels on the second vehicle body unit positioned at the back are used as driving wheels, the driven wheels on the second vehicle body unit stabilize the vehicle body, and the walking wheels and the driven wheels on the first vehicle body unit positioned at the front are not used for driving, and only stabilize the vehicle body;
meanwhile, the connecting mechanism adopts a single-degree-of-freedom structure, so that stable connection between the front vehicle body and the rear vehicle body is maintained when the road section changes, and side-turning accidents can not happen.
When the automobile enters an ascending slope or a descending slope, the piezoelectric acceleration sensor in the automobile body firmware detects that the road section changes, piezoelectric data are transmitted to the control unit, and the control unit correspondingly adjusts the rotating speed of the traveling wheels to enable the whole automobile body to keep running at a constant speed.
The invention has the beneficial effects that:
the invention provides a robot cable walking mechanism for underground cable inspection, which can automatically run along a cable partially attached to the ground;
the shell is made of light metal, can run on the cable and reduce the fluctuation of the cable;
thirdly, the travelling wheels are attached to the cable, sliding friction is avoided during operation, and the loss of the surface layer of the cable can be reduced;
and fourthly, the robot is flexible, light and convenient to mount.
And a push shovel having a brush at its bottom is fixed to the base body to push away the small obstacles without damaging the cable.
Sixth, due to the flexible telescoping rod and carriage structure, cables of different diameters can be accommodated.
And the traveling wheels can be detached, and the traveling wheels can be freely replaced according to cables with different specifications.
And eighth, the whole structure has good sealing performance and low requirement on environment.
Drawings
FIG. 1 is a perspective view of a robot cable running gear of the present invention;
in the figure: 1-a first travelling wheel; 2-a second road wheel; 3-a third travelling wheel; 4-fourth travelling wheel; 5-a first driven wheel; 6-a second driven wheel; 7-a connection mechanism; 8-a first carriage; 9-a second carriage; 10-a third carriage; 11-a fourth carriage; 12-a substrate; 13-pushing shovel; 25-a brush;
FIG. 2 is a front view of the robot cable running mechanism of the present invention (with the blade removed);
FIG. 3 is a bottom view of the robot cable running mechanism of the present invention (with the push blade removed);
among them, 14-piezoelectric acceleration sensor; 15-control unit placement; 16-a first electric machine; 17-a second electric machine; 18-a third electric machine; 19-a fourth motor; 24-an elastic telescopic rod;
FIG. 4 is a schematic view of the carriage;
wherein 22 is a projection; 23 is an elastic element;
FIG. 5 is a schematic view of a slider and a substrate connected together;
FIG. 6 is a top view of the runner on the base;
wherein 21 is a chute;
FIG. 7 is a front view of the runner on the base;
FIG. 8 is an enlarged view of the structure of the projection;
FIG. 9 is a schematic view of a section of the attachment mechanism;
fig. 10 is a perspective view of the attachment mechanism.
Detailed Description
Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings so that the present invention may be better understood by those skilled in the art. Furthermore, the scope of the present invention is not limited by the specific embodiments.
As shown in fig. 1 to 3, the present invention is a schematic structural diagram of a specific embodiment of a robot cable traveling mechanism for underground cable inspection, which is suitable for underground cables.
The base body 12 is a hollow structure, and the structural diagram shows an appearance diagram, and the inside of the base body contains a control main board and a piezoelectric acceleration sensor part circuit.
The first carriage 8 and the second carriage 9 are also hollow inside, and a first motor 16 and a second motor 17 are placed.
Holes are provided in the base 12 on both sides adjacent the carriage for wiring to the motor in the carriage and the control unit in the base.
When unlocked, the first sliding frame 8 and the second sliding frame 9 can move left and right on the base body, when locked, the relative positions of the base body and the sliding frames are fixed, and the distance between the left travelling wheel and the right travelling wheel is fixed.
The connecting rod of the base body 12 and the driven wheel is an elastic telescopic rod in the base body and is fixed in the base body;
as shown in fig. 4 to 8, the base 12 is provided with a sliding groove 21, and the upper portion of the inner wall of the sliding groove 21 is provided with a rack extending along the left and right directions of the base; the sliding frame comprises a first sliding frame 8 and a second sliding frame 9, and a sliding block extending into the sliding groove is arranged on the sliding frame; a protrusion 22 provided on a side wall of one side of the slider; the elastic element 23 is arranged between the bottom of the sliding block and the bottom of the sliding chute, and under the elastic force of the elastic element, the bulge on one side of the sliding block can be clamped with the rack on the upper part of the inner wall of the sliding chute, so that the relative position between the sliding frame and the base body is fixed;
and the control unit is arranged in the base body and is in signal connection with the traveling wheels.
As a preferred embodiment of the technical scheme of the invention, a second connecting rod is arranged between the travelling wheels and the carriage, a detachable connecting structure is arranged between the second connecting rod and the left and right travelling wheels, and the travelling wheels with different sizes can be replaced according to cables with different diameters.
As a preferred embodiment of the technical scheme of the invention, the driven wheel and the travelling wheels are of arc-shaped concave structures which are matched with the surfaces of cables, the inner concave surfaces are covered with high-friction-coefficient material coatings, and tires of the left travelling wheel and the right travelling wheel can be freely disassembled and are used for being attached to cables of different specifications.
As shown in fig. 9 to 10, the bendable connecting mechanism is a multi-joint flexible connecting mechanism, and can only rotate left and right or up and down at the same time.
As a preferred embodiment of the technical scheme of the invention, the elastic element is a spring piece or a spring.
As a further preferable mode of the present invention, the carriage is made of a lightweight metal material.
As shown in fig. 2, a piezoelectric acceleration sensor 14 is further disposed inside the base, and the piezoelectric acceleration sensor transmits the detected piezoelectric data to the control unit.
As a further preferable mode of the present invention, a blade 13 having a brush 25 is provided at a front end of the body unit to remove an obstacle on an upper surface of the wire.
The invention discloses a walking method of a robot cable walking mechanism for underground cable inspection, which comprises the following steps:
in an un-started state, after a worker places a vehicle body above a cable, the worker presses the sliding frame to overcome the elastic force of the elastic element between the sliding frame and the base body, at the moment, a protrusion on the sliding block is separated from the rack in the sliding groove on the base body, the sliding frame can slide on the base body along the width direction of the base body, the distance between the left travelling wheel and the right travelling wheel is adjustable, when the sliding frame is adjusted to a proper position, the pressing force is released, under the elastic force of the elastic element, the sliding frame and the base body are relatively fixed, and the travelling wheels on two sides clamp the cable;
after the work is started, according to a set walking direction, the control unit starts a driving module of a first vehicle body unit positioned in front and suspends a driving module of a second vehicle body unit positioned in rear, a driven wheel on the first vehicle body unit is used for stabilizing the first vehicle body unit, and a walking wheel on the second vehicle body unit are also used as stabilizing devices and are not driven, so that the whole vehicle is more stable and cannot be laterally turned;
similarly, when the vehicle needs to move backwards, the control module starts the driving module of the second vehicle body unit positioned at the back, suspends the driving module of the first vehicle body unit positioned at the front, and the walking wheels on the second vehicle body unit positioned at the back are used as driving wheels, the driven wheels on the second vehicle body unit stabilize the vehicle body, and the walking wheels and the driven wheels on the first vehicle body unit positioned at the front are not used for driving, and only stabilize the vehicle body;
meanwhile, the connecting mechanism adopts a single-degree-of-freedom structure, so that stable connection between the front vehicle body and the rear vehicle body is kept when the road section changes, and accidents such as side turning and the like cannot occur.
When the automobile enters an ascending slope or a descending slope, the piezoelectric acceleration sensor in the automobile body firmware detects that the road section changes, piezoelectric data are transmitted to the control unit, and the control unit correspondingly adjusts the rotating speed of the traveling wheels to enable the whole automobile body to keep running at a constant speed.
Similarly, when the vehicle needs to move backwards, the control module starts the driving module of the second vehicle body unit positioned at the back, suspends the driving module of the first vehicle body unit positioned at the front, and the walking wheels on the second vehicle body unit positioned at the back are used as driving wheels, the driven wheels on the second vehicle body unit stabilize the vehicle body, and the walking wheels and the driven wheels on the first vehicle body unit positioned at the front are not used for driving, and only stabilize the vehicle body;
meanwhile, the connecting mechanism adopts a single-degree-of-freedom structure, so that stable connection between the front vehicle body and the rear vehicle body is kept when the road section changes, and accidents such as side turning and the like cannot occur.
Particularly, the invention solves the problem of inapplicability of a common wiring device in a suspension type and a flying type under a mine by using a mode of fixing on a wire and propelling the walking by a left walking wheel and a right walking wheel, so that the wiring device can be suitable for special working environments with complex ground environments under the mine and the type of suspension and ground adhesion of cables.
Although specific embodiments of the invention have been described above for the purpose of promoting a better understanding of the invention by those skilled in the art, the invention is not to be limited in scope by the specific embodiments, but rather is to be accorded the full scope of the invention as defined and defined by the appended claims in terms of all such obvious modifications.
Claims (7)
1. A walking method of a robot cable walking mechanism for underground cable inspection, the robot cable walking mechanism comprises:
the two body units are connected through a bendable connecting mechanism, each body unit comprises a base body and two sliding frames symmetrically arranged on the left side and the right side of the width direction of the base body, wherein,
the base body is connected with the upper part of the cable through a driven wheel, and the sliding frame is connected with the side part of the cable through a travelling wheel;
a first connecting rod is arranged between the base body and the driven wheel, the first connecting rod is an elastic telescopic rod in the base body, and the elastic telescopic rod is fixed in the base body;
the base body is provided with a sliding chute, and the upper part of the inner wall of the sliding chute is provided with a rack extending along the width direction of the base body;
the sliding block extending into the sliding groove is arranged on the sliding frame;
the bulge is arranged on the side wall of one side of the sliding block;
the elastic element is arranged between the bottom of the sliding block and the bottom of the sliding chute, and under the elastic force of the elastic element, the bulge on one side of the sliding block can be clamped with the rack on the upper part of the inner wall of the sliding chute so as to realize the fixation of the relative position between the sliding frame and the base body;
the control unit is arranged in the base body and is in signal connection with the traveling wheels;
the sliding frame is pressed to overcome the elastic force of the elastic element between the sliding frame and the base body, at the moment, the protrusion on the sliding block is separated from the rack in the sliding groove on the base body, the sliding frame can slide on the base body along the width direction of the base body, the distance between the left travelling wheel and the right travelling wheel is adjustable, when the sliding frame is adjusted to a proper position, the pressing force is released, under the elastic force of the elastic element, the sliding frame and the base body are relatively fixed, and the travelling wheels on the two sides clamp the cable;
the driven wheel and the travelling wheels are of arc-shaped concave structures which are matched with the surfaces of the cables, the inner concave surfaces are covered with high-friction-coefficient material coatings, a second connecting rod is arranged between the travelling wheels and the sliding frame, and a detachable connecting structure is arranged between the second connecting rod and the left and right travelling wheels and used for attaching the cables of different specifications;
the bendable connecting mechanism is a multi-section flexible connecting mechanism and can only rotate left and right or up and down at the same time; it is characterized in that the preparation method is characterized in that,
in an un-started state, after a worker places the vehicle body above the cable, the travelling wheels on the two sides clamp the cable;
after the work is started, according to a set walking direction, the control unit starts a driving module of a first vehicle body unit positioned in front and suspends a driving module of a second vehicle body unit positioned in rear, a driven wheel on the first vehicle body unit is used for stabilizing the first vehicle body unit, and a walking wheel and a driven wheel on the second vehicle body unit are also used as stabilizing devices and are not driven, so that the whole vehicle is more stable and cannot be laterally turned;
similarly, when the vehicle needs to move backwards, the control module starts the driving module of the second vehicle body unit positioned at the back, suspends the driving module of the first vehicle body unit positioned at the front, and the walking wheels on the second vehicle body unit positioned at the back are used as driving wheels, the driven wheels on the second vehicle body unit stabilize the vehicle body, and the walking wheels and the driven wheels on the first vehicle body unit positioned at the front are not used for driving, and only stabilize the vehicle body;
meanwhile, the connecting mechanism adopts a single-degree-of-freedom structure, so that stable connection between the front vehicle body and the rear vehicle body is maintained when the road section changes, and side-turning accidents can not happen.
2. The method for traveling the robot cable traveling mechanism for underground cable inspection according to claim 1, wherein the elastic member is a spring.
3. The method for traveling the robot cable traveling mechanism for underground cable inspection according to claim 1, wherein the elastic member is a leaf spring.
4. The traveling method of a robot cable traveling mechanism for underground cable inspection according to claim 1, wherein the carriage is made of a light metal.
5. The method for walking a robot cable walking mechanism for underground cable inspection according to claim 1, wherein a piezoelectric acceleration sensor is further provided inside the base, and the piezoelectric acceleration sensor transmits detected piezoelectric data to the control unit.
6. The traveling method of a robot cable traveling mechanism for underground cable inspection according to claim 1, wherein a push shovel with a brush is provided to each of the front end of the first body unit and the front end of the second body unit.
7. The traveling method of a robot cable traveling mechanism for underground cable inspection according to claim 1, wherein,
when the vehicle enters an ascending slope and a descending slope, the piezoelectric acceleration sensor in the base body detects that the road section changes, piezoelectric data are transmitted to the control unit, and the control unit correspondingly adjusts the rotating speed of the traveling wheels to enable the vehicle body to keep running at a constant speed.
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| CN112171637B true CN112171637B (en) | 2022-04-22 |
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| CN113270814B (en) * | 2021-07-20 | 2021-10-08 | 四川华东电气集团有限公司 | High tension transmission line overhauls cable sliding device based on intelligent unmanned aerial vehicle technique |
| CN113653895B (en) * | 2021-08-09 | 2022-11-25 | 中国通信建设第一工程局有限公司 | Line remote monitoring device for communication construction |
| CN113984973A (en) * | 2021-11-05 | 2022-01-28 | 国家电网有限公司 | A damaged automatic checkout device of high altitude cable for power supply |
| CN114505842A (en) * | 2022-03-14 | 2022-05-17 | 深圳昱拓智能有限公司 | Crawler-type intelligent inspection robot |
| CN115639436B (en) * | 2022-10-19 | 2023-06-02 | 江苏遇宁智能科技有限公司 | Inspection robot and inspection method thereof |
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| CN2190431Y (en) * | 1994-03-12 | 1995-03-01 | 郑瑞祥 | Leather belt buckel of free regulating tightness |
| KR101490337B1 (en) * | 2013-07-31 | 2015-02-06 | 한국과학기술연구원 | Robot moving along the wire and having movable driving roller |
| CN204965182U (en) * | 2015-04-15 | 2016-01-13 | 小米科技有限责任公司 | Walking device |
| CN105576563B (en) * | 2016-02-05 | 2018-07-03 | 国网浙江新昌县供电公司 | Cable channel crusing robot |
| CN207036993U (en) * | 2017-03-31 | 2018-02-23 | 国网浙江省电力公司湖州供电公司 | A kind of transmission line fault detector |
| CN107181225B (en) * | 2017-06-20 | 2018-10-02 | 辽宁机电职业技术学院 | A kind of high voltage induction charging type aviation obstruction beacon automatic travelling device |
| CN107370069B (en) * | 2017-07-17 | 2024-04-09 | 国网浙江省电力公司台州供电公司 | Walking mechanism taking wires as channels and line inspection robot thereof |
| CN209169816U (en) * | 2018-11-01 | 2019-07-26 | 国网河南省电力公司西峡县供电公司 | A kind of high voltage transmission line live work robot |
| CN210270128U (en) * | 2019-06-20 | 2020-04-07 | 广东锐志教育科技有限公司 | High tension cable detects special type work robot |
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