CN112297024A - Full-automatic unmanned equipment of patrolling and examining of underground pipe gallery - Google Patents
Full-automatic unmanned equipment of patrolling and examining of underground pipe gallery Download PDFInfo
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- CN112297024A CN112297024A CN202011154105.4A CN202011154105A CN112297024A CN 112297024 A CN112297024 A CN 112297024A CN 202011154105 A CN202011154105 A CN 202011154105A CN 112297024 A CN112297024 A CN 112297024A
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- driving
- steering
- underground pipe
- pipe gallery
- motor
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
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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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/08—Mouthpieces; Microphones; Attachments therefor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to the field of inspection robots, in particular to a full-automatic unmanned inspection device for an underground pipe gallery, which comprises: the robot vehicle body is used for automatically walking in the underground pipe gallery; the invention relates to a height adjusting assembly for wide observation by adjusting height, a protective cover for covering the height adjusting assembly, a position adjusting assembly for multi-azimuth observation, two cameras for observing conditions in an underground pipe gallery, a double-end motor which is in a horizontal state and is fixedly arranged at the top of the position adjusting assembly through a rack, two swing mechanisms for adjusting the observation angle of each camera, two pickups for detecting noise and four smoke alarms for detecting conditions of high-temperature burning.
Description
Technical Field
The invention relates to the field of inspection robots, in particular to full-automatic unmanned inspection equipment for an underground pipe gallery.
Background
To the electric power field, need regularly to patrol and examine power equipment, then usually patrol and examine through the manual work to the power equipment in the confined places such as underground pipe gallery or pipeline at present, and the environment in underground pipe gallery or the pipeline is more for moist dark and the space is narrow and small, the artifical big inefficiency of the degree of difficulty of patrolling and examining, underground pipe gallery also is known as the ditch altogether, it is that the implementation is unified to plan, design, construction and maintenance, build in urban underground and be used for laying municipal utility's municipal utility of municipal utility pipeline, underground pipe gallery is in urban underground and is used for concentrating the public tunnel of laying municipal pipeline such as electricity, communication, the pipe gallery can effectively avoid the road surface to excavate repeatedly, reduce the maintenance expense on road surface, ensure the full play of road traffic function.
The subsidiary facilities of road concentrate on setting up in the piping lane for the underground space of road obtains comprehensive utilization, vacated a large amount of valuable city ground space, strengthen the effective utilization in road space, and can beautify the urban environment, create good citizen living environment, because the piping lane has concentrated a large amount of pipelines and subsidiary facilities thereof, consequently, inherent assets such as illumination, ventilation, drainage to in the piping lane patrol and examine not only can play the effect of fixed asset general investigation, more can in time maintain the renewal to the damage of inherent equipment, guarantee the safe high-efficient fortune dimension of piping lane.
At present patrolling and examining fixed asset adopts the manual work mode of patrolling and examining more, and this kind of mode not only data error is big, easily receives the human factor influence, still has the untimely defect of data update, has seriously influenced fixed asset management's work efficiency and operating mass with rated load to patrol and examine the reason in place, operational environment is relatively abominable, consequently, need design one kind can full-automatic unmanned patrol and examine and can diversely adjust the robot of observing the condition.
Disclosure of Invention
For solving above-mentioned technical problem, provide a full-automatic unmanned equipment of patrolling and examining of underground pipe gallery, this technical scheme has solved the tradition and has patrolled and examined the unsafe problem of data that detects through the manual work.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the utility model provides a full-automatic unmanned equipment of patrolling and examining of underground pipe gallery, includes:
the robot vehicle body is used for automatically walking in the underground pipe gallery;
the height adjusting assembly is used for wide observation by adjusting the height and is arranged at the top of the robot vehicle body;
the protective cover is used for covering the height adjusting assembly and is in a telescopic hose shape, and two ends of the protective cover are fixedly arranged at the top of the robot vehicle body and the top end of the height adjusting assembly respectively;
the azimuth adjusting assembly is used for multi-azimuth observation and is arranged at the top of the height adjusting assembly;
the two cameras are used for observing the condition in the underground pipe gallery and are symmetrically arranged above the azimuth adjusting assembly;
the double-end motor is fixedly arranged on the top of the azimuth adjusting assembly through a rack in a horizontal state;
the two swing mechanisms are used for adjusting the observation angle of each camera, are symmetrically arranged at the top of the direction adjusting assembly, and are respectively positioned at two output ends of the double-head motor;
the two sound pickups are used for detecting noise and symmetrically arranged at two ends of the multi-direction adjusting assembly;
the four smoke alarms are used for detecting the high-temperature burning condition and are respectively and fixedly installed around the top of the robot car body.
As a preferred solution to a fully automatic unmanned inspection device for underground pipe galleries,
the robot vehicle body includes:
a vehicle seat;
the vehicle cover is fixedly arranged at the top of the vehicle seat;
two movable wheels are arranged and symmetrically arranged at two ends of the tail part of the saddle;
the two ends of the movable shaft can rotatably penetrate through the two ends of the saddle and extend outwards, and the two movable wheels are fixedly sleeved at the two ends of the movable shaft respectively;
the moving motor is fixedly arranged at the bottom of the saddle, and the middle part of the moving shaft is also provided with a sleeving part;
the belt is sleeved on the sleeve joint part of the moving shaft and the output end of the moving motor;
and the steering mechanism is used for driving the saddle to steer and is arranged at the head of the saddle.
As a preferred solution to a fully automatic unmanned inspection device for underground pipe galleries,
the steering mechanism includes:
the two steering blocks are arranged, two steering ports are respectively formed in two ends of the head of the saddle, each steering block is respectively arranged in each steering port, and a wheel rod is further arranged at the outward end of each steering block;
two steering wheels are arranged and are respectively and fixedly sleeved on each wheel rod;
the rotating seat is fixedly arranged at the bottom of the saddle and is also positioned between the two steering wheels, a steering plate is also rotatably arranged on the rotating seat through a rotating rod, and a rectangular block is also arranged at the top of each steering block;
two hinged rods are arranged, and two ends of each hinged rod are hinged to one end of the steering plate and the top of the corresponding rectangular block respectively;
the steering motor is used for driving the rotating rod to rotate, the steering motor is arranged at the bottom of the saddle in a vertical state through a rack, and the output end of the steering motor faces downwards;
the synchronous belt is sleeved on the output end of the steering motor and the rotating rod.
As a preferred solution to a fully automatic unmanned inspection device for underground pipe galleries,
the height adjustment assembly includes:
the bottom plate is arranged in the center of the top of the vehicle cover, and two ends of the bottom plate are fixed with the vehicle cover through a mounting plate respectively;
the four support columns are arranged and are all in a rectangular structure, and the four support columns are respectively arranged on the periphery of the top of the bottom plate in a vertical state;
the lifting plate is used for lifting, the lifting plate is horizontally arranged at the tops of the four supporting columns, two ends of the protective cover are respectively fixed at the top of the bottom plate and the bottom of the lifting plate, inserting columns are respectively vertically and downwards arranged on the periphery of the bottom of the lifting plate, each inserting column is respectively inserted into each supporting column, and a cylinder is arranged at the bottom of each inserting column in a horizontal state;
the four poke rods are respectively arranged on one side of each support column, and one end, located on each cylinder, of each poke rod is also provided with a U-shaped opening for poking the cylinder;
and the driving mechanism is used for driving the four poke rods to rotate and is arranged at the center of the top of the bottom plate.
As a preferred solution to a fully automatic unmanned inspection device for underground pipe galleries,
the drive mechanism includes:
the supporting seat is arranged in the center of the top of the bottom plate;
the two driving rods are symmetrically arranged on the supporting seat in a horizontal state, two ends of each driving rod penetrate through the end part of the supporting seat and extend outwards to form a fixing part, and the free end of each poke rod is fixed with the fixing part of each driving rod through a bolt;
two driving gears are arranged and are respectively and fixedly arranged in the middle of each driving rod;
the threaded column is arranged between the two driving gears, and the threaded column and the two driving gears are meshed with each other;
the driving motor is in a vertical state and is fixedly arranged at the bottom of the supporting seat, and the threaded column is fixedly arranged at the output end of the driving motor.
As a preferred solution to a fully automatic unmanned inspection device for underground pipe galleries,
the orientation adjustment assembly includes:
the base plate is fixedly arranged at the top of the jacking plate, two sides of the base plate are respectively provided with a mounting shell, and each sound pickup is respectively mounted in each mounting shell;
the round frame body is fixedly arranged at the center of the top of the base plate;
and the planetary gear mechanism is used for driving the two cameras to be stable and adjusting in multiple directions for observation, and is arranged on the circular frame body.
As a preferred solution to a fully automatic unmanned inspection device for underground pipe galleries,
the planetary gear mechanism includes:
the rotating motor is fixedly arranged on the circular frame body in a vertical state, and the output end of the rotating motor is arranged upwards;
the inner ring gear is fixedly arranged on the inner side wall of the top of the circular frame body in a horizontal state;
the driving gear is fixedly sleeved on the output end of the rotating motor, and the driving gear and the inner ring gear share the same axis;
the three driven gears are uniformly distributed along the circumferential direction of the driving gear, and each driven gear is mutually meshed with the driving gear and the inner ring gear;
and the stabilizing mechanism is used for stabilizing the rotation of the three driven gears and is arranged at the tops of the three driven gears.
As a preferred solution to a fully automatic unmanned inspection device for underground pipe galleries,
the stabilizing mechanism includes:
each driven gear is sleeved on one rotating shaft, and three edges of the human-shaped rod are fixed on each rotating shaft respectively;
the carousel, fixed cover are located the top of three pivot, coaxial line between carousel still and the driving gear, and double-end motor passes through the frame fixed the setting in the top of carousel.
As a preferred solution to a fully automatic unmanned inspection device for underground pipe galleries,
the swing mechanism includes:
the half-tooth gear is fixedly sleeved on one end of an output shaft of the double-head motor;
the bar-shaped key is sleeved on the half-tooth gear, one side of the bar-shaped key, facing the rack, is provided with a bar-shaped opening, one side of the rack is provided with a horizontal block, and the bar-shaped key can horizontally move and is sleeved on the horizontal block through the bar-shaped opening;
the rack is provided with two, and two racks set up in the inside upper and lower end of bar key along the length direction symmetry of bar key, homoenergetic intermeshing between half-tooth gear and two racks.
As a preferred solution to a fully automatic unmanned inspection device for underground pipe galleries,
the swing mechanism further includes:
the bar-shaped teeth are horizontally arranged at the top of the outer side of the bar-shaped key along the length direction of the bar-shaped key;
the movable frame is fixedly arranged at the top of the turntable, and the outward end of the half-tooth gear can be rotatably arranged on the movable frame;
the straight-tooth gear can be arranged at the top end of the movable frame in a rotating mode through a rotating column in a rotating mode, the straight-tooth gear is meshed with the strip-shaped teeth, a fixing plate is further arranged at the outward end of the rotating column, and each camera is fixed on each fixing plate respectively.
Compared with the prior art, the invention has the beneficial effects that: when an operator inspects the underground pipe gallery, firstly, the robot body drives the two cameras to move, the two cameras observe the conditions in the underground pipe gallery, the two pickups sense the noise conditions in the underground pipe gallery, the four smoke alarms better sense whether the equipment installed in the underground pipe gallery is burnt or not, when the two cameras observe the conditions in the underground pipe gallery, the observation range of the two cameras is wider, therefore, the height adjusting assembly raises the two cameras, the high conditions can be better observed, the orientation adjusting assembly enables the two cameras to observe in multiple directions, the two swinging mechanisms adjust the observation angles of the two cameras, and finally, the two cameras can observe in multiple directions under the adjustment of various aspects, the invention solves the problem that the data detected by the traditional manual inspection is inaccurate, manpower labor is reduced, and the observation range in the underground pipe gallery is improved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a robot body;
FIG. 3 is an exploded perspective view of a robot body;
FIG. 4 is a perspective view of the height adjustment assembly;
FIG. 5 is a front view of the height adjustment assembly;
FIG. 6 is a side view of the height adjustment assembly;
FIG. 7 is an exploded perspective view of the orientation adjustment assembly;
FIG. 8 is a schematic perspective view of the swing mechanism;
FIG. 9 is a front view of the swing mechanism;
fig. 10 is a sectional view of the swing mechanism.
The reference numbers in the figures are: the automobile smoke alarm comprises a protective cover 1, a camera 2, a double-headed motor 3, a rack 4, a sound pick-up 5, a smoke alarm 6, a vehicle seat 7, a vehicle cover 8, a moving wheel 9, a moving shaft 10, a moving motor 11, a belt 12, a steering block 13, a steering wheel 14, a rotating seat 15, a steering plate 16, a rectangular block 17, a hinge rod 18, a steering motor 19, a synchronous belt 20, a bottom plate 21, a supporting column 22, a lifting plate 23, a plug-in column 24, a cylinder 25, a poking rod 26, a U-shaped opening 27, a supporting seat 28, a driving rod 29, a bolt 30, a driving gear 31, a threaded column 32, a driving motor 33, a base plate 34, a mounting shell 35, a circular rack body 36, a rotating motor 37, an inner ring gear 38, a driving gear 39, a driven gear 40, a man-shaped rod 41, a rotary table 42, a half-tooth gear 43, a bar-shaped key 44, a bar-shaped opening 45, a, A fixed plate 52.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1 to 10, a full-automatic unmanned inspection apparatus of an underground pipe gallery includes:
the robot vehicle body is used for automatically walking in the underground pipe gallery;
the height adjusting assembly is used for wide observation by adjusting the height and is arranged at the top of the robot vehicle body;
the protective cover 1 is used for covering the height adjusting assembly, the protective cover 1 is in a telescopic hose shape, and two ends of the protective cover 1 are fixedly arranged at the top of the robot body and the top end of the height adjusting assembly respectively;
the azimuth adjusting assembly is used for multi-azimuth observation and is arranged at the top of the height adjusting assembly;
the two cameras 2 are used for observing the condition in the underground pipe gallery, and the two cameras 2 are symmetrically arranged above the position adjusting assembly;
the double-end motor 3 is fixedly arranged at the top of the azimuth adjusting component in a horizontal state through a rack 4;
the two swing mechanisms are used for adjusting the observation angle of each camera 2, are symmetrically arranged at the top of the direction adjusting assembly, and are respectively positioned at two output ends of the double-head motor 3;
two sound pickups 5 are arranged and used for detecting noise, and the two sound pickups 5 are symmetrically arranged at two ends of the multi-direction adjusting assembly;
and four smoke alarms 6 are arranged and used for detecting the high-temperature burning condition, and the four smoke alarms 6 are respectively and fixedly installed around the top of the robot car body.
When an operator inspects the underground pipe gallery, firstly, the robot body drives the two cameras 2 to move, the two cameras 2 observe the condition in the underground pipe gallery, the two sound pick-up devices 5 sense the noise condition in the underground pipe gallery, the four smoke alarms 6 can better sense whether the equipment installed in the underground pipe gallery is burnt or not, and when the two cameras 2 observe the condition in the underground pipe gallery, in order to ensure that the observation range of the two cameras 2 is wider, consequently, altitude mixture control subassembly risees two cameras 2, can be to the better observation of the condition of eminence, and position adjustment subassembly makes two cameras 2 can diversified observation, and two swing mechanism adjust two camera 2's observation angle, and finally, two camera 2 can carry out diversified observation under each side regulation the condition in many ground pipe galleries.
The robot vehicle body includes:
a seat 7;
the vehicle cover 8 is fixedly arranged at the top of the vehicle seat 7;
two movable wheels 9 are arranged, and the two movable wheels 9 are symmetrically arranged at two ends of the tail part of the saddle 7;
the two ends of the moving shaft 10 can rotatably penetrate through the two ends of the saddle 7 to extend outwards, and the two moving wheels 9 are fixedly sleeved at the two ends of the moving shaft 10 respectively;
the moving motor 11 is fixedly arranged at the bottom of the saddle 7, and the middle part of the moving shaft 10 is also provided with a sleeving part;
a belt 12 fitted over the coupling part of the moving shaft 10 and the output end of the moving motor 11;
and the steering mechanism is used for driving the saddle 7 to steer and is arranged at the head of the saddle 7.
When an operator inspects the underground pipe gallery, the seat 7 moves through the two movable wheels 9, the steering mechanism steers the seat 7, the movable motor 11 drives the movable shaft 10 to rotate through the belt 12, the two movable wheels 9 move along with the movable shaft, and the seat 7 moves along with the movable shaft in the underground pipe gallery.
The steering mechanism includes:
two steering blocks 13 are arranged, two steering openings are respectively formed in two ends of the head of the seat 7, each steering block 13 is respectively arranged in each steering opening, and a wheel rod is further arranged at the outward end of each steering block 13;
two steering wheels 14 are arranged, and the two steering wheels 14 are respectively and fixedly sleeved on each wheel rod;
the rotating seat 15 is fixedly arranged at the bottom of the saddle 7, the rotating seat 15 is also positioned between the two steering wheels 14, a steering plate 16 is also rotatably arranged on the rotating seat 15 through a rotating rod, and the top of each steering block 13 is also provided with a rectangular block 17;
two hinged rods 18 are arranged, and two ends of each hinged rod 18 are hinged to one end of the steering plate 16 and the top of the corresponding rectangular block 17 respectively;
the steering motor 19 is used for driving the rotating rod to rotate, the steering motor 19 is arranged at the bottom of the saddle 7 in a vertical state through a rack 4, and the output end of the steering motor 19 faces downwards;
and the synchronous belt 20 is sleeved on the output end of the steering motor 19 and the rotating rod.
When the steering mechanism steers the saddle 7, the steering motor 19 drives the rotating rod to rotate through the synchronous belt 20, the rotating rod rotates to drive the steering plates 16 to rotate, and the two ends of the two hinged rods 18 are respectively hinged on each steering plate 16 and each rectangular block 17, so that the two steering wheels 14 can rotate to adjust the walking direction.
The height adjustment assembly includes:
the bottom plate 21 is arranged at the center of the top of the vehicle cover 8, and two ends of the bottom plate 21 and the vehicle cover 8 are fixed through a mounting plate respectively;
four support columns 22 are arranged, each of the four support columns 22 is of a rectangular structure, and the four support columns 22 are respectively arranged around the top of the bottom plate 21 in a vertical state;
the lifting plate 23 is used for lifting, the lifting plate 23 is horizontally arranged at the tops of the four support columns 22, two ends of the protective cover 1 are respectively fixed at the top of the bottom plate 21 and the bottom of the lifting plate 23, the periphery of the bottom of the lifting plate 23 is respectively provided with an inserting column 24 vertically downwards, each inserting column 24 is respectively inserted into each support column 22, and the bottom of each inserting column 24 is also provided with a column 25 horizontally;
four poke rods 26 are arranged, the four poke rods 26 are respectively arranged at one side of each supporting column 22, and one end of each poke rod 26, which is positioned at each column 25, is also provided with a U-shaped opening 27 for poking the column 25;
and the driving mechanism is used for driving the four poke rods 26 to rotate and is arranged in the center of the top of the bottom plate 21.
When the height adjusting assembly adjusts the observing height of the two cameras 2, the driving mechanism drives the four poking rods 26 to rotate, the four poking rods 26 poke the corresponding cylinders 25 through the corresponding U-shaped openings 27, each plug-in column 24 can move up and down in the corresponding supporting column 22 under the poking of the corresponding poking rod 26, the jacking plate 23 lifts under the moving of the four plug-in columns 24, and the observing height of the two cameras 2 can be adjusted accordingly.
The drive mechanism includes:
a support base 28 disposed at the top center of the bottom plate 21;
two driving rods 29 are arranged, the two driving rods 29 are symmetrically arranged on the supporting seat 28 in a horizontal state, two ends of each driving rod 29 penetrate through the end part of the supporting seat 28 and extend outwards to form a fixing part, and the free end of each poking rod 26 is fixed with the fixing part of each driving rod 29 through a bolt 30;
two driving gears 31 are provided, and the two driving gears 31 are fixedly installed in the middle of each driving rod 29 respectively;
the threaded column 32 is arranged between the two driving gears 31, and the threaded column 32 and the two driving gears 31 are meshed with each other;
the driving motor 33 is vertically fixed at the bottom of the supporting base 28, and the threaded column 32 is fixed at the output end of the driving motor 33.
When the driving mechanism is driven, the driving motor 33 drives the threaded columns 32 to rotate, the threaded columns 32 rotate to drive the two driving gears 31 to rotate simultaneously, the two driving gears 31 rotate to drive the corresponding driving rods 29 to rotate, each poke rod 26 rotates under the rotation of the corresponding driving rod 29, and then the four insertion columns 24 can be poked.
The orientation adjustment assembly includes:
the base plate 34 is fixedly arranged at the top of the jacking plate 23, two sides of the base plate 34 are respectively provided with a mounting shell 35, and each sound pickup 5 is respectively mounted in each mounting shell 35;
a circular frame 36 fixedly disposed at the top center of the base plate 34;
and the planetary gear mechanism is used for driving the two cameras 2 to be stable and to be adjusted and observed in multiple directions, and is arranged on the circular frame body 36.
When the direction of observation of two cameras 2 is adjusted to the position adjusting part, two cameras 2 of stable drive of planetary gear mechanism rotate.
The planetary gear mechanism includes:
the rotating motor 37 is fixedly arranged on the circular frame body 36 in a vertical state, and the output end of the rotating motor 37 is arranged upwards;
the inner ring gear 38 is fixedly arranged on the inner side wall of the top of the circular frame body 36 in a horizontal state;
a driving gear 39 fixedly sleeved on the output end of the rotating motor 37, wherein the driving gear 39 and the inner ring gear 38 share the same axis;
three driven gears 40 are arranged, the three driven gears 40 are uniformly distributed along the circumferential direction of the driving gear 39, and each driven gear 40 is meshed with the driving gear 39 and the inner ring gear 38;
and the stabilizing mechanism is used for stabilizing the rotation of the three driven gears 40 and is arranged at the tops of the three driven gears 40.
When the planetary gear mechanism is driven, the rotating motor 37 drives the driving gear 39 to rotate, the driving gear 39 drives the three driven gears 40 to rotate, and the three driven gears 40 rotate more stably under the action of the stabilizing mechanism.
The stabilizing mechanism includes:
each driven gear 40 is sleeved on one rotating shaft, and three sides of the human-shaped rod 41 are respectively fixed on each rotating shaft;
the turntable 42 is fixedly sleeved at the top ends of the three rotating shafts, the turntable 42 and the driving gear 39 are coaxial, and the double-head motor 3 is fixedly arranged at the top of the turntable 42 through the rack 4.
When the three driven gears 40 rotate, the three driven gears 40 rotate more stably due to the connection of the three driven gears 40 through the man-shaped rod 41, the rotating disc 42 rotates along with the rotation of the three driven gears 40, and the two cameras 2 also perform direction adjustment along with the rotation of the rotating disc 42.
The swing mechanism includes:
a half-tooth gear 43 fixedly sleeved on one end of the output shaft of the double-head motor 3;
the bar-shaped key 44 is sleeved on the half-tooth gear 43, a bar-shaped opening 45 is formed in one side, facing the rack 4, of the bar-shaped key 44, a horizontal block 46 is arranged on one side of the rack 4, and the bar-shaped key 44 can horizontally move and is sleeved on the horizontal block 46 through the bar-shaped opening 45;
the number of the racks 47 is two, the two racks 47 are symmetrically arranged at the upper end and the lower end of the inside of the bar key 44 along the length direction of the bar key 44, and the half-tooth gear 43 and the two racks 47 can be meshed with each other.
When each swing mechanism drives the corresponding camera 2 to adjust the penetration angle, the double-end motor 3 drives each half-tooth gear 43 to rotate, when the gear teeth of each half-tooth gear 43 are meshed with each rack 47, the bar-shaped keys 44 move on the corresponding horizontal blocks 46, and after each half-tooth gear 43 rotates for one circle, each bar-shaped key 44 moves back and forth on the corresponding horizontal block 46.
The swing mechanism further includes:
a bar tooth 48 horizontally disposed on the top of the outer side of the bar key 44 along the length direction of the bar key 44;
a movable frame 49 fixedly arranged on the top of the turntable 42, wherein the outward end of the half-tooth gear 43 can be rotatably arranged on the movable frame 49;
the straight gear 50 is rotatably arranged at the top end of the movable frame 49 through a rotary column 51, the straight gear 50 is meshed with the strip-shaped teeth 48, a fixing plate 52 is arranged at the outward end of the rotary column 51, and each camera 2 is respectively fixed on each fixing plate 52.
When bar key 44 round trip movement, every straight-tooth gear 50 is owing to mesh with corresponding bar tooth 48, consequently, every straight-tooth gear 50 rotates through corresponding bar tooth 48's meshing thereupon, and every camera 2 can swing back and forth thereupon, and every camera 2 finally can be adjusted observation angle, and two cameras 2 can carry out diversified observation under each side regulation the condition in many ground pipe galleries.
The working principle of the invention is as follows:
the device/apparatus/method realizes the functions of the invention by the following steps, thereby solving the technical problems proposed by the invention:
firstly, when an operator inspects an underground pipe gallery, a saddle 7 moves through two movable wheels 9, a steering mechanism steers the saddle 7, a movable motor 11 drives a movable shaft 10 to rotate through a belt 12, the two movable wheels 9 move along with the movable shaft, the saddle 7 walks in the underground pipe gallery, when the steering mechanism steers the saddle 7, a steering motor 19 drives a rotating rod to rotate through a synchronous belt 20, the rotating rod rotates to drive a steering plate 16 to rotate along with the rotating rod, and two ends of two hinged rods 18 are respectively hinged to each steering plate 16 and each rectangular block 17, so that the two steering wheels 14 can rotate along with the rotating rod to adjust the walking direction.
Step two, when the height adjusting assembly adjusts the observation height of the two cameras 2, the driving motor 33 drives the threaded columns 32 to rotate, the threaded columns 32 rotate to drive the two driving gears 31 to rotate simultaneously, the two driving gears 31 rotate to drive the corresponding driving rods 29 to rotate, each poking rod 26 rotates along with the rotation of the corresponding driving rod 29, the four poking rods 26 poke the corresponding cylinders 25 through the corresponding U-shaped openings 27, each plug-in column 24 can move up and down in the corresponding supporting column 22 under the poking of the corresponding poking rod 26, the jacking plates 23 lift along with the movement of the four plug-in columns 24, and the two cameras 2 can adjust the observation height accordingly.
Step three, when the direction adjusting assembly adjusts the observing directions of the two cameras 2, the rotating motor 37 drives the driving gear 39 to rotate, the driving gear 39 drives the three driven gears 40 to rotate along with the driving gear 39, and the three driven gears 40 are connected through the human-shaped rod 41, so that the three driven gears 40 rotate more stably, the turntable 42 rotates along with the rotation of the three driven gears 40, and the two cameras 2 also perform direction adjustment along with the rotation of the turntable 42.
Step four, when each swing mechanism drives the corresponding camera 2 to adjust the penetration angle, the double-headed motor 3 drives each half-tooth gear 43 to rotate, when the gear teeth of each half-tooth gear 43 are meshed with each rack 47, the bar-shaped keys 44 move on the corresponding horizontal blocks 46 along with the gear teeth, after each half-tooth gear 43 rotates for one circle, each bar-shaped key 44 moves back and forth on the corresponding horizontal block 46 along with the gear teeth, each straight-tooth gear 50 is meshed with the corresponding bar-shaped teeth 48, therefore, each straight-tooth gear 50 rotates along with the meshing of the corresponding bar-shaped teeth 48, each camera 2 can swing back and forth along with the gear teeth, each camera 2 can finally adjust the observation angle, and the two cameras 2 can observe the conditions in multiple underground pipe galleries in multiple directions under the adjustment of each aspect.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an underground pipe gallery's full-automatic unmanned equipment of patrolling and examining which characterized in that includes:
the robot vehicle body is used for automatically walking in the underground pipe gallery;
the height adjusting assembly is used for wide observation by adjusting the height and is arranged at the top of the robot vehicle body;
the protective cover (1) is used for covering the height adjusting assembly, the protective cover (1) is in a telescopic hose shape, and two ends of the protective cover (1) are fixedly installed on the top of the robot body and the top end of the height adjusting assembly respectively;
the azimuth adjusting assembly is used for multi-azimuth observation and is arranged at the top of the height adjusting assembly;
the two cameras (2) are used for observing the condition in the underground pipe gallery, and the two cameras (2) are symmetrically arranged above the position adjusting assembly;
the double-end motor (3) is fixedly arranged at the top of the azimuth adjusting component in a horizontal state through a rack (4);
the two swing mechanisms are used for adjusting the observation angle of each camera (2), are symmetrically arranged at the top of the direction adjusting assembly, and are respectively positioned at two output ends of the double-head motor (3);
two sound pickups (5) are arranged and used for detecting noise, and the two sound pickups (5) are symmetrically arranged at two ends of the multi-direction adjusting assembly;
and four smoke alarms (6) are arranged and used for detecting the high-temperature burning condition, and the four smoke alarms (6) are respectively and fixedly installed on the periphery of the top of the robot car body.
2. The fully automatic unmanned inspection device of an underground pipe gallery according to claim 1,
the robot vehicle body includes:
a seat (7);
the vehicle cover (8) is fixedly arranged at the top of the vehicle seat (7);
two movable wheels (9) are arranged, and the two movable wheels (9) are symmetrically arranged at two ends of the tail part of the saddle (7);
the two ends of the moving shaft (10) can rotatably penetrate through the two ends of the saddle (7) and extend outwards, and the two moving wheels (9) are fixedly sleeved at the two ends of the moving shaft (10) respectively;
the moving motor (11) is fixedly arranged at the bottom of the saddle (7), and the middle part of the moving shaft (10) is also provided with a sleeving part;
a belt (12) sleeved on the sleeve joint part of the moving shaft (10) and the output end of the moving motor (11);
the steering mechanism is used for driving the steering of the saddle (7), and the steering mechanism is arranged at the head of the saddle (7).
3. The full-automatic unmanned inspection equipment of underground pipe gallery according to claim 2,
the steering mechanism includes:
the two steering blocks (13) are arranged, two steering openings are respectively formed in two ends of the head of the seat (7), each steering block (13) is respectively arranged in each steering opening, and a wheel rod is further arranged at the outward end of each steering block (13);
two steering wheels (14) are arranged, and the two steering wheels (14) are fixedly sleeved on each wheel rod respectively;
the rotating seat (15) is fixedly arranged at the bottom of the saddle (7), the rotating seat (15) is also positioned between the two steering wheels (14), a steering plate (16) is also rotatably arranged on the rotating seat (15) through a rotating rod, and the top of each steering block (13) is also provided with a rectangular block (17);
two hinged rods (18) are arranged, and two ends of each hinged rod (18) are hinged to one end of the steering plate (16) and the top of the corresponding rectangular block (17) respectively;
the steering motor (19) is used for driving the rotating rod to rotate, the steering motor (19) is arranged at the bottom of the saddle (7) in a vertical state through a rack (4), and the output end of the steering motor (19) faces downwards;
and the synchronous belt (20) is sleeved on the output end of the steering motor (19) and the rotating rod.
4. The full-automatic unmanned inspection equipment of underground pipe gallery according to claim 2,
the height adjustment assembly includes:
the bottom plate (21) is arranged at the center of the top of the vehicle cover (8), and two ends of the bottom plate (21) are fixed with the vehicle cover (8) through a mounting plate respectively;
the four support columns (22) are arranged, the four support columns (22) are all of a rectangular structure, and the four support columns (22) are respectively arranged on the periphery of the top of the bottom plate (21) in a vertical state;
the lifting plate (23) is used for lifting, the lifting plate (23) is arranged at the tops of the four supporting columns (22) in a horizontal state, two ends of the protective cover (1) are fixed to the top of the bottom plate (21) and the bottom of the lifting plate (23) respectively, inserting columns (24) are vertically arranged on the periphery of the bottom of the lifting plate (23) downwards respectively, each inserting column (24) is inserted into each supporting column (22) respectively, and a column (25) is arranged at the bottom of each inserting column (24) in a horizontal state;
four poking rods (26) are arranged, the four poking rods (26) are respectively arranged on one side of each supporting column (22), and one end, located on each cylinder (25), of each poking rod (26) is also provided with a U-shaped opening (27) used for poking the cylinder (25);
and the driving mechanism is used for driving the four poke rods (26) to rotate and is arranged at the center of the top of the bottom plate (21).
5. The fully automatic unmanned inspection device of an underground pipe gallery according to claim 4,
the drive mechanism includes:
the supporting seat (28) is arranged at the center of the top of the bottom plate (21);
two driving rods (29) are arranged, the two driving rods (29) are symmetrically arranged on the supporting seat (28) in a horizontal state, two ends of each driving rod (29) penetrate through the end part of the supporting seat (28) and extend outwards to form a fixing part, and the free end of each poking rod (26) is fixed with the fixing part of each driving rod (29) through a bolt (30);
two driving gears (31) are arranged, and the two driving gears (31) are fixedly arranged in the middle of each driving rod (29) respectively;
the threaded column (32) is arranged between the two driving gears (31), and the threaded column (32) and the two driving gears (31) are meshed with each other;
the driving motor (33) is fixedly arranged at the bottom of the supporting seat (28) in a vertical state, and the threaded column (32) is fixedly arranged at the output end of the driving motor (33).
6. The fully automatic unmanned inspection device of an underground pipe gallery according to claim 4,
the orientation adjustment assembly includes:
the base plate (34) is fixedly arranged at the top of the jacking plate (23), two sides of the base plate (34) are respectively provided with a mounting shell (35), and each sound pickup (5) is respectively mounted in each mounting shell (35);
the round frame body (36) is fixedly arranged at the top center of the base plate (34);
the planetary gear mechanism is used for driving the two cameras (2) to be stable and to be adjusted and observed in multiple directions, and the planetary gear mechanism is arranged on the circular frame body (36).
7. The fully automatic unmanned inspection device of an underground pipe gallery according to claim 6,
the planetary gear mechanism includes:
the rotating motor (37) is fixedly arranged on the circular frame body (36) in a vertical state, and the output end of the rotating motor (37) faces upwards;
the inner ring gear (38) is fixedly arranged on the inner side wall of the top of the circular frame body (36) in a horizontal state;
the driving gear (39) is fixedly sleeved on the output end of the rotating motor (37), and the driving gear (39) and the inner ring gear (38) are coaxial;
the three driven gears (40) are uniformly distributed along the circumferential direction of the driving gear (39), and each driven gear (40) is meshed with the driving gear (39) and the inner ring gear (38);
and the stabilizing mechanism is used for stabilizing the rotation of the three driven gears (40), and is arranged at the tops of the three driven gears (40).
8. The fully automatic unmanned inspection device of an underground pipe gallery according to claim 7,
the stabilizing mechanism includes:
each driven gear (40) is sleeved on one rotating shaft, and three edges of the human-shaped rod (41) are respectively fixed on each rotating shaft;
carousel (42), the top of three pivot is located to fixed cover, coaxial line between carousel (42) still and driving gear (39), double-end motor (3) pass through frame (4) fixed the setting in the top of carousel (42).
9. The fully automatic unmanned inspection device of an underground pipe gallery according to claim 8,
the swing mechanism includes:
the half-tooth gear (43) is fixedly sleeved on one end of the output shaft of the double-head motor (3);
the bar-shaped key (44) is sleeved on the half-tooth gear (43), one side of the bar-shaped key (44) facing the rack (4) is provided with a bar-shaped opening (45), one side of the rack (4) is provided with a horizontal block (46), and the bar-shaped key (44) can horizontally move and is sleeved on the horizontal block (46) through the bar-shaped opening (45);
the two racks (47) are symmetrically arranged at the upper end and the lower end inside the bar key (44) along the length direction of the bar key (44), and the half-tooth gear (43) and the two racks (47) can be meshed with each other.
10. The fully automatic unmanned inspection device of an underground pipe gallery according to claim 9,
the swing mechanism further includes:
the bar-shaped teeth (48) are horizontally arranged on the top of the outer side of the bar-shaped key (44) along the length direction of the bar-shaped key (44);
the movable frame (49) is fixedly arranged at the top of the turntable (42), and the outward end of the half-tooth gear (43) can be rotatably arranged on the movable frame (49);
the straight-tooth gear (50) is rotatably arranged at the top end of the movable frame (49) through a rotary column (51), the straight-tooth gear (50) and the strip-shaped teeth (48) are mutually meshed, a fixing plate (52) is further arranged at the outward end of the rotary column (51), and each camera (2) is respectively fixed on each fixing plate (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011154105.4A CN112297024A (en) | 2020-10-26 | 2020-10-26 | Full-automatic unmanned equipment of patrolling and examining of underground pipe gallery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011154105.4A CN112297024A (en) | 2020-10-26 | 2020-10-26 | Full-automatic unmanned equipment of patrolling and examining of underground pipe gallery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112297024A true CN112297024A (en) | 2021-02-02 |
Family
ID=74331683
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011154105.4A Withdrawn CN112297024A (en) | 2020-10-26 | 2020-10-26 | Full-automatic unmanned equipment of patrolling and examining of underground pipe gallery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112297024A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114473997A (en) * | 2021-12-24 | 2022-05-13 | 国网新疆电力有限公司阿克苏供电公司 | Self-propelled power environment inspection robot |
-
2020
- 2020-10-26 CN CN202011154105.4A patent/CN112297024A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114473997A (en) * | 2021-12-24 | 2022-05-13 | 国网新疆电力有限公司阿克苏供电公司 | Self-propelled power environment inspection robot |
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Application publication date: 20210202 |