CN112531549B - Cable inspection tour device - Google Patents
Cable inspection tour device Download PDFInfo
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- CN112531549B CN112531549B CN202011237705.7A CN202011237705A CN112531549B CN 112531549 B CN112531549 B CN 112531549B CN 202011237705 A CN202011237705 A CN 202011237705A CN 112531549 B CN112531549 B CN 112531549B
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- assembly
- guide rail
- driving
- walking
- rod
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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
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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
- H02G9/00—Installations of electric cables or lines in or on the ground or water
- H02G9/02—Installations of electric cables or lines in or on the ground or water laid directly in or on the ground, river-bed or sea-bottom; Coverings therefor, e.g. tile
Abstract
The invention relates to a cable inspection device, comprising: guide rail assembly, walking subassembly and supporting component. According to the scheme provided by the application, when the cable in the cable trench needs to be patrolled, the supporting assembly on the guide rail assembly is adjusted to the first position, and meanwhile, the supporting assembly on the walking assembly is adjusted to the second position, so that the walking assembly can move on the guide rail assembly, and the walking assembly stops moving when moving to the preset position; subsequently, the supporting component on the walking component is adjusted to the first position, and the supporting component on the guide rail component is adjusted to the second position, at the moment, the guide rail component can move along the moving direction of the walking component under the driving of the walking component, and stops moving when the guide rail component moves to the preset position, so that the two moving processes are repeated, so that the whole device can continuously advance in the cable trench, and further the detection equipment on the whole device can be driven to detect the cable trench.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a cable inspection device.
Background
In order to ensure the normal and safe operation of the power cable and avoid cable accidents caused by special factors such as ventilation, overheating and sundries, equipment halt is caused to influence production, and the cable in the cable trench needs to be checked regularly.
The cable channel is as depositing the passageway of cable, and the space is narrow and small, and internal environment is complicated, and many adventitious factors such as toxic gas, ponding threaten staff's life safety to it is inconvenient to lead to the operation personnel to patrol and examine.
At present, the current cable inspection robot adopts the mode of marcing of motor drive wheel more, and this kind of inspection robot's motion mode adaptability is poor, hardly accomplishes the task when meetting ground complex condition, and because the camera visual angle is limited, can not reflect the condition of cable pit completely, has ponding simultaneously at the cable pit, and the equipment of crawling will have the possibility of the damage of intaking, and then influences the safety of whole equipment.
Disclosure of Invention
Based on this, it is necessary to provide a cable inspection device for the problem that the existing cable inspection robot has poor adaptability.
The invention provides a cable inspection device, comprising:
a guide rail assembly;
the walking assembly is matched with the guide rail assembly and can move along the length direction of the guide rail assembly;
the guide rail assembly and the walking assembly are both provided with the supporting assemblies, and the supporting assemblies on the guide rail assembly and the walking assembly are both arranged along the length direction vertical to the guide rail assembly;
the support assembly on the track assembly has a first position extended and a second position retracted relative to the track assembly; the support assembly on the walking assembly has a first position extended and a second position retracted relative to the walking assembly;
when the supporting assembly on the guide rail assembly is located at a first position and the supporting assembly on the walking assembly is located at a second position, the guide rail assembly is fixed on the cable trench, and the walking assembly can move along the length direction of the guide rail assembly relative to the guide rail assembly;
when the supporting component on the guide rail component is located at the second position, and the supporting component on the walking component is located at the first position, the walking component is fixed on the cable trench, and the guide rail component is driven by the walking component to move along the movement direction of the walking component.
According to the cable inspection device, when the cable in the cable trench needs to be inspected, the support assembly on the guide rail assembly is adjusted to the first position, and the support assembly on the walking assembly is adjusted to the second position at the same time, at the moment, the guide rail assembly is fixed on the cable trench, the walking assembly can move on the guide rail assembly, and the walking assembly stops moving when moving to the preset position; subsequently, the supporting component on the traveling component is adjusted to the first position, and meanwhile, the supporting component on the guide rail component is adjusted to the second position, at the moment, the traveling component is fixed on the cable trench, the guide rail component can move along the moving direction of the traveling component under the driving of the traveling component, and stops moving when the guide rail component moves to the preset position, so that the two moving processes are repeated, so that the integral device can continuously move forward in the cable trench, and further the detection equipment on the integral device can be driven to detect the cable trench. The device wholly moves in the cable pit, does not receive the influence of ground environment, and adaptability is strong.
In one embodiment, the guide rail assembly comprises a first guide rail and a second guide rail, a first guide groove on the first guide rail and a second guide groove on the second guide rail are oppositely arranged, the walking assembly is arranged between the first guide groove and the second guide groove, and the support assembly is arranged on each of the first guide rail and the second guide rail.
In one embodiment, the walking assembly comprises a walking frame, a first driving part and at least two driving wheels, one side of the walking frame is connected with the first guide groove through one of the driving wheels, the other side of the walking frame is connected with the second guide groove through the other driving wheel, and the first driving part is connected with the driving wheels.
In one embodiment, a first bottom surface of the first guide groove and a second bottom surface of the second guide groove are provided with first teeth, and a surface of the driving wheel is provided with second teeth which are engaged with the first teeth.
In one embodiment, the walking assembly further comprises a limit sensor and a controller, the limit sensor is respectively arranged at two ends of the first guide groove and/or the limit sensor is respectively arranged at two ends of the second guide groove, the controller is arranged on the walking frame, and the limit sensor and the first driving member are respectively connected with the controller.
In one embodiment, the walking assembly further comprises at least two driven wheels, and the walking frame comprises a first connecting rod, a driving rod, a second connecting rod and a driven rod which are connected in sequence;
the two ends of the driving rod are respectively provided with one driving wheel, the first driving piece is matched with the driving rod and used for driving the driving rod to rotate, and the two ends of the driven rod are respectively provided with one driven wheel.
In one embodiment, the support assembly includes a support rod and a second driving member, the support rod includes a support seat, a screw rod and a screw nut, the second driving member and the support seat are fixedly disposed on the first guide rail, the second guide rail, the first link and the second link, the screw rod is sleeved on the support seat along a length direction perpendicular to the first guide rail, and the second driving member is connected with the screw rod through the screw nut.
In one embodiment, the support rod further comprises a support leg and a ball head connecting piece, and one side of the screw rod, which deviates from the first guide groove or the second guide groove, is connected with the support leg through the ball head connecting piece.
In one embodiment, the support assembly further comprises a plurality of position detection sensors, and the first guide rail, the second guide rail, the first connecting rod and the second connecting rod are respectively provided with one position detection sensor for detecting the distance from the support leg to the support base.
In one embodiment, the walking device further comprises a camera, wherein the camera is arranged on the active rod on the walking assembly and can rotate 360 degrees relative to the active rod.
Drawings
Fig. 1 is a schematic structural diagram of a cable patrol apparatus according to an embodiment of the present invention;
fig. 2 is another schematic view of fig. 1.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.
As shown in fig. 1, in an embodiment of the present invention, a cable patrol apparatus is provided, including: the device comprises a guide rail assembly, a walking assembly and a supporting assembly, wherein the walking assembly is matched with the guide rail assembly and can move along the length direction of the guide rail assembly; the guide rail assembly and the walking assembly are both provided with a supporting assembly, and the supporting assembly on the guide rail assembly and the supporting assembly on the walking assembly are both arranged along the length direction vertical to the guide rail assembly; the support assembly on the track assembly has a first position extended and a second position retracted relative to the track assembly; the supporting component on the walking component is provided with a first position extending out relative to the walking component and a second position contracting relative to the walking component;
when the support assembly on the guide rail assembly is located at the first position and the support assembly on the walking assembly is located at the second position, the guide rail assembly is fixed on the cable trench, and the walking assembly can move along the length direction of the guide rail assembly relative to the guide rail assembly; when the supporting component on the guide rail component is located at the second position and the supporting component on the walking component is located at the first position, the walking component is fixed on the cable trench, and the guide rail component can move along the moving direction of the walking component under the driving of the walking component.
By adopting the technical scheme, when the cable in the cable trench needs to be patrolled, the support assembly on the guide rail assembly is only required to be adjusted to the first position, and meanwhile, the support assembly on the walking assembly is adjusted to the second position, at the moment, the guide rail assembly is fixed on the cable trench, the walking assembly can move on the guide rail assembly, and the walking assembly stops moving when moving to the preset position; subsequently, the supporting component on the walking component is adjusted to the first position, and the supporting component on the guide rail component is adjusted to the second position, at the moment, the walking component is fixed on the cable trench, the guide rail component can move along the moving direction of the walking component under the driving of the walking component, the guide rail component stops moving when moving to the preset position, and by analogy, the two moving processes are repeated, so that the integral device can continuously move forward in the cable trench, and further the detection equipment on the integral device can be driven to detect the cable trench. The device wholly moves in the cable pit, does not receive the influence of ground environment, and adaptability is strong.
In some embodiments, as shown in fig. 1, the guide rail assembly in the present application includes a first guide rail 10 and a second guide rail 20, wherein a first guide groove 101 on the first guide rail 10 and a second guide groove 201 on the second guide rail 20 are oppositely disposed, a walking assembly is disposed between the first guide groove 101 and the second guide groove 201, and a support assembly is disposed on each of the first guide rail 10 and the second guide rail 20.
Specifically, the first guide rail 10 and the second guide rail 20 have the same structure, the first guide rail 10 and the second guide rail 20 are both made of light aluminum alloy sections, and the traveling assembly is located in the first guide groove 101, and the other side of the traveling assembly is located in the second guide groove 201.
In some embodiments, as shown in fig. 1, the walking assembly of the present application comprises a walking frame, a first driving member and at least two driving wheels 80, wherein one side of the walking frame is connected with the first guiding groove 101 through one of the driving wheels 80, the other side of the walking frame is connected with the second guiding groove 201 through the other driving wheel 80, and the first driving member is connected with the driving wheel 80.
Specifically, the traveling assembly comprises two driving wheels 80, wherein one driving wheel 80 is installed on one side of the traveling frame, the other driving wheel 80 is installed on the other side of the traveling frame, when the traveling assembly is assembled, one driving wheel 80 on one side of the traveling frame is installed in the first guide groove 101, the other driving wheel 80 on the other side of the traveling frame is installed in the second guide groove 201, each driving wheel 80 is connected with a first driving piece, the first driving pieces can be motors, the driving wheels 80 are driven to rotate through the motors, and therefore the driving wheels 80 can drive the traveling frame to travel in the first guide groove 101 on the first guide rail 10 and the second guide groove 201 on the second guide rail 20.
When the support assembly on the traveling assembly is located the first position, support assembly on the guide rail assembly is located the second position simultaneously, at this moment, the traveling assembly is fixed on the cable pit, in order that the guide rail assembly can be along the motion direction motion of traveling assembly under the drive of traveling assembly, all be provided with first tooth (not shown in the figure) on first bottom surface 1011 on the first guide way 101 and the second bottom surface 2011 of second guide way 201 in this application, the surface of drive wheel 80 is provided with the second tooth (not shown in the figure), second tooth and first tooth meshing.
Specifically, since the first bottom surface 1011 and the second bottom surface 2011 are both provided with the first teeth, the surface of the driving wheel 80 is provided with the second teeth, and the second teeth are engaged with the first teeth, when the cable in the cable trench needs to be patrolled, only the supporting components on the first guide rail 10 and the second guide rail 20 need to be adjusted to the first position, and simultaneously the supporting component on the traveling frame needs to be adjusted to the second position (as shown in fig. 1), at this time, the first guide rail 10 and the second guide rail 20 are fixed on the side wall of the cable trench under the mutual acting force of the supporting components and the traveling frame, and then the driving wheel 80 is driven to rotate by the first driving member, since the second teeth on the surface of the driving wheel 80 are engaged with the first teeth on the first bottom surface 1011 or the second bottom surface 2011, when the driving wheel 80 rotates, the driving wheel 80 can advance along the length direction of the first guide groove 101 or the second guide groove 201, and further can drive the traveling frame to move along the length direction of the first guide rail or the second guide rail 20, when the drive wheel 80 moves to the preset position, the first drive member is turned off;
the support assemblies on the walking frame are then adjusted to a first position, while the support assemblies on the first rail 10 and the second rail 20 are adjusted to a second position, at which time, the walking frame is fixed on the cable trench, when the first driving member drives the driving wheel 80 to rotate, since the walking frame is fixed to the cable trench while the second teeth on the surface of the driving wheel 80 are engaged with the first teeth on the first bottom surface 1011 or the second bottom surface 2011, when the driving wheel 80 rotates, the first guide rail 10 and the second guide rail 20 are driven to advance along the moving direction of the walking frame, when the first guide rail 10 and the second guide rail 20 move to the preset position, the first driving part is closed, and the like, the two movement processes are repeated, therefore, the integral device can move in the cable trench, and then the detection equipment on the integral device can be driven to detect the cable trench.
In some embodiments, in order to conveniently control the movement distance of the driving wheel 80 in the first guide groove 101 or the second guide groove 201, so as to avoid the driving wheel 80 to be separated from the first guide groove 101 or the second guide groove 20, thereby causing the walking frame to be separated from the space between the first guide rail 10 and the second guide rail 20 as a whole, the walking assembly further includes a limit sensor and a controller, wherein two ends of the first guide groove 101 are respectively provided with one limit sensor and/or two ends of the second guide groove 201 are respectively provided with one limit sensor, the controller is arranged on the walking frame, and the limit sensor and the first driving member are respectively connected with the controller.
Specifically, when the first guide rail 10 and the second guide rail 20 are fixed on the side wall of the cable trench under the interaction force of the support assembly and the traveling frame, at this time, the driving wheel 80 is driven by the first driving member to advance along the length direction of the first guide groove 101 or the second guide groove 201, that is, the traveling frame moves along the length direction of the first guide rail or the second guide rail 20, when the driving wheel 80 contacts the limit sensor on one end of the first guide groove 101 or the driving wheel 80 contacts the limit sensor on one end of the second guide groove 201, the limit sensor sends a contact signal to the controller, and the controller controls the first driving member to close, so that the driving wheel 80 is prevented from being disengaged from the first guide groove 101 or the second guide groove 20;
the walking frame is fixed on the cable trench, at this moment, drive wheel 80 rotates under the drive of first driving piece, because the walking frame is fixed on the cable trench, simultaneously second tooth on the drive wheel 80 surface meshes with first tooth on first bottom surface 1011 or second bottom surface 2011, when drive wheel 80 rotates, will drive first guide rail 10 and second guide rail 20 and advance along the direction of walking frame motion, when drive wheel 80 and the spacing sensor contact on the first guide way 101 other end, perhaps when drive wheel 80 and the spacing sensor contact on the second guide way 201 other end, spacing sensor sends the contact signal to the controller, the controller control first driving piece close can.
In some embodiments, as shown in fig. 1, the walking assembly of the present application further includes at least two driven wheels 90, and the walking frame includes a first connecting rod 40, a driving rod 60, a second connecting rod 50, and a driven rod 70 connected in sequence; two driving wheels 80 are respectively disposed at two ends of the driving rod 60, a first driving member is engaged with the driving rod 60 for driving the driving rod 60 to rotate, and two driven wheels 90 are respectively disposed at two ends of the driven rod 70.
Specifically, the first driving member includes a driving motor and a transmission gear, the transmission gear is sleeved on the driving rod 60, the driving motor is fixed on a support frame (not indicated in the figure) on the first connecting rod 40 and the second connecting rod 50, a control switch on the driving motor is connected with the controller, an auxiliary gear is mounted on an output shaft on the driving motor, the auxiliary gear is meshed with the transmission gear, the controller controls the driving motor to open and close, the rotation of the driving rod 60 can be controlled, and when the driving rod 60 rotates, the driving wheel 80 can be driven to rotate.
In some embodiments, as shown in fig. 1, the support assembly in the present application includes a support rod 30 and a second driving member, the support rod 30 includes a support seat 301, a screw rod 302 and a screw nut, the first guide rail 10, the second guide rail 20, the first connecting rod 40 and the second connecting rod 50 are all fixedly provided with the second driving member and the support seat 301, the screw rod 302 is sleeved on the support seat 301 along a length direction perpendicular to the first guide rail 10, and the second driving member is connected to the screw rod 302 through the screw nut.
Specifically, two support rods 30 are arranged on each of the first guide rail 10, the second guide rail 20, the first connecting rod 40 and the second connecting rod 50, wherein four support rods 30 on the first guide rail 10 and the second guide rail 20 are located on the same side of the first guide rail 10, four support rods 30 on the first connecting rod 40 and the second connecting rod 50 are also located on the same side of the first guide rail 10, and the four support rods 30 on the first connecting rod 40 and the second connecting rod 50 are located on different sides from the four support rods 30 on the first guide rail 10 and the second guide rail 20; when the telescopic position of the supporting component needs to be adjusted, the screw rod nut can be driven to rotate only by the second driving piece, and the screw rod nut can drive the screw rod 302 to rotate, so that the screw rod 302 can move along the axial direction of the screw rod.
In some embodiments, in order to enable the angle of the contact surface between the support rod 30 and the cable channel wall to be freely adjusted, so that the support rod 30 is in contact with the cable channel wall in the largest area, as shown in fig. 1, the support rod 30 in this application further includes a support foot 303 and a ball joint connector 304, wherein a side of the screw rod 302 facing away from the first guide groove 101 or the second guide groove 201 is connected with the support foot 303 through the ball joint connector 304.
Specifically, this bulb connecting piece 304 includes the universal joint, the one end of universal joint is connected with one side that lead screw 302 deviates from first guide way 101, the other end and the supporting legs 303 of universal joint are connected, the second driving piece includes the motor, the output shaft and the screw-nut of motor are connected, the output shaft when the motor drives the screw-nut and rotates, screw-nut drives lead screw 302 and rotates, when supporting legs 303 on lead screw 302 and cable channel wall contact, the universal joint will automatic adjustment supporting legs 303's angle, so that supporting legs 303 and the contact of cable channel wall maximum area.
It should be noted that, the ball joint connection member in the embodiment of the present application is a universal joint structure, and in other alternative schemes, other structures may be adopted, for example, the ball joint connection member includes a single-rod ball joint bearing. The present application does not specifically limit the specific connection structure of the ball joint connector, as long as the above structure can achieve the purpose of the present application.
In some embodiments, in order to detect the distance between the supporting leg 303 and the supporting base 301, the supporting assembly further includes a plurality of position detecting sensors (not shown), wherein one position detecting sensor is disposed on each of the first rail 10, the second rail 20, the first link 40, and the second link 50, and is used for detecting the distance between the supporting leg 303 and the supporting base 301.
Specifically, the position detection sensor comprises a plurality of magnetic parts and a plurality of hall switches, a hall switch is arranged on each supporting seat 301, a magnetic part is arranged at the joint of the supporting legs 301 and the lead screw 302, when the magnetic part is close to the hall switch, and the distance between the magnetic part and the hall switch reaches the preset distance, the switch is turned on, when the magnetic part is far away from the hall switch, and the distance between the magnetic part and the hall switch reaches the preset distance, the switch is turned off, so that the distance between the magnetic part and the hall switch can be conveniently detected, and further the distance between the supporting legs 303 and the supporting seats 301 is indirectly detected.
When the second driving part, that is, the motor drives the lead screw nut to rotate, so as to drive the lead screw 302 to move along the axial direction thereof, when the lead screw 302 on the first guide rail 10 and the second guide rail 20 moves to the position where the hall switch is turned off, the second driving part continues to drive the lead screw 302 on the first guide rail 10 and the second guide rail 20 to move, when the supporting leg 303 on the lead screw 302 is tightly attached to the cable channel wall, at this time, the rotor on the motor cannot rotate, and at this time, the current in the motor coil is the locked-rotor current. Detecting locked-rotor current through a current sensor on the second driving piece, and simultaneously sending a detected locked-rotor current signal to a remote controller, wherein the remote controller controls the motor to stop moving; when the screw rods 302 on the first guide rail 10 and the second guide rail 20 move to the position where the Hall switch is turned on, the switch type Hall sensor sends a turn-on signal to the remote controller, and the remote controller controls the motor to stop moving; the control principle of the hall switches on the first link 40 and the second link 50 is the same as that of the hall switches on the first rail 10 and the second rail 20, and will not be described in detail here.
It should be noted that the structure in which the position detection sensor includes the magnetic member and the hall switch in the embodiment of the present application is merely an example, and in other alternative solutions, other structures may also be adopted, for example, the position detection sensor is an infrared sensor. The present application does not specifically limit the specific structure of the position detection sensor, as long as the above-described structure can achieve the object of the present application.
In some embodiments, in order to facilitate detection of an environment in the cable channel, the cable patrol device in the present application further includes a camera (not indicated in the drawings), which is disposed on the active rod of the walking assembly, and the camera can rotate 360 ° relative to the active rod.
Specifically, the camera can be a camera with the model of the common TL-IPC44AN-4, a base on the camera is installed on the driving rod, and a lens on the camera can rotate for 360 degrees, so that the environment condition in a cable channel can be observed conveniently, and then the environment in the cable channel is sent to a remote controller through a wireless module on the camera, and an operator can control the whole movement of the device conveniently.
In some embodiments, a hanging tray or towing hook or other support is provided between the first link 40 and the second link 50 in this application to facilitate mounting of the detection apparatus.
In summary, the invention of the present application, when in use:
when the cable in the cable trench needs to be surveyed, as shown in fig. 1, only the support rod 30 on the first guide rail 10 and the second guide rail 20 needs to be adjusted to the first position, and simultaneously the support rod 30 on the first connecting rod 40 and the second connecting rod 50 needs to be adjusted to the second position, at this time, the support rod 30 on the first guide rail 10 and the second guide rail 20 is tightly attached to the side wall of the cable trench, the support rod 30 on the first connecting rod 40 and the second connecting rod 50 is far away from the side wall of the cable trench, at this time, the first guide rail 10 and the second guide rail 20 are relatively fixed on the side wall of the cable trench, and then the drive wheel 80 is driven to rotate by the first driving member, since the second teeth on the surface of the drive wheel 80 are engaged with the first teeth on the first bottom surface 1011 or the second bottom surface 2011, so that when the drive wheel 80 rotates, the drive wheel 80 can advance along the length direction of the first guide groove 101 or the second guide groove 201, and further can drive the traveling frame to move along the length direction of the first guide rail or the second guide rail 20, when the drive wheel 80 moves to the preset position, the first drive member is turned off;
the support rods 30 on the first and second links 40 and 50 are then adjusted to the first position, while the support bars 30 on the first guide rail 10 and the second guide rail 20 are adjusted to the second position, at this time, the walking frame is fixed on the cable trench, when the first driving member drives the driving wheel 80 to rotate, since the travelling frame is fixed to the cable trench, while the second teeth on the surface of the driving wheel 80 are engaged with the first teeth on the first bottom surface 1011 or the second bottom surface 2011, when the driving wheel 80 rotates, the first guide rail 10 and the second guide rail 20 are driven to advance along the moving direction of the walking frame, when the first guide rail 10 and the second guide rail 20 move to the preset position, the first driving member is closed (as shown in fig. 2), and so on, the above two movement processes are repeated, therefore, the integral device can continuously advance in the cable trench, and then the detection equipment on the integral device can be driven to detect the cable trench.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. A cable patrol device, comprising:
a guide rail assembly;
the walking assembly is matched with the guide rail assembly and can move along the length direction of the guide rail assembly;
the guide rail assembly and the walking assembly are both provided with the supporting assemblies, and the supporting assemblies on the guide rail assembly and the walking assembly are both arranged along the length direction vertical to the guide rail assembly;
the support assembly on the track assembly has a first position extended and a second position retracted relative to the track assembly; the support assembly on the walking assembly has a first position extended and a second position retracted relative to the walking assembly;
when the support assembly on the guide rail assembly is located at a first position and the support assembly on the walking assembly is located at a second position, the guide rail assembly is fixed on a cable trench, and the walking assembly can move along the length direction of the guide rail assembly relative to the guide rail assembly;
when the supporting assembly on the guide rail assembly is located at the second position and the supporting assembly on the walking assembly is located at the first position, the walking assembly is fixed on the cable trench, and the guide rail assembly can move along the moving direction of the walking assembly under the driving of the walking assembly;
the guide rail assembly comprises a first guide rail (10) and a second guide rail (20), a first guide groove (101) on the first guide rail (10) and a second guide groove (201) on the second guide rail (20) are oppositely arranged, the walking assembly is arranged between the first guide groove (101) and the second guide groove (201), and the first guide rail (10) and the second guide rail (20) are both provided with the supporting assemblies;
the walking assembly comprises a walking frame, a first driving part and at least two driving wheels (80), one side of the walking frame is connected with the first guide groove (101) through one of the driving wheels (80), the other side of the walking frame is connected with the second guide groove (201) through the other driving wheel (80), and the first driving part is connected with the driving wheels (80);
the walking assembly further comprises at least two driven wheels (90), and the walking frame comprises a first connecting rod (40), a driving rod (60), a second connecting rod (50) and a driven rod (70) which are sequentially connected;
two ends of the driving rod (60) are respectively provided with one driving wheel (80), the first driving piece is matched with the driving rod (60) and used for driving the driving rod (60) to rotate, and two ends of the driven rod (70) are respectively provided with one driven wheel (90);
the supporting component comprises a supporting rod (30) and a second driving piece, the supporting rod (30) comprises a supporting seat (301), a screw rod (302) and a screw nut, the first guide rail (10), the second guide rail (20), the first connecting rod (40) and the second connecting rod (50) are fixedly provided with the second driving piece and the supporting seat (301), the screw rod (302) is sleeved on the supporting seat (301) along the length direction of the first guide rail (10), and the second driving piece passes through the screw nut and the screw rod (302) are connected.
2. The cable patrol apparatus according to claim 1, wherein a first tooth is provided on each of a first bottom surface (1011) of the first guide groove (101) and a second bottom surface (2011) of the second guide groove (201), and a second tooth is provided on a surface of the drive wheel (80), the second tooth being engaged with the first tooth.
3. The cable patrol device according to claim 1, wherein the traveling assembly further comprises a limit sensor and a controller, the limit sensor is disposed at each of two ends of the first guide groove (101) and/or the limit sensor is disposed at each of two ends of the second guide groove (201), the controller is disposed on the traveling frame, and the limit sensor and the first driving member are connected to the controller respectively.
4. The cable patrol device according to claim 1, wherein the support rod (30) further comprises a support foot (303) and a ball joint (304), and a side of the screw rod (302) facing away from the first guide groove (101) or the second guide groove (201) is connected to the support foot (303) through the ball joint (304).
5. The cable patrol apparatus according to claim 4, wherein the support assembly further comprises a plurality of position detection sensors, and one of the position detection sensors is provided on each of the first rail (10), the second rail (20), the first link (40), and the second link (50) for detecting a distance from the support foot (303) to the support base (301).
6. The cable patrol device according to any one of claims 1 to 5, further comprising a camera, wherein the camera is disposed on the active rod of the walking assembly, and the camera can rotate 360 ° relative to the active rod.
7. The cable patrol device according to claim 1, wherein the traveling assembly comprises two driving wheels (80), one driving wheel (80) is mounted on one side of the traveling frame, and the other driving wheel (80) is mounted on the other side of the traveling frame.
8. The cable patrol device according to claim 1, wherein the first driving member includes a driving motor and a transmission gear, the transmission gear is sleeved on the driving rod (60), the driving motor is fixed on the support frames of the first connecting rod (40) and the second connecting rod (50), and an output shaft of the driving motor is engaged with the transmission gear through an auxiliary gear.
9. The cable patrol device according to claim 1, wherein two support rods (30) are provided on each of the first guide rail (10), the second guide rail (20), the first link (40), and the second link (50);
four support rods (30) on the first guide rail (10) and the second guide rail (20) are located on the upper side of the first guide rail (10), and four support rods (30) on the first connecting rod (40) and the second connecting rod (50) are located on the lower side of the first guide rail (10).
10. The cable patrol device according to claim 1, wherein a hanging tray or a towing hook is provided between the first link (40) and the second link (50).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011237705.7A CN112531549B (en) | 2020-11-09 | 2020-11-09 | Cable inspection tour device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011237705.7A CN112531549B (en) | 2020-11-09 | 2020-11-09 | Cable inspection tour device |
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| CN112531549A CN112531549A (en) | 2021-03-19 |
| CN112531549B true CN112531549B (en) | 2022-07-15 |
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| CN108556955A (en) * | 2018-05-09 | 2018-09-21 | 王闯 | A kind of single motor walking robot device illuminated |
| KR101915432B1 (en) * | 2018-01-29 | 2018-11-05 | 이상균 | Electric cable install apparatus and method with movable installer |
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| CN201345492Y (en) * | 2008-12-19 | 2009-11-11 | 北京市电力公司 | Peeler for insulated wires |
| KR101205500B1 (en) * | 2011-10-20 | 2012-11-27 | 김채현 | Constraction Method of Non-Open Cut for Undergroud Cable Conduit |
| CN104283152A (en) * | 2014-10-08 | 2015-01-14 | 国家电网公司 | Self-lifting rotary insulation cage |
| CN104811672A (en) * | 2015-05-19 | 2015-07-29 | 国家电网公司 | Intelligent video fault detecting instrument |
| CN206211395U (en) * | 2016-12-09 | 2017-05-31 | 国网安徽省电力公司检修公司 | Inspection device in cable duct |
| CN208890321U (en) * | 2018-07-26 | 2019-05-21 | 王忠阳 | A kind of dedicated cable drum construction tool of buried cable ditch |
| CN109124455B (en) * | 2018-10-30 | 2023-04-18 | 吉林大学 | Building external glass wiping robot with self-recognition and obstacle avoidance capabilities and control method thereof |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103683111A (en) * | 2013-12-30 | 2014-03-26 | 昆山市工业技术研究院有限责任公司 | Line inspection robot based on gravity center adjustment |
| KR101915432B1 (en) * | 2018-01-29 | 2018-11-05 | 이상균 | Electric cable install apparatus and method with movable installer |
| CN108556955A (en) * | 2018-05-09 | 2018-09-21 | 王闯 | A kind of single motor walking robot device illuminated |
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