CN114526430B - Cage guide inspection trolley - Google Patents
Cage guide inspection trolley Download PDFInfo
- Publication number
- CN114526430B CN114526430B CN202210150229.8A CN202210150229A CN114526430B CN 114526430 B CN114526430 B CN 114526430B CN 202210150229 A CN202210150229 A CN 202210150229A CN 114526430 B CN114526430 B CN 114526430B
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- Prior art keywords
- cage guide
- bayonet
- inspection trolley
- lower panel
- self
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- 238000007689 inspection Methods 0.000 title claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims description 15
- 239000003381 stabilizer Substances 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 229910052701 rubidium Inorganic materials 0.000 claims description 6
- IGLNJRXAVVLDKE-UHFFFAOYSA-N rubidium atom Chemical compound [Rb] IGLNJRXAVVLDKE-UHFFFAOYSA-N 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- 230000005294 ferromagnetic effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims 1
- 230000005291 magnetic effect Effects 0.000 description 10
- 238000001179 sorption measurement Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 239000011499 joint compound Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Handcart (AREA)
Abstract
The application discloses a cage guide inspection trolley, which comprises a self-clamping structure and an upper panel, wherein the self-clamping structure comprises wheels, the axes of the wheels are in a vertical direction, and the wheels are symmetrically distributed on two sides of a cage guide and are in close contact with the two sides of the cage guide; the upper panel is used for installing a self-clamping structure, carrying a sensor or a camera. The application reduces the dead weight, improves the number and the running distance of the portable sensors, has strong running power, high safety and high stability and solves the problems in the prior art.
Description
Technical Field
The application belongs to the technical field of cage guide operation, and relates to a cage guide inspection trolley.
Background
The underground coal resource is rich in kilometers, so that the coal in China is gradually transferred into deep mining. The lithology of the deep vertical well stratum is various, the geological structure is complex, and the larger the vertical depth of the well shaft is, the more easily the interaction of the rock, mud and water weak interlayers causes cracks to appear on the well wall. Meanwhile, the cage is required to run on the cage guide to ensure the reliability of the cage guide, and as the cage guide can be subjected to conditions such as crack deformation and the like, serious safety accidents can be caused if the cage guide is not detected in time. In order to detect various environmental conditions in a deep vertical shaft and the health of a cage guide, a cage guide detection trolley capable of carrying several sensors is required to ensure that the deep vertical shaft can work in a reliable state.
The friction force between the magnetic wheel and the cage guide of the inspection robot disclosed in the prior art 1 (research on the steel cage guide inspection robot driven by the magnetic wheel, feng Hua, 2021.9.24) is small, when the equipment is additionally provided with a battery, other sensor equipment cannot be greatly increased, and due to the fact that a steering mechanism is added, the dead weight of the trolley is greatly increased, two power wheels are fewer, and the problems of insufficient power and the like possibly occur.
The prior art 2 (a structure of a magnetic adsorption steel cage guide inspection robot capable of crossing wall surfaces, wang Xinghao, 2020.08) only analyzes the current existing mode; the existing cage guide detection trolley controls the actions of turning and the like of the trolley in a well through a turning structure, the turning mechanism needs to judge turning by means of a program due to complex conditions in the well, the reliability is low, and when the power failure is caused by uncontrollable conditions, the trolley can slip down from the cage guide to derail, accidents are caused, and the dead weight burden is increased.
Most of the existing cage guide inspection robots adopt strong rubidium magnets to be adsorbed on the surface of a rigid cage guide, and wheels are also arranged on the surface of the cage guide, so that the adsorption force of the magnets presses the cage guide inspection robot on the surface of the cage guide, and the mode needs a large number of magnets to provide enough magnetic adsorption force, so that the dead weight of the cage guide inspection robot can be increased, the number of portable sensors and the running distance can be greatly reduced, and the working efficiency is affected; if the magnetic wheel area is insufficient, the magnetic adsorption force is not strong, the magnetic wheel is easy to slip, and the running stability is greatly affected.
Disclosure of Invention
In order to solve the problems, the application provides the cage guide inspection trolley which reduces the dead weight, improves the number and the running distance of the portable sensors, has strong running power, is safe and high in stability, and solves the problems in the prior art.
The technical scheme adopted by the application is that the cage guide inspection trolley comprises
The self-clamping structure comprises wheels, wherein the axes of the wheels are in a vertical direction, are symmetrically distributed on two sides of the cage guide and are in close contact with the two sides of the cage guide;
and the upper panel is used for installing a self-clamping structure, carrying a sensor or a camera.
Further, the self-clamping structure further comprises a frame, a plurality of frame screw holes are formed in the top of the frame, a plurality of adjusting screw holes are formed in the position, on the upper panel, of the self-clamping structure, the frame screw holes are matched with the adjusting screw holes, and bolts penetrate through the corresponding frame screw holes and the corresponding adjusting screw holes to fix the frame and the upper panel so as to adapt to the tank guides with different widths.
Further, the wheels are independently controlled through corresponding rotary driving mechanisms, the rotary driving mechanisms are slidably mounted on the guide rails, the guide rails are arranged along the width direction of the guide rails, springs are mounted on one sides, far away from the guide rails, of the mounting seats of the rotary driving mechanisms, and the springs are sleeved outside the guide rails, so that the wheel distances on two sides of the guide rails are adaptively adjusted along with the width of the guide rails.
Further, a lower panel structure is arranged below the upper panel, and comprises
The lower panel is arranged below the upper panel, and a plurality of copper pipes are arranged between the upper panel and the lower panel to play a supporting role;
the mobile power supply is arranged on the lower panel and is used for providing power for the cage guide inspection trolley,
and the magnet is arranged on one side of the lower panel, which is close to the cage guide, and provides force towards the ferromagnetic cage guide for the inspection trolley.
Further, the magnet is a strong rubidium magnet, the area is adapted to the mountable area at the bottom of the lower panel, and the thickness is 3 mm-4 mm.
Further, the bottom of the lower panel is provided with the roller, the axis of the roller is horizontally arranged, and the roller slides on the surface of the cage guide along the length direction of the cage guide.
Furthermore, two self-clamping structures provided with springs and guide rails are arranged on one side of the cage guide, and fixed wheels are adopted on the other side of the cage guide.
Further, the cage guide inspection trolley further comprises
The power-down protection device comprises a supporting plate, the supporting plate is arranged on the side face of the rotary driving mechanism, an electromagnet and a bayonet armature are arranged on the supporting plate, the bayonet armature can leave or clamp a wheel disc under the action of the electromagnet, and the wheel disc is arranged on an output shaft of the rotary driving mechanism.
Further, the bayonet armature comprises
The upper end of the base is fixedly connected with the supporting plate;
the spring hinge is used for hinging the base with the base body provided with the armature, and enabling the angle between the base body and the base to be opened to a certain angle through torsional deformation of the spring;
the bayonet is arranged at the end part of the base body, the bayonet can leave or clamp the wheel disc under the action of the armature and the electromagnet, a plurality of clamping grooves are formed in one side, close to the bayonet, of the wheel disc, and the clamping grooves are mutually matched with the bayonet.
Further, the electromagnet is controlled by an AND gate circuit, an AND gate switch is arranged in the AND gate circuit controller and is connected with the electromagnet, two paths of input of the AND gate switch are respectively a current signal directly output by a voltage stabilizer and the output of a GPIO (general purpose input/output) port of a singlechip, and the output of the voltage stabilizer is used for the whole cage guide inspection trolley circuit; when the two inputs are positive signals, the output of the AND gate circuit controller is positive, and the electromagnet is electrified; wherein, if any one of the two is zero, the output of the AND gate circuit controller is zero, and the electromagnet is powered off.
The beneficial effects of the application are as follows:
according to the application, the self-clamping mode is adopted, so that the problem that the cage guide inspection trolley deviates from a track is avoided, a steering mechanism is not required, the self weight of the cage guide inspection trolley is reduced, the number of power wheels is increased, and the running power of the trolley is greatly enhanced; while overcoming other problems associated with steering mechanisms.
The application only needs one magnet, has small thickness, can ensure that the cage guide inspection trolley clings to the surface of the rigid cage guide, does not have the potential safety hazard of upturning, reduces the dead weight, and can improve the number and the running distance of the portable sensors, thereby improving the working efficiency and the working quality; each structure mutually cooperates, a reliable mobile carrying platform is constructed for various sensors, various data acquisition inside the deep vertical shaft is realized, and the problem of state detection inside the deep vertical shaft is solved.
The application is additionally provided with the power-down protection device, if the vehicle is suddenly powered off due to irresistible reasons in the underground severe environment, the wheel lock can be automatically activated to stop the vehicle at the original position, and after the vehicle automatically recovers the power, the wheel lock can be automatically opened, so that the vehicle continues to run, and the safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of an embodiment of the present application.
Fig. 2 is a schematic structural view of an upper panel according to an embodiment of the present application.
Fig. 3 is a schematic structural view of a lower panel structure according to an embodiment of the present application.
Fig. 4a is an enlarged view of the self-clamping structure in the overall structure in an embodiment of the present application.
Fig. 4b is a schematic structural view of the self-clamping structure according to the embodiment of the present application.
Fig. 5a is an enlarged view of the power loss protection device in the overall structure in an embodiment of the present application.
Fig. 5b is a schematic structural diagram of a power failure protection device according to an embodiment of the present application.
Fig. 5c is a state diagram of the bayonet armature being moved away from the disc in an embodiment of the present application.
Fig. 5d is a schematic diagram of a bayonet armature according to an embodiment of the present application.
Fig. 6 is a front view of an embodiment of the present application.
Fig. 7 is a left side view of an embodiment of the present application.
In the figure, 1. An upper panel, 2. A lower panel structure, 3. A self-clamping structure, 4. A power failure protection device, 1-1. An adjusting screw hole, 1-2. A connecting screw hole, 2-1. A lower panel, 2-2. A copper pipe, 2-3. A mobile power supply, 2-4. A magnet, 2-5. A roller, 3-1. A frame, 3-2. A frame screw hole, 3-3. A motor, 3-4. A guide rail, 3-5. A spring, 3-6. A wheel, 4-1. A supporting plate, 4-2. An AND gate switch, 4-3. An electromagnet, 4-4. A bayonet armature, 4-5. A wheel disc, 4-4-1. A base, 4-4-2. A spring hinge, 4-4-3. An armature and 4-4-4. A bayonet.
Description of the embodiments
The technical solutions of the embodiments of the present application will be clearly and completely described below in conjunction with the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Examples
The cage guide inspection trolley comprises an upper panel 1, a lower panel structure 2, a self-clamping structure 3 and a power-down protection device 4, as shown in figure 1.
As shown in fig. 1 and 2, the four corners of the bottom of the upper panel 1 are respectively provided with a self-clamping structure 3, and a plurality of adjusting screw holes 1-1 are arranged at the position of the upper panel 1 where the self-clamping structure 3 is arranged and are used for connecting the corresponding self-clamping structures 3; the lower panel structure 2 is installed below the upper panel 1, and a plurality of connecting screw holes 1-2 are arranged in the middle of the upper panel 1 and are used for connecting the lower panel structure 2.
As shown in fig. 1 and 3, the lower panel structure 2 comprises a lower panel 2-1, the lower panel 2-1 is arranged below the upper panel 1, and a plurality of copper tubes 2-2 are arranged between the upper panel 1 and the lower panel 2-1 to play a supporting role; the lower panel 2-1 is provided with a mobile power supply 2-3, the mobile power supply 2-3 is a lithium battery and is used for providing power for the cage guide inspection trolley, one side, close to the cage guide, of the lower panel 2-1 is provided with a magnet 2-4, and the cage guide inspection trolley is provided with force towards a rigid cage guide, so that the cage guide inspection trolley is ensured not to turn over to derail.
In some embodiments, the magnet 2-4 is a strong rubidium magnet, the area of the magnet is adapted to the mountable area at the bottom of the lower panel 2-1, and the thickness of the magnet is 3 mm-4 mm. Too small an area and thickness can lead to insufficient magnetic adsorption force, too large an area can increase mass, and the mass and the adsorption force can be well controlled by the area and the thickness.
In some embodiments, as shown in fig. 6-7, in order to prevent the strong rubidium magnet from being directly attracted to the surface of the cage guide, four rollers 2-5 are installed at the bottom of the lower panel 2-1, the axes of the rollers 2-5 are horizontally arranged and slide on the surface of the cage guide along the length direction of the cage guide, so that the distance between the strong rubidium magnet and the surface of the rigid cage guide can be maintained, the cage guide inspection trolley can run more smoothly, enough magnetic force can be ensured, and the cage guide inspection trolley is prevented from turning to derailment.
The diameter of the roller 2-5 is between 7mm and 10mm, when the diameter is smaller than 7mm, the magnet 2-4 is too close to the surface of the cage guide, and can not smoothly pass through the joint of the bulge possibly existing on the surface of the cage guide and the cage guide, so that the magnet 2-4 directly attracts the rigid cage guide, and further the cage guide inspection trolley can not continue to run; when the diameter is larger than 10mm, the distance between the magnet 2-4 and the cage guide is too far, and enough magnetic adsorption force cannot be provided, so that potential safety hazards are caused.
As shown in fig. 1, 4a and 4b, the self-clamping structure 3 comprises a frame 3-1, a plurality of frame screw holes 3-2 are formed in the top of the frame 3-1, the frame screw holes 3-2 are matched with the adjusting screw holes 1-1, bolts penetrate through the corresponding frame screw holes 3-2 and the adjusting screw holes 1-1 to fix the frame 3-1 and the upper panel 1, wheels 3-6 are mounted at the bottom of the frame 3-1, the axes of the wheels 3-6 are in the vertical direction, are distributed on two sides of a cage guide and are in contact with the cage guide, and can walk along the length direction of the cage guide.
The traditional power wheel axis is horizontally arranged and positioned on the upper surface of the cage guide, and the power wheel 3-6 is arranged on the side surface of the cage guide, so that the cage guide is clamped by the wheels 3-6 to run, a steering mechanism is not needed, the reliability is increased, and the dead weight of the robot is reduced; and the cage guide inspection trolley is adsorbed on the surface of the cage guide without large strong magnetism, so that the dead weight is further reduced.
The center of the wheel 3-6 is fixedly connected with the output shaft of the motor 3-3, the mounting seat of the motor 3-3 is slidably mounted on the guide rail 3-4 in the frame 3-1, the guide rail 3-4 is arranged along the width direction of the cage guide, the motor 3-3 can slide on the guide rail 3-4, a spring 3-5 is mounted between one side, far away from the cage guide, of the mounting seat of the motor 3-3 and the frame 3-1, the spring 3-5 is sleeved outside the guide rail 3-4, the spring 3-5 has a high elastic coefficient, the motor 3-3 is extruded towards the cage guide direction, the distance between the wheels 3-6 on two sides of the cage guide is ensured to be adaptively adjusted along with the width of the cage guide, the cage guide is always kept to be clamped by the driving wheel, the idling of the driving wheel is prevented, and the running stability is improved.
According to the embodiment of the application, four motors 3-3 can be arranged, corresponding wheels 3-6 are independently controlled, strong power is provided for the cage guide inspection robot, so that the cage guide inspection trolley can easily run upwards, and can carry enough sensors and cameras to monitor various data, and the data acquisition efficiency is improved; the transmission shaft is reduced, a series of transmission shaft parts are reduced, and the failure rate is reduced; friction force exists on the gear at the joint of the transmission shaft, so that energy consumption can be increased; the embodiment of the application reduces the transmission shaft, and can lead the power transmission efficiency to be higher.
In some embodiments, two self-clamping structures 3 provided with springs 3-5 and guide rails 3-4 can be arranged on one side of the cage guide, and the other side of the cage guide is fixed, so that the elastic coefficient of the springs 3-5 is higher, and the dead weight is reduced to a certain extent.
The upper panel 1 is provided with a plurality of adjusting screw holes 1-1, and according to the cage guides with different widths, the distance between the self-clamping structures 3 on two sides of the cage guide is adjusted, so that the clamping force is ensured to be large enough.
As shown in fig. 1, 5a and 5b, the power failure protection device 4 comprises a supporting plate 4-1, the supporting plate 4-1 is mounted on the side surface of the motor 3-3 and fixed, then a door switch 4-2, an electromagnet 4-3 and a bayonet armature 4-4 are mounted on the supporting plate 4-1 and fixed, the bayonet armature 4-4 can leave or clamp a wheel disc 4-5 under the action of the electromagnet 4-3, and the wheel disc 4-5 is mounted on the rotating shaft of the motor 3-3.
The structure of the bayonet armature 4-4 is shown in fig. 5c-5d, the bayonet armature 4-4 comprises a base 4-4-1, a spring hinge 4-2, an armature 4-4-3 and a bayonet 4-4-4, the base 4-4-1 is perpendicular to the rotating surface of the wheel disc 4-5, the upper end of the base 4-4-1 is fixedly connected with the supporting plate 4-1, the lower end of the base 4-1 is hinged with a base body provided with the armature 4-4-3 through the spring hinge 4-2, the end of the base body is provided with the bayonet 4-4, one side of the wheel disc 4-5 close to the bayonet 4-4-4 is provided with a plurality of clamping grooves, the clamping grooves are matched with the bayonet 4-4, and the bayonet 4-4-5 can separate or clamp the wheel disc 4-5 under the action of the armature 4-4-3 and the electromagnet 4-3.
The electromagnet 4-3 is controlled by an AND gate circuit, an AND gate switch 4-2 is arranged in the AND gate circuit controller, the AND gate switch 4-2 is connected with the electromagnet 4-3, two paths of input of the AND gate switch 4-2 are respectively a current signal directly output by a voltage stabilizer and the output of a GPIO (general purpose input/output) port of a singlechip, and the output of the voltage stabilizer is used for the whole cage guide inspection trolley circuit; when the two inputs are positive signals, the output is positive and the electromagnet 4-3 is electrified; wherein, any one of the two is input with zero, the output is zero, and the electromagnet 4-3 is powered off.
If the cage guide inspection trolley is suddenly powered off in the well, the output of the voltage stabilizer is zero, and the AND gate circuit controller does not output the voltage stabilizer; or the single chip microcomputer needs to stay for a long time, the output of the GPIO port of the single chip microcomputer is controlled to be zero, and the AND gate circuit controller does not output the GPIO port; in both cases, the electromagnet 4-3 is powered off, the spring hinge 4-4-2 springs the angle between the base 4-4-1 and the armature 4-4-3 up to 110 degrees, and the bayonet 4-4 can clamp the wheel disc 4-5 to block the movement of the trolley. When the power is recovered or continuous operation is needed, the door switch 4-2 is controlled to normally output, the electromagnet 4-3 sucks the armature 4-4-3, the angle between the base 4-4-1 and the armature 4-4-3 can be compressed to 45 degrees, the bayonet 4-4-4 leaves the wheel disc 4-5, and the trolley can continue to move without obstruction, so that the purpose of power failure protection is achieved.
The existing cage guide inspection trolley is not provided with a power-down protection device, once the cage guide inspection trolley is powered off due to uncontrollable reasons, the cage guide inspection trolley can possibly cause derailment due to falling stall to cause potential safety hazard, and the power-down protection device 4 provides good safety, prevents ground stall from sliding off and derailment due to sudden power failure and the like, and can achieve the purpose of actively stopping at a certain position through program control to protect a motor and reduce electric quantity loss.
In the course of operation of the embodiment of the present application,
when detection is needed, the position of the self-clamping structure 3 mounted on the adjusting screw hole 1-1 is manually adjusted according to the width of the cage guide, and after the installation is finished, the cage guide inspection trolley is clamped on the rigid cage guide, and the problem that the cage guide inspection trolley turns forward or backward can be effectively avoided by the lower panel structure 2; after the motor 3-3 is started, the cage guide inspection trolley is driven to run, when the passed cage guide deforms or the width of the cage guide changes to a certain extent, the distance between the wheels 3-6 at the two sides can be increased, meanwhile, the motor 3-3 is driven to move on the guide rail 3-4, and meanwhile, the spring 3-5 is compressed, so that the cage guide inspection trolley can be still in a state of clamping the cage guide. According to the application, the clamping force can be manually adjusted according to different specifications of the cage guide through the self-clamping structure 3, the ground distance between the side wheels can be adaptively adjusted, and the cage guide inspection trolley can not be clamped. The application can also detect the vibration signal of the cage guide by carrying the vibration sensor to judge whether sand holes and cracks exist in the cage guide.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.
Claims (5)
1. The utility model provides a cage guide inspection dolly which characterized in that includes
The self-clamping structure (3), the self-clamping structure (3) comprises wheels (3-6), the axes of the wheels (3-6) are in a vertical direction, and the wheels are symmetrically distributed on two sides of the cage guide and are in close contact with the two sides of the cage guide;
the upper panel (1) is used for installing a self-clamping structure (3) and carrying a sensor or a camera;
the self-clamping structure (3) further comprises a frame (3-1), a plurality of frame screw holes (3-2) are formed in the top of the frame (3-1), a plurality of adjusting screw holes (1-1) are formed in the position, on the upper panel (1), of the self-clamping structure (3), the frame screw holes (3-2) are matched with the adjusting screw holes (1-1), bolts penetrate through the corresponding frame screw holes (3-2), and the adjusting screw holes (1-1) fix the frame (3-1) and the upper panel (1) to adapt to the tank guides with different widths;
the wheels (3-6) are independently controlled through corresponding rotary driving mechanisms, the rotary driving mechanisms are slidably mounted on the guide rails (3-4), the guide rails (3-4) are arranged along the width direction of the cage guide, springs (3-5) are mounted on one side, far away from the cage guide, of the mounting seat of the rotary driving mechanism, and the springs (3-5) are sleeved outside the guide rails (3-4) so that the distance between the wheels (3-6) on two sides of the cage guide can be adaptively adjusted along with the width of the cage guide;
a lower panel structure (2) is arranged below the upper panel (1), and the lower panel structure (2) comprises
The lower panel (2-1), the said lower panel (2-1) locates the inferior part of the upper panel (1), there are multiple copper tubes (2-2) between lower panel (2-1) and the upper panel (1), play a role in supporting;
the mobile power supply (2-3) is arranged on the lower panel (2-1) and is used for providing power for the cage guide inspection trolley;
the magnet (2-4) is arranged on one side, close to the cage guide, of the lower panel (2-1) and provides force towards the ferromagnetic cage guide for the inspection trolley;
the cage guide inspection trolley further comprises
The power failure protection device (4), the power failure protection device (4) comprises a supporting plate (4-1), the supporting plate (4-1) is arranged on the side face of the rotary driving mechanism, an electromagnet (4-3) and a bayonet armature (4-4) are arranged on the supporting plate (4-1), the bayonet armature (4-4) can leave or clamp a wheel disc (4-5) under the action of the electromagnet (4-3), and the wheel disc (4-5) is arranged on an output shaft of the rotary driving mechanism;
the bayonet armature (4-4) comprises
The upper end of the base (4-4-1) is fixedly connected with the supporting plate (4-1);
the spring hinge (4-4-2) is used for hinging the base (4-4-1) with a base body provided with the armature (4-4-3) and enabling an angle between the base body and the base (4-4-1) to be opened to a certain angle through torsion deformation of the spring;
the bayonet (4-4-4), bayonet (4-4-4) are installed in the tip of base member, and bayonet (4-4-4) can leave or block rim plate (4-5) under armature (4-4-3) and electro-magnet (4-3) effect, and rim plate (4-5) are close to one side of bayonet (4-4-4) and are equipped with a plurality of draw-in grooves, and the draw-in groove cooperates with bayonet (4-4) each other.
2. The cage guide inspection trolley according to claim 1, wherein the magnet (2-4) is a strong rubidium magnet, the area is adapted to the mountable area at the bottom of the lower panel (2-1), and the thickness is 3 mm-4 mm.
3. The cage guide inspection trolley according to claim 1, wherein rollers (2-5) are mounted at the bottom of the lower panel (2-1), the axes of the rollers (2-5) are horizontally arranged and slide on the cage guide surface along the length direction of the cage guide.
4. Cage guide inspection trolley according to claim 1, characterized in that two self-clamping structures (3) provided with springs (3-5) and guide rails (3-4) are placed on one side of the cage guide, and fixed wheels (3-6) are used on the other side of the cage guide.
5. The cage guide inspection trolley according to claim 1, wherein the electromagnet (4-3) is controlled by an AND gate circuit, an AND gate switch (4-2) is arranged in the AND gate circuit controller, the AND gate switch (4-2) is connected with the electromagnet (4-3), two paths of input of the AND gate switch (4-2) are respectively a current signal directly output by a voltage stabilizer and output of a GPIO (general purpose input/output) port of a singlechip, and the output of the voltage stabilizer is used for the whole cage guide inspection trolley circuit; when the two inputs are positive signals, the output of the AND gate circuit controller is positive, and the electromagnet (4-3) is electrified; wherein, any one of the input zeros, the output of the AND gate circuit controller is zero, and the electromagnet (4-3) is powered off.
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