CN114770553A - Intelligent inspection robot for cable tunnel - Google Patents
Intelligent inspection robot for cable tunnel Download PDFInfo
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- CN114770553A CN114770553A CN202210558760.9A CN202210558760A CN114770553A CN 114770553 A CN114770553 A CN 114770553A CN 202210558760 A CN202210558760 A CN 202210558760A CN 114770553 A CN114770553 A CN 114770553A
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- inspection
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The invention belongs to the field of track type inspection robots, and particularly relates to an intelligent inspection robot for a cable tunnel, which comprises a guide rail assembly, wherein the top of the guide rail assembly is fixedly connected to the top wall of the inner side of the tunnel, an inspection shell assembly is arranged below the guide rail assembly, an intelligent inspection device is arranged in the inspection shell assembly, an orbit changing device is arranged between the inspection shell assembly and the guide rail assembly and used for limiting the inspection shell assembly at the bottom of the guide rail assembly, moving components are respectively arranged between four corners of the top of the inspection shell assembly and the guide rail assembly, and a first driving unit for driving all the moving components is arranged in the inspection shell assembly. The robot has multiple functions, and can finish the track transfer action of the intelligent inspection device between the angle-turning guide rails or the parallel guide rails, so that the intelligent inspection device can be suitable for a complex tunnel environment, and the aim of improving the inspection efficiency is fulfilled finally.
Description
Technical Field
The invention belongs to the field of rail-mounted inspection robots, and particularly relates to an intelligent inspection robot for a cable tunnel.
Background
With the acceleration of city construction, cables are increasingly used in power grid transformation for beautifying cities, and gradually replace overhead lines, so that a plurality of cable tunnels and cable wells appear. In order to reduce the labor intensity of personnel and ensure the personal safety, an intelligent inspection robot is arranged at the top of the inner side of a cable tunnel, the inspection robot autonomously runs in the tunnel and carries a high-definition camera to inspect and inspect the inspection robot, the conventional inspection robot can only change the rails of the parallel rails independently or move in an arc guide rail, the rails cannot be changed in the tunnel with the parallel rails and the turning guide rails, the function is single, and the inspection robot cannot be applied to a more complicated tunnel environment so as to influence the inspection efficiency; therefore, a multifunctional cable tunnel intelligent inspection robot capable of parallel rail transfer and angle-turning rail transfer is needed.
Disclosure of Invention
The invention aims to provide an intelligent cable tunnel inspection robot, which aims to solve the problems and achieve the purposes of moving, inspecting and checking in a complex tunnel.
In order to achieve the purpose, the invention provides the following scheme: an intelligent cable tunnel inspection robot comprises a guide rail assembly, wherein the top of the guide rail assembly is fixedly connected to the top wall of the inner side of a tunnel, an inspection shell assembly is arranged below the guide rail assembly, an intelligent inspection device is arranged in the inspection shell assembly, an orbit changing device is arranged between the inspection shell assembly and the guide rail assembly and used for limiting the inspection shell assembly at the bottom of the guide rail assembly, moving components are arranged between four corners of the top of the inspection shell assembly and the guide rail assembly respectively, and a first driving unit for driving all the moving components is arranged in the inspection shell assembly;
the orbital transfer device includes angle adjustment mechanism and positioning mechanism, angle adjustment mechanism and arbitrary group the bottom of removal subassembly with it connects to patrol and examine the casing assembly, angle adjustment mechanism be used for with the removal subassembly breaks away from the guide rail assembly, positioning mechanism sets up it with to patrol and examine between the casing assembly top with between the guide rail assembly bottom, positioning mechanism be used for with it is located the correspondence to patrol and examine the casing assembly the guide rail assembly below.
Preferably, positioning mechanism includes the T-slot, the T-slot is seted up the bottom of guide rail assembly, the top of patrolling and examining the casing assembly is connected with second drive unit, second drive unit's top fixedly connected with protective housing, the top of protective housing with guide rail assembly bottom sliding connection, the inboard bottom of protective housing is provided with runner assembly, lifting unit and sliding assembly, runner assembly's bottom fixed connection be in second drive unit's top, lifting unit connects on the runner assembly, sliding assembly sets up lifting unit with between the runner assembly, sliding assembly's top spacing in the T-slot, the runner assembly drive lifting unit with sliding assembly rotates in step.
Preferably, the rotating assembly comprises a second servo motor, the second servo motor is fixedly connected to the top of the second driving unit, a rotating shaft of the second servo motor is connected with the bottom end of a second sleeve, the lifting assembly is connected to the second sleeve, and the second servo motor moves along the vertical direction of the guide rail assembly through the second driving unit.
Preferably, the lifting component comprises a vertically arranged electric push rod, the bottom of the electric push rod is fixedly connected to the bottom of the outer side of the second sleeve, a first sleeve is connected to the inner side of the bottom of the second sleeve in a vertical sliding mode, a sliding groove is formed in the axial direction of the side wall of the second sleeve, one end of a sliding connecting rod is fixedly connected to the side wall of the first sleeve, the other end of the sliding connecting rod penetrates through the sliding groove and the top of the electric push rod, the sliding connecting rod is connected to the inside of the sliding groove in a vertical sliding mode, two sets of rubber blocks are fixedly connected to the top of the first sleeve and located on two sides of the top of the sliding component.
Preferably, the sliding assembly includes vertical being located the inboard support column of first sleeve, the bottom sliding connection of support column is in the inboard bottom of second sleeve, the top vertical direction of support column runs through there is first pivot, the both ends of first pivot are rotated respectively and are connected with the rolling element, and are two sets of the rolling element roll cooperation is in the inboard diapire top of T-shaped groove, it is two sets of the rubber block correspondence is located two sets of the top both sides of rolling element, the symmetry has been seted up on the lateral wall of second sleeve 18 and has been dodged the groove, two sets of both ends looks adaptations of dodging groove and support column 15.
Preferably, one group of the moving assemblies comprises supporting legs, the bottom ends of the supporting legs are hinged to the outer side wall of the inspection casing assembly, the opening degrees of the supporting legs are adjusted through the angle adjusting mechanism, the tops of the supporting legs are rotatably connected with idler wheels, the idler wheels are in rolling fit with the bottom of one side of the guide rail assembly, the idler wheels are driven by the first driving unit, and the bottom of one side of the guide rail assembly limits the supporting legs to vertically move downwards; the opening degrees of the two support legs positioned at the advancing end are smaller than the opening degrees of the other two groups of support legs.
Preferably, angle adjustment mechanism is including rotating the connection and being in patrol and examine the inboard and two sets of sixth pivots that are parallel to each other of casing assembly, and is two sets of the both ends of sixth pivot key connection respectively has sixth bevel gear, arbitrary the bottom of landing leg articulates through the fourth pivot on patrolling and examining the lateral wall of casing assembly, the fixed bottom that runs through of fourth pivot the landing leg, the fourth pivot with patrol and examine casing assembly and rotate and connect, the middle-end of fourth pivot is fixed to be run through there is fifth bevel gear, fifth bevel gear with the meshing of sixth bevel gear, it is two sets of be provided with first drive division between the sixth pivot, first drive division simultaneous drive is all the landing leg.
Preferably, the first driving part comprises a fourth servo motor and an eighth rotating shaft, the fourth servo motor is fixedly connected to the inner side of the inspection shell assembly, eight bevel gears are respectively in key connection with the two ends of the eighth rotating shaft, two sets of the sixth rotating shaft are respectively in key connection with ninth bevel gears at the middle ends, the eighth bevel gears are respectively meshed with the ninth bevel gears, and the fourth servo motor and the eighth rotating shaft are in belt transmission.
Preferably, the eighth rotating shaft is arranged along the advancing direction, the ninth bevel gear at the advancing end of the eighth rotating shaft is an incomplete gear, and a torsion spring is arranged at the rotating connection position of the sixth rotating shaft at the advancing end and the inspection shell assembly.
Preferably, the first driving unit comprises two groups of fifth rotating shafts which are rotatably connected to the inner side of the inspection shell assembly and are parallel to each other, both ends of the two groups of fifth rotating shafts are respectively in key connection with fourth bevel gears, a third rotating shaft is rotatably connected to any one of the supporting legs, the third rotating shaft is vertically positioned at the inner side of the supporting leg, the top end and the bottom end of the third rotating shaft are respectively correspondingly keyed with a second bevel gear and a third bevel gear, the top end of the inner side of the supporting leg is rotatably connected with a second rotating shaft, one end of the second rotating shaft fixedly penetrates through the center of the roller, the other end of the second rotating shaft is in keyed connection with a first bevel gear which is meshed with the second bevel gear, the third bevel gear is meshed with the fourth bevel gear, a second driving part is arranged between the two groups of fifth rotating shafts, and the second driving part drives all the rollers.
The invention has the following technical effects: the first driving unit is mainly used for driving the moving component so as to drive the inspection shell assembly to move forwards along the guide rail assembly; the angle adjusting mechanism is mainly used for driving the moving component to be separated from or close to the guide rail assembly; the positioning mechanism has two main functions, one is that when the moving component is separated from the guide rail assembly in the moving process of the inspection shell assembly moving linearly or changing the moving angle (namely, the guide rail assembly has a fork), the inspection shell assembly is limited below the guide rail assembly through the positioning mechanism; the other is that when the rail is required to be changed to the parallel guide rail, the inspection shell assembly is limited below the adjacent parallel guide rail through the positioning mechanism; under the action of the positioning mechanism, the moving component separated from the guide rail assembly is moved to the angle-rotating guide rail or the adjacent parallel guide rail, and then is connected with the angle-rotating guide rail or the adjacent parallel guide rail again through the angle adjusting mechanism; on the whole, the robot has multiple functions, can complete the track transfer action of the intelligent inspection device between the angle-turning guide rails or the parallel guide rails, enables the intelligent inspection device to be suitable for complex tunnel environments, and finally achieves the purpose of improving inspection efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the robot in a front view;
FIG. 2 is a schematic left-side view of the robot of the present invention;
FIG. 3 is a schematic left-side view cross-sectional view of the robot of the present invention;
FIG. 4 is an enlarged view of a portion A of FIG. 2;
FIG. 5 is a schematic view of a first driving unit according to the present invention;
FIG. 6 is a schematic view of a second driving unit according to the present invention;
FIG. 7 is a schematic top view of a rubber block of the present invention;
FIG. 8 is a schematic view of the angle of rotation guide of the present invention;
wherein, 1, an upper guide plate; 2. a reinforcing plate; 3. a lower guide plate; 4. a protective shell; 5. a support leg; 6. a housing assembly is patrolled and examined; 7. a first servo motor; 8. a first gear; 9. a slide plate; 10. a roller; 11. a chute; 12. a rubber block; 13. a T-shaped slot; 14. a rolling body; 15. a support column; 16. a first rotating shaft; 17. a first sleeve; 18. a second sleeve; 20. a second servo motor; 21. an electric push rod; 22. a sliding connecting rod; 23. a second rotating shaft; 24. a first bevel gear; 25. a second bevel gear; 26. a third rotating shaft; 27. a third bevel gear; 28. a fourth bevel gear; 29. a fifth bevel gear; 30. a fourth rotating shaft; 31. a sixth bevel gear; 32. a fifth rotating shaft; 33. a seventh bevel gear; 34. an eighth bevel gear; 35. a ninth bevel gear; 36. a sixth rotating shaft; 37. a tenth bevel gear; 38. a third servo motor; 39. a seventh rotating shaft; 40. an eighth rotating shaft; 41. and a fourth servo motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1-8, the invention provides an intelligent cable tunnel inspection robot, which comprises a guide rail assembly, wherein the top of the guide rail assembly is fixedly connected to the top wall of the inner side of a tunnel, an inspection shell assembly 6 is arranged below the guide rail assembly, an intelligent inspection device is arranged in the inspection shell assembly 6, an orbit changing device is arranged between the inspection shell assembly 6 and the guide rail assembly and used for limiting the inspection shell assembly 6 at the bottom of the guide rail assembly, moving components are respectively arranged between four corners of the top of the inspection shell assembly 6 and the guide rail assembly, and a first driving unit for driving all the moving components is arranged in the inspection shell assembly 6;
the rail transfer device comprises an angle adjusting mechanism and a positioning mechanism, the angle adjusting mechanism is connected with the bottom of any group of moving components and the inspection shell assembly 6, the angle adjusting mechanism is used for separating the moving components from the guide rail assembly, the positioning mechanism is arranged between the top of the inspection shell assembly 6 and the bottom of the guide rail assembly, and the positioning mechanism is used for positioning the inspection shell assembly 6 below the corresponding guide rail assembly.
The first driving unit is mainly used for driving the moving component, so that the inspection shell assembly 6 is driven to move forwards along the guide rail assembly; the angle adjusting mechanism is mainly used for driving the moving component to be separated from or close to the guide rail assembly; the main functions of the positioning mechanism are two, one is that in the process of moving the inspection shell assembly 6 linearly or changing the moving angle (namely, the guide rail assembly has a fork), when the moving component is separated from the guide rail assembly, the inspection shell assembly 6 is limited below the guide rail assembly through the positioning mechanism; when the rail needs to be changed to the parallel guide rail, the inspection shell assembly 6 is limited below the adjacent parallel guide rail through the positioning mechanism; under the action of the positioning mechanism, the moving component separated from the guide rail assembly is moved to the angle-rotating guide rail or the adjacent parallel guide rail, and then is connected with the angle-rotating guide rail or the adjacent parallel guide rail again through the angle adjusting mechanism; on the whole, the robot has multiple functions, can complete the track transfer action of the intelligent inspection device between the angle-turning guide rails or the parallel guide rails, enables the intelligent inspection device to be suitable for complex tunnel environments, and finally achieves the purpose of improving inspection efficiency.
Further optimize the scheme, positioning mechanism includes T-slot 13, T-slot 13 sets up in the bottom of guide rail assembly, the top of patrolling and examining casing assembly 6 is connected with the second drive unit, the top fixedly connected with protective housing 4 of second drive unit, the top and the guide rail assembly bottom sliding connection of protective housing 4, the inboard bottom of protective housing 4 is provided with runner assembly, lifting unit and slip subassembly, runner assembly's bottom fixed connection is at the top of second drive unit, lifting unit connects on the runner assembly, the slip subassembly sets up between lifting unit and runner assembly, slip subassembly's top is spacing in T-slot 13, runner assembly drive lifting unit rotates with the slip subassembly is synchronous.
In the process that the inspection shell assembly 6 moves along the guide rail assembly, the sliding component moves in the T-shaped groove 13, so that the stability of the movement of the inspection shell assembly 6 is facilitated; the rotating assembly is mainly used for driving the lifting assembly and the sliding assembly to rotate for a certain angle, and under the action of the lifting assembly, the sliding assembly is driven to be separated from the T-shaped groove 13, so that the inspection casing assembly 6 can conveniently perform rail transfer.
In a further optimized scheme, the rotating component comprises a second servo motor 20, the second servo motor 20 is fixedly connected to the top of the second driving unit, a rotating shaft of the second servo motor 20 is coupled to the bottom end of the second sleeve 18, the lifting component is connected to the second sleeve 18, and the second servo motor 20 moves along the vertical direction of the guide rail assembly through the second driving unit.
The second servo motor 20 is started to sequentially drive the second sleeve 18, the lifting assembly and the sliding assembly to rotate by a certain angle, so that the lifting assembly drives the sliding assembly to lift.
Further optimize the scheme, the lift module includes the electric putter 21 of vertical setting, the bottom fixed connection of electric putter 21 is in the outside bottom of second sleeve 18, the inboard vertical sliding connection in bottom of second sleeve 18 has first sleeve 17, spout 11 has been seted up to the lateral wall axial of second sleeve 18, the one end of the lateral wall fixedly connected with slip connecting rod 22 of first sleeve 17, the other end of slip connecting rod 22 passes the top fixed connection of spout 11 with electric putter 21, the vertical sliding connection of slip connecting rod 22 is in spout 11, two sets of rubble blocks 12 of top fixedly connected with of first sleeve 17, two sets of rubble blocks 12 are located the top both sides of sliding assembly.
When the sliding component rotates for a certain angle under the action of the rotating component, the electric push rod 21 is started and contracts to drive the sliding component to move out from the lower part of the T-shaped groove 13 and separate from the T-shaped groove 13.
Further optimize the scheme, the slip subassembly includes the vertical support column 15 that is located first sleeve 17 inboard, the bottom sliding connection of support column 15 is in the inboard bottom of second sleeve 18, the top vertical direction of support column 15 has run through first pivot 16, the both ends of first pivot 16 are rotated respectively and are connected with rolling element 14, two sets of rolling element 14 roll-on-sets are in the inboard diapire top of T-slot 13, two sets of rubber blocks 12 correspond the top both sides that are located two sets of rolling elements 14, the symmetry has been seted up on the lateral wall of second sleeve 18 and has been dodged the groove (not shown in the figure), two sets of both ends looks adaptations of dodging groove and support column 15.
In an initial state, the two groups of rolling bodies 14 are in rolling fit with the upper part of the bottom wall of the inner side of the T-shaped groove 13, so that the inspection shell assembly 6 can smoothly and stably move along the guide rail assembly; when the inspection shell assembly 6 needs to change the track to the angle-turning guide rail, the moving assembly is moved to the intersection point of the angle-turning guide rail through the first driving unit, the moving assembly is gradually opened through the angle adjusting mechanism, and in the process of opening the moving assembly until the moving assembly is completely separated from the guide rail assembly, the moving assembly still moves for a certain distance in the advancing direction until the moving assembly is completely separated from the guide rail assembly and is lower than the guide rail assembly, at the moment, the electric push rod 21 is started, the sliding connecting rod 22, the first sleeve 17 and the two groups of rubber blocks 12 are sequentially driven to move downwards until the two groups of rubber blocks 12 wrap the two groups of rolling bodies 14, the bottoms of the two groups of rubber blocks 12 abut against the upper side bottom wall of the inner side of the T-shaped groove 13, and friction force is generated under the gravity action of the whole robot; then, driving a second servo motor 20, wherein under the action of friction force, the two groups of rolling bodies 14 cannot move in the T-shaped groove 13, so that the second servo motor 20 drives the inspection shell assembly 6 to rotate for a certain angle until the inspection shell assembly 6 corresponds to the lower part of the next section of guide rail; and finally, the moving assembly completely enters the next section of guide rail through the angle adjusting mechanism and the first driving unit.
Further optimize the scheme, the second drive unit includes sliding connection and patrols and examines the slide 9 at 6 tops of casing assembly, the top surface of slide 9 with patrol and examine the top surface parallel and level of casing assembly 6, patrol and examine casing assembly 6 internal fixedly connected with first servo motor 7, first servo motor 7's rotating shaft key is connected with first gear 8, first gear 8 and slide 9's bottom surface meshing, slide 9 slides along the vertical direction of guide rail assembly, second servo motor 20 fixed connection is at the top surface of slide 9.
When the routing inspection shell assembly 6 needs to be subjected to parallel track transfer, the first servo motor 7 is driven to drive the sliding plate 9 to slide along the vertical direction of the guide rail assembly, then the sliding component separated from the T-shaped groove 13 is driven to move to the lower part of the parallel guide rail, and then the two groups of rolling bodies 14 are matched above the inner side bottom wall of the T-shaped groove 13 in the parallel guide rail in a rolling manner through the lifting component and the rotating component, so that the positioning purpose of the routing inspection shell assembly 6 in the track transfer process to the parallel guide rail is realized.
According to a further optimization scheme, one group of moving components comprises supporting legs 5, the bottom ends of the supporting legs 5 are hinged to the outer side wall of the inspection casing assembly 6, the opening degrees of the supporting legs 5 are adjusted through an angle adjusting mechanism, the tops of the supporting legs 5 are rotatably connected with idler wheels 10, the idler wheels 10 are in rolling fit with the bottom of one side of the guide rail assembly, the idler wheels 10 are driven through a first driving unit, and the bottom of one side of the guide rail assembly limits the supporting legs 5 to vertically move downwards; the opening of the two legs 5 at the advancing end is smaller than the opening of the other two sets of legs 5.
All the rollers 10 are driven by the first driving unit, and the inspection shell assembly 6 is driven to move along the guide rail assembly.
Further optimize the scheme, angle adjusting mechanism is including rotating the connection and patrolling and examining the inboard two sets of sixth pivot 36 that just are parallel to each other of casing assembly 6, the both ends of two sets of sixth pivot 36 key connection respectively have sixth bevel gear 31, the bottom of arbitrary landing leg 5 articulates on patrolling and examining the lateral wall of casing assembly 6 through fourth pivot 30, the fixed bottom that runs through landing leg 5 of fourth pivot 30, fourth pivot 30 with patrol and examine casing assembly 6 and rotate and be connected, the middle-end of fourth pivot 30 is fixed to run through has fifth bevel gear 29, fifth bevel gear 29 and the meshing of sixth bevel gear 31, be provided with first drive division between two sets of sixth pivot 36, all landing legs 5 of first drive division simultaneous drive.
The first driving part drives the two sets of sixth rotating shafts 36, the four sets of sixth bevel gears 31, the four sets of fifth bevel gears 29 and the fourth rotating shafts 30 to rotate in sequence, and finally drives all the supporting legs 5 to rotate at a certain angle, at this time, the first driving unit is separated from all the supporting legs 5, and all the rollers 10 cannot be driven.
Further optimize the scheme, first drive division includes fourth servo motor 41 and eighth pivot 40, and fourth servo motor 41 fixed connection is patrolling and examining the casing assembly 6 inboard, and the both ends of eighth pivot 40 are the key connection respectively and have eighth bevel gear 34, and the middle-end key connection of two sets of sixth pivots 36 has ninth bevel gear 35 respectively, and two sets of eighth bevel gear 34 mesh with two sets of ninth bevel gear 35 respectively, passes through belt transmission between fourth servo motor 41 and the eighth pivot 40.
In a further optimized scheme, the eighth rotating shaft 40 is arranged along the advancing direction, the ninth bevel gear 35 at the advancing end of the eighth rotating shaft 40 is an incomplete gear, and a torsion spring is arranged at the rotary connection position of the sixth rotating shaft 36 at the advancing end and the inspection shell assembly 6; when the meshing point of the incomplete gear and the eighth bevel gear 34 is positioned at the middle end of all the teeth on the incomplete gear, the torsion spring is in a free state; when the meshing point of the incomplete gear and the eighth bevel gear 34 is located at both ends of all the teeth on the incomplete gear, the torsion spring is in a stressed state.
When the fourth servo motor 41 drives the synchronous eighth rotating shaft 40 to rotate with the two groups of eighth bevel gears 34, and the eighth bevel gears 34 at the advancing end are meshed with the incomplete gears, the torsion spring is in a stressed state, the other group of eighth bevel gears 34 is continuously meshed with the other group of ninth bevel gears 35, and finally, the purpose that the opening degrees of the two groups of supporting legs 5 at the advancing end are smaller than the opening degrees of the other two groups of supporting legs 5 is achieved, but after all the supporting legs 5 are opened for a certain angle, the supporting legs are respectively lower than the bottom of the guide rail assembly, and the rotation of the robot below the guide rail assembly is not influenced; when the fourth servo motor 41 reversely drives the synchronous eighth rotating shaft 40 and the two groups of eighth bevel gears 34 to rotate, the two groups of supporting legs 5 at the advancing end firstly contact the guide rail assembly, after the eighth bevel gear 34 at the advancing end is meshed with the incomplete gear, the torsion spring is in a stressed state, the other two groups of supporting legs 5 still do not contact the guide rail assembly, the other group of eighth bevel gears 34 are continuously meshed with the other group of ninth bevel gears 35, at the moment, the rollers 10 are driven to roll by the first driving unit, and in the process that the inspection casing assembly 6 moves forwards, the other two groups of supporting legs 5 gradually contact the guide rail assembly, so that the rotation angle change is completed.
Further optimization scheme, first drive unit is including rotating two sets of fifth pivot 32 of connecting in patrolling and examining the inboard and being parallel to each other of casing assembly 6, the both ends key joint respectively of two sets of fifth pivot 32 have fourth bevel gear 28, arbitrary landing leg 5 internal rotation is connected with third pivot 26, third pivot 26 is vertical to be located the landing leg 5 inboard, the top and the bottom of third pivot 26 correspond the key joint respectively and have second bevel gear 25 and third bevel gear 27, landing leg 5 inboard top is rotated and is connected with second pivot 23, the fixed gyro wheel 10 center that runs through of one end of second pivot 23, the other end key joint of second pivot 23 has first bevel gear 24, first bevel gear 24 and second bevel gear 25 mesh, third bevel gear 27 and fourth bevel gear 28 mesh, be provided with the second drive portion between two sets of fifth pivot 32, all gyro wheels 10 of second drive portion drive.
In a further optimized scheme, the second driving portion comprises a third servo motor 38 and a seventh rotating shaft 39, the third servo motor 38 is fixedly connected to the inner side of the inspection casing assembly 6, the two ends of the seventh rotating shaft 39 are respectively in key connection with tenth bevel gears 37, the middle ends of the two groups of fifth rotating shafts 32 are respectively in key connection with seventh bevel gears 33, the two groups of seventh bevel gears 33 are respectively meshed with the two groups of tenth bevel gears 37, and the third servo motor 38 is in transmission connection with the seventh rotating shaft 39 through a belt.
Further optimize the scheme, the guide rail assembly includes upper guide 1, reinforcing plate 2 and lower guide 3, and upper guide 1 fixed connection is on the inboard roof in tunnel, and reinforcing plate 2 fixed connection is between upper guide 1 and lower guide 3, and all gyro wheels 10 respectively with 3 top surface limit portions of lower guide roll cooperation.
According to the further optimized scheme, the intelligent inspection device adopts detection and inspection equipment in the existing inspection robot; such as a cable tunnel intelligent inspection robot (publication number: CN 105945895A).
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (10)
1. The utility model provides a robot is patrolled and examined to cable tunnel intelligence which characterized in that: the tunnel inspection device comprises a guide rail assembly, wherein the top of the guide rail assembly is fixedly connected to the top wall of the inner side of a tunnel, an inspection shell assembly (6) is arranged below the guide rail assembly, an intelligent inspection device is arranged in the inspection shell assembly (6), a rail transfer device is arranged between the inspection shell assembly (6) and the guide rail assembly and used for limiting the inspection shell assembly (6) at the bottom of the guide rail assembly, moving components are arranged between four corners of the top of the inspection shell assembly (6) and the guide rail assembly respectively, and a first driving unit for driving all the moving components is arranged in the inspection shell assembly (6);
the device that becomes to orbit includes angle adjustment mechanism and positioning mechanism, angle adjustment mechanism and arbitrary group the bottom of removal subassembly with patrol and examine casing assembly (6) and connect, angle adjustment mechanism be used for with the removal subassembly breaks away from guide rail assembly, positioning mechanism sets up patrol and examine casing assembly (6) top with between the guide rail assembly bottom, positioning mechanism be used for with it is located the correspondence to patrol and examine casing assembly (6) guide rail assembly below.
2. The intelligent cable tunnel inspection robot according to claim 1, wherein: positioning mechanism includes T-slot (13), set up in T-slot (13) the bottom of guide rail assembly, the top of patrolling and examining casing assembly (6) is connected with the second drive unit, the top fixedly connected with protective housing (4) of second drive unit, the top of protective housing (4) with guide rail assembly bottom sliding connection, protective housing (4) inboard bottom is provided with runner assembly, lifting unit and sliding component, runner assembly's bottom fixed connection be in the top of second drive unit, lifting unit connects on the runner assembly, sliding component sets up lifting unit with between the runner assembly, sliding component's top spacing in T-slot (13), the runner assembly drive lifting unit with sliding component rotates in step.
3. The intelligent cable tunnel inspection robot according to claim 2, wherein: the rotating component comprises a second servo motor (20), the second servo motor (20) is fixedly connected to the top of the second driving unit, the rotating shaft of the second servo motor (20) is connected with the bottom end of a second sleeve (18) in a shaft mode, the lifting component is connected to the second sleeve (18), and the second servo motor (20) moves in the vertical direction of the guide rail assembly through the second driving unit.
4. The intelligent cable tunnel inspection robot according to claim 3, wherein: lifting unit includes electric putter (21) of vertical setting, the bottom fixed connection of electric putter (21) is in the outside bottom of second sleeve (18), the inboard vertical sliding connection in bottom of second sleeve (18) has first sleeve (17), spout (11) have been seted up to the lateral wall axial of second sleeve (18), the one end of the lateral wall fixedly connected with slip connecting rod (22) of first sleeve (17), the other end of slip connecting rod (22) passes spout (11) with the top fixed connection of electric putter (21), the vertical sliding connection of slip connecting rod (22) is in spout (11), the two sets of rubber block (12) of top fixedly connected with of first sleeve (17), it is two sets of rubber block (12) are located sliding unit's top both sides.
5. The intelligent cable tunnel inspection robot according to claim 4, wherein: the sliding assembly comprises a vertical supporting column (15) which is located on the inner side of a first sleeve (17), the bottom of the supporting column (15) is connected with the inner bottom of a second sleeve (18) in a sliding mode, a first rotating shaft (16) penetrates through the top vertical direction of the supporting column (15), the two ends of the first rotating shaft (16) are respectively connected with a rolling body (14) in a rotating mode, the rolling body (14) is matched in a rolling mode to be located above the inner bottom wall of a T-shaped groove (13) in a rolling mode, the rolling body (12) is correspondingly located in two groups, the two sides of the top of the rolling body (14) are arranged on the side wall of the second sleeve (18), and an avoiding groove is symmetrically formed in the side wall of the second sleeve (18) and matched with the two ends of the supporting column (15).
6. The intelligent cable tunnel inspection robot according to claim 1, wherein: the moving assemblies comprise supporting legs (5), the bottom ends of the supporting legs (5) are hinged to the outer side wall of the inspection casing assembly (6), the opening degrees of the supporting legs (5) are adjusted through the angle adjusting mechanism, idler wheels (10) are rotatably connected to the tops of the supporting legs (5), the idler wheels (10) are in rolling fit with the bottom of one side of the guide rail assembly, the idler wheels (10) are driven by the first driving unit, and the bottom of one side of the guide rail assembly limits the supporting legs (5) to vertically move downwards; the opening degree of the two support legs (5) at the advancing end is smaller than the opening degree of the other two groups of support legs (5).
7. The intelligent cable tunnel inspection robot according to claim 6, wherein: the angle adjusting mechanism comprises two groups of sixth rotating shafts (36) which are rotatably connected to the inner side of the inspection shell assembly (6) and are parallel to each other, both ends of the two groups of sixth rotating shafts (36) are respectively in key connection with sixth bevel gears (31), the bottom end of any one of the supporting legs (5) is hinged to the outer side wall of the inspection shell assembly (6) through a fourth rotating shaft (30), the fourth rotating shaft (30) fixedly penetrates through the bottom ends of the supporting legs (5), the fourth rotating shaft (30) is rotatably connected with the inspection shell assembly (6), a fifth bevel gear (29) is fixedly penetrated through the middle end of the fourth rotating shaft (30), the fifth bevel gear (29) is meshed with the sixth bevel gear (31), a first driving part is arranged between the two groups of sixth rotating shafts (36), and the first driving part drives all the supporting legs (5) simultaneously.
8. The intelligent cable tunnel inspection robot according to claim 7, wherein: the first driving portion comprises a fourth servo motor (41) and an eighth rotating shaft (40), the fourth servo motor (41) is fixedly connected to the inner side of the inspection casing assembly (6), the two ends of the eighth rotating shaft (40) are respectively in key connection with an eighth bevel gear (34), the middle ends of the sixth rotating shaft (36) are respectively in key connection with a ninth bevel gear (35), the eighth bevel gears (34) are respectively in meshing engagement with the ninth bevel gear (35), and the fourth servo motor (41) and the eighth rotating shaft (40) are in belt transmission.
9. The intelligent cable tunnel inspection robot according to claim 8, wherein: the eighth rotating shaft (40) is arranged along the advancing direction, the ninth bevel gear (35) at the advancing end of the eighth rotating shaft (40) is an incomplete gear, and a torsion spring is arranged at the rotating connection position of the sixth rotating shaft (36) at the advancing end and the inspection shell assembly (6).
10. The intelligent cable tunnel inspection robot according to claim 6, wherein: the first driving unit comprises two groups of fifth rotating shafts (32) which are rotatably connected to the inner side of the inspection casing assembly (6) and are parallel to each other, wherein two ends of the two groups of fifth rotating shafts (32) are respectively in key connection with fourth bevel gears (28), any one of the supporting legs (5) is rotatably connected with a third rotating shaft (26), the third rotating shaft (26) is vertically positioned on the inner side of the supporting leg (5), the top end and the bottom end of the third rotating shaft (26) are respectively in corresponding key connection with a second bevel gear (25) and a third bevel gear (27), the top end of the inner side of the supporting leg (5) is rotatably connected with a second rotating shaft (23), one end of the second rotating shaft (23) fixedly penetrates through the center of the roller (10), the other end of the second rotating shaft (23) is in key connection with a first bevel gear (24), and the first bevel gear (24) is meshed with the second bevel gear (25), the third bevel gear (27) is meshed with the fourth bevel gear (28), a second driving part is arranged between the two groups of fifth rotating shafts (32), and the second driving part drives all the rollers (10).
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| CN114770553B (en) | 2023-03-24 |
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