CN114770553B - Intelligent inspection robot for cable tunnel - Google Patents
Intelligent inspection robot for cable tunnel Download PDFInfo
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- CN114770553B CN114770553B CN202210558760.9A CN202210558760A CN114770553B CN 114770553 B CN114770553 B CN 114770553B CN 202210558760 A CN202210558760 A CN 202210558760A CN 114770553 B CN114770553 B CN 114770553B
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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 rail-mounted 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 the complex tunnel environment, and the aim of improving the inspection efficiency is finally fulfilled.
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: the 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 components comprises supporting legs, the bottom ends of the supporting legs are hinged to the outer side wall of the inspection shell 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 rollers, the rollers are in rolling fit with the bottom of one side of the guide rail assembly, the rollers 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 degree of the two support legs positioned at the advancing end is smaller than the opening degree of the other two groups of support legs.
Preferably, angle adjustment mechanism is including rotating the connection and patrolling and examining 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 are keyed joint 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 fourth pivot is fixed to be run through the bottom of landing leg, the fourth pivot with it rotates to patrol and examine casing assembly and connect, the middle-end of fourth pivot is fixed to run through has 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 drives simultaneously 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 is connected with two groups of fifth rotating shafts which are parallel to each other and are arranged on the inner side of the inspection shell assembly in a rotating mode, the two ends of each fifth rotating shaft are connected with a fourth bevel gear in a key mode respectively, any one of the fourth rotating shafts is connected with a third rotating shaft in a rotating mode, the third rotating shaft is vertically located on the inner side of each supporting leg, the top end and the bottom end of each third rotating shaft are connected with a second bevel gear and a third bevel gear in a corresponding key mode respectively, the top end of the inner side of each supporting leg is connected with a second rotating shaft in a rotating mode, one end of each second rotating shaft penetrates through the center of the corresponding wheel fixedly, the other end of each second rotating shaft is connected with a first bevel gear in a key mode, the first bevel gear is meshed with the second bevel gear, the third bevel gear is meshed with the fourth bevel gear, a second driving portion is arranged between the two groups of the fifth rotating shafts, and the second driving portion drives all the corresponding idler wheels.
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 forward 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 needed in the embodiments will be briefly described below, and 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 to obtain other 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 turning 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 pillar; 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 as to drive the inspection shell assembly 6 to advance 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 6 moving linearly or changing the moving angle (namely, the guide rail assembly has a fork), 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, 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 the complex tunnel environment, and the aim of improving the inspection efficiency is finally fulfilled.
According to the further optimization scheme, the positioning mechanism comprises a T-shaped groove 13, the T-shaped groove 13 is formed in the bottom of the guide rail assembly, the top of the inspection casing assembly 6 is connected with a second driving unit, the top of the second driving unit is fixedly connected with a protective shell 4, the top of the protective shell 4 is in sliding connection with the bottom of the guide rail assembly, a rotating assembly, a lifting assembly and a sliding assembly are arranged at the bottom of the inner side of the protective shell 4, the bottom of the rotating assembly is fixedly connected to the top of the second driving unit, the lifting assembly is connected to the rotating assembly, the sliding assembly is arranged between the lifting assembly and the rotating assembly, the top of the sliding assembly is limited in the T-shaped groove 13, and the rotating assembly drives the lifting assembly and the sliding assembly to rotate synchronously.
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 component is mainly used for driving the lifting component and the sliding component to rotate for a certain angle, and under the action of the lifting component, the sliding component is driven to be separated from the T-shaped groove 13, so that the inspection shell assembly 6 can conveniently perform rail transfer action.
According to a further optimized scheme, the rotating assembly 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 connected with the bottom end of the second sleeve 18 in a shaft mode, the lifting assembly 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 runs through first pivot 16, the both ends of first pivot 16 rotate respectively and are connected with rolling element 14, two sets of rolling element 14 roll fit 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 routing inspection shell assembly 6 needs to change rails to the angle-turning guide rail, the moving component is moved to the intersection point of the angle-turning guide rail through the first driving unit, the moving component is gradually opened through the angle adjusting mechanism, the moving component still moves for a certain distance in the advancing direction in the process of opening the moving component to be completely separated from the guide rail assembly until the moving component 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 of the inner bottom wall of the T-shaped groove 13, and friction force is generated under the action of the gravity 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 the 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 shell 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 rollers 10, the rollers 10 are in rolling fit with the bottom of one side of the guide rail assembly, the rollers 10 are driven by 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 casing 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 patrols and examines 6 inboards of casing assembly, and the both ends key connection respectively of eighth pivot 40 has eighth bevel gear 34, and the middle-end key connection respectively of two sets of sixth pivot 36 has ninth bevel gear 35, 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 gear 34 at the advancing end is meshed with the incomplete gear, the torsion spring is in a stressed state, and the other group of eighth bevel gears 34 is continuously meshed with the other group of ninth bevel gears 35, finally, the purpose that the opening degrees of the two groups of supporting legs 5 at the advancing end are smaller than those 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 drives the synchronous eighth rotating shaft 40 and the two groups of eighth bevel gears 34 to rotate in the reverse direction, the two groups of supporting legs 5 at the advancing end contact the guide rail assembly firstly, after the advancing end of the eighth bevel gears 34 is meshed with the incomplete gears, 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 continue to be meshed with the other group of ninth bevel gears 35, the rollers 10 are driven to roll by the first driving unit at the moment, and in the process that the inspection shell 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.
According to 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 shell 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 baffle 1, reinforcing plate 2 and lower guide 3, and 1 fixed connection of upper baffle is on the inboard roof in tunnel, and 2 fixed connection of reinforcing plate are between upper baffle 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", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements 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 (9)
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 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;
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.
2. The intelligent cable tunnel inspection robot according to claim 1, wherein: the rotating assembly 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 assembly is connected to the second sleeve (18), and the second servo motor (20) moves in the vertical direction of the guide rail assembly along the second driving unit.
3. The intelligent cable tunnel inspection robot according to claim 2, wherein: the lifting component comprises an electric push rod (21) which is vertically arranged, the bottom end of the electric push rod (21) is fixedly connected to the outer bottom end of the second sleeve (18), the bottom end of the second sleeve (18) is vertically and slidably connected with a first sleeve (17) in the inner side, the side wall of the second sleeve (18) is axially provided with a sliding groove (11), one end of a sliding connecting rod (22) is fixedly connected to the side wall of the first sleeve (17), the other end of the sliding connecting rod (22) penetrates through the sliding groove (11) and the top end of the electric push rod (21), the sliding connecting rod (22) is vertically and slidably connected to the sliding groove (11), two sets of rubber blocks (12) are fixedly connected to the top end of the first sleeve (17), and the rubber blocks (12) are located on two sides of the top of the sliding component.
4. The intelligent cable tunnel inspection robot according to claim 3, wherein: the sliding assembly includes vertical being located support column (15) of 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) runs through first pivot (16), the both ends of first pivot (16) are rotated respectively and are connected with rolling element (14), and are two sets of rolling element (14) roll cooperation is in the inboard diapire top of T-slot (13), two sets of rubber block (12) correspond and are located two sets of the top both sides of rolling element (14), the symmetry has been seted up on the lateral wall of second sleeve (18) and has been dodged the groove, and is two sets of dodge the groove with the both ends looks adaptation of support column (15).
5. 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).
6. The intelligent cable tunnel inspection robot according to claim 5, wherein: angle adjustment mechanism is including rotating the connection and being in patrol and examine casing assembly (6) inboard and two sets of sixth pivot (36) that are parallel to each other, two sets of the both ends of sixth pivot (36) key joint respectively have sixth bevel gear (31), arbitrary the bottom of landing leg (5) articulates through fourth pivot (30) on patrolling and examining the lateral wall of casing assembly (6), fourth pivot (30) are fixed to be run through the bottom of landing leg (5), fourth pivot (30) with it rotates to patrol and examine casing assembly (6) and connects, the middle-end of fourth pivot (30) is fixed to be run through has fifth bevel gear (29), fifth bevel gear (29) with sixth bevel gear (31) meshing is two sets of be provided with first drive division between sixth pivot (36), first drive division simultaneous drive is all landing leg (5).
7. The intelligent cable tunnel inspection robot according to claim 6, wherein: the first driving part 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 shell assembly (6), the two ends of the eighth rotating shaft (40) are respectively in key connection with eighth bevel gears (34), the middle ends of the sixth rotating shaft (36) are respectively in key connection with ninth bevel gears (35), the eighth bevel gears (34) are respectively in meshing engagement with the ninth bevel gears (35), and the fourth servo motor (41) and the eighth rotating shaft (40) are in belt transmission.
8. The intelligent cable tunnel inspection robot according to claim 7, 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).
9. The intelligent cable tunnel inspection robot according to claim 5, 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 parallel to each other, wherein two ends of each fifth rotating shaft (32) are respectively in key connection with a fourth bevel gear (28), any one of the fifth rotating shafts is rotatably connected with a third rotating shaft (26) in the supporting leg (5), the third rotating shafts (26) are vertically located on the inner side of the supporting leg (5), the top end and the bottom end of each third rotating shaft (26) are respectively in 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 each second rotating shaft (23) is fixedly penetrated through the center of the corresponding roller (10), the other end of the second rotating shaft (23) is in key connection with a first bevel gear (24), 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 fifth rotating shafts (32), and drives all the corresponding rollers (10).
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| CN202210558760.9A CN114770553B (en) | 2022-05-20 | 2022-05-20 | Intelligent inspection robot for cable tunnel |
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| CN201955680U (en) * | 2011-03-22 | 2011-08-31 | 韩斐迪 | Suspension type small rail car capable of automatically turning at crossroads |
| US9122566B2 (en) * | 2013-03-08 | 2015-09-01 | Bastian Solutions, Llc | Robotic material handling system |
| CN108406736A (en) * | 2018-05-04 | 2018-08-17 | 杭州亚美利嘉科技有限公司 | Suspension type robot system and sorting system and its discriminating direction method |
| CN208584542U (en) * | 2018-05-29 | 2019-03-08 | 深圳市大疆创新科技有限公司 | Installing mechanism and robot |
| CN209648713U (en) * | 2019-03-02 | 2019-11-19 | 中信重工开诚智能装备有限公司 | A kind of multiple degrees of freedom can across broken rail crusing robot |
| CN110744524A (en) * | 2019-10-28 | 2020-02-04 | 北京海益同展信息科技有限公司 | Drive guiding mechanism and rail hanging robot |
| CN113691076B (en) * | 2021-07-30 | 2022-12-27 | 西安量子智能科技有限公司 | Rail-mounted robot system for charging flammable and explosive areas and charging method thereof |
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