CN114843927B - Cable channel inspection robot - Google Patents
Cable channel inspection robot Download PDFInfo
- Publication number
- CN114843927B CN114843927B CN202210152614.6A CN202210152614A CN114843927B CN 114843927 B CN114843927 B CN 114843927B CN 202210152614 A CN202210152614 A CN 202210152614A CN 114843927 B CN114843927 B CN 114843927B
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- China
- Prior art keywords
- robot
- fixedly arranged
- plate
- transmission
- side wall
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- 238000007689 inspection Methods 0.000 title claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 57
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000004140 cleaning Methods 0.000 claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000008054 signal transmission Effects 0.000 claims abstract description 4
- 238000007790 scraping Methods 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 19
- 238000013500 data storage Methods 0.000 claims description 7
- 238000011897 real-time detection Methods 0.000 claims description 3
- 239000012535 impurity Substances 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 239000000428 dust Substances 0.000 description 8
- 230000003749 cleanliness Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
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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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a cable channel inspection robot, which comprises a wireless communication end, a robot monitoring system, an external identification system and an inspection robot, wherein the wireless communication end is used for carrying out remote signal transmission on the robot; the robot monitoring system comprises a robot operation control module; according to the invention, when the caterpillar band rotates, the rotary shaft can rotate the transmission gear, the transmission rod can rotate through the driven gear meshed with the rotary shaft, when the transmission rod rotates, the small rotary rod inside the supporting tube can rotate through the transmission effect of the transmission belt, so that the cleaning brush plate rotates, impurities on a robot path are removed, the situation that the robot bumps and turns on one's side due to the fact that the impurities block the path in front of the robot is avoided, and the device can be further supported, so that the device is more stable in the moving process and is not easy to turn on one's side.
Description
Technical Field
The invention relates to the technical field of cable trench inspection, in particular to a cable trench inspection robot.
Background
The cable line inspection is to monitor and master the operation conditions of the cable line and all the auxiliary equipment, discover and eliminate the abnormality and defect of the cable line and all the auxiliary equipment in time, prevent accidents and ensure the safe operation of the cable line. In the inspection process, inspection personnel generally inspect the cable line through methods such as inspection, listening, sniffing, detection and the like, and the inspection personnel must realize no-leakage inspection and wrong inspection, so that the inspection quality of the cable line is continuously improved, and cable line accidents are prevented.
The existing cable channel inspection mode is manual inspection, a large number of detection tools are required to be carried in manual inspection, meanwhile, the cable channel is filled with dangerous gases, accidents are easy to occur when the dangerous gases enter the cable channel, and when the cable channel is short-circuited, an maintainer cannot escape from the channel at the first time, so that the cable channel inspection robot is provided, and the problems are solved.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a cable channel inspection robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a cable channel inspection robot comprises a wireless communication end for carrying out remote signal transmission on the robot, a robot monitoring system for carrying out intelligent control on the robot, an external identification system for carrying out real-time detection on the outside and an inspection robot;
the robot monitoring system comprises a robot operation control module, a robot state detection module and a data storage module; the robot operation control module is used for controlling the robot to move, the robot state detection module is used for detecting the state of the robot in the operation process, and the data storage module is used for storing the operation data of the robot.
Preferably, the external identification module comprises an infrared temperature sensing module, a camera control module, a video identification module and an air detection module; the infrared temperature sensing module is used for detecting a cable pipeline, the camera control module is used for controlling a camera, the video identification module is used for identifying videos acquired by the camera, and the air detection module is used for detecting air in a cable trench.
Preferably, the inspection robot comprises a base, the both sides of base are provided with the track, the drive slot has been seted up on the inside wall of base, be provided with transmission on the inside wall of drive slot, the front end of base is provided with cleaning device, the top of base is provided with the connecting block, the fixed backup pad that is provided with in top of connecting block, be provided with strutting arrangement in the backup pad, the fixed main part that is provided with inspection in top of backup pad, the top of backup pad is provided with the manipulator.
Preferably, the transmission device comprises a rotating shaft fixedly arranged on a crawler power shaft, the rotating shaft extends to the inside of a base, a transmission gear is fixedly arranged on the outer side wall of the rotating shaft, a transmission rod is fixedly and movably arranged on the base, a driven gear is fixedly arranged at the end part of the transmission rod, a conveyor belt is sleeved on the outer side wall of the transmission rod, the top of the transmission rod extends to the outside of the base, a special-shaped gear is fixedly arranged at the top of the transmission rod, a reciprocating plate is movably arranged at the bottom of the supporting plate, a limiting plate is fixedly arranged at the bottom of the supporting plate, and scraping assemblies are fixedly arranged at two sides of the reciprocating plate.
Preferably, the cleaning device comprises a supporting pipe fixedly arranged at the end part of the base, a small rotating rod is movably arranged at the end part of the supporting pipe, the other end of the conveying belt is sleeved on the outer side wall of the small rotating rod, and a cleaning brush plate is fixedly arranged at the bottom of the small rotating rod.
Preferably, the scraping component comprises sliding plates fixedly arranged on two sides of the reciprocating plate, a limiting rod is fixedly arranged at the bottom of the supporting plate, the sliding plates can slide on the limiting rod, a sliding groove is formed in the inner side wall of the sliding plate, a connecting shaft is fixedly arranged on the inner side wall of the sliding groove, a scraping plate is movably arranged on the outer side wall of the connecting shaft, a spring is sleeved on the outer side wall of the connecting shaft, one end of the spring abuts against the inner side wall of the sliding groove, and the other end of the spring abuts against the side wall of the scraping plate.
Preferably, the supporting device comprises a baffle fixedly arranged on the inner side wall of the supporting plate, a pushing plate is movably arranged on two sides of the inner side of the supporting plate, an anti-side plate is fixedly arranged on the outer side wall of the pushing plate, the anti-side plate extends to the outer side of the supporting plate, a pulley is movably arranged at the end part of the anti-side plate, a through groove is formed in the supporting plate, a pushing block is fixedly arranged at the top of the sliding plate, and the pushing block is abutted against the side wall of the pushing plate through the through groove.
Preferably, the inner side wall of the reciprocating plate is provided with tooth strips, and the tooth strips on the inner side wall of the reciprocating plate are meshed with the tooth strips on the outer side wall of the special-shaped gear.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, when the caterpillar band rotates, the rotary shaft can rotate the transmission gear, the transmission rod can rotate through the driven gear meshed with the rotary shaft, when the transmission rod rotates, the small rotary rod inside the supporting tube can rotate through the transmission effect of the transmission belt, so that the cleaning brush plate rotates, impurities on a robot path are removed, the situation that the robot bumps and turns on one's side due to the fact that the impurities block the path in front of the robot is avoided, and the device can be further supported, so that the device is more stable in the moving process and is not easy to turn on one's side.
2. According to the invention, when the transmission rod rotates, the special-shaped gear is enabled to rotate, the reciprocating plate is enabled to reciprocate, the sliding plates on the two sides are enabled to reciprocate, when the sliding plates move outwards, the scraping plates are enabled to push outwards, dust attached to the crawler belt is scraped, through the arrangement of the springs, during the period that the sliding plates are not fully retracted, the scraping plates compress the springs to move along the crawler belt for a certain distance, when the sliding plates drive the scraping plates to retract, the scraping plates rebound rapidly under the action of the elasticity of the springs, the contaminated dust on the outer side walls of the scraping plates is vibrated off, the device is prevented from being contaminated with a large amount of dust on the crawler belt in the operation process, normal movement is influenced, the self-cleaning effect is achieved in the moving process, and the cleanliness of the device in the use period is ensured.
3. In the invention, the pushing block is pushed in the process of moving the sliding plate to two sides, so that the pushing block pushes the pushing plate, and the anti-side plate is further moved outwards, when the robot is inclined, the robot can be supported by the extension of the anti-side plate, the situation that the device is turned over in moving work and cannot automatically recover is effectively prevented, the device is more convenient for inspection work use, and the manpower work load is greatly lightened.
Drawings
Fig. 1 is a schematic structural diagram of a cable channel inspection robot according to the present invention;
fig. 2 is a side view of a cable trench inspection robot according to the present invention;
fig. 3 is a structural cross-sectional view of a cable channel inspection robot according to the present invention;
fig. 4 is a structural internal cross-sectional view of a cable channel inspection robot according to the present invention;
FIG. 5 is a side sectional view of a cable trench inspection robot according to the present invention;
fig. 6 is a schematic structural back view of a cable channel inspection robot according to the present invention;
fig. 7 is an enlarged view of the structure of a cable trench inspection robot a according to the present invention;
fig. 8 is an enlarged view of the structure of a cable trench inspection robot B according to the present invention;
fig. 9 is a schematic diagram of an intelligent control system of a cable channel inspection robot according to the present invention.
In the figure: 1. a base; 2. a track; 3. a transmission groove; 4. a rotating shaft; 5. a transmission gear; 6. a driven gear; 7. a support plate; 8. a transmission rod; 9. a special-shaped gear; 10. a shuttle plate; 11. a limiting plate; 12. a sliding plate; 13. a sliding groove; 14. a connecting shaft; 15. a spring; 16. a connecting block; 17. a scraping plate; 18. a limit rod; 19. a baffle; 20. a push plate; 21. an anti-side plate; 22. a pulley; 23. a pushing block; 24. a conveyor belt; 25. a support tube; 26. a small rotating rod; 27. cleaning a brush plate; 28. a patrol main body; 29. a manipulator; 30. and (5) through grooves.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-9, a cable channel inspection robot includes a wireless communication terminal for performing remote signal transmission on the robot, a robot monitoring system for performing intelligent control on the robot, an external recognition system for performing real-time detection on the outside, and an inspection robot;
the robot monitoring system comprises a robot running control module, a robot state detection module and a data storage module; the robot running control module is used for controlling the robot to move, the robot state detection module is used for detecting the state of the robot in the running process, and the data storage module is used for storing running data of the robot; the external identification module comprises an infrared temperature sensing module, a camera control module, a video identification module and an air detection module; the infrared temperature sensing module is used for detecting a cable duct, the camera control module is used for controlling a camera, the video identification module is used for identifying videos acquired by the camera, and the air detection module is used for detecting air in a cable trench;
the inspection robot can be remotely controlled by starting the robot monitoring system through the wireless control end, the robot monitoring system controls the robot operation control module, the control robot can be enabled to move, and the robot state detection module is started, so that data in the operation process of the robot can be detected;
the infrared temperature sensing module can be started through the external recognition system to recognize and detect the cable duct, the camera control module is started at the same time to adjust the shooting angle of the camera, after the camera shoots, the video recognition module can be used for carrying out data analysis on the collected video and transmitting the video at the same time, and the air detection module can be used for detecting the air in the cable duct and knowing the air condition in the cable duct when being started;
the inspection robot comprises a base 1, wherein the two sides of the base 1 are provided with a track 2, the inner side wall of the base 1 is provided with a transmission groove 3, the inner side wall of the transmission groove 3 is provided with a transmission device, the transmission device comprises a rotating shaft 4 fixedly arranged on a power shaft of the track 2, the rotating shaft 4 extends to the inside of the base 1, the outer side wall of the rotating shaft 4 is fixedly provided with a transmission gear 5, the base 1 is fixedly and movably provided with a transmission rod 8, the end part of the transmission rod 8 is fixedly provided with a driven gear 6, the outer side wall of the transmission rod 8 is sleeved with a transmission belt 24, the top of the transmission rod 8 extends to the outside of the base 1, the top of the transmission rod 8 is fixedly provided with a special-shaped gear 9, the bottom of a supporting plate 7 is movably provided with a reciprocating plate 10, the inner side wall of the reciprocating plate 10 is provided with tooth bars, the tooth bars on the inner side wall of the reciprocating plate 10 are meshed with tooth bars on the outer side wall of the special-shaped gear 9, and the bottom of the supporting plate 7 is fixedly provided with a limiting plate 11;
when the crawler belt 2 rotates, the rotating shaft 4 can rotate to enable the transmission gear 5 to rotate, and the driven gear 6 meshed with the rotating shaft can enable the transmission rod 8 to rotate;
the scraping assembly is fixedly arranged on two sides of the reciprocating plate 10 and comprises sliding plates 12 fixedly arranged on two sides of the reciprocating plate 10, a limiting rod 18 is fixedly arranged at the bottom of the supporting plate 7, the sliding plates 12 can slide on the limiting rod 18, a sliding groove 13 is formed in the inner side wall of the sliding plate 12, a connecting shaft 14 is fixedly arranged on the inner side wall of the sliding groove 13, a scraping plate 17 is movably arranged on the outer side wall of the connecting shaft 14, a spring 15 is sleeved on the outer side wall of the connecting shaft 14, one end of the spring 15 abuts against the inner side wall of the sliding groove 13, and the other end of the spring 15 abuts against the side wall of the scraping plate 17;
the sliding plates 12 on the two sides reciprocate, when the sliding plates 12 move outwards, the scraping plates 17 can be pushed outwards to scrape off dust attached to the crawler belt 2, through the arrangement of the springs 15, during the period that the sliding plates 12 are not fully retracted, the scraping plates 17 can compress the springs 15 to move along with the crawler belt 2 for a certain distance, when the sliding plates 12 drive the scraping plates 17 to retract, the scraping plates 17 can rebound rapidly under the action of the elasticity of the springs 15, the polluted dust on the outer side walls of the scraping plates 17 is shaken off, the device is prevented from being polluted with a large amount of dust on the crawler belt 2 in the operation process, the normal movement is influenced, the self-cleaning effect is achieved in the moving process, and the cleanliness of the device in the use period is ensured;
the front end of the base 1 is provided with a cleaning device, the cleaning device comprises a supporting pipe 25 fixedly arranged at the end part of the base 1, the end part of the supporting pipe 25 is movably provided with a small rotating rod 26, the other end of the conveying belt 24 is sleeved on the outer side wall of the small rotating rod 26, and the bottom of the small rotating rod 26 is fixedly provided with a cleaning brush plate 27;
when the crawler belt 2 rotates, the rotating shaft 4 can be rotated, the rotating shaft 4 can rotate the transmission gear 5, the transmission rod 8 can rotate through the driven gear 6 meshed with the rotating shaft 4, when the transmission rod 8 rotates, the small rotating rod 26 in the supporting tube 25 can rotate through the transmission effect of the transmission belt 24, the cleaning brush plate 27 can rotate, impurities on a robot path are removed, the situation that the impurities block the robot front path and jolt and rollover of the robot are caused is avoided, the device can be further supported, and the device is more stable in the moving process and is not easy to rollover;
the top of the base 1 is provided with a connecting block 16, the top of the connecting block 16 is fixedly provided with a supporting plate 7, the supporting plate 7 is provided with a supporting device, the supporting device comprises a baffle 19 fixedly arranged on the inner side wall of the supporting plate 7, two sides of the inside of the supporting plate 7 are movably provided with a push plate 20, the outer side wall of the push plate 20 is fixedly provided with an anti-side plate 21, the anti-side plate 21 extends to the outside of the supporting plate 7, the end part of the anti-side plate 21 is movably provided with a pulley 22, the supporting plate 7 is provided with a through groove 30, the top of the sliding plate 12 is fixedly provided with a push block 23, the push block 23 is abutted against the side wall of the push plate 20 through the through groove 30, the top of the supporting plate 7 is fixedly provided with a patrol main body 28, and the top of the supporting plate 7 is provided with a manipulator 29;
in the process that the sliding plate 12 moves to the two sides, the pushing block 23 can be pushed, the pushing block 23 pushes the pushing plate 20, and then the anti-side plate 21 moves outwards, when the robot falls down, the robot can be supported through the extension of the anti-side plate 21, the device is effectively prevented from turning on one's side in the moving work, the situation that the device cannot automatically recover is avoided, the device is more convenient to patrol and examine the work and use, and the manpower work burden is greatly lightened.
In the invention, when the intelligent inspection robot is used, the robot monitoring system is started through the wireless control end to remotely control the inspection robot, the robot monitoring system controls the robot operation control module to enable the control robot to move, the robot state detection module is started to detect data in the operation process of the robot, meanwhile, the data storage module is used to store the operation data of the robot, meanwhile, the external recognition system is used to start the infrared temperature sensing module to recognize and detect a cable pipeline, the camera control module is started at the same time, the shooting angle of the camera is adjusted, after the camera is shot, the video recognition module is used to analyze the acquired video, and the video is transmitted at the same time, and the air detection module can detect the air in the cable trench and know the air condition in the cable trench when the air detection module is started;
when the equipment is started, the crawler belt 2 starts to rotate, the rotating shaft 4 can be rotated when the crawler belt 2 rotates, the rotating shaft 4 can rotate to enable the transmission gear 5 to rotate, the transmission rod 8 can rotate through the driven gear 6 meshed with the rotating shaft 4, and when the transmission rod 8 rotates, the small rotating rod 26 in the supporting tube 25 can rotate through the transmission effect of the transmission belt 24, so that the cleaning brush plate 27 rotates to remove impurities on a robot path, and meanwhile, the device can be supported;
meanwhile, when the transmission rod 8 rotates, the special-shaped gear 9 rotates, the reciprocating plate 10 moves reciprocally when the special-shaped gear 9 rotates, the sliding plates 12 on two sides move reciprocally, when the sliding plates 12 move outwards, the scraping plates 17 push outwards, dust attached to the crawler belt 2 is scraped off, the sliding plates 12 are not fully retracted, the scraping plates 17 move along with the crawler belt 2 for a certain distance through the arrangement of the springs 15, and when the sliding plates 12 drive the scraping plates 17 to retract, the scraping plates 17 rebound rapidly under the action of the elasticity of the springs 15, and the polluted dust on the outer side walls of the scraping plates 17 is shaken off;
in the process of moving the sliding plate 12 to two sides, the pushing block 23 is pushed, so that the pushing block 23 pushes the pushing plate 20, and the anti-side plate 21 moves outwards, and when the robot falls down, the robot can be supported by extending the anti-side plate 21.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (2)
1. The cable channel inspection robot is characterized by comprising a wireless communication end for carrying out remote signal transmission on the robot, a robot monitoring system for carrying out intelligent control on the robot, an external identification system for carrying out real-time detection on the outside and the inspection robot;
the robot monitoring system comprises a robot operation control module, a robot state detection module and a data storage module; the robot operation control module is used for controlling the robot to move, the robot state detection module is used for detecting the state of the robot in the operation process, and the data storage module is used for storing the operation data of the robot;
the external recognition system comprises an infrared temperature sensing module, a camera control module, a video recognition module and an air detection module; the infrared temperature sensing module is used for detecting a cable pipeline, the camera control module is used for controlling a camera, the video identification module is used for identifying videos acquired by the camera, and the air detection module is used for detecting air in a cable trench;
the inspection robot comprises a base (1), wherein crawler belts (2) are arranged on two sides of the base (1), a transmission groove (3) is formed in the inner side wall of the base (1), a transmission device is arranged on the inner side wall of the transmission groove (3), a cleaning device is arranged at the front end of the base (1), a connecting block (16) is arranged at the top of the base (1), a supporting plate (7) is fixedly arranged at the top of the connecting block (16), a supporting device is arranged on the supporting plate (7), an inspection main body (28) is fixedly arranged at the top of the supporting plate (7), and a manipulator (29) is arranged at the top of the supporting plate (7);
the transmission device comprises a rotating shaft (4) fixedly arranged on a power shaft of a crawler belt (2), the rotating shaft (4) extends to the inside of a base (1), a transmission gear (5) is fixedly arranged on the outer side wall of the rotating shaft (4), a transmission rod (8) is fixedly and movably arranged on the base (1), a driven gear (6) is fixedly arranged at the end part of the transmission rod (8), a transmission belt (24) is sleeved on the outer side wall of the transmission rod (8), the top of the transmission rod (8) extends to the outside of the base (1), a special-shaped gear (9) is fixedly arranged at the top of the transmission rod (8), a reciprocating plate (10) is movably arranged at the bottom of a supporting plate (7), a limiting plate (11) is fixedly arranged at the bottom of the supporting plate (7), and scraping components are fixedly arranged at two sides of the reciprocating plate (10);
the cleaning device comprises a supporting pipe (25) fixedly arranged at the end part of the base (1), a small rotating rod (26) is movably arranged at the end part of the supporting pipe (25), the other end of the conveying belt (24) is sleeved on the outer side wall of the small rotating rod (26), and a cleaning brush plate (27) is fixedly arranged at the bottom of the small rotating rod (26);
the scraping assembly comprises sliding plates (12) fixedly arranged on two sides of the reciprocating plate (10), a limiting rod (18) is fixedly arranged at the bottom of the supporting plate (7), the sliding plates (12) can slide on the limiting rod (18), sliding grooves (13) are formed in the inner side walls of the sliding plates (12), connecting shafts (14) are fixedly arranged on the inner side walls of the sliding grooves (13), scraping plates (17) are movably arranged on the outer side walls of the connecting shafts (14), springs (15) are sleeved on the outer side walls of the connecting shafts (14), one ends of the springs (15) are abutted against the inner side walls of the sliding grooves (13), and the other ends of the springs (15) are abutted against the side walls of the scraping plates (17);
the supporting device comprises a baffle plate (19) fixedly arranged on the inner side wall of a supporting plate (7), push plates (20) are movably arranged on two sides of the inner side of the supporting plate (7), side-proof plates (21) are fixedly arranged on the outer side wall of the push plates (20), the side-proof plates (21) extend to the outer side of the supporting plate (7), pulleys (22) are movably arranged at the end parts of the side-proof plates (21), through grooves (30) are formed in the supporting plate (7), push blocks (23) are fixedly arranged at the top of a sliding plate (12), and the push blocks (23) are propped against the side walls of the push plates (20) through the through grooves (30).
2. The cable channel inspection robot according to claim 1, wherein the inner side wall of the reciprocating plate (10) is provided with tooth strips, and the tooth strips on the inner side wall of the reciprocating plate (10) are meshed with the tooth on the outer side wall of the special-shaped gear (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210152614.6A CN114843927B (en) | 2022-02-18 | 2022-02-18 | Cable channel inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210152614.6A CN114843927B (en) | 2022-02-18 | 2022-02-18 | Cable channel inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114843927A CN114843927A (en) | 2022-08-02 |
| CN114843927B true CN114843927B (en) | 2023-12-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210152614.6A Active CN114843927B (en) | 2022-02-18 | 2022-02-18 | Cable channel inspection robot |
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| Country | Link |
|---|---|
| CN (1) | CN114843927B (en) |
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| CN113246127A (en) * | 2021-05-20 | 2021-08-13 | 桂林电子科技大学 | Underwater pipeline inspection cleaning robot |
| WO2021196529A1 (en) * | 2020-04-02 | 2021-10-07 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
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| CN206287132U (en) * | 2016-12-08 | 2017-06-30 | 东莞理工学院 | A kind of intelligent garbage crusing robot |
| CN107046252A (en) * | 2017-04-14 | 2017-08-15 | 国网吉林省电力有限公司经济技术研究院 | A kind of conduit line intelligent inspection robot |
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| CN114843927A (en) | 2022-08-02 |
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