CN115296207A - Cable groove inspection robot and working method thereof - Google Patents
Cable groove inspection robot and working method thereof Download PDFInfo
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- CN115296207A CN115296207A CN202211001480.4A CN202211001480A CN115296207A CN 115296207 A CN115296207 A CN 115296207A CN 202211001480 A CN202211001480 A CN 202211001480A CN 115296207 A CN115296207 A CN 115296207A
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- rotating
- groove
- inspection robot
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- frame
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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
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
- F16L55/44—Constructional aspects of the body expandable
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a cable trench inspection robot and a working method thereof, belonging to the technical field of inspection robots, wherein the conventional cable trench inspection robot has the problems of easy overturn and turnover, and poor passing performance caused by overlarge transfer radius; an elastic telescopic mechanism is arranged between the upper frame plate and the lower frame plate, and two groups of elastic telescopic mechanisms at the same side are connected through a telescopic distance adjusting mechanism; run through the saddle mid-rotation and install steering control mechanism, steering control mechanism both ends rotate respectively and connect the middle part at the flexible roll adjustment mechanism in both sides, and the equipment box is installed at the saddle top, installs image and controlgear and power supply unit in the equipment box, reduces turning radius when realizing improving driving stability through above structure, increases the trafficability characteristic.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a cable groove inspection robot and a working method thereof.
Background
The installation mode of the cable is divided into overhead installation and buried cable groove routing laying, and under the condition that the terrain is uneven and no obstacle exists in the sky, most of the cable installation and laying adopt the overhead mode; however, in most cases where the overhead condition is not available, the cable routing generally employs a trench installation method.
In order to ensure the protection to the cable, the cable groove is provided with a corresponding drainage mechanism and is additionally provided with a cover plate to be sealed, so that the cable is prevented from being bitten by animals, the stability of power transmission is influenced, meanwhile, the closed structure brings certain resistance to the regular maintenance of the cable, the traditional line patrol mode adopts a partition lifting cover plate to check, and the line patrol mode has the problems of low line patrol efficiency and large consumption of manpower and material resources.
For solving above problem, the robot is patrolled and examined to multiple cable slot appears on the market, through installing track or walking wheel additional for the robot, then go forward through artifical remote control and shoot the cable state of ditch inslot and transmit to operating personnel on, with this go on patrolling and examining the line fast, nevertheless discover in the actual operation process because there is the soil stone in the permanent cable slot bottom surface part of time, robot slope often appears, the condition of car turns over, current robot turning radius is big when meetting the corner simultaneously, need through adjustment many times just can pass through or directly blocked not to pass through.
Based on the problems, the invention provides a cable trench inspection robot and a working method thereof.
Disclosure of Invention
The invention aims to provide a cable trench inspection robot and a working method thereof, aiming at solving the problems that the existing cable trench inspection robot in the background technology is easy to overturn and has poor passing performance due to overlarge transfer radius.
In order to achieve the above purpose, the invention adopts the technical scheme that:
the cable trench inspection robot comprises a saddle, wherein four groups of Y-shaped frames are symmetrically and rotatably mounted at the front and back of two ends of the saddle in a front-and-back symmetrical mode, each Y-shaped frame comprises a frame rotating plate and a frame plate, one end of each frame rotating plate is rotatably mounted on the saddle, the frame plates are symmetrically and rotatably mounted at the outer side ends of the frame rotating plates in an up-and-down symmetrical mode, and a walking unit is mounted at the movable end of each frame plate;
an elastic telescopic mechanism is arranged between the upper frame plate and the lower frame plate, and two groups of elastic telescopic mechanisms on the same side are connected through a telescopic distance adjusting mechanism;
a steering control mechanism is rotatably arranged through the middle of the saddle, and two ends of the steering control mechanism are respectively and rotatably connected to the middle parts of the telescopic distance adjusting mechanisms on two sides;
an equipment box is installed on the top of the saddle, and an image and control device and a power supply unit are installed in the equipment box.
Furthermore, the front and back symmetry of the two ends of the saddle is provided with four groups of first rotating grooves, one end of the frame rotating plate is rotatably installed on the first rotating groove inner column, the middle part of the saddle is provided with a through rotating groove in a penetrating manner, the through rotating groove is internally provided with the steering control mechanism, and meanwhile, the two ends of the through rotating groove are provided with slopes convenient for the steering control mechanism to rotate.
Furthermore, side rotating grooves are symmetrically formed in the upper and lower ends of the outer side of the frame rotating plate, one end of the frame plate is rotatably installed in the side rotating grooves, and meanwhile, rotating seats are symmetrically arranged in the middle of the upper frame plate and the lower frame plate to rotatably install the two ends of the elastic telescopic mechanism.
Furthermore, the elastic telescopic mechanism comprises a bidirectional telescopic rod, a connecting sleeve and damping springs, wherein the connecting sleeve is rotatably arranged in the middle of the bidirectional telescopic rod, the damping springs are symmetrically arranged on the bidirectional telescopic rod above and below the connecting sleeve, and the damping springs are arranged on the connecting sleeve at the same side.
Furthermore, the telescopic distance adjusting mechanism comprises an adapter and electric telescopic rods symmetrically arranged at two ends of the adapter, the movable ends of the electric telescopic rods at two sides are respectively connected to the side walls of the connecting sleeves at two sides, and two ends of the steering control mechanism are rotatably arranged at one side of the adapter through a second rotating groove.
Furthermore, steering control mechanism includes rotor plate and the pivot of rotor plate top connection of rotor plate, the symmetrical installation of rotor plate both sides wall, the pivot top is run through the saddle, simultaneously the pivot top is passed through the coupling joint and is installed on the servo motor's in the equipment box output, the outside end of rotor plate is rotated and is installed in the second rotates the inslot.
Furthermore, a front groove, a middle groove and a rear groove are sequentially arranged in the equipment box from front to back, the image and control equipment is installed in the front groove, the servo motor is installed in the middle groove, and the power supply unit is installed in the rear groove.
Furthermore, two groups of cameras included in the image and control equipment are installed at the front end of the equipment box in a penetrating mode, and the rear end of the equipment box is communicated with the rear groove and is provided with a plurality of heat dissipation holes.
Furthermore, the walking unit comprises a driving motor, a cylindrical wheel rim, a hemisphere and a plurality of anti-skid protrusions, the outer diameter of the cylindrical wheel rim is the same as the diameter of the hemisphere, one end of the cylindrical wheel rim is installed on the cross section of the hemisphere, the cylindrical wheel rim and the outer side face of the hemisphere are provided with a plurality of anti-skid protrusions, the driving motor is installed on one side of the movable end of the frame plate, and meanwhile the output end of the driving motor is connected to the center of the cross section of the hemisphere.
In order to solve the problems, the invention also provides a working method of the cable groove inspection robot, which comprises the following steps:
s1, placing a cable inspection robot in a cable groove, and controlling a driving motor to drive a hemispheroid and a cylindrical wheel rim to rotate so as to achieve the purpose of advancing;
s2, the electric telescopic rod is controlled to extend to push the elastic telescopic mechanism to drive the Y-shaped vehicle frame to extend outwards, the distance between supporting points of the walking unit is increased, when the bottom surface of the Y-shaped vehicle frame is protruded, the lower hemispherical body and the lower cylindrical wheel rim are jacked to push the bidirectional telescopic rod to contract and extrude the damping spring, and the Y-shaped vehicle frame automatically resets by being reacted by the damping spring;
and S3, when the vehicle passes through the corner, the electric telescopic rod is controlled to contract to pull the elastic telescopic mechanism to drive the Y-shaped vehicle frame to rotate towards the middle of the vehicle seat, meanwhile, the servo motor drives the rotating block to rotate towards the corner direction, the rotating block controls the two-side telescopic distance adjusting mechanisms to rotate towards the corner direction through the rotating plates on the two sides in the rotating process, and the telescopic distance adjusting mechanisms drive the two groups of Y-shaped vehicle frames on the outer side of the corner to move forwards and the two groups of Y-shaped vehicle frames on the inner side of the corner to move backwards through the elastic telescopic mechanisms, so that the purpose of reducing the turning radius and passing through the corner is achieved.
Compared with the prior art, the invention has the following advantages:
(1) The four groups of Y-shaped frames are symmetrically and rotatably mounted at the front and the back of two ends of a saddle, each Y-shaped frame comprises a frame rotating plate with one end rotatably mounted on the saddle and frame plates with the outer side ends of the frame rotating plates vertically and symmetrically and rotatably mounted, and the movable ends of the frame plates are provided with walking units; an elastic telescopic mechanism is arranged between the upper frame plate and the lower frame plate, and the two groups of elastic telescopic mechanisms at the same side are connected through a telescopic distance adjusting mechanism; a steering control mechanism is rotatably arranged through the middle of the saddle, two ends of the steering control mechanism are respectively and rotatably connected to the middle of the telescopic distance adjusting mechanisms on the two sides, an equipment box is arranged at the top of the saddle, and an image and control device and a power supply unit are arranged in the equipment box; by arranging the Y-shaped frame, the Y-shaped frame comprises a frame rotating plate with one end rotatably mounted on the saddle and frame plates with the outer side ends of the frame rotating plate symmetrically and rotatably mounted up and down, and the movable ends of the frame plates are provided with the walking units, so that the up-and-down walking units can keep stable in the walking process of the robot; the upper and lower walking units have the elastic lifting function by installing the elastic telescopic mechanisms between the upper and lower frame plates, so that the stability in obstacle crossing and driving processes is improved, the influence of vibration on equipment is avoided, and the shooting stability is improved; two sets of elastic telescoping mechanism through flexible roll adjustment mechanism pulling homonymy outside or inboard, elastic telescoping mechanism drives Y type frame abduction or adversion, increases automobile body running unit's support interval during abduction, increases stability, and Y driving frame and the running unit that controls one side through steering control mechanism during adversion are preceding and the Y driving frame and the running unit of opposite side backward to this reduces turning radius, has improved the stable trafficability characteristic of turning.
Drawings
Fig. 1 is a perspective view of an inspection state of an inspection robot according to an embodiment of the invention;
fig. 2 is a perspective view of an inspection state of the inspection robot according to the embodiment of the invention;
FIG. 3 is a perspective view of the seat and equipment box with the cover removed according to the embodiment of the present invention;
FIG. 4 is a perspective view, in half section, of a vehicle seat provided in accordance with an embodiment of the present invention;
FIG. 5 is a perspective view of a half-section of a rear seat of an inspection robot for removing an equipment box according to an embodiment of the present invention;
FIG. 6 is a perspective view of a steering control mechanism provided in accordance with an embodiment of the present invention;
FIG. 7 is a perspective view of a Y-frame with a shock absorbing spring partially cut away and an elastic telescoping mechanism according to an embodiment of the present invention;
fig. 8 is a perspective view of the cylindrical rim, the hemisphere and the plurality of anti-slip protrusions according to the embodiment of the present invention.
In the figure: 1. a vehicle seat; 2. a first rotating groove; 3. the rotary groove is penetrated; 31. a slope surface; 4. rotating the block; 41. a rotating plate; 5. a rotating shaft; 6. an equipment box; 61. heat dissipation holes; 7. a pre-tank; 8. an image and control device; 81. a camera; 9. a middle-arranged groove; 10. a servo motor; 11. a rear slot; 12. a power supply unit; 13. a transfer seat; 131. a second rotating groove; 14. an electric telescopic rod; 15. a connecting sleeve; 16. a frame turning plate; 17. a side rotary groove; 18. a frame plate; 19. a rotating seat; 20. a bidirectional telescopic rod; 21. a damping spring; 22. a drive motor; 23. a cylindrical rim; 24. a hemisphere; 25. and (4) anti-skid bulges.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Example one
As shown in fig. 1-8, a cable trench inspection robot comprises a saddle 1, the saddle 1 and an equipment box are made of stainless steel materials, and corrosion of accumulated liquid in a cable trench is avoided, four groups of Y-shaped frames are symmetrically and rotationally mounted at the front and back of two ends of the saddle 1, each Y-shaped frame comprises a frame rotating plate 16 with one end rotationally mounted on the saddle 1 and a frame plate 18 with one end rotationally mounted at the outer side end of the frame rotating plate 16, the upper and lower ends of the frame plates are symmetrically and rotationally mounted at the upper and lower ends, a walking unit is mounted at the movable end of the frame plate 18, and by arranging the Y-shaped frame, each Y-shaped frame comprises a frame rotating plate with one end rotationally mounted on the saddle and a frame plate with one end rotationally mounted at the outer side end of the frame rotating plate, and the walking unit is mounted at the movable end of the frame plate, so that the upper and lower walking units can simultaneously play a role in driving and further increase running stability; an elastic telescopic mechanism is arranged between an upper frame plate 18 and a lower frame plate 18, the upper walking unit and the lower walking unit have the function of elastic lifting by arranging the elastic telescopic mechanism between the upper frame plate and the lower frame plate, the stability in obstacle crossing and the running process is improved, the influence on equipment caused by vibration is avoided, the shooting stability is improved, two groups of elastic telescopic mechanisms on the same side are connected through a telescopic distance adjusting mechanism, a steering control mechanism is rotatably arranged in the middle of a saddle 1 in a penetrating mode, two ends of the steering control mechanism are respectively rotatably connected in the middle of the telescopic distance adjusting mechanisms on two sides, the two groups of elastic telescopic mechanisms on the same side are pulled to the outer side or the inner side through the telescopic distance adjusting mechanism, the elastic telescopic mechanisms drive a Y-shaped frame to outwards expand or inwards rotate, the supporting distance of the walking units of the vehicle body is increased during outwards expanding, the stability is improved, the turning radius is reduced by controlling the Y-shaped frame and the walking units on one side to move forwards and backwards through the telescopic mechanism during inwards rotating, the stable passing performance of turning is improved, an equipment box 6 is arranged at the top of the saddle 1, and an image and a control device 8 and a power supply unit 12 are arranged in the equipment box 6.
The design idea is as follows: compared with the existing inspection robot which is provided with crawler belts or walking wheels at the bottom and is easily subjected to overturning or overturning caused by bulges or roadblocks in the running process, the Y-shaped frame clamp is rotatably arranged at four corners of a saddle 1, two frame plates 18 included in the Y-shaped frame are rotatably arranged, a walking unit is arranged at the movable end of each frame plate 18, an elastic telescopic mechanism is arranged between the frame plates 18, so that the upper walking unit and the lower walking unit have the elastic lifting function, two groups of elastic telescopic mechanisms at the same side are connected through a telescopic distance adjusting mechanism, a steering control mechanism is rotatably arranged in the middle of the saddle 1, the Y-shaped frames at two sides of the saddle 1 are adjusted to respectively rotate forwards and backwards through the steering control mechanism, the purpose of reducing the turning radius is realized, and the passing performance of the cable groove inspection robot is greatly improved.
As shown in fig. 4 and 5, four first rotating grooves 2 are symmetrically arranged at the front and back of two ends of a saddle 1, one end of a frame rotating plate 16 is rotatably arranged on an inner column of the first rotating groove 2, a through rotating groove 3 is arranged in the middle of the saddle 1 in a penetrating manner, a steering control mechanism is arranged in the through rotating groove 3, a slope 31 convenient for the steering control mechanism to rotate is arranged at two ends of the through rotating groove 3, rotation limitation is avoided by arranging the slope 31, and the rotating angle range is improved.
As shown in fig. 7, the side rotary slots 17 are symmetrically arranged at the upper and lower ends of the outer side of the frame rotary plate 16, one end of the frame plate 18 is rotatably arranged in the side rotary slots 17, the middle parts of the upper and lower frame plates 18 are symmetrically provided with rotary seats 19 to rotatably install two ends of the elastic telescopic mechanism, one end of the frame plate 18 is rotatably arranged by arranging the side rotary slots 17, so that the rotation is stable, the rotary seats 19 are symmetrically arranged at the middle parts of the opposite surfaces of the middle parts of the upper and lower frame plates 18 to install the elastic telescopic mechanism, when a roadblock is encountered, the lower frame plate 18 is lifted and compressed to the elastic telescopic mechanism and passes through, and the automatic reset is realized by the action of the elastic telescopic mechanism after passing through, so that the driving stability is increased by stably passing through the protrusions.
As shown in fig. 7, the elastic telescopic mechanism comprises a bidirectional telescopic rod 20, a connecting sleeve 15 installed in the middle of the bidirectional telescopic rod 20 in a rotating mode and damping springs 21 symmetrically installed on the bidirectional telescopic rod 20 above and below the connecting sleeve 15, when the bidirectional telescopic rod 20 is arranged to meet the requirement of routing inspection in a low-height cable groove, upper and lower walking units are respectively supported on the upper surface and the lower surface of the cable groove, the purpose of damping is achieved while the driving stability is improved, and a telescopic distance adjusting mechanism is installed between the connecting sleeves 15 on the same side.
As shown in fig. 2, 5, 6, flexible roll adjustment mechanism includes adapter 13 and the electric telescopic handle 14 of adapter 13 both ends symmetry installation, the expansion end of the electric telescopic handle 14 of both sides is connected respectively on the lateral wall of the connecting sleeve 15 of both sides, electric telescopic handle 14 possesses the higher advantage of control reaction precision, adapter 13 one side rotates the both ends that install steering control mechanism through being equipped with the second 131, stretch out and draw back the elastic expansion mechanism who realizes the pulling both sides through control electric telescopic handle 14, the interval of the Y type frame of indirect control both sides, the interval increase, the stability of traveling is improved, the interval reduces and makes preparation for reducing turning radius.
As shown in fig. 3 and 6, the steering control mechanism includes a rotating block 4, rotating plates 41 symmetrically installed on two side walls of the rotating block 4, and a rotating shaft 5 connected to the top of the rotating block 4, the top end of the rotating shaft 5 penetrates through the seat 1, meanwhile, the top end of the rotating shaft 5 is connected to the output end of a servo motor 10 installed in the equipment box 6 through a coupler, the outer end of the rotating plate 41 is rotatably installed in a second rotating groove 131, the rotating shaft 5 is controlled to rotate through the servo motor 10, the rotating shaft 5 drives the rotating block 4 to rotate, the rotating plates 41 on two sides are driven to rotate by the rotating block 4, so as to control the telescopic distance adjusting mechanisms on two sides, the elastic telescopic mechanisms, the Y-shaped frame and the traveling unit to move forward and backward respectively, and the purpose of reducing the turning radius is achieved.
As shown in fig. 3, a front slot 7, a middle slot 9 and a rear slot 11 are sequentially arranged in the equipment box 6 from front to back, the front slot 7 is provided with an image and control device 8, the image and control device 8 is an existing wireless video shooting and transmitting device and a vehicle body walking controller, the middle slot 9 is provided with a servo motor 10, the rear slot 11 is provided with a power supply unit 12, and the power supply unit 12 is a battery.
As shown in fig. 1 and 2, two sets of cameras 81 included in the image and control device 8 are installed at the front end of the equipment box 6 in a penetrating manner, and also can be matched with one set of cameras 81 and one lighting lamp according to the use requirements, the rear end of the equipment box 6 is communicated with the rear groove 11 and is provided with a plurality of heat dissipation holes 61, and the heat dissipation performance of the inspection robot is increased by arranging the plurality of heat dissipation holes 61.
As shown in fig. 8, the walking unit includes a driving motor 22, a cylindrical rim 23, a hemisphere 24 and a plurality of anti-slip protrusions 25, the outer diameter of the cylindrical rim 23 is the same as the diameter of the hemisphere 24, the cylindrical rim 23 and the hemisphere 24 can be made of rubber, the running stability is improved, meanwhile, one end of the cylindrical rim 23 is installed on the cross section of the hemisphere 24, a plurality of anti-slip protrusions 25 are arranged on the outer side surfaces of the cylindrical rim 23 and the hemisphere 24, the driving motor 22 is installed on one side of the movable end of the frame plate 18, the output end of the driving motor 22 is connected to the center of the cross section of the hemisphere 24, the curved side surface can effectively increase the contact surface when slope-shaped soil is accumulated on the two sides of a cable slot where a vehicle body passes through by setting the hemisphere 24, the resistance is increased, the passing performance is improved, the purpose of pushing the robot to walk is realized by driving the outer diameter of the cylindrical rim 23 and the hemisphere 24 to rotate by setting the plurality of anti-slip protrusions 25.
Example two
A working method of a cable groove inspection robot comprises the following steps:
s1, placing a cable inspection robot in a cable groove, and controlling a driving motor 22 to drive a hemispheroid 24 and a cylindrical wheel rim 23 to rotate so as to achieve the purpose of advancing;
s2, the electric telescopic rod 14 is controlled to extend to push the elastic telescopic mechanism to drive the Y-shaped vehicle frame to extend outwards, the distance between supporting points of the walking unit is increased, when the bottom surface of the vehicle is raised, the lower hemispherical body 24 and the cylindrical wheel rim 23 are jacked up to push the bidirectional telescopic rod 20 to contract and extrude the damping spring 21, and the bidirectional telescopic rod is automatically reset under the reaction of the damping spring 21, so that the driving stability and the passing performance are improved;
s3, when the automobile passes through a corner, the electric telescopic rod 14 is controlled to contract to pull the elastic telescopic mechanism to drive the Y-shaped frame to rotate towards the middle of the automobile seat 1, meanwhile, the servo motor 10 drives the rotating block 4 to rotate towards the corner direction, the rotating block 4 controls the two-side telescopic distance adjusting mechanisms to rotate towards the corner direction through the rotating plates 41 on the two sides in the rotating process, and the telescopic distance adjusting mechanisms drive the two groups of Y-shaped frames on the outer side of the corner to move forwards and the two groups of Y-shaped frames on the inner side of the corner to move backwards through the elastic telescopic mechanism, so that the purpose of reducing the turning radius and passing through the corner is achieved.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The cable trench inspection robot comprises a saddle (1) and is characterized in that four groups of Y-shaped frames are symmetrically and rotatably mounted at the front and back of two ends of the saddle (1), each Y-shaped frame comprises a frame rotating plate (16) with one end rotatably mounted on the saddle (1) and a frame plate (18) with the outer side end of the frame rotating plate (16) symmetrically and rotatably mounted up and down, and a walking unit is mounted at the movable end of the frame plate (18);
an elastic telescopic mechanism is arranged between the upper frame plate (18) and the lower frame plate (18), and the two groups of elastic telescopic mechanisms on the same side are connected through a telescopic distance-adjusting mechanism;
a steering control mechanism is rotatably arranged through the middle of the saddle (1), and two ends of the steering control mechanism are respectively and rotatably connected to the middle of the telescopic distance adjusting mechanisms on two sides;
an equipment box (6) is installed at the top of the saddle (1), and an image and control device (8) and a power supply unit (12) are installed in the equipment box (6).
2. The cable trench inspection robot according to claim 1, wherein four groups of first rotating grooves (2) are symmetrically formed in the front and back of the two ends of the saddle (1), one end of the frame rotating plate (16) is rotatably mounted on an inner column of each first rotating groove (2), a through rotating groove (3) penetrates through the middle of the saddle (1), the steering control mechanism is mounted in the through rotating groove (3), and meanwhile two ends of the through rotating groove (3) are provided with a slope (31) convenient for the steering control mechanism to rotate.
3. The cable trench inspection robot according to claim 2, wherein side rotating grooves (17) are symmetrically formed in the upper and lower sides of the outer side end of the frame rotating plate (16), one end of the frame plate (18) is rotatably installed in the side rotating grooves (17), and rotating seats (19) are symmetrically formed in the middle of the upper frame plate (18) and the lower frame plate (18) to rotatably install two ends of the elastic telescoping mechanism.
4. The cable trench inspection robot according to claim 3, wherein the elastic telescopic mechanism comprises a bidirectional telescopic rod (20), a connecting sleeve (15) rotatably mounted in the middle of the bidirectional telescopic rod (20), and damping springs (21) symmetrically mounted on the bidirectional telescopic rod (20) above and below the connecting sleeve (15), and the telescopic distance adjusting mechanism is mounted between the connecting sleeves (15) on the same side.
5. The cable trench inspection robot according to claim 4, wherein the telescopic distance adjusting mechanism comprises an adapter (13) and electric telescopic rods (14) symmetrically installed at two ends of the adapter (13), movable ends of the electric telescopic rods (14) at two sides are respectively connected to side walls of the connecting sleeves (15) at two sides, and two ends of the steering control mechanism are rotatably installed on one side of the adapter (13) through a second rotating groove (131).
6. The robot is patrolled and examined to cable trench of claim 5, characterized in that, steering control mechanism includes rotor plate (41) and pivot (5) that rotor plate (4) top is connected of rotor block (4), the both sides wall symmetry installation of rotor block (4), pivot (5) top is run through saddle (1), simultaneously the pivot (5) top is installed through the coupling joint on the output of servo motor (10) in equipment box (6), the outside end rotation of rotor plate (41) is installed in second rotation groove (131).
7. The cable trench inspection robot according to claim 6, wherein a front groove (7), a middle groove (9) and a rear groove (11) are sequentially formed in the equipment box (6) from front to back, the image and control equipment (8) is installed in the front groove (7), the servo motor (10) is installed in the middle groove (9), and the power supply unit (12) is installed in the rear groove (11).
8. The cable trench inspection robot according to claim 7, wherein two groups of cameras (81) included in the image and control equipment (8) are installed at the front end of the equipment box (6) in a penetrating manner, and a plurality of heat dissipation holes (61) are formed in the rear end of the equipment box (6) and communicated with the rear groove (11).
9. The robot is patrolled and examined to cable trench of claim 1, characterized in that, the walking unit includes driving motor (22), tube-shape rim (23), hemispheroid (24) and a plurality of non-slip raised (25), tube-shape rim (23) external diameter with hemispheroid (24) diameter is the same, simultaneously the one end of tube-shape rim (23) is installed on the cross-section of hemispheroid (24), tube-shape rim (23) with hemispheroid (24) lateral surface is equipped with a plurality ofly non-slip raised (25), driving motor (22) are installed one side of frame plate (18) expansion end, simultaneously the output of driving motor (22) is connected on the cross-section centre of hemispheroid (24).
10. A working method of a cable trench inspection robot, characterized in that the cable trench inspection robot according to any one of claims 1 to 9 is used, and the working method of the cable trench inspection robot comprises the following steps:
s1, placing a cable inspection robot in a cable groove, and controlling a driving motor (22) to drive a hemispheroid (24) and a cylindrical wheel rim (23) to rotate so as to achieve the purpose of advancing;
s2, the electric telescopic rod (14) is controlled to extend to push the elastic telescopic mechanism to drive the Y-shaped frame to extend outwards, the distance between supporting points of the walking unit is increased, when the bottom surface of the walking unit is protruded, the lower hemispheroid (24) and the cylindrical wheel rim (23) are jacked to push the two-way telescopic rod (20) to contract and extrude the damping spring (21), and the walking unit automatically resets by the reaction of the damping spring (21);
s3, when the automobile passes through a corner, the electric telescopic rod (14) is controlled to contract to pull the elastic telescopic mechanism to drive the Y-shaped frame to rotate towards the middle of the automobile seat (1), meanwhile, the servo motor (10) drives the rotating block (4) to rotate towards the corner direction, the rotating block (4) controls the telescopic distance adjusting mechanisms on the two sides to rotate towards the corner direction through the rotating plates (41) on the two sides in the rotating process, and the telescopic distance adjusting mechanisms drive the two groups of Y-shaped frames on the outer side of the corner to move forwards and the two groups of Y-shaped frames on the inner side of the corner to move backwards through the elastic telescopic mechanism, so that the purpose of reducing the turning radius and passing through the corner is achieved.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211001480.4A CN115296207A (en) | 2022-08-19 | 2022-08-19 | Cable groove inspection robot and working method thereof |
| DE202022105927.6U DE202022105927U1 (en) | 2022-08-19 | 2022-10-20 | Inspection robot for cable ducts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211001480.4A CN115296207A (en) | 2022-08-19 | 2022-08-19 | Cable groove inspection robot and working method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115296207A true CN115296207A (en) | 2022-11-04 |
Family
ID=83830412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211001480.4A Pending CN115296207A (en) | 2022-08-19 | 2022-08-19 | Cable groove inspection robot and working method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115296207A (en) |
| DE (1) | DE202022105927U1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115864214A (en) * | 2022-11-22 | 2023-03-28 | 国网浙江省电力有限公司舟山供电公司 | Automatic wire climbing robot for cable deformation detection |
-
2022
- 2022-08-19 CN CN202211001480.4A patent/CN115296207A/en active Pending
- 2022-10-20 DE DE202022105927.6U patent/DE202022105927U1/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115864214A (en) * | 2022-11-22 | 2023-03-28 | 国网浙江省电力有限公司舟山供电公司 | Automatic wire climbing robot for cable deformation detection |
| CN115864214B (en) * | 2022-11-22 | 2023-09-05 | 国网浙江省电力有限公司舟山供电公司 | Automatic wire climbing robot for cable deformation detection |
Also Published As
| Publication number | Publication date |
|---|---|
| DE202022105927U1 (en) | 2022-11-15 |
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