CN115855168A - Cable tunnel hangs rail formula and patrols and examines and uses robot with diversified detection function - Google Patents
Cable tunnel hangs rail formula and patrols and examines and uses robot with diversified detection function Download PDFInfo
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- CN115855168A CN115855168A CN202310169322.8A CN202310169322A CN115855168A CN 115855168 A CN115855168 A CN 115855168A CN 202310169322 A CN202310169322 A CN 202310169322A CN 115855168 A CN115855168 A CN 115855168A
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Abstract
The invention relates to the technical field of cable tunnel inspection, in particular to a rail-mounted inspection robot for a cable tunnel, which has a multi-azimuth detection function. The utility model provides a cable tunnel hangs rail formula and patrols and examines and use robot with diversified detection function, including the support housing, the support housing rigid coupling has the L shape dead lever of symmetric distribution, the electronic wheel that this device of drive removed is installed to the L shape dead lever of symmetric distribution, the support housing rigid coupling has the battery, the support housing rigid coupling has the fixed frame of symmetric distribution, the fixed frame of symmetric distribution rotates respectively and is connected with the head rod, the both ends of head rod articulate respectively has first bracing piece, first bracing piece rotates and is connected with the leading wheel that is used for changing this device moving direction, the support housing rigid coupling has the base, the camera is installed to the base. The robot is always in a vertical state and the camera is always in a vertical direction through the guiding function of the guide wheels, and the shooting angle of the camera cannot be changed due to the ascending or descending.
Description
Technical Field
The invention relates to the technical field of cable tunnel inspection, in particular to a rail-mounted inspection robot for a cable tunnel, which has a multi-azimuth detection function.
Background
With the gradual maturity of technologies such as artificial intelligence, big data, more advanced, intelligent inspection mode comes up with, because the cable tunnel condition is extremely complicated, in order to make up the not enough of artifical inspection detection mode, fully introduce the robot technology, adopt initiative, real-time supervision and the developments of full region to patrol and examine as the inspection mode of present preferred.
At present cable tunnel robot is at the during operation, generally operate along the cable track that cable tunnel top was installed, in order to realize hanging the rail formula from the sky and patrol and examine the detection, because the distribution position of cable in cable tunnel is different, when carrying out the cable track installation, the orbital height of cable can change, the cable track of certain slope can appear in cable track high switching department, when the high rising of the cable that the robot detected or when reducing, the robot can carry out upslope or downhill path along the cable track, because the robot generally with cable track synchronous motion, the angle passive formula that makes the camera that carries shoot on the robot appears the deviation, thereby the picture that leads to the shooting deflects, influence operating personnel's observation.
Disclosure of Invention
In order to overcome the technical problems in the background art, a high-stability cable tunnel rail-hanging type inspection robot with a multi-direction detection function is provided.
The technical scheme is as follows: the utility model provides a cable tunnel hangs rail formula and patrols and examines and use robot with diversified detection function, including the support housing, the support housing rigid coupling has the L shape dead lever of symmetric distribution, the electronic wheel of this device removal of drive is installed to the L shape dead lever of symmetric distribution, the support housing rigid coupling has the battery, electronic wheel is connected with battery and control terminal electricity respectively, the support housing rigid coupling has the fixed frame of symmetric distribution, the fixed frame of symmetric distribution all rotates and is connected with the head rod, the both ends of head rod all articulate has first bracing piece, first bracing piece rotates and is connected with the leading wheel, the support housing rigid coupling has the base, the camera is installed to the base, the camera is connected with battery and control terminal electricity respectively, the fixed frame is provided with the supporting mechanism who is used for increasing the extrusion force between electronic wheel and the cable track, the support housing is provided with the gaseous gas collection mechanism of collection, the support housing is provided with the detection mechanism that detects the gaseous composition of environment, when this robot goes up a slope or downhill path, the leading wheel drives the head and takes place to rotate through first bracing piece, the robot is in vertical state under the effect of self gravity all the weight, and the camera is in vertical direction all the time.
Preferably, the supporting mechanism comprises symmetrically distributed fixed columns, the symmetrically distributed fixed columns are fixedly connected to adjacent fixed frames in a distributed mode, the fixed columns are connected with first sliding rods in a sliding mode, the symmetrically distributed first sliding rods are fixedly connected with first fixed rods, the first fixed rods are rotatably connected with the roller, the first sliding rods are fixedly connected with fixing rings, the first sliding rods are connected with sliding rings in a sliding mode, first springs are fixedly connected between the sliding rings and the fixing rings, and the first sliding rods are provided with driving assemblies used for extruding the first springs.
Preferably, the driving assembly comprises a sliding plate, the sliding plate is slidably connected to the first sliding rod, the sliding plate is located between the fixed column and the sliding ring, and the sliding plate is fixedly connected with the second supporting rods which are symmetrically distributed.
Preferably, the gas collection mechanism is including servo motor, servo motor passes through the backup pad rigid coupling in the support housing, servo motor is connected with battery and control terminal electricity respectively, servo motor's output shaft rigid coupling has the pivot, the rigid coupling has the casing that admits air in the support housing, the pivot rigid coupling has the fan that is located the casing that admits air, the upper portion circumference of the casing that admits air is provided with the inlet port, the height that highly is less than the casing inlet port that admits air of fan, the support housing rigid coupling has the rectangle frame of symmetric distribution, the support housing is provided with the rectangle through-hole of symmetric distribution, the rectangle through-hole and the rectangle frame intercommunication of support housing, the rectangle frame rigid coupling has the filter screen, the support housing is provided with the exhaust subassembly that is used for protecting the camera, the support housing is provided with the mechanism of striking off that is used for clearing up impurity on the filter screen.
Preferably, the detection mechanism comprises a temperature sensor, a humidity sensor, a smoke sensor and a toxic and flammable gas sensor, the temperature sensor, the humidity sensor, the smoke sensor and the toxic and flammable gas sensor are respectively and fixedly connected with the supporting shell, the temperature sensor, the humidity sensor, the smoke sensor and the toxic and flammable gas sensor are distributed on the lower side of the fan in the air inlet shell, and the temperature sensor, the humidity sensor, the smoke sensor and the toxic and flammable gas sensor are respectively and electrically connected with the battery and the control terminal.
Preferably, the exhaust assembly comprises an air duct, the air duct is fixedly connected to the support shell and sleeved outside the base, the support shell is provided with exhaust holes distributed circumferentially, and the exhaust holes distributed circumferentially communicate the air inlet shell with a gap between the base and the air duct.
Preferably, strike off the mechanism including the fixed block, the fixed block rigid coupling is in supporting the casing, the fixed block runs through the formula and rotates and be connected with the bull stick, the one end rigid coupling of bull stick has bevel gear, servo motor's output shaft rigid coupling has the bevel gear with the bevel gear meshing of bull stick, supporting the casing rigid coupling has the stopper of symmetric distribution, the stopper of symmetric distribution all rotates and is connected with reciprocating screw, the other end rigid coupling of bull stick has first sprocket, the one end rigid coupling that reciprocating screw of symmetric distribution is close to the bull stick has the second sprocket respectively, around being equipped with the chain between first sprocket and the second sprocket of symmetric distribution, the equal threaded connection of reciprocating screw of symmetric distribution has the slider, the slider rigid coupling has the second connecting rod, the second connecting rod rigid coupling has the scraper blade of striking off impurity on the filter screen, supporting the casing is provided with the T shape spout of symmetric distribution, sliding connection has T shape gag lever in the T shape spout, T shape gag lever and second connecting rod rigid coupling.
Preferably, the cross section of scraper blade sets up to isosceles triangle, and the bottom surface of scraper blade pastes tight filter screen for reduce piling up of impurity at the scraper blade both sides, the rectangle frame of symmetric distribution all is provided with the clearance subassembly of getting rid of impurity on the scraper blade.
Preferably, the clearance subassembly is including the fixed plate of symmetric distribution, the left and right sides of rectangle frame leading flank sets up respectively into the inclined plane with scraper blade complex, the inclined plane of rectangle frame left and right sides rigid coupling respectively has the fixed plate, fixed plate run-through sliding connection has the second slide bar, the one end rigid coupling that the fixed plate was kept away from to the second slide bar has first wedge, the side cooperation of first wedge and scraper blade, an adnexed impurity is used for getting rid of on the scraper blade side, the rigid coupling has the second spring between first wedge and the fixed plate, first wedge rigid coupling has spacing post, the second connecting rod is provided with the spacing subassembly of holding power to the second spring.
Preferably, the limiting assembly comprises a second fixing rod, the second fixing rod is fixedly connected to the second connecting rod, the second fixing rod is slidably connected with a second wedge block in limiting fit with the limiting column, and a third spring is fixedly connected between the second wedge block and the second fixing rod.
Has the advantages that: the clamping force of the roller and the electric wheel on the cable track is increased when the robot goes up or down a slope, so that the robot can work stably when going up or down the slope with higher slope, the guide wheel only plays a role in guiding, the robot is always in a vertical state, the camera is always in a vertical direction, the shooting angle of the camera cannot be changed due to the going up or down the slope, gas detection is carried out by adopting a forced air flow mode, the robot is prevented from moving to an area with poor air flow, outside air cannot enter the robot, the problem that the specific parameters of the outside air cannot be detected is solved, an annular airflow wall which flows downwards is formed around the camera, the phenomenon that outside impurities are close to the camera and are attached to the camera seriously, the definition of images recorded by the camera is influenced, the impurities on the filter screen are scraped by the scraper, the problem that the filter screen is blocked by the impurities is avoided, the problem that the air intake is influenced is solved, and the data deviation of the detected gas can be caused by the reduction of the air intake.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of the support housing of the present invention.
Fig. 3 is a schematic perspective view of the drum according to the present invention.
Fig. 4 is a partial sectional view of a three-dimensional structure of the support mechanism of the present invention.
Fig. 5 is a perspective view of the scraping mechanism of the present invention.
Fig. 6 is a schematic perspective view of the gas collecting mechanism of the present invention.
Fig. 7 is a schematic perspective view of the squeegee of the present invention.
Fig. 8 is a schematic perspective view of a second wedge of the present invention.
Labeled in the figure as: 1-support housing, 101-T-shaped sliding chute, 2-L-shaped fixed rod, 3-electric wheel, 4-battery, 5-fixed frame, 6-first connecting rod, 7-first supporting rod, 8-guide wheel, 901-base, 902-camera, 1001-fixed column, 1002-first sliding rod, 1003-first fixed rod, 1004-roller, 1005-fixed ring, 1006-sliding ring, 1007-first spring, 1008-sliding plate, 1009-second supporting rod, 1101-servo motor, 1102-rotating shaft, 1103-air inlet housing, 1104-fan, 1105-rectangular frame, 1106-filter screen, 1201-temperature sensor, 1202-humidity sensor, 1203-smoke sensor, 1204-toxic and flammable gas sensor, 1301-air duct, 1302-air outlet hole, 1401-fixed block, 1402-rotating rod, 1403-limited block, 1403-reciprocating screw, 1405-first chain wheel, 1406-second chain wheel, 1407-sliding block, 1408-second connecting rod, 1409-scraper, 1410-T-shaped limited rod, 1501-fixed rod 1502-second sliding rod, 1501-sliding rod, 1503-second sliding rod, 1507-wedge-second spring, 1508-second fixed rod, third wedge-shaped spring, third wedge-shaped fixed rod, and wedge-shaped spring.
Detailed Description
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
The utility model provides a cable tunnel hangs rail formula and patrols and examines and uses robot with diversified detection function, as shown in fig. 1-3, including support housing 1, support housing 1's upper portion rigid coupling has the L shape dead lever 2 of front and back symmetric distribution, the electronic wheel 3 of drive this device removal is installed on the upper portion of the L shape dead lever 2 of symmetric distribution, support housing 1 installs battery 4, electronic wheel 3 is connected with battery 4 and control terminal electricity respectively, support housing 1's upper surface welding has the fixed frame 5 of symmetric distribution, all the rotation is connected with the head rod 6 in the fixed frame 5 of symmetric distribution, both ends all around of head rod 6 articulate has first bracing piece 7, the upper portion rotation of first bracing piece 7 is connected with leading wheel 8, support housing 1's lower surface rigid coupling has base 901, camera 901 installs camera, camera 902 is connected with battery 4 and control terminal electricity respectively, fixed frame 5 is provided with the supporting mechanism who is used for increasing the extrusion force between electronic wheel 3 and cable track 16, support housing 1 is provided with the gas collection mechanism of gas, support housing 1 is provided with the detection mechanism of detection environment gas composition, the native machine is gone up on the decline when the native person carries out the slope or the native machine, the effect of the vertical camera through the first pole 902 can not result in the vertical camera angle change of camera 902 all the effect of camera that can not take place the camera change all the vertical camera and can not take place, the camera change all the effect of the vertical camera 902 all the camera, just of the vertical camera 902 can not take place through the guide wheel 8, the effect of the guide wheel 8 of the effect of the vertical camera 902.
As shown in fig. 3 and 4, the supporting mechanism includes symmetrically distributed fixing columns 1001, the symmetrically distributed fixing columns 1001 are distributed and welded on the upper portion of the adjacent fixing frame 5, the fixing columns 1001 are connected with first sliding rods 1002 in a sliding manner, first fixing rods 1003 are welded on the upper portion of the symmetrically distributed first sliding rods 1002, the first fixing rods 1003 are connected with rollers 1004 in a rotating manner, fixing rings 1005 are fixedly connected on the upper portions of the first sliding rods 1002, sliding rings 1006 are connected on the first sliding rods 1002 in a sliding manner, first springs 1007 are fixedly connected between the sliding rings 1006 and the fixing rings 1005, the first springs 1007 apply upward elastic force to the fixing rings 1005, since the rollers 1004 are in contact with the lower side surfaces of the cable tracks 16, the first springs 1007 increase the extrusion force between the rollers 1004 and the lower side surfaces of the cable tracks 16, and the first sliding rods 1002 are provided with driving assemblies for extruding the first springs 1007.
As shown in fig. 4, the driving assembly includes a sliding plate 1008, the sliding plate 1008 is slidably connected to the first sliding rod 1002, the sliding plate 1008 is located between the fixed column 1001 and the sliding ring 1006, two ends of the sliding plate 1008 are respectively and fixedly connected with second supporting rods 1009 which are symmetrically distributed, the first connecting rod 6 rotates to press the second supporting rods 1009 upwards, and the second supporting rods 1009 drive the sliding plate 1008 to move upwards.
As shown in fig. 5 and fig. 6, the gas collection mechanism includes a servo motor 1101, the servo motor 1101 is welded on the upper surface of the support housing 1 through a support plate, the servo motor 1101 is respectively electrically connected with the battery 4 and the control terminal, an output shaft of the servo motor 1101 is welded with a rotating shaft 1102, an air inlet housing 1103 is fixedly connected in the support housing 1, the rotating shaft 1102 is connected with a fan 1104 positioned in the air inlet housing 1103 through a bolt, an air inlet is circumferentially arranged at the upper portion of the air inlet housing 1103, the height of the fan 1104 is lower than the height of the air inlet housing 1103, the fan 1104 rotates to enable air in the air inlet housing 1103 to form a pressure difference, air above the air inlet housing 1103 starts to move downwards, air in the support housing 1 enters the air inlet housing through the air inlet of the air inlet housing 1103, rectangular frames 1105 are respectively fixedly connected to the front and rear side surfaces of the support housing 1, the support housing 1 is provided with symmetrically distributed rectangular through holes, the rectangular through holes of the support housing 1 are communicated with the rectangular frames 1105, filter screens 1106 are respectively installed in the rectangular frames, air flow forcing mode is adopted for gas detection, the problem that the robot moves to the filter screen 902 for cleaning the air of the support housing 1 is not specifically.
As shown in fig. 6, the detection mechanism includes a temperature sensor 1201, a humidity sensor 1202, a smoke sensor 1203 and a toxic and flammable gas sensor 1204, the temperature sensor 1201, the humidity sensor 1202, the smoke sensor 1203 and the toxic and flammable gas sensor 1204 are respectively installed on the support housing 1, the temperature sensor 1201, the humidity sensor 1202, the smoke sensor 1203 and the toxic and flammable gas sensor 1204 are respectively located at the lower side of the fan 1104 in the air intake housing 1103, and the temperature sensor 1201, the humidity sensor 1202, the smoke sensor 1203 and the toxic and flammable gas sensor 1204 are respectively electrically connected with the battery 4 and the control terminal.
As shown in fig. 6, the exhaust assembly includes an air duct 1301, the air duct 1301 is fixedly connected to the lower surface of the support housing 1 and is sleeved outside the base 901, the support housing 1 is provided with exhaust holes 1302 distributed circumferentially, the exhaust holes 1302 distributed circumferentially communicate the air intake housing 1103 with the gap between the base 901 and the air duct 1301, air enters the gap between the base 901 and the air duct 1301 through the exhaust holes 1302 and is conveyed downwards, at this time, an annular airflow wall flowing downwards is formed around the camera 902, so that it is avoided that external impurities are close to the camera 902 and are attached to the camera 902 in serious cases, and the definition of an image recorded by the camera 902 is affected.
As shown in fig. 5, 7 and 8, the scraping mechanism includes a fixed block 1401, the fixed block 1401 is fixedly connected to the upper surface of the supporting housing 1, the fixed block 1401 is rotatably connected with a rotating rod 1402 in a penetrating manner, a bevel gear is fixedly connected to the right end of the rotating rod 1402, the bevel gear meshed with the bevel gear of the rotating rod 1402 is welded to the output shaft of the servo motor 1101, the supporting housing 1 is welded with limiting blocks 1403 symmetrically distributed in a front-back direction, the limiting blocks 1403 symmetrically distributed in a front-back direction are rotatably connected with reciprocating screws 1404, the left end of the rotating rod 1402 is fixedly connected with a first chain wheel 1405, the left ends of the reciprocating screws 1404 symmetrically distributed in a symmetrical manner are respectively welded with a second chain wheel 1406, a chain is wound between the first chain wheel 1405 and the second chain wheel 1406 symmetrically distributed in a symmetrical manner, the reciprocating screws 1404 symmetrically distributed in a threaded manner are connected with sliders 1407, the welding of slider 1407 has second connecting rod 1408, the welding of the lower part of second connecting rod 1408 has the scraper 1409 of scraping impurity on the filter screen 1106, the cross section of scraper 1409 sets up to isosceles triangle, make the both sides of scraper 1409 be a line, the area of contact of scraper 1409 with impurity has been reduced, be used for reducing the piling up of impurity in the scraper 1409 both sides, support housing 1 is provided with the T shape spout 101 of symmetric distribution, sliding connection has T shape gag lever post 1410 in the T shape spout 101, T shape gag lever post 1410 and second connecting rod 1408 rigid coupling, reciprocating screw 1404 rotates, drive slider 1407 horizontal reciprocating motion, slider 1407 drives the scraper 1409 through second connecting rod 1408 and scrapes the adnexed impurity on the filter screen 1106, the rectangle frame 1105 of symmetric distribution is provided with the clearance subassembly of getting rid of impurity on the scraper 1409 respectively.
As shown in fig. 7 and 8, the cleaning assembly includes a fixing plate 1501 which is symmetrically distributed, the left and right sides of the front side of the rectangular frame 1105 are respectively provided with an inclined surface which is matched with the scraping plate 1409, the inclined surfaces of the left and right sides of the rectangular frame 1105 are respectively welded with the fixing plate 1501, the fixing plate 1501 is connected with a second sliding rod 1502 in a penetrating and sliding manner, one end of the second sliding rod 1502, which is far away from the fixing plate 1501, is welded with a first wedge block 1503, the first wedge block 1503 is matched with the side surface of the scraping plate 1409 and used for removing impurities attached to the side surface of the scraping plate 1409, a second spring 1504 is fixedly connected between the first wedge block 1503 and the fixing plate 1501, the second spring 1504 is rapidly reset, the second spring 1504 drives the first wedge block 1503 to be far away from the fixing plate 1501, the first wedge block 1503 is rapidly ejected to scrape the impurities on the left side surface of the scraping plate 1409, a limiting column 1505 is fixedly connected to the first wedge block 1503, and the second connecting rod 1408 is provided with a limiting assembly which stores force on the second spring.
As shown in fig. 7 and 8, the limiting assembly includes a second fixing rod 1506, the second fixing rod 1506 is welded to a second connecting rod 1408, the second fixing rod 1506 is slidably connected to a second wedge block 1507 that is in limiting fit with the limiting post 1505, when the left side surface of the second wedge block 1507 contacts with the limiting post 1505, the second wedge block 1507 drives the limiting post 1505 to move leftward, because the second sliding rod 1502 is limited by the fixing plate 1501, the limiting post 1505 moves backward while moving leftward, the second spring 1504 is compressed to store force, and a third spring 1508 is fixedly connected between the second wedge block 1507 and the second fixing rod 1506.
When the cable tunnel is patrolled and examined, the cable track 16 is distributed at the top of the cable tunnel, an operator firstly installs the robot on the cable track 16 along one side (the right side shown in fig. 1) of the cable track 16, the operator places the two electric wheels 3 above the cable track 16 and clamps the four guide wheels 8 into the front side and the rear side of the cable track 16, the installation is completed as shown in fig. 2, then, the operator starts the two electric wheels 3 through the control terminal, the two electric wheels 3 move along the upper side of the cable track 16, the two electric wheels 3 drive the support shell 1 and parts on the support shell through the adjacent L-shaped fixing rod 2 to move leftwards (the moving direction is not fixed, only one direction is taken as reference), in the process that the robot moves leftwards, the support shell 1 drives the base 901 and the camera 902 to move, the camera 902 rotates around the base 901 to carry out multidirectional recording on cables and actual conditions in the cable tunnel, and the operator analyzes images transmitted by the camera 902, so that the operator analyzes and solves the emergency conditions of the cable tunnel.
In the process of inspection of the robot, the control terminal starts the servo motor 1101, the servo motor 1101 drives the fan 1104 to rotate through the rotating shaft 1102, the fan 1104 is located below an air inlet hole of the air inlet shell 1103, therefore, the fan 1104 rotates to enable the air above and below the air inlet shell 1103 to form a pressure difference, the air above the air inlet shell 1103 starts to move downwards, the air in the support shell 1 enters the air inlet shell 1103 through the air inlet hole of the air inlet shell 1103, the air outside the support shell 1 enters the support shell 1 after being filtered by the filter screen 1106, impurities on the air are attached to the filter screen 1106, the impurities are prevented from entering the interior of the robot, detection of a gas environment is prevented from being influenced, the air continuously enters the air inlet shell 1103 along with rotation of the fan 1104, the outside air continuously enters the air inlet shell 1103, the temperature sensor 1201, the humidity sensor 1202, the smoke sensor 1203 and the toxic and flammable gas sensor 1204 detect the air entering the air inlet shell 1103, the detected data are transmitted to the control terminal, the control terminal analyzes the data, if the detected data exceed a normal detection range, the control terminal sends an alarm and transmits the data to an operator, the robot detects the air outside air which cannot enter the robot.
Gas detected by the temperature sensor 1201, the humidity sensor 1202, the smoke sensor 1203 and the toxic and flammable gas sensor 1204 enters the exhaust hole 1302 and enters a gap between the base 901 and the air duct 1301 through the exhaust hole 1302 to be conveyed downwards, and at the moment, an annular airflow wall flowing downwards is formed around the camera 902, so that external impurities are prevented from being close to the camera 902 and being adhered to a glass lens of the camera 902 in serious conditions, and the definition of an image recorded by the camera 902 is influenced.
In the process of the robot inspection, an output shaft of a servo motor 1101 drives a rotary rod 1402 to rotate through the transmission of a bevel gear, the rotary rod 1402 drives two second chain wheels 1406 to rotate through a first chain wheel 1405 and a chain, the two second chain wheels 1406 respectively drive adjacent reciprocating screw rods 1404 to rotate, for example, the reciprocating screw rods 1404 on the front side rotate, under the limit of a T-shaped chute 101, a T-shaped limit rod 1410 limits a second connecting rod 1408, a sliding block 1407 is limited, under the rotation of the reciprocating screw rods 1404, the sliding block 1407 transversely reciprocates along the reciprocating screw rods 1404, the sliding block 1407 drives a scraping plate 1409 to transversely reciprocate through the second connecting rod 1408, the scraping of impurities on a filter screen 1106 is carried out by the scraping plate 1409, the impurities are prevented from blocking the filter screen 1106, and the problem of air intake is influenced, the air intake amount is reduced, when the scraping plate 1409 moves on the filter screen 1106, no matter whether the scraping plate 1409 moves leftwards or rightwards, both sides of the scraping plate 1409 are preferentially contacted with the impurities, and the cross section of the scraping plate 1409 is set to be triangular, so that the area of the scraping plate 1409 is reduced and the area of the impurities is prevented from being contacted with the scraping plate 1409.
In the process of scraping the impurities on the filter screen 1106 by the scraping plate 1409, the impurities adhere to the two side surfaces of the scraping plate 1409, and the impurities on the two side surfaces of the scraping plate 1409 need to be removed, which specifically comprises the following steps: taking the state shown in the figure as an example, when the second connecting rod 1408 drives the scraper 1409 to move to the left side of the filter screen 1106, the scraper 1409 continues to move leftward, the second connecting rod 1408 drives the second fixing rod 1506 and the second wedge block 1507 to move leftward, when the left side surface of the second wedge block 1507 contacts with the limiting column 1505, the second wedge block 1507 drives the limiting column 1505 to move leftward, because the second sliding rod 1502 is limited by the fixing plate 1501, the limiting column 1505 moves backward while moving leftward, the second spring 1504 is compressed to accumulate force, the second wedge block 1507 gradually releases the limit on the limiting column 1505, when the left side surface of the scraper 1409 is flush with the left side surface of the front side surface of the rectangular frame 1105, the left side inclined surface of the rectangular frame 1105 is in the same plane with the left side surface of the scraper 1409, the slider 1407 moves to the left side of the reciprocating screw (if the reciprocating screw 1404 continues to rotate, the slider 1407 moves rightward), at this time, the second wedge block 1507 moves away from the limiting column 1505 in contact with the limiting column 1501, the second wedge block 1409, the second wedge block 1503 rapidly resets, the impurity on the left side surface of the first wedge block 1409 is removed from the limiting column 1503, and the wedge block 1503 is quickly, the first wedge block 1409, the wedge block 1503 is pushed away from the wedge block 1503, the wedge block 1501, the wedge block 1503 is pushed away from the first wedge block 1409.
When the reciprocating screw 1404 continues to rotate, the sliding block 1407 starts to move rightwards, at this time, the second fixing rod 1506 drives the second wedge block 1507 to move rightwards, when the second wedge block 1507 is in contact with the limit post 1505 (the inclined surface of the second wedge block 1507 is in contact with the limit post 1505), the second wedge block 1507 is pressed by the limit post 1505 and starts to move forwards, the third spring 1508 is compressed, when the second wedge block 1507 moves to the right side of the limit post 1505, the third spring 1508 drives the second wedge block 1507 to move backwards and reset, the scraping plate 1409 continues to move rightwards, and when the scraping plate 1409 moves to the right side of the filter screen 1106, the first wedge block 1503 on the right side quickly scrapes impurities on the right side surface of the scraping plate 1409.
When the robot ascends or descends along the cable track 16, as shown in fig. 1, taking the ascending on the left side of the cable track 16 as an example, the robot moves leftwards along the cable track 16, when the robot moves to a place where the cable track 16 bends upwards, the two guide wheels 8 on the left side start to move upwards, the two guide wheels 8 on the left side drive the left side of the adjacent first connecting rod 6 to move upwards through the adjacent first supporting rod 7, the first connecting rod 6 rotates clockwise, the left side of the first connecting rod 6 moves upwards and drives the left side second supporting rod 1009 to move upwards after contacting with the left side second supporting rod 1009, the left side second supporting rod 1009 drives the sliding ring 1006 to move upwards through the sliding plate 1008, the first spring 1007 is compressed, the first spring 1007 applies an upward elastic force to the 1005, because the 1004 roller contacts with the lower side of the cable track 16, the first spring 1007 causes the increase of the squeezing force between the roller 1004 and the cable track 16, when the robot encounters a descending, the robot encounters a problem that the climbing roller 3 between the cable track and the cable track 16 cannot climb upwards, and the cable track 16 cannot increase of the squeezing force, when the climbing roller 3, the climbing roller and the cable track 16, the cable track, the climbing roller cannot cause the problem that the climbing roller 3 cannot climb on the lower side of the cable track, and the lower side of the cable track 16, and the cable track, when the climbing roller 3 cannot increase of the cable track, and the climbing roller 3, when the climbing robot encounters a problem, the robot can work stably when moving on an ascending slope or a descending slope with higher gradient, and when moving on the ascending slope or the descending slope, the robot can not incline because the guide wheels 8 only have the guide function, and under the clamping of the rollers 1004 and the electric wheels 3 on the cable tracks 16, the robot is always in a vertical state because of the self gravity action, the camera 902 is always in a vertical direction, and the shooting angle of the camera 902 can not be changed because of the ascending slope or the descending slope.
In the process of patrolling and examining at this robot, battery 4 provides required electric quantity for this robot, and when 4 electric links of battery were not enough, operating personnel in time charged for battery 4.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A robot with multi-azimuth detection function for cable tunnel rail hanging type inspection is characterized by comprising a supporting shell (1), wherein L-shaped fixing rods (2) which are symmetrically distributed are fixedly connected to the supporting shell (1), electric wheels (3) which drive the robot to move are mounted on the L-shaped fixing rods (2) which are symmetrically distributed, a battery (4) is fixedly connected to the supporting shell (1), the electric wheels (3) are respectively and electrically connected with the battery (4) and a control terminal, symmetrically distributed fixing frames (5) are fixedly connected to the supporting shell (1), first connecting rods (6) are respectively and rotatably connected to the symmetrically distributed fixing frames (5), first supporting rods (7) are respectively hinged to two ends of each first connecting rod (6), guide wheels (8) are rotatably connected to the first supporting rods (7), a base (901) is fixedly connected to the supporting shell (1), a camera (902) is mounted on the base (901), the camera (902) is respectively and electrically connected with the battery (4) and the control terminal, a supporting mechanism for increasing the supporting force between the electric wheels (3) and the cable track (16) is arranged on the supporting shell (1), a gas collecting mechanism for gas collecting components of the gas collecting shell (1), and a slope detection mechanism is arranged on the supporting shell (6) for detecting the slope through the first connecting rods (7) or a slope detector, the robot is always in a vertical state under the action of self gravity, and the camera (902) is always in a vertical direction.
2. The cable tunnel rail-hanging type inspection robot with the multidirectional detection function according to claim 1, wherein the support mechanism comprises symmetrically distributed fixing columns (1001), the symmetrically distributed fixing columns (1001) are respectively and fixedly connected to adjacent fixing frames (5), the fixing columns (1001) are slidably connected with first sliding rods (1002), the symmetrically distributed first sliding rods (1002) are fixedly connected with first fixing rods (1003), the first fixing rods (1003) are rotatably connected with rollers (1004), the first sliding rods (1002) are fixedly connected with fixing rings (1005), the first sliding rods (1002) are slidably connected with sliding rings (1006), first springs (1007) are fixedly connected between the sliding rings (1006) and the fixing rings (1005), and the first sliding rods (1002) are provided with driving assemblies for extruding the first springs (1007).
3. The robot for inspecting the cable tunnel hanging rail type with the multi-azimuth detection function according to claim 2, wherein the driving assembly comprises a sliding plate (1008), the sliding plate (1008) is slidably connected to the first sliding rod (1002), the sliding plate (1008) is located between the fixed column (1001) and the sliding ring (1006), and the sliding plate (1008) is fixedly connected with the second support rods (1009) which are symmetrically distributed.
4. The robot for the cable tunnel hanging rail type inspection tour with the multi-azimuth detection function according to claim 1, wherein the gas collection mechanism comprises a servo motor (1101), the servo motor (1101) is fixedly connected to the support housing (1) through a support plate, the servo motor (1101) is electrically connected to the battery (4) and the control terminal respectively, an output shaft of the servo motor (1101) is fixedly connected with a rotating shaft (1102), an air inlet housing (1103) is fixedly connected to the support housing (1), a fan (1104) located in the air inlet housing (1103) is fixedly connected to the rotating shaft (1102), an air inlet is circumferentially arranged at the upper portion of the air inlet housing (1103), the height of the fan (1104) is lower than that of the air inlet housing (1103), a symmetrically distributed rectangular frame (1105) is fixedly connected to the support housing (1), the symmetrically distributed rectangular through holes are arranged on the support housing (1), the rectangular through holes of the support housing (1) are communicated with the rectangular frame (1105), a filter screen (1106) is fixedly connected to the support housing (1), an exhaust assembly for protecting the camera head (902) is arranged on the support housing (1), and a foreign matter removing mechanism is arranged on the filter screen (1106).
5. The robot for the cable tunnel rail hanging type inspection according to claim 4, wherein the detection mechanism comprises a temperature sensor (1201), a humidity sensor (1202), a smoke sensor (1203) and a toxic and flammable gas sensor (1204), the temperature sensor (1201), the humidity sensor (1202), the smoke sensor (1203) and the toxic and flammable gas sensor (1204) are respectively and fixedly connected to the supporting shell (1), the temperature sensor (1201), the humidity sensor (1202), the smoke sensor (1203) and the toxic and flammable gas sensor (1204) are all located on the lower side of a fan (1104) in the air inlet shell (1103), and the temperature sensor (1201), the humidity sensor (1202), the smoke sensor (1203) and the toxic and flammable gas sensor (1204) are respectively and electrically connected with the battery (4) and the control terminal.
6. The robot for the cable tunnel hanging rail type inspection according to claim 4, characterized in that the exhaust assembly comprises an air duct (1301), the air duct (1301) is fixedly connected to the support housing (1) and sleeved outside the base (901), the support housing (1) is provided with exhaust holes (1302) distributed circumferentially, and the exhaust holes (1302) distributed circumferentially communicate the air inlet housing (1103) with the gap between the base (901) and the air duct (1301).
7. The cable tunnel rail-mounted inspection robot according to claim 4, the scraping mechanism is characterized by comprising a fixed block (1401), wherein the fixed block (1401) is fixedly connected with a supporting shell (1), the fixed block (1401) is rotatably connected with a rotating rod (1402) in a penetrating way, one end of the rotating rod (1402) is fixedly connected with a bevel gear, an output shaft of a servo motor (1101) is fixedly connected with a bevel gear meshed with the bevel gear of the rotating rod (1402), the supporting shell (1) is fixedly connected with limiting blocks (1403) which are symmetrically distributed, the symmetrically distributed limit blocks (1403) are rotatably connected with a reciprocating screw (1404), the other end of the rotating rod (1402) is fixedly connected with a first chain wheel (1405), one ends of the reciprocating screw rods (1404) which are symmetrically distributed and close to the rotating rod (1402) are respectively and fixedly connected with a second chain wheel (1406), a chain is wound between the first chain wheel (1405) and the second chain wheels (1406) which are symmetrically distributed, the equal threaded connection of the reciprocating screw (1404) of symmetric distribution has slider (1407), slider (1407) rigid coupling has second connecting rod (1408), second connecting rod (1408) rigid coupling has scraper blade (1409) of scraping impurity on filter screen (1106), support casing (1) is provided with T shape spout (101) of symmetric distribution, sliding connection has T shape gag lever post (1410) in T shape spout (101), T shape gag lever post (1410) and second connecting rod (1408) rigid coupling.
8. The robot for the cable tunnel hanging rail type inspection according to claim 7, wherein the cross section of the scraping plate (1409) is arranged to be isosceles triangle, the bottom surface of the scraping plate (1409) is tightly attached to the filter screen (1106) for reducing the accumulation of impurities on the two sides of the scraping plate (1409), and the symmetrically distributed rectangular frames (1105) are provided with cleaning components for removing the impurities on the scraping plate (1409).
9. The robot for the tunnel rail hanging type patrol inspection of the cable with the multi-azimuth detection function according to claim 7, wherein the cleaning assembly comprises fixing plates (1501) which are symmetrically distributed, the left side and the right side of the front side of the rectangular frame (1105) are respectively provided with inclined surfaces matched with the scraping plates (1409), the inclined surfaces on the left side and the right side of the rectangular frame (1105) are respectively fixedly connected with the fixing plates (1501), the fixing plates (1501) are in through sliding connection with second sliding rods (1502), one end, far away from the fixing plates (1501), of the second sliding rods (1502) is fixedly connected with first wedge blocks (1503), the first wedge blocks (1503) are matched with the side surfaces of the scraping plates (1409) and used for removing impurities attached to the side surfaces of the scraping plates (1409), second springs (1504) are fixedly connected between the first wedge blocks (1503) and the fixing plates (1501), limiting columns (1505) are fixedly connected with the first wedge blocks (1503), and the second connecting rod (1408) is provided with a limiting assembly for storing force on the second springs (1504).
10. The cable tunnel rail hanging type inspection robot with the multi-azimuth detection function according to claim 7, wherein the limiting assembly comprises a second fixing rod (1506), the second fixing rod (1506) is fixedly connected to a second connecting rod (1408), the second fixing rod (1506) is slidably connected with a second wedge-shaped block (1507) in limiting fit with the limiting column (1505), and a third spring (1508) is fixedly connected between the second wedge-shaped block (1507) and the second fixing rod (1506).
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| CN202310169322.8A CN115855168B (en) | 2023-02-27 | 2023-02-27 | Cable tunnel rail hanging type inspection robot with multidirectional detection function |
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| CN202310169322.8A CN115855168B (en) | 2023-02-27 | 2023-02-27 | Cable tunnel rail hanging type inspection robot with multidirectional detection function |
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| CN116787462A (en) * | 2023-06-02 | 2023-09-22 | 江苏珂尔玛智控技术有限公司 | Robot for inspecting coal mine channel |
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Denomination of invention: A Cable Tunnel Rail Hanging Inspection Robot with Multidirectional Detection Function Effective date of registration: 20230829 Granted publication date: 20230428 Pledgee: Jinan Shengfu Branch of Qilu Bank Co.,Ltd. Pledgor: SHANDONG KEHUA ELECTRICAL TECHNOLOGY CO.,LTD. Registration number: Y2023980054393 |