CN115855168B - Cable tunnel rail hanging type inspection robot with multidirectional detection function - Google Patents
Cable tunnel rail hanging type inspection robot with multidirectional detection function Download PDFInfo
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- CN115855168B CN115855168B CN202310169322.8A CN202310169322A CN115855168B CN 115855168 B CN115855168 B CN 115855168B CN 202310169322 A CN202310169322 A CN 202310169322A CN 115855168 B CN115855168 B CN 115855168B
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Abstract
The invention relates to the technical field of cable tunnel inspection, in particular to a cable tunnel rail-hanging type inspection robot with a multidirectional detection function. The utility model provides a cable tunnel hanging rail formula inspection robot with diversified detection function, including the supporting casing, the supporting casing rigid coupling has the L shape dead lever of symmetric distribution, the electric wheel that drives this device and remove is installed to the L shape dead lever of symmetric distribution, the supporting casing rigid coupling has the battery, the supporting casing 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 direction of movement, the supporting casing rigid coupling has the base, the base is installed the camera. According to the invention, the robot is always in a vertical state under the guiding action of the guide wheels, and the camera is always in a vertical direction, so that the shooting angle of the camera is not changed due to ascending or descending.
Description
Technical Field
The invention relates to the technical field of cable tunnel inspection, in particular to a cable tunnel rail-hanging type inspection robot with a multidirectional detection function.
Background
With the gradual maturation of artificial intelligence, big data and other technologies, more advanced and intelligent inspection modes are developed, and because the cable tunnel condition is extremely complex, in order to make up for the deficiency of the manual inspection detection mode, the robot technology is fully introduced, and the active and all-area real-time monitoring and dynamic inspection mode is adopted as the current preferred inspection mode.
At present, when a cable tunnel robot works, the cable track arranged at the top of the cable tunnel generally runs to realize rail hanging type inspection detection from the air, the height of the cable track can change when the cable track is arranged due to different distribution positions of the cable in the cable tunnel, a cable track with a certain gradient can appear at the height switching position of the cable track, and when the height of the cable detected by the robot rises or falls, the robot can ascend or descend along the cable track.
Disclosure of Invention
In order to overcome the technical problems described in the background art, the utility model provides a cable tunnel rail-mounted inspection robot with high stability and multidirectional detection function.
The technical proposal is as follows: the utility model provides a cable tunnel rail formula inspection robot with diversified detection function, including the supporting casing, the supporting casing rigid coupling has the L shape dead lever of symmetric distribution, the electric wheel that drives this device and remove is installed to the L shape dead lever of symmetric distribution, the supporting casing rigid coupling has the battery, the electric wheel is connected with battery and control terminal electricity respectively, the supporting casing 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 supporting casing 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 between electric wheel and the cable track extrusion force, the supporting casing is provided with the gas collecting mechanism who gathers gas, the supporting casing is provided with the detection mechanism who detects the ambient gas composition, when this robot goes up slope or downhill, the leading wheel drives the head rod through first bracing piece and takes place to rotate, this robot is in vertical state all the time under the effect of self gravity, and the head 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 first sliding rods are fixedly connected with first fixed rods in a sliding mode, the first fixed rods are rotationally connected with rollers, the first sliding rods are fixedly connected with fixed 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 fixed rings, and driving assemblies used for extruding the first springs are arranged on the first sliding rods.
Preferably, the driving assembly comprises a sliding plate, the sliding plate is connected to the first sliding rod in a sliding manner, the sliding plate is positioned between the fixed column and the sliding ring, and the sliding plate is fixedly connected with second supporting rods which are symmetrically distributed.
Preferably, the gas collecting mechanism comprises a servo motor, the servo motor is fixedly connected to a supporting shell through a supporting plate, the servo motor is respectively and electrically connected with a battery and a control terminal, an output shaft of the servo motor is fixedly connected with a rotating shaft, an air inlet shell is fixedly connected in the supporting shell, a fan positioned in the air inlet shell is fixedly connected to the rotating shaft, an air inlet hole is circumferentially formed in the upper portion of the air inlet shell, the height of the fan is lower than that of the air inlet hole of the air inlet shell, a symmetrically distributed rectangular frame is fixedly connected to the supporting shell, a symmetrically distributed rectangular through hole is formed in the supporting shell, the rectangular through hole of the supporting shell is communicated with the rectangular frame, a filter screen is fixedly connected to the rectangular frame, an exhaust assembly for protecting a camera is arranged on the supporting shell, and a scraping mechanism for cleaning impurities on the filter screen is arranged on the supporting shell.
Preferably, the detection mechanism comprises a temperature sensor, a humidity sensor, a smoke sensor and a toxic inflammable gas sensor, wherein the temperature sensor, the humidity sensor, the smoke sensor and the toxic inflammable gas sensor are fixedly connected to the supporting shell respectively, the temperature sensor, the humidity sensor, the smoke sensor and the toxic inflammable 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 inflammable gas sensor are electrically connected with the battery and the control terminal respectively.
Preferably, the exhaust assembly comprises an air duct fixedly connected to the support shell and sleeved on the outer side of the base, the support shell is provided with circumferentially distributed exhaust holes, and the circumferentially distributed exhaust holes are used for communicating the air inlet shell with gaps between the base and the air duct.
Preferably, the scraping mechanism comprises a fixed block, the fixed block is fixedly connected to a supporting shell, the fixed block is connected with a rotating rod in a penetrating mode, one end of the rotating rod is fixedly connected with a bevel gear, an output shaft of a servo motor is fixedly connected with a bevel gear meshed with the bevel gear of the rotating rod, the supporting shell is fixedly connected with a symmetrically distributed limiting block, the symmetrically distributed limiting blocks are all connected with reciprocating screws in a rotating mode, the other end of the rotating rod is fixedly connected with a first sprocket, one ends, close to the rotating rod, of the symmetrically distributed reciprocating screws are fixedly connected with second sprockets respectively, a chain is arranged between the first sprocket and the symmetrically distributed second sprocket in a winding mode, the symmetrically distributed reciprocating screws are in threaded connection with sliding blocks, the sliding blocks are fixedly connected with second connecting rods, scraping plates for scraping impurities on the filter screen are fixedly connected to the supporting shell, T-shaped sliding grooves are in sliding connection with T-shaped limiting rods, and the T-shaped limiting rods are fixedly connected with the second connecting rods.
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 the piling up of impurity in 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 cleaning assembly comprises symmetrically distributed fixing plates, the left side and the right side of the front side of the rectangular frame are respectively provided with inclined planes matched with the scraping plates, the inclined planes on the left side and the right side of the rectangular frame are respectively fixedly connected with the fixing plates, the fixing plates are connected with second sliding rods in a penetrating mode, one ends of the second sliding rods, which are far away from the fixing plates, are fixedly connected with first wedge blocks, the first wedge blocks are matched with the side faces of the scraping plates and are used for removing impurities attached to the side faces of the scraping plates, second springs are fixedly connected between the first wedge blocks and the fixing plates, limiting columns are fixedly connected with the first wedge blocks, and limiting assemblies for storing force of the second springs are arranged on the second connecting rods.
Preferably, the limiting assembly comprises a second fixing rod fixedly connected to the second connecting rod, the second fixing rod is slidably connected with a second wedge-shaped block in limiting fit with the limiting column, and a third spring is fixedly connected between the second wedge-shaped block and the second fixing rod.
The beneficial effects are that: through increasing cylinder and electronic wheel pair cable orbital clamping force when going up slope or downhill for this robot is when higher slope's uphill and downhill movement, carry out steady work, because the leading wheel only carries out the guide effect, this robot is in vertical state all the time, the camera is in vertical direction all the time, and can not change the shooting angle of camera because of uphill or downhill, adopt forced air flow's mode to carry out gas detection, avoid this robot to move to the region of air poor flow, outside air can not get into inside this robot, lead to unable problem of detecting outside air concrete parameter, through forming a downflow's annular air flow wall around the camera, avoided external impurity to be close to the camera, attach on the camera when serious, influence the definition of the image recorded of camera, scrape the impurity on the filter screen through the scraper blade, avoid impurity to carry out the filter screen shutoff, thereby influence the problem of intake, intake reduces and can lead to the data of detected gas to appear the deviation.
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 a drum according to the present invention.
Fig. 4 is a partial cross-sectional view of a three-dimensional structure of the support mechanism of the present invention.
Fig. 5 is a schematic 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 a scraper according to the present invention.
Fig. 8 is a schematic perspective view of a second wedge block according to the present invention.
Marked in the figure as: 1-support housing, 101-T-chute, 2-L-shaped stationary bar, 3-motorized wheel, 4-battery, 5-stationary frame, 6-first connection bar, 7-first support bar, 8-guide wheel, 901-base, 902-camera, 1001-stationary post, 1002-first slide bar, 1003-first stationary bar, 1004-roller, 1005-stationary ring, 1006-slide ring, 1007-first spring, 1008-slide plate, 1009-second support bar, 1101-servomotor, 1102-spindle, 1103-air intake housing, 1104-fan, 1105-rectangular frame, 1106-filter screen, 1201-temperature sensor, 1202-humidity sensor, 1203-smoke sensor, 1204-toxic flammable gas sensor, 1301-air duct, 1302-base, 1401-stationary block, 1001-rotary bar, 1403-stopper, 1404-reciprocating screw, 1402-first sprocket, 1406-second sprocket, 1407-slider, 1408-second connection bar, 1409-scraper, 1410-T-shaped stopper bar, 1502-second slide bar, 1505-stationary bar, 1505-second spring, 1507-second spring, 15016-third slide bar, 15016-wedge-guide bar, 15016-third spring, 15016-stationary bar, 1503-guide bar, 1507-wedge-guide bar, 15016-third spring.
Detailed Description
The invention will now be described in more detail with reference to the drawings and specific examples, which are not intended to limit the invention thereto.
The utility model provides a cable tunnel hanging rail type inspection robot with diversified detection function, as shown in fig. 1-3, including support housing 1, the upper portion rigid coupling of support housing 1 has the L shape dead lever 2 of front and back symmetric distribution, the electric wheel 3 that drives this device and remove is installed to the upper portion of symmetric distribution's L shape dead lever 2, support housing 1 installs battery 4, electric wheel 3 is connected with battery 4 and control terminal electricity respectively, the upper surface welding of support housing 1 has symmetric distribution's fixed frame 5, all rotate in the fixed frame 5 of symmetric distribution and be connected with head rod 6, head rod 6's left and right sides all articulates has first bracing piece 7, head rod 7's upper portion rotates and is connected with leading wheel 8, support housing 1's lower surface rigid coupling has base 901, the camera 902 is installed to base 901, the 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 extrusion force between electronic round 3 and the cable track 16, supporting housing 1 is provided with the gas collecting mechanism who collects gas, supporting housing 1 is provided with the detection mechanism who detects the gaseous composition of environment, when this robot goes up the slope or descends, leading wheel 8 drives head rod 6 through first bracing piece 7 and takes place to rotate, leading wheel 8 only carries out the guide effect, and can not lead to this robot to take place the slope, this robot is in vertical state all the time under the effect of self gravity, and camera 902 is in vertical direction all the time, and can not change the shooting angle of camera 902 because of going up the slope or descending, guarantee the stability of the picture of shooing.
As shown in fig. 3 and 4, the supporting mechanism includes symmetrically distributed fixing columns 1001, the symmetrically distributed fixing columns 1001 are welded on the upper portions of adjacent fixing frames 5, the fixing columns 1001 are slidably connected with first sliding rods 1002, first fixing rods 1003 are welded on the upper portions of the symmetrically distributed first sliding rods 1002, the first fixing rods 1003 are rotatably connected with rollers 1004, fixing rings 1005 are fixedly connected to the upper portions of the first sliding rods 1002, sliding rings 1006 are slidably connected with the first sliding rods 1002, 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, and as the rollers 1004 are in contact with the lower side surfaces of the cable tracks 16, the extrusion force between the rollers 1004 and the lower side surfaces of the cable tracks 16 is increased by the first springs 1007, and driving assemblies for extruding the first springs 1007 are arranged on the first sliding rods 1002.
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 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 6, the air collecting mechanism comprises a servo motor 1101, the servo motor 1101 is welded on the upper surface of a support housing 1 through a supporting plate, the servo motor 1101 is respectively and electrically connected with a battery 4 and a 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 bolts, an air inlet hole is circumferentially arranged at the upper part of the air inlet housing 1103, the height of the fan 1104 is lower than that of the air inlet hole of the air inlet housing 1103, the fan 1104 rotates to enable air up and down in the air inlet housing 1103 to form a pressure difference, air above the air inlet housing 1103 begins to move downwards, the air in the support housing 1 enters the air inlet hole through the air inlet housing, rectangular frames 1105 are respectively and fixedly connected to the front side surface and the rear side surface of the support housing 1, the rectangular through holes of the support housing 1103 are symmetrically distributed, the rectangular through holes of the support housing 1 are respectively communicated with the rectangular frames 1106, the forced air flow mode is adopted to detect the air, the air is prevented from moving to an area with the air flow difference, the outside air cannot enter the inside the robot, the air cannot enter the air inlet housing 1103, the specific parameters are detected, the air inlet housing is enabled to move to be cleaned, the air filter screen assembly is used for cleaning the outside, and the filter screen assembly is used for protecting the filter screen assembly is arranged, and the filter screen 1, and the filter screen is used for cleaning the outside, and the filter screen assembly is arranged.
As shown in fig. 6, the detection mechanism includes a temperature sensor 1201, a humidity sensor 1202, a smoke sensor 1203 and a toxic flammable gas sensor 1204, the temperature sensor 1201, the humidity sensor 1202, the smoke sensor 1203 and the toxic flammable gas sensor 1204 are respectively mounted on the support housing 1, the temperature sensor 1201, the humidity sensor 1202, the smoke sensor 1203 and the toxic 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 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 on the outer side of the base 901, the support housing 1 is provided with circumferentially distributed exhaust holes 1302, the circumferentially distributed exhaust holes 1302 communicate the air inlet housing 1103 with the gap between the base 901 and the air duct 1301, and air enters the gap between the base 901 and the air duct 1301 through the exhaust holes 1302 to be conveyed downwards, at this time, 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 the external impurities are prevented from adhering to the camera 902 when serious, and affecting the definition of images recorded by the camera 902.
As shown in fig. 5, fig. 7 and fig. 8, the scraping mechanism comprises a fixed block 1401, the fixed block 1401 is fixedly connected to the upper surface of a supporting shell 1, a rotating rod 1402 is connected to the fixed block 1401 in a penetrating manner, a bevel gear is fixedly connected to the right end of the rotating rod 1402, a bevel gear meshed with the bevel gear of the rotating rod 1402 is welded to an output shaft of the servo motor 1101, limit blocks 1403 which are symmetrically distributed around the supporting shell 1 are welded to the supporting shell 1, reciprocating screws 1404 which are symmetrically distributed are all rotationally connected with reciprocating screws 1404, a first sprocket 1405 is fixedly connected to the left end of the rotating rod 1402, a second sprocket 1406 is welded to the left end of the symmetrically distributed reciprocating screws 1404, a chain is wound around the first sprocket 1405 and the symmetrically distributed second sprocket 1406, the symmetrically distributed reciprocating screws 1404 are all in threaded connection with a sliding block 1407, the sliding block 1407 is welded with the second sprocket 1407, a second connecting rod 1408 is welded to the lower portion of the second connecting rod 1408, the cross section of the sliding block 1409 is in an isosceles triangle shape, the two sides of the sliding block 1409 are made to be the line, the contact area between the sliding blocks 1409 and the impurities 1409 is reduced, the sliding blocks 1409 are stacked on the sliding blocks 1409 are arranged on the sliding blocks, the sliding blocks are arranged on the sliding blocks, and the sliding blocks are arranged on the sliding blocks are 101, and the sliding blocks are arranged on the sliding blocks, and are 101, and the sliding blocks are arranged on the sliding blocks, and are arranged on the sliding blocks and are arranged.
As shown in fig. 7 and 8, the cleaning assembly includes a symmetrically distributed fixing plate 1501, the left and right sides of the front side of the rectangular frame 1105 are respectively configured as inclined surfaces matched with the scraping plate 1409, the inclined surfaces on 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 slide bar 1502 in a penetrating manner, one end of the second slide bar 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 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 quickly reset, the second spring 1504 drives the first wedge block 1503 to be far away from the fixing plate 1501, the impurities on the left side surface of the scraping plate 1409 are quickly ejected out by the first wedge block 1503, a limit column 1505 is fixedly connected with the first wedge block 1503, and the second link rod 1408 is provided with a limit assembly for storing the second spring 1504.
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 with a second wedge 1507 that is in limit fit with the limiting post 1505, when the left side of the second wedge 1507 contacts the limiting post 1505, the second wedge 1507 drives the limiting post 1505 to move leftwards, and because the second sliding rod 1502 is limited by the fixing plate 1501, the limiting post 1505 moves leftwards and moves backwards, the second spring 1504 is compressed to store force, and a third spring 1508 is fixedly connected between the second wedge 1507 and the second fixing rod 1506.
When the cable tunnel is inspected, the cable track 16 is distributed at the top of the cable tunnel, an operator firstly installs the robot on one side (the right side shown in fig. 1) of the cable track 16, the operator places two electric wheels 3 above the cable track 16, clamps four guide wheels 8 on the front side and the rear side of the cable track 16, the installed state is 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 to move leftwards through the adjacent L-shaped fixed rod 2 (the moving direction is not fixed, only one direction is taken as a reference for example), in the process of leftwards moving the robot, the support shell 1 drives the base 901 and the camera 902 to move, the camera 902 rotates around the base 901 to record the cable and the actual situation in the cable tunnel in a multi-azimuth mode, and the operator analyzes the images according to the camera 902 so that the operator analyzes and solves the emergency of the cable tunnel.
In the process of robot inspection, the control terminal starts the servo motor 1101, the servo motor 1101 drives the fan 1104 to rotate through the rotating shaft 1102, because the fan 1104 is located below the air inlet hole of the air inlet shell 1103, the fan 1104 rotates to enable air in the air inlet shell 1103 to form a pressure difference, air above the air inlet shell 1103 starts to move downwards, air in the support shell 1 enters the support shell 1 through the air inlet hole of the air inlet shell 1103, 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 inside of the robot, detection of the air environment is influenced, 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 inflammable air sensor 1204 detect the air entering the air inlet shell 1103, detected data are transmitted to the control terminal, if the detected data exceeds a normal detection range, the control terminal gives an alarm and transmits the data to an operator, the operator performs forced air flow detection according to the data implementation scheme, the operator cannot detect the air flow of the air outside the robot, and the air flow cannot be detected by the robot, and the outside the robot cannot be detected by the robot.
The gas after being detected by the temperature sensor 1201, the humidity sensor 1202, the smoke sensor 1203 and the toxic inflammable gas sensor 1204 enters the exhaust hole 1302 and is downwards conveyed in a gap between the base 901 and the gas guide tube 1301 through the exhaust hole 1302, at the moment, a downwards flowing annular gas flow wall is formed around the camera 902, and the situation that external impurities are close to the camera 902 and adhere to a glass lens of the camera 902 in severe cases is avoided, so that the definition of an image recorded by the camera 902 is affected.
In the robot inspection process, the output shaft of the servo motor 1101 drives the rotating rod 1402 to rotate through the transmission of the bevel gear, the rotating rod 1402 drives the two second chain wheels 1406 to rotate through the first chain wheel 1405 and the chain, the two second chain wheels 1406 respectively drive the adjacent reciprocating screw rods 1404 to rotate, the reciprocating screw rods 1404 on the front side rotate as an example, under the limit of the T-shaped sliding groove 101, the T-shaped limiting rod 1410 limits the second connecting rod 1408, meanwhile, the 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 the sliding block 1409 to transversely reciprocate through the second connecting rod 1408, the sliding block 1409 scrapes impurities on the filter screen 1106, the impurities are prevented from blocking the filter screen 1106, the problem of affecting the air inlet amount is solved, the data of detected air are caused by the reduction of the air inlet amount, when the sliding block 1409 moves on the filter screen 1106, the two sides of the sliding block 1409 are in contact with the impurities preferentially, and the two sides of the sliding block 1409 are in contact with the impurities, and the sliding block 1409 is reduced due to the fact that the cross section of the sliding block 1409 is in an isosceles triangle.
In the process of scraping impurities on the filter screen 1106 by the scraping plate 1409, impurities are adhered to two side surfaces of the scraping plate 1409, and impurities on the two side surfaces of the scraping plate 1409 need to be removed, and the specific operation is as follows: taking the state shown in the figure as an example, when the second connecting rod 1408 drives the scraping plate 1409 to move to the left side of the filter screen 1106, the scraping plate 1409 continues to move leftwards, when the left side face of the scraping plate 1409 is flush with the left side face of the front side face of the rectangular frame 1105, the second connecting rod 1408 drives the second fixing rod 1506 and the second wedge block 1507 to move leftwards, when the left side face of the second wedge block 1507 is in contact with the limit column 1505, the second wedge block 1507 drives the limit column 1505 to move leftwards, because the second sliding rod 1502 is limited by the fixing plate 1501, the second spring 1504 moves leftwards while moving backwards, the second wedge block 1507 is compressed to store the force, the second wedge block 1507 gradually releases the limit of the limit column 1505, when the left side face of the scraping plate 1409 is flush with the left side face of the rectangular frame 1105, the left side face of the rectangular frame 1105 is on the same plane as the left side face of the scraping plate 1409, the sliding block 1407 moves to the left side face of the reciprocating screw 1404 (if the reciprocating screw 1404 continues to rotate, the sliding block 1407 moves rightwards), at this time, the second wedge block 1507 moves leftwards out of contact with the limit column 1505 is quickly reset, the second spring 1503 drives the first wedge block 1501 to move leftwards, and impurities on the first wedge block 1503 are ejected from the side face of the limit column 1503, and impurities are rapidly moved away from the first wedge block 1503, and the left side face of the limit column 1503 is moved away from the fixing block 1509, and the position on the side face of the limit column 1509, and impurities are rapidly move up, and move down, and the impurities on the side face of the slide block 1503, and move.
When the reciprocating screw 1404 continues to rotate, the sliding block 1407 starts to move rightward, at this time, the second fixing rod 1506 drives the second wedge 1507 to move rightward, when the second wedge 1507 contacts the limit post 1505 (the inclined surface of the second wedge 1507 contacts the limit post 1505), the second wedge 1507 starts to move forward under the extrusion of the limit post 1505, the third spring 1508 is compressed, when the second wedge 1507 moves to the right side of the limit post 1505, the third spring 1508 drives the second wedge 1507 to move backward to reset, the scraper 1409 continues to move rightward, and when the scraper 1409 moves to the right side of the filter screen 1106, the first wedge 1503 on the right side rapidly scrapes impurities on the right side of the scraper 1409.
When the robot moves up or down the cable track 16, as shown in fig. 1, taking the up slope of the left side of the cable track 16 as an example, the robot moves left along the cable track 16, when the robot moves to the upward bending position of the cable track 16, the left two guide wheels 8 start to move upward, the left two guide wheels 8 drive the left side of the adjacent first connecting rod 6 to move upward through the adjacent first supporting rod 7, the first connecting rod 6 rotates clockwise, the left side of the first connecting rod 6 moves upward after contacting with the left second supporting rod 1009, the left second supporting rod 1009 drives the sliding ring 1006 to move upward through the sliding plate 1008, the first spring 1007 is compressed, the first spring 1007 applies upward elastic force to the fixed ring 1005, the first spring 1007 increases the extrusion force between the roller 1004 and the lower side of the cable track 16 due to the contact between the roller 1004 and the lower side of the cable track 16, when the robot encounters a downhill slope, the two guide wheels 8 on the left side start to move downwards, the first connecting rod 6 rotates anticlockwise, the second supporting rod 1009 on the right side moves upwards, meanwhile, the first spring 1007 is extruded, the extrusion force between the roller 1004 and the lower side surface of the cable track 16 is increased, no matter encountering the downhill slope or the uphill slope, the extrusion force between the roller 1004 and the lower side surface of the cable track 16 is increased, the situation that the robot cannot be driven to climb upwards due to the fact that the insufficient extrusion force between the electric wheel 3 and the upper side surface of the cable track 16 occurs when the robot encounters the uphill slope is avoided, meanwhile, the problem that the robot slides down quickly along the downhill slope is avoided due to the insufficient extrusion force between the electric wheel 3 and the upper side surface of the cable track 16 when the robot encounters the uphill slope or the downhill slope is increased, when the robot moves on an ascending slope and a descending slope with higher gradient, the robot stably works, and when the robot moves on the ascending slope or the descending slope, the robot can not incline due to the guiding function of the guiding wheel 8, the robot is always in a vertical state due to the self gravity function under the clamping of the roller 1004 and the electric wheel 3 to the cable track 16, and the camera 902 is always in a vertical direction and can not change the shooting angle of the camera 902 due to the ascending slope or the descending slope.
In the process of inspection of the robot, the battery 4 provides the required electric quantity for the robot, and when the battery 4 is not enough in electric connection, an operator timely charges the battery 4.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are 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 (8)
1. The utility model provides a cable tunnel hanging rail formula inspection robot with diversified detection function, a serial communication port, including supporting housing (1), supporting housing (1) rigid coupling has symmetrically distributed L shape dead lever (2), symmetrically distributed L shape dead lever (2) are installed and are driven electronic round (3) that this device removed, supporting housing (1) rigid coupling has battery (4), electronic round (3) are connected with battery (4) and control terminal electricity respectively, supporting housing (1) rigid coupling has symmetrically distributed fixed frame (5), symmetrically distributed fixed frame (5) all rotate and are connected with head rod (6), the both ends of head rod (6) all articulate first bracing piece (7), head rod (7) rotate and are connected with leading truck (8), supporting housing (1) rigid coupling has base (902), camera (902) are installed to base (901), camera (902) are connected with battery (4) and control terminal electricity respectively, fixed frame (5) are provided with and are used for increasing the supporting mechanism between electronic round (3) extrusion force and the cable track (16), supporting housing (1) rigid coupling has symmetrically distributed fixed frame (5), the both ends all rotate and are connected with head rod (1), the both ends of head rod (6) all articulate and are connected with leading truck (902), the seat (902) is installed to be connected with the base (902) respectively, the guide wheel (8) drives the first connecting rod (6) to rotate through the first supporting rod (7), the robot is always in a vertical state under the action of gravity, and the camera (902) is always in a vertical direction;
the supporting mechanism comprises symmetrically distributed fixed columns (1001), the symmetrically distributed fixed columns (1001) are fixedly connected to adjacent fixed frames (5) respectively, the fixed columns (1001) are connected with first sliding rods (1002) in a sliding mode, the first fixed rods (1003) are fixedly connected with first sliding rods (1002), the first fixed rods (1003) are connected with rollers (1004) in a rotating mode, the first sliding rods (1002) are fixedly connected with fixed rings (1005), the first sliding rods (1002) are connected with sliding rings (1006) in a sliding mode, first springs (1007) are fixedly connected between the sliding rings (1006) and the fixed rings (1005), and driving assemblies used for extruding the first springs (1007) are arranged on the first sliding rods (1002);
the driving assembly comprises a sliding plate (1008), the sliding plate (1008) is connected to the first sliding rod (1002) in a sliding mode, 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 second supporting rods (1009) which are symmetrically distributed.
2. The cable tunnel rail-mounted inspection robot with the multi-azimuth detection function according to claim 1, wherein the gas collecting mechanism comprises a servo motor (1101), the servo motor (1101) is fixedly connected to a supporting shell (1) through a supporting plate, the servo motor (1101) is respectively electrically connected with a battery (4) and a control terminal, an output shaft of the servo motor (1101) is fixedly connected with a rotating shaft (1102), an air inlet shell (1103) is fixedly connected in the supporting shell (1), a fan (1104) positioned in the air inlet shell (1103) is fixedly connected with the rotating shaft (1102), an air inlet hole is circumferentially arranged at the upper part of the air inlet shell (1103), the height of the fan (1104) is lower than that of the air inlet hole of the air inlet shell (1103), a symmetrically distributed rectangular frame (1105) is fixedly connected to the supporting shell (1), the rectangular through hole of the supporting shell (1) is communicated with the rectangular frame (1105), a filter screen (1106) is fixedly connected to the rectangular frame (1105), an exhaust assembly for protecting the camera (902) is fixedly connected in the supporting shell (1), and a filter screen mechanism for cleaning impurities on the scraping off (1106) is arranged on the supporting shell (1).
3. The cable tunnel rail-mounted inspection robot with the multi-azimuth detection function according to claim 2, wherein the detection mechanism comprises a temperature sensor (1201), a humidity sensor (1202), a smoke sensor (1203) and a toxic flammable gas sensor (1204), the temperature sensor (1201), the humidity sensor (1202), the smoke sensor (1203) and the toxic flammable gas sensor (1204) are fixedly connected to a supporting shell (1) respectively, the temperature sensor (1201), the humidity sensor (1202), the smoke sensor (1203) and the toxic flammable gas sensor (1204) are all located on the lower side of a fan (1104) in an air inlet shell (1103), and the temperature sensor (1201), the humidity sensor (1202), the smoke sensor (1203) and the toxic flammable gas sensor (1204) are electrically connected with a battery (4) and a control terminal respectively.
4. The cable tunnel rail-mounted inspection robot with the multi-azimuth detection function according to claim 2, wherein the exhaust assembly comprises an air duct (1301), the air duct (1301) is fixedly connected to the support shell (1) and sleeved on the outer side of the base (901), the support shell (1) is provided with circumferentially distributed exhaust holes (1302), and the circumferentially distributed exhaust holes (1302) are used for communicating an air inlet shell (1103) with a gap between the base (901) and the air duct (1301).
5. The robot for cable tunnel rail inspection with multi-azimuth detection function according to claim 2, wherein the scraping mechanism comprises a fixed block (1401), the fixed block (1401) is fixedly connected to a supporting shell (1) in a penetrating manner, a rotating rod (1402) is connected between the fixed block (1401) in a penetrating manner, a bevel gear is fixedly connected to one end of the rotating rod (1402), 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), a limit block (1403) which is symmetrically distributed is fixedly connected to the supporting shell (1), reciprocating screws (1404) are respectively connected in a rotating manner, a first sprocket (1405) is fixedly connected to the other end of the rotating rod (1402), second sprockets (1406) are respectively fixedly connected to one ends, close to the rotating rod (1402), of the first sprockets (1405) and the second sprockets (1406) which are symmetrically distributed are respectively, a sliding block (1407) is fixedly connected to one end of the reciprocating screw rod (1404) which is symmetrically distributed, a second connecting rod (1408) is fixedly connected to the sliding block (1407), a filter screen (1106) is fixedly connected to the second connecting rod (1409) which is symmetrically distributed on the scraping shell (1106), a sliding chute (101) is arranged in a sliding chute (101), the T-shaped limiting rod (1410) is fixedly connected with the second connecting rod (1408).
6. The robot for cable tunnel rail-mounted inspection with multi-azimuth detection function according to claim 5, wherein the cross section of the scraper (1409) is isosceles triangle, the bottom surface of the scraper (1409) is tightly attached to the filter screen (1106) for reducing the accumulation of impurities on two sides of the scraper (1409), and the symmetrically distributed rectangular frames (1105) are respectively provided with a cleaning component for removing impurities on the scraper (1409).
7. The cable tunnel rail-mounted inspection robot with multi-azimuth detection function according to claim 6, wherein the cleaning assembly comprises a fixing plate (1501) which is symmetrically distributed, the left side and the right side of the front side of a rectangular frame (1105) are respectively provided with inclined planes matched with a scraping plate (1409), the inclined planes on the left side and the right side of the rectangular frame (1105) are respectively fixedly connected with the fixing plate (1501), the fixing plate (1501) is connected with a second sliding rod (1502) in a penetrating mode, one end, far away from the fixing plate (1501), of the second sliding rod (1502) is fixedly connected with a first wedge block (1503), the first wedge block (1503) is matched with the side face of the scraping plate (1409) and used for removing impurities attached to the side face of the scraping plate (1409), a second spring (1504) is fixedly connected between the first wedge block (1503) and the fixing plate (1501), a limiting column (1505) is fixedly connected with the first wedge block (1503), and a limiting assembly for storing force of the second spring (1504) is arranged on the second connecting rod (1408).
8. The robot for cable tunnel rail hanging inspection with 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 block (1507) in limiting fit with the limiting column (1505), and a third spring (1508) is fixedly connected between the second wedge block (1507) and the second fixing rod (1506).
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| CN116787462B (en) * | 2023-06-02 | 2024-08-02 | 江苏珂尔玛智控技术有限公司 | Robot for inspecting coal mine channel |
| CN117288997B (en) * | 2023-11-14 | 2024-01-26 | 山东科华电力技术有限公司 | Electrical variable monitoring device and monitoring system for cable joint |
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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 |
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