CN203186345U - Electric power tunnel wireless mobile video routing inspection robot structure - Google Patents
Electric power tunnel wireless mobile video routing inspection robot structure Download PDFInfo
- Publication number
- CN203186345U CN203186345U CN 201320092144 CN201320092144U CN203186345U CN 203186345 U CN203186345 U CN 203186345U CN 201320092144 CN201320092144 CN 201320092144 CN 201320092144 U CN201320092144 U CN 201320092144U CN 203186345 U CN203186345 U CN 203186345U
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- vehicle frame
- electric power
- wireless mobile
- mobile video
- robot structure
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Abstract
The utility model discloses an electric power tunnel wireless mobile video routing inspection robot structure which comprises a track portion and a motion portion, the track portion comprises a track, the track is fixed with the top face of the tunnel through a suspension type spring shock absorber, the motion portion comprises a vehicle frame, the vehicle frame comprises a front vehicle frame and a rear vehicle frame, the front vehicle frame and the rear vehicle frame are connected with a vehicle body, a camera is arranged on the bottom of the vehicle body, the front vehicle frame and the rear vehicle frame are provided with a front driving wheel set and a rear driving wheel set respectively, the front vehicle frame and the rear vehicle frame are respectively provided with a corresponding step motor and a corresponding gearbox, and each gearbox is connected with the corresponding step motor. Each gearbox is connected with a corresponding driving wheel set through a corresponding gear set. The electric power tunnel wireless mobile video routing inspection robot structure can carry out tunnel routing inspection on electric power facilities in complex and dark tunnel environment, and transmit a full view image to a monitoring platform, and can completely replace manual routing inspection. The electric power tunnel wireless mobile video routing inspection robot structure is simple in structure and easy to popularize.
Description
Technical field
The utility model relates to a kind of crusing robot structure, relates in particular to a kind of electric power tunnel wireless mobile video crusing robot structure.
Background technology
Along with construction and the fast development of urban electric power facility, the ground cable electric energy transmitting is adopted in domestic many cities in succession, has improved urban look, alleviated that ground is set up and space between contradiction.The safe operation of power cable and various electric power facilities directly affects the reliability and stability of power supply in the domestic city electric power tunnel.So detection and maintenance issues also highlight accordingly.At present, the tunnel routine inspection mode still combines with manual patrol and fixed point electric power monitoring system, has following problem:
1) artificial mode is all adopted in the work of patrolling and examining of present most tunnel.Patrol and examine at every turn and all will walk several kilometers distance, working strength is quite big.The pernicious gas that might exist in the tunnel and high-tension current, quite dangerous concerning the people.
2) intelligent monitor system is installed in the fixed position in the tunnel, it is a kind of fixing, discrete monitoring system, though can there be very big protection face in system, but also exist the covering fully that can not realize situation in the tunnel, when emergency situation takes place, field condition can't be provided clearly video pictures to monitoring and control centre in the very first time.
The utility model content
The purpose of this utility model is exactly to provide a kind of electric power tunnel wireless mobile video crusing robot structure in order to address the above problem, and it has a very first time and notifies monitoring and control centre with dangerous situation, and can assist the advantage of dealing with emergencies and dangerous situations.
To achieve these goals, the utility model adopts following technical scheme:
A kind of electric power tunnel wireless mobile video crusing robot structure, it comprises rail portion and motion parts, rail portion comprises track, track is fixed by bumper and tunnel roof, and described motion parts comprises vehicle frame, and vehicle frame comprises front vehicle frame and back vehicle frame, front vehicle frame is connected with car body with the back vehicle frame, the car body bottom is provided with pick up camera, is respectively equipped with the driving wheels that have propulsion source accordingly on front vehicle frame and/or the back vehicle frame, also is provided with protective device on the car body.
Described gear cluster comprises the driving gear that is installed in the change speed gear box, driving gear and the driven gear engagement that is installed on the driving wheels.
Described protective device comprises collision avoidance radar and the bumper/spoiler that is installed in both sides, car body front and back;
Both sides are respectively equipped with head light group and back headlight group before and after the described car body.
Described front vehicle frame front end and vehicle frame rear end, back are equipped with a pair of front jockey wheel and back track adjusting wheel respectively.
Described front vehicle frame is hung support by corresponding car body respectively with the back vehicle frame and is connected with car body with oscillating bearing.
Described track is the aluminum alloy guide rail of hollow.
Described propulsion source comprises stepping motor and change speed gear box, and stepping motor is connected with change speed gear box, and change speed gear box is connected with the corresponding wheels that drive by corresponding gear cluster.
Described bumper is spring damper.
The subsidiary thermal imaging device of described pick up camera and gyroscope, gyroscope makes the camera body balance.
The beneficial effects of the utility model: the utility model can carry out the tunnel and patrol and examine electric power facility, and the image that can transmit full visual angle in real time can substitute manual inspection fully to monitor supervision platform in complicated dark tunnel environment.And simple in structure, be easy to promote.
Description of drawings
Fig. 1 is construction profile of the present utility model;
Fig. 2 is Facad structure figure of the present utility model;
Fig. 3 is isometric view of the present utility model.
Wherein, 1. aluminum alloy guide rail, 2. spring damper, 3. front vehicle frame, 4. vehicle frame, 5. vehicle frame axle, 6. before driving wheels, 7. rear drive wheels after, 8. stepping motor, 9. change speed gear box, 10. driving gear, 11. driven gears, 12. the front jockey wheel group, 13. back guiding wheels, 14. power supplys, 15. car bodies, 16. collision avoidance radar, 17. head light groups, 18. pick up cameras, 19. bumper/spoiler, 20. car bodies are hung support, 21. oscillating bearings.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and embodiment.
As Fig. 1, Fig. 2, shown in Figure 3, a kind of rail portion keystone configuration of electric power tunnel wireless mobile video crusing robot is made up of aluminum alloy guide rail 1 and spring damper 2.Spring damper 2 is lifted on tunnel top, aluminum alloy guide rail 1 is fixed on the tunnel by spring damper 2, aluminum alloy guide rail 1 hollow, front vehicle frame 3 and back vehicle frame 4 are hidden in wherein, front vehicle frame 3 is hung support 20 by corresponding car body respectively with back vehicle frame 4 and is connected with car body 15 with oscillating bearing 21, when aluminum alloy guide rail 1 was subjected to the impact of car body 15 in advancing, spring damper 2 can effectively cushion car body and jolt.
Front vehicle frame 3 is floated by vehicle frame axle 5 with back vehicle frame 4 and is connected, front vehicle frame 3 and back vehicle frame 4 have on the horizontal direction counterrotating characteristic in certain angle, when the horizontal bend of car body 15 processes, can improve its crossing ability, can more be conducive to the bend by small radii, improve it to the comformability of complicated tunnel environment.
Before driving wheels 6 and rear drive wheels 7 are respectively the pair of driving wheels group that is installed in front vehicle frame 3 and back vehicle frame 4 respectively, and before driving wheels 6 and rear drive wheels 7 travel at the bearing surface of aluminum alloy guide rail 1.Be example with front driving wheel group 6: stepping motor 8 links to each other with change speed gear box 9, driven gear 11 is housed on the drive wheel wheel shaft, form a pair of gear driving pair with the driving gear 10 on the change speed gear box, when stepping motor 8 work, just can drive before driving wheels 6 to gear pair by this.
Rear drive wheels 7 are identical with before driving wheels 6 transmission schemes.Car body 15 can be realized seesawing or switching direct of travel by system's control.
But front vehicle frame 3 is equipped with front jockey wheel group 12 and the back guiding wheels 13 that float about energy on a pair of horizontal direction respectively with vehicle frame 4 front and back, back.When the vehicle frame group is advanced in aluminum alloy guide rail 1, the guiding wheels of the left and right sides are pressed in respectively on the left and right sides medial surface of aluminum alloy guide rail 1 owing to elastic force, when through bend, can about the front jockey wheel group 12 and the back guiding wheels 13 that float also can keep in touch with the medial surface of aluminum alloy guide rail 1 all the time, can guarantee that front vehicle frame 3 and back vehicle frame 4 are positioned at the middle position of aluminum alloy guide rail 1 all the time in motion process, before driving wheels 6 and rear drive wheels 7 are positioned on effective bearing surface of aluminum alloy guide rail 1 all the time, thereby guarantee stable travelling.
When equipment when the bend because the relatively rotating of front vehicle frame 3 and back vehicle frame 4, can make the wheelbase of before driving wheels 6 and rear drive wheels 7 that the translation displacement that furthers each other takes place, and also follow the rotation displacement between the diaxon in the horizontal direction.If the car body that the vehicle frame group is hung below 15 and its are for being rigidly connected, then the alteration of form of front vehicle frame 3 and back vehicle frame 4 can not mate, and will cause front vehicle frame 3 and back vehicle frame 4 can not pass through bend.This programme adopts car body 15 to hang the below that support 20 and each two oscillating bearing 21 of front and back are suspended on front vehicle frame 3 and back vehicle frame 4 by the two pairs of car bodies before and after the car body.Because oscillating bearing 21 has concurrently in the time of can be stressed according to self axially and the characteristic that radially can float, captive joint with the vehicle frame group again by the fork of self again, in when, up the wheelbase skew taking place between the vehicle frame group, swing and bearing radial floating take place in the fork that can promote on the oscillating bearing 21, make the car body 15 of rigidity produce the trend of upward movement and digest the influence that above-mentioned displacement brings.Thereby realized when by bend, can eliminating interference between front and back vehicle frame group and the car body 15.
Visual plant pick up camera 18 is hung below car body 15, and the position is placed in the middle, and the visual angle is taken entirely.Car body 15 front and back are respectively installed a pair of head light group 17 and are provided illumination as equipment.Power supply 14 is installed in car body 15 inside.Car body 15 front and back are installed collision avoidance radar 16 respectively, when can identifying when direct of travel runs into obstacle, and take self-stopping safety measure.In car body 15 front and back bumper/spoiler 19 is installed, is used for avoiding in-vehicle device to cause damage because of accidental impact.
Though above-mentionedly by reference to the accompanying drawings the specific embodiment of the present utility model is described; but be not the restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.
Claims (10)
1. electric power tunnel wireless mobile video crusing robot structure, it is characterized in that, it comprises rail portion and motion parts, and rail portion comprises track, and track is fixed by bumper and tunnel roof, described motion parts comprises vehicle frame, vehicle frame comprises front vehicle frame and back vehicle frame, and front vehicle frame is connected with car body with the back vehicle frame, and the car body bottom is provided with pick up camera, be respectively equipped with the driving wheels that have propulsion source accordingly on front vehicle frame and/or the back vehicle frame, also be provided with protective device on the car body.
2. a kind of electric power tunnel wireless mobile video crusing robot structure according to claim 1, it is characterized in that, described propulsion source comprises stepping motor and change speed gear box, and stepping motor is connected with change speed gear box, and change speed gear box is connected with the corresponding wheels that drive by corresponding gear cluster.
3. a kind of electric power tunnel wireless mobile video crusing robot structure according to claim 1 is characterized in that, described protective device comprises collision avoidance radar and the bumper/spoiler that is installed in both sides before and after the car body.
4. as a kind of electric power tunnel wireless mobile video crusing robot structure as described in the claim 2, it is characterized in that described gear cluster comprises the driving gear that is installed in the change speed gear box, driving gear be installed in the driven gear engagement that drives on the wheels.
5. a kind of electric power tunnel wireless mobile video crusing robot structure according to claim 1 is characterized in that, both sides are respectively equipped with head light group and back headlight group before and after the described car body.
6. a kind of electric power tunnel wireless mobile video crusing robot structure according to claim 1 is characterized in that, described front vehicle frame front end and vehicle frame rear end, back are equipped with a pair of front jockey wheel and back track adjusting wheel respectively.
7. a kind of electric power tunnel wireless mobile video crusing robot structure according to claim 1 is characterized in that, described front vehicle frame is hung support by corresponding car body respectively with the back vehicle frame and is connected with car body with oscillating bearing.
8. a kind of electric power tunnel wireless mobile video crusing robot structure according to claim 1 is characterized in that described track is the aluminum alloy guide rail of hollow.
9. a kind of electric power tunnel wireless mobile video crusing robot structure according to claim 1 is characterized in that described bumper is spring damper.
10. a kind of electric power tunnel wireless mobile video crusing robot structure according to claim 1 is characterized in that, the subsidiary thermal imaging device of described pick up camera and gyroscope, and gyroscope makes the camera body balance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320092144 CN203186345U (en) | 2013-02-28 | 2013-02-28 | Electric power tunnel wireless mobile video routing inspection robot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320092144 CN203186345U (en) | 2013-02-28 | 2013-02-28 | Electric power tunnel wireless mobile video routing inspection robot structure |
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| Publication Number | Publication Date |
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| CN203186345U true CN203186345U (en) | 2013-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320092144 Expired - Lifetime CN203186345U (en) | 2013-02-28 | 2013-02-28 | Electric power tunnel wireless mobile video routing inspection robot structure |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103711525A (en) * | 2014-01-10 | 2014-04-09 | 铁道第三勘察设计院集团有限公司 | Remote control tunnel hazard prevention tour inspection device |
| CN103802086A (en) * | 2014-02-17 | 2014-05-21 | 广州供电局有限公司 | Inspection robot |
| CN104742111A (en) * | 2015-04-02 | 2015-07-01 | 江苏亿嘉和信息科技有限公司 | Traveling mechanism of cable tunnel inspection robot |
| CN104811672A (en) * | 2015-05-19 | 2015-07-29 | 国家电网公司 | Intelligent video fault detecting instrument |
| CN105598944A (en) * | 2016-03-29 | 2016-05-25 | 亿嘉和科技股份有限公司 | Robot walking mechanism |
| CN106676979A (en) * | 2016-12-12 | 2017-05-17 | 山东康威通信技术股份有限公司 | Structure and method for improving bend adaptability of tunnel patrol robot |
| CN107398888A (en) * | 2016-05-20 | 2017-11-28 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN107703559A (en) * | 2017-09-07 | 2018-02-16 | 国网浙江省电力公司宁波供电公司 | Seep water infrared detecting device for a kind of cable tunnel |
| CN107764319A (en) * | 2017-09-08 | 2018-03-06 | 国网山东省电力公司电力科学研究院 | One kind is brought into close contact formula track automatic crusing robot |
| CN108519466A (en) * | 2018-04-03 | 2018-09-11 | 北京戴纳实验科技有限公司 | Rail mounted inspection car and rail mounted cruising inspection system |
| CN108923325A (en) * | 2018-08-24 | 2018-11-30 | 国网河北省电力有限公司沧州供电分公司 | Tunnel extension rail inspection device |
| CN109501814A (en) * | 2018-11-15 | 2019-03-22 | 山东大来智能技术有限公司 | Tunnel crusing robot |
| CN109795512A (en) * | 2019-03-06 | 2019-05-24 | 中铁第四勘察设计院集团有限公司 | A kind of Railway vehicle car roof automatic inspection equipment and method for inspecting |
-
2013
- 2013-02-28 CN CN 201320092144 patent/CN203186345U/en not_active Expired - Lifetime
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103711525A (en) * | 2014-01-10 | 2014-04-09 | 铁道第三勘察设计院集团有限公司 | Remote control tunnel hazard prevention tour inspection device |
| CN103711525B (en) * | 2014-01-10 | 2015-10-28 | 铁道第三勘察设计院集团有限公司 | Remote control tunnel hazard prevention inspection device |
| CN103802086A (en) * | 2014-02-17 | 2014-05-21 | 广州供电局有限公司 | Inspection robot |
| CN103802086B (en) * | 2014-02-17 | 2016-04-20 | 广州供电局有限公司 | Crusing robot |
| CN104742111A (en) * | 2015-04-02 | 2015-07-01 | 江苏亿嘉和信息科技有限公司 | Traveling mechanism of cable tunnel inspection robot |
| CN104811672A (en) * | 2015-05-19 | 2015-07-29 | 国家电网公司 | Intelligent video fault detecting instrument |
| CN105598944A (en) * | 2016-03-29 | 2016-05-25 | 亿嘉和科技股份有限公司 | Robot walking mechanism |
| CN107398888A (en) * | 2016-05-20 | 2017-11-28 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN106676979A (en) * | 2016-12-12 | 2017-05-17 | 山东康威通信技术股份有限公司 | Structure and method for improving bend adaptability of tunnel patrol robot |
| CN106676979B (en) * | 2016-12-12 | 2018-09-21 | 山东康威通信技术股份有限公司 | A kind of structure and method improving tunnel crusing robot bend adaptability |
| CN107703559A (en) * | 2017-09-07 | 2018-02-16 | 国网浙江省电力公司宁波供电公司 | Seep water infrared detecting device for a kind of cable tunnel |
| CN107764319A (en) * | 2017-09-08 | 2018-03-06 | 国网山东省电力公司电力科学研究院 | One kind is brought into close contact formula track automatic crusing robot |
| CN108519466A (en) * | 2018-04-03 | 2018-09-11 | 北京戴纳实验科技有限公司 | Rail mounted inspection car and rail mounted cruising inspection system |
| CN108519466B (en) * | 2018-04-03 | 2023-10-31 | 北京戴纳实验科技有限公司 | Rail-mounted inspection vehicle and rail-mounted inspection system |
| CN108923325A (en) * | 2018-08-24 | 2018-11-30 | 国网河北省电力有限公司沧州供电分公司 | Tunnel extension rail inspection device |
| CN109501814A (en) * | 2018-11-15 | 2019-03-22 | 山东大来智能技术有限公司 | Tunnel crusing robot |
| CN109795512A (en) * | 2019-03-06 | 2019-05-24 | 中铁第四勘察设计院集团有限公司 | A kind of Railway vehicle car roof automatic inspection equipment and method for inspecting |
| CN109795512B (en) * | 2019-03-06 | 2023-07-25 | 中铁第四勘察设计院集团有限公司 | Automatic inspection equipment and inspection method for railway vehicle roof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 250101 A203, block F, entrepreneurship square, Qilu Software Park, No.1 Shunhua Road, high tech Development Zone, Jinan City, Shandong Province Patentee after: Conway Communication Technology Co.,Ltd. Address before: 250101 Qilu Software Park, No. 1 Shunhua Road, Jinan High-tech Development Zone, Shandong Province, A 203 Patentee before: SHANDONG KANGWEI COMMUNICATION TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130911 |
|
| CX01 | Expiry of patent term |