CN207375525U - A kind of retractable cable trolley, cruising inspection system - Google Patents
A kind of retractable cable trolley, cruising inspection system Download PDFInfo
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- CN207375525U CN207375525U CN201720940537.5U CN201720940537U CN207375525U CN 207375525 U CN207375525 U CN 207375525U CN 201720940537 U CN201720940537 U CN 201720940537U CN 207375525 U CN207375525 U CN 207375525U
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- trolley
- cable
- retractable cable
- routing inspection
- retractable
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- 238000007689 inspection Methods 0.000 title claims abstract description 89
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 230000003028 elevating effect Effects 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The utility model discloses a kind of retractable cable trolleies, including retractable cable trolley and the cable pulling-pushing device being arranged in retractable cable trolley, the cable pulling-pushing device is included for the X-axis cable pulling-pushing device in the routing inspection trolley direction of motion and the Y-axis cable pulling-pushing device on retractable cable moving of car direction.Correspondingly, the control method of also a kind of cruising inspection system of the utility model and cruising inspection system including above-mentioned retractable cable trolley and routing inspection trolley, when the retractable cable trolley moves, carries routing inspection trolley movement.The beneficial effects of the utility model are to provide a kind of retractable cable trolley, realize effective management to routing inspection trolley and retractable cable trolley cable, can be entwined to avoid cable together, significant effect；A kind of cruising inspection system is additionally provided, when retractable cable trolley moves, routing inspection trolley movement is carried, using this kind of mode, can realize that routing inspection trolley and retractable cable trolley are used in combination.
Description
Technical field
The utility model is related to Automatic Track Finding trolley technical field, more particularly to a kind of retractable cable trolley, cruising inspection system.
Background technology
Automatic Track Finding trolley merged embedded technology, sensor technology, electric, path planning, artificial intelligence and
It the technologies such as automatically controls, attracts the concern of numerous scientific workers always in recent years.Automatic Track Finding trolley application field is extensive,
Including automatic Pilot, anti-terrorism, nuclear power station safeguard, zone of ignorance detection, unmanned engineering Product transport etc., automatic control technology
Development will exert far reaching influence to the production and life of people.
In X-axis, Y-axis bidirectional-movement, due to can not effectively solve the problem of management of cable and power cord, cable and
Power cord is easily entwined together, therefore, currently, radio connection is generally used when voluntarily trajectory Car is applied.
Utility model content
There are technical problem in for the above-mentioned prior art, the utility model provides a kind of retractable cable trolley, inspection system
System.
To realize the purpose of this utility model, the utility model provides a kind of retractable cable trolley, including retractable cable trolley
Car body and the cable pulling-pushing device being arranged in retractable cable trolley, the cable pulling-pushing device are included for routing inspection trolley movement side
Upward X-axis cable pulling-pushing device and the Y-axis cable pulling-pushing device on retractable cable moving of car direction.
Wherein, the X-axis cable pulling-pushing device includes the first control motor, the first cable hoist and the first drag chain, described
First control motor is sequentially connected with first cable hoist, drives the first cable hoist rotation, first drag chain
Cable is equipped with, is wrapped on first cable hoist, one end is connected with the routing inspection trolley.
Wherein, the Y-axis cable pulling-pushing device includes the second control motor, the second cable hoist and the second drag chain, described
Second control motor is sequentially connected with second cable hoist, drives the second cable hoist rotation, second drag chain
Cable is equipped with, is wrapped on second cable hoist.
Wherein, the retractable cable trolley and routing inspection trolley are Automatic Track Finding trolley.
Correspondingly, also a kind of cruising inspection system of the utility model, including above-mentioned retractable cable trolley and routing inspection trolley, the receipts
When small vehicle for placing moves, routing inspection trolley movement is carried.
Wherein, it is provided with to carry the receiving of the routing inspection trolley in the retractable cable trolley of the retractable cable trolley
Slot, when the retractable cable trolley moves, the routing inspection trolley is parked in the holding tank.
Wherein, clamping device is provided in the retractable cable trolley of the retractable cable trolley, passes through the clamping device
Carry the routing inspection trolley movement.
Wherein, the clamping device includes being arranged at the first drag chain both sides, symmetrical configuration the first clamping device and the
Two clamp structures, first clamping device and the second clamping device include the 4th motor, the second drive block and the 3rd electricity
Machine, the first track base, the second track base, the first drive block, clamp arm, the output shaft and the first screw rod of the 3rd motor pass through connection
Axis device connects, and driving the first screw rod rotation, the first screw rod is threadedly coupled with the second drive block, and the rotation of the first screw rod drives second to pass
Motion block moves vertically, and the second drive block is fixedly connected with the 4th motor, and the movement of the second drive block drives the 4th motor to be synchronized with the movement,
The output shaft of 4th motor is connected with the second screw rod by shaft coupling, driving the second screw rod rotation, the second screw rod and first
Drive block is threadedly coupled, and the rotation of the first screw rod drives the first drive block horizontal movement, and the first drive block is fixedly connected with clamp arm, leads to
It crosses the clamp arm of the first clamping device and the clamp arm of the second clamping device clamps the routing inspection trolley.
Wherein, camera is provided on the car body of the routing inspection trolley, the camera is mounted on apparatus for automatically lifting.
Wherein, apparatus for automatically lifting includes the 3rd control motor and elevating lever, and the described 3rd controls described in motor control
Lifter rod lifting, the upper end of the elevating lever are equipped with camera.Freely shooting in short transverse is realized by automatic lifting.
Compared with prior art, the beneficial effects of the utility model are to provide a kind of retractable cable trolley, by the trolley
What is set receives for the X-axis cable pulling-pushing device in the routing inspection trolley direction of motion and the Y-axis on retractable cable moving of car direction
Payingoff mechanism realizes effective management to routing inspection trolley and retractable cable trolley cable, can entwine to avoid cable together, effect
Fruit is notable；A kind of cruising inspection system is additionally provided, when retractable cable trolley moves, carries routing inspection trolley movement, it, can using this kind of mode
To realize that routing inspection trolley and retractable cable trolley are used in combination.
Description of the drawings
Fig. 1 show the structure diagram of the application retractable cable trolley；
Fig. 2 show the first schematic diagram of structure of the application cruising inspection system embodiment 1；
Fig. 3 show the second schematic diagram of structure of the application cruising inspection system embodiment 1；
Fig. 4 show the first schematic diagram of structure of the application cruising inspection system embodiment 2；
Fig. 5 show the second schematic diagram of structure of the application cruising inspection system embodiment 2；
Fig. 6 show the 3rd schematic diagram of structure of the application cruising inspection system embodiment 2；
Fig. 7 show the structure diagram of apparatus for automatically lifting in the application；
Fig. 8 show this who please in elevating lever embodiment 1 structure diagram；
Fig. 9 show the structure diagram of the embodiment 2 of elevating lever in the application；
Figure 10 show a kind of application example schematic diagram of the application cruising inspection system；
In figure, 1- first controls motor, the first cable hoists of 2-, 3- retractable cable trolleys, the control motors of 4- second, 5-
Second drag chain, the second cable hoists of 6-, the first drag chains of 7-, 8- routing inspection trolleys, 9- holding tanks, the 4th motors of 10-, 11- second are passed
Motion block, the 3rd motors of 12-, the first track bases of 13-, the second track bases of 14-, the first drive blocks of 15-, 16- clamp arm, 17- cushions,
301- cameras, 302- elevating levers, 303- the 3rd control motor, 304- vehicle bodies, and 305- second controls motor, and 306- cables twist
Disk, 307- wheels, 201- fixed outer cylinders, 202- lifting inner cylinders, 203- threaded posts, 306- camera shooting headstocks, 307- link blocks, 308-
Pitch regulation motor.
Specific embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that this place
The specific embodiment of description is only used to explain the utility model, is not used to limit the utility model.
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.
As shown in Figure 1, the utility model provides a kind of retractable cable trolley, including retractable cable trolley 3 and it is arranged at
Cable pulling-pushing device in retractable cable trolley 3, the cable pulling-pushing device include receiving for the X-axis in the routing inspection trolley direction of motion
Payingoff mechanism and the Y-axis cable pulling-pushing device on retractable cable moving of car direction.
It should be noted that the X-axis cable pulling-pushing device and Y-axis cable pulling-pushing device in the application set out with routing inspection trolley 8
Point is in the rectangular coordinate system of origin, respectively positioned at X axis and Y-axis.The travel track of routing inspection trolley 8 includes X axis and Y-axis
It is Y-axis to the travel track of retractable cable trolley.
Specifically, the X-axis cable pulling-pushing device includes the first control motor 1, the first cable hoist 2 and the first drag chain 7,
The first control motor 1 is sequentially connected with first cable hoist 2, and driving first cable hoist 2 rotates, and described the
One drag chain 7 is equipped with cable, is wrapped on first cable hoist 2, and one end is connected with the routing inspection trolley 8.Inspection is small
Vehicle 8 moves in X-axis, and the first control motor 1 controls the first cable hoist 2 to rotate so that the first drag chain 7 is with routing inspection trolley 8
Movement and move.
Specifically, the Y-axis cable pulling-pushing device includes the second control motor 4, the second cable hoist 6 and the second drag chain 5,
The second control motor 4 is sequentially connected with second cable hoist 6, and driving second cable hoist 6 rotates, and described the
Two drag chains 5 are equipped with cable, are wrapped on second cable hoist 6.Retractable cable trolley 3 moves in X-axis, and first
Control motor 1 controls the first cable hoist 2 to rotate so that the first drag chain 7 is moved with the movement of routing inspection trolley 8.
It should be noted that the cable includes power cord and/or cable.
Specifically, retractable cable trolley and routing inspection trolley 8 described herein are Automatic Track Finding trolley, and trolley is realized automatic
The structure to track, can be as follows：
1. trolley bottom sets and tracks head, the head that tracks is one or more photoelectric sensors, pre- in the travelling route of trolley
The magnetic stripe that tracks first is equipped with, the head that will track alignment magnetic stripe after trolley starts, is believed by the small truck position of photoelectric sensor automatic collection
Number, trolley position signal is conveyed to trolley master controller, trolley master controller is by controlling driving mechanism realization voluntarily to track
Walking.Small car bottom can also install camera and the barrier in travelling route is shot, and camera sends out the image of shooting
Master controller is given, master controller is judged when judging to have barrier, automatic alarm.
2. alternatively, being provided with camera in small car bottom, Quick Response Code is pre-set in the travelling route of trolley, by taking the photograph
It tracks as head scans the two-dimensional code, by the data sending of scanning to master controller, main controller controls driving mechanism is into every trade
It walks.
Correspondingly, the utility model additionally provides a kind of cruising inspection system, above-mentioned Automatic Track Finding retractable cable trolley and automatic
Track routing inspection trolley 8, when the retractable cable trolley moves, carries routing inspection trolley 8 and moves.
Embodiment 1
As Figure 2-3, it is the embodiment 1 of cruising inspection system, in the present embodiment, the retractable cable of the retractable cable trolley is small
3 are provided with to carry the holding tank 9 of the routing inspection trolley 8 on vehicle car body, and when the retractable cable trolley moves, the inspection is small
Vehicle 8 is parked in the holding tank, it is necessary to when Y-axis moves, and routing inspection trolley 8 is advanced in the holding tank, by retractable cable
Trolley carries movement, opposing stationary with retractable cable trolley.
Implement 2
As Figure 4-Figure 6, it is the embodiment 2 of cruising inspection system, in the present embodiment, the retractable cable of the retractable cable trolley is small
Clamping device is provided on vehicle car body 3, carrying the routing inspection trolley 8 by the clamping device moves.The clamping device bag
It includes and is arranged at 7 both sides of the first drag chain, symmetrical configuration the first clamping device and the second clamp structure, first clamping device
It is led with the second clamping device including the 4th motor 10, the second drive block 11 and the 3rd motor 12, the first track base 13, second
Rail chair 14, the first drive block 15, clamp arm 16, the output shaft of the 3rd motor 12 are connected with the first screw rod by shaft coupling, are driven
Dynamic first screw rod rotation, the first screw rod are threadedly coupled with the second drive block 11, and the rotation of the first screw rod drives the second drive block 11 to hang down
Straight movement, the second drive block 11 are fixedly connected with the 4th motor 10, and the movement of the second drive block 11 drives the synchronous fortune of the 4th motor 10
Dynamic, the output shaft of the 4th motor 10 is connected with the second screw rod by shaft coupling, driving the second screw rod rotation, the second screw rod and
First drive block 15 is threadedly coupled, and the rotation of the first screw rod drives 15 horizontal movement of the first drive block, and the first drive block 15, which is fixed, to be connected
Clamp arm 16 is connected to, is clamped the routing inspection trolley by the clamp arm 16 of 16 and second clamping device of clamp arm of the first clamping device.
In order to make clamping device stable structure, the first track base 13 and the second track base 14, first track base are set
It is provided on 13 and passes through second drive block 11 with the described first parallel lead of pile bar, the lead, and with second
Drive block 11 is slidably connected；Second track base 14 is fixedly connected with 10 upper surface of the 4th motor, is provided with and described second
The second parallel lead of screw rod, second lead passes through the first drive block 15, and is slidably connected with the first drive block 15.
Clamp arm causes friction damage to routing inspection trolley 8 in order to prevent, is set in the one side that clamp arm 16 is contacted with routing inspection trolley 8
Flexible pad 17, the cushion 17 are rubber pad.
When use, routing inspection trolley 8 rests in retractable cable trolley 3 on one side, then, the 4th motor 10 control clamp arm
16 clamp routing inspection trolley 8, and then, the control of the 3rd motor 12 lifts 8 certain altitude of routing inspection trolley, and retractable cable trolley, which carries, to patrol
Inspection trolley 8 moves.
During inspection, the retractable cable trolley is synchronous with the control motor of Y-axis cable pulling-pushing device to be opened and closed, institute
State routing inspection trolley opening and closing synchronous with the control motor of X-axis cable pulling-pushing device；The retractable cable trolley is in mobile status
When, the routing inspection trolley is in halted state, conversely, when the retractable cable trolley is in halted state, at the routing inspection trolley
In mobile status.
Camera is provided on the car body of the routing inspection trolley 8, the camera is mounted on apparatus for automatically lifting.
As shown in fig. 7, apparatus for automatically lifting includes the 3rd control motor 303 and elevating lever 302, the 3rd control electricity
Machine 303 controls the elevating lever 302 to lift, and the upper end of the elevating lever 302 is equipped with camera 301.It is real by automatic lifting
Freely shooting in existing short transverse.
As shown in figure 8, this application provides a kind of elevating lever embodiment 1, including fixed outer cylinder 201, lifting inner cylinder 202 with
And threaded post 203, the threaded post 203 are fixedly connected with the output shaft of the 3rd control motor 303, the 3rd control 303 band of motor
It moves the threaded post 203 to rotate, the threaded post 203 is threadedly coupled with the lifting inner cylinder 202,203 circumference of threaded post
Side sets external screw thread, and the lifting inner cylinder 202 is provided with the periphery that threaded post 203 is connected to be used in combination with external screw thread
Internal thread, the lifting inner cylinder 202 is slidably connected with the fixed outer cylinder 201,201 lower end of fixed outer cylinder and described the
Three 3 upper surfaces of control motor are fixedly connected.
When threaded post 203 rotates, due to thread fitting so that lifting inner cylinder 202 rises or falls.
202 upper surface of the lifting inner cylinder is fixedly connected with link block 307, and the link block 307 is fixedly connected with camera
Seat 306, camera 301 are slidably connected by axis and camera shooting headstock 306, and the one side axis connection through camera shooting headstock 306 has flexion-extension
Regulation motor 308 adjusts band moving axis by the rotation for pitching regulation motor 8 and rotates, so as to which camera 301 be driven to rotate, adjusts
The elevation-depression angle of camera.
As shown in figure 9, the embodiment 2 of elevating lever, including drive sprocket, drive sprocket, chain and crane, connection bottom
Seat, drive sprocket and drive sprocket are connected on crane, and are connected by chain, and the 3rd control motor 301 is driven drive chain
Wheel rotation, connect base are connected on chain, and camera is mounted in connect base.By controlling the movement of chain, drive is taken the photograph
As moving up and down for head.
The application routing inspection trolley and automatic deploying and retracting line trolley are wired structure, and 220V AC powers are provided on trolley,
It can power by consuming parts on trolley of external 220V AC powers, motor, camera etc..
As shown in Figure 10, it is application example of the application in cabinet inspection, is X-axis cable pulling-pushing device on the left of cabinet, machine
For Y-axis cable pulling-pushing device between cabinet, for routing inspection trolley in X axis and Y-axis repeating motion, principle is as follows：
1st, routing inspection trolley retreats 9m in Y-axis back and forth carry out inspection for linear motion, advance 9m；
2nd, designated position is reached, routing inspection trolley drives camera to scan cabinet from low to high from belt lifting mechanism, and records
Scanning result；Elevating mechanism is withdrawn, repetitive operation carries out next wheel scan record；
3rd, diamond is returned to after the complete first row of inspection, is travelled by along X axis to second row cabinet, repeat first row cabinet
Inspection operates.
4th, the appearance and size of trolley is controlled in 500mmX500mmX600mm.
The other component of the unaccounted Automatic Track Finding trolley of the utility model, can refer to the prior art in this field, because
Known technology, herein without more stating.
The above is only the preferred embodiment of the utility model, it is noted that for the general of the art
For logical technical staff, on the premise of the utility model principle is not departed from, several improvements and modifications can also be made, these change
The scope of protection of the utility model is also should be regarded as into retouching.
Claims (10)
1. a kind of retractable cable trolley, which is characterized in that including retractable cable trolley and be arranged in retractable cable trolley
Cable pulling-pushing device, the cable pulling-pushing device are included for the X-axis cable pulling-pushing device in the routing inspection trolley direction of motion and for folding and unfolding
Y-axis cable pulling-pushing device on line moving of car direction.
2. retractable cable trolley according to claim 1, which is characterized in that the X-axis cable pulling-pushing device includes the first control
Motor, the first cable hoist and the first drag chain, the first control motor are sequentially connected with first cable hoist, driving
First cable hoist rotation, first drag chain are equipped with cable, are wrapped on first cable hoist, one end with
The routing inspection trolley connection.
3. retractable cable trolley according to claim 1, which is characterized in that the Y-axis cable pulling-pushing device includes the second control
Motor, the second cable hoist and the second drag chain, the second control motor are sequentially connected with second cable hoist, driving
The second cable hoist rotation, second drag chain are equipped with cable, are wrapped on second cable hoist.
4. retractable cable trolley according to any one of claim 1-3, which is characterized in that the retractable cable trolley and inspection
Trolley is Automatic Track Finding trolley.
5. a kind of cruising inspection system, which is characterized in that described including retractable cable trolley as claimed in claim 4 and routing inspection trolley
When retractable cable trolley moves, routing inspection trolley movement is carried.
A kind of 6. cruising inspection system according to claim 5, which is characterized in that the retractable cable trolley vehicle of the retractable cable trolley
It is provided with to carry the holding tank of the routing inspection trolley on body, during the retractable cable trolley movement, the routing inspection trolley is parked in
In the holding tank.
A kind of 7. cruising inspection system according to claim 5, which is characterized in that the retractable cable trolley vehicle of the retractable cable trolley
Clamping device is provided on body, carrying the routing inspection trolley by the clamping device moves.
8. a kind of cruising inspection system according to claim 7, which is characterized in that the clamping device is dragged including being arranged at first
Chain both sides, symmetrical configuration the first clamping device and the second clamp structure, first clamping device and the second clamping device
Include the 4th motor, the second drive block and the 3rd motor, the first track base, the second track base, the first drive block, clamp arm,
The output shaft of 3rd motor is connected with the first screw rod by shaft coupling, driving the first screw rod rotation, the first screw rod and second
Drive block is threadedly coupled, and the rotation of the first screw rod drives the vertical movement of the second drive block, and the second drive block and the 4th motor, which are fixed, to be connected
It connects, the movement of the second drive block drives the 4th motor to be synchronized with the movement, and the output shaft and the second screw rod of the 4th motor pass through shaft coupling
Device connects, and driving the second screw rod rotation, the second screw rod is threadedly coupled with the first drive block, and the rotation of the first screw rod drives the first transmission
Block horizontal movement, the first drive block are fixedly connected with clamp arm, pass through the clamp arm of the first clamping device and the folder of the second clamping device
Arm clamps the routing inspection trolley.
9. cruising inspection system according to claim 5, which is characterized in that camera shooting is provided on the car body of the routing inspection trolley
Head, the camera are mounted on apparatus for automatically lifting.
10. cruising inspection system according to claim 5, which is characterized in that apparatus for automatically lifting include the 3rd control motor with
And elevating lever, the 3rd control motor control the lifter rod lifting, the upper end of the elevating lever is equipped with camera, passes through
Automatic lifting realizes freely shooting in short transverse.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720940537.5U CN207375525U (en) | 2017-07-31 | 2017-07-31 | A kind of retractable cable trolley, cruising inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720940537.5U CN207375525U (en) | 2017-07-31 | 2017-07-31 | A kind of retractable cable trolley, cruising inspection system |
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| Publication Number | Publication Date |
|---|---|
| CN207375525U true CN207375525U (en) | 2018-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720940537.5U Expired - Fee Related CN207375525U (en) | 2017-07-31 | 2017-07-31 | A kind of retractable cable trolley, cruising inspection system |
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| CN (1) | CN207375525U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107285146A (en) * | 2017-07-31 | 2017-10-24 | 天津帕比特科技有限公司 | A kind of retractable cable dolly, cruising inspection system and control method |
| CN109834693A (en) * | 2019-01-04 | 2019-06-04 | 国网天津市电力公司 | A kind of crusing robot system and its control method |
-
2017
- 2017-07-31 CN CN201720940537.5U patent/CN207375525U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107285146A (en) * | 2017-07-31 | 2017-10-24 | 天津帕比特科技有限公司 | A kind of retractable cable dolly, cruising inspection system and control method |
| CN109834693A (en) * | 2019-01-04 | 2019-06-04 | 国网天津市电力公司 | A kind of crusing robot system and its control method |
| CN109834693B (en) * | 2019-01-04 | 2023-05-23 | 国网天津市电力公司 | Inspection robot system and control method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |