CN209007531U - A kind of cable tunnel inspection robot - Google Patents
A kind of cable tunnel inspection robot Download PDFInfo
- Publication number
- CN209007531U CN209007531U CN201821922715.2U CN201821922715U CN209007531U CN 209007531 U CN209007531 U CN 209007531U CN 201821922715 U CN201821922715 U CN 201821922715U CN 209007531 U CN209007531 U CN 209007531U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- robot
- cable tunnel
- tunnel inspection
- inspection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
This application discloses a kind of cable tunnel inspection robots, including robot body, walking component, monitoring assembly and multiple telescopic mechanical arms；One end of mechanical arm is installed on robot body, and the other end is connect with monitoring assembly；Component of walking includes mobile holder and traveling wheel；Traveling wheel is installed on mobile holder；Mobile holder is connect with robot body.Drive monitoring assembly by mobile in robot track and scalable mechanical arm, can be realized cable is approached, multi-angle observation.
Description
Technical field
This application involves specialized robot technical field more particularly to a kind of cable tunnel inspection robots.
Background technique
Currently, domestic many cities, large power plant and industrial and mining enterprises use cable tunnel to supply electric energy in succession.Cable tunnel
Present in risk factor include equipment damage, fire, water logging, pernicious gas and artificial destruction etc., if not in tunnel
Dangerous situation checked in real time, then can generate serious consequence, cause huge economic loss.Since tunnel environment is dangerous,
Therefore, it commonly uses crusing robot and replaces manual inspection.Existing tunnel crusing robot is moved generally along the fixed route in ground
It is dynamic, in the case that cable run is more, it is difficult to carry out the observation of short distance, multi-angle to cable.
Utility model content
The application's is designed to provide a kind of cable tunnel inspection robot, solves in robot inspection, it is difficult to electricity
Cable carries out the technical issues of short distance, multi-angle observation.
In view of this, the application first aspect provides a kind of cable tunnel inspection robot, including robot body, row
Walk component, monitoring assembly and multiple telescopic mechanical arms；
One end of the mechanical arm is installed on the robot body, and the other end is connect with the monitoring assembly；
The walking component includes mobile holder and traveling wheel；
The traveling wheel is installed on the mobile holder；
The mobile holder is connect with the robot body.
It optionally, further include mechanical arm shoulder joint；
The mechanical arm shoulder joint is liftably installed on the robot body；
The mechanical arm is installed on the robot body by the mechanical arm shoulder joint.
Optionally, the mechanical arm is connect with mechanical arm shoulder mobility.
It optionally, further include mechanical carpal joint；
The machinery carpal joint is rotatably mounted on the mechanical arm；
The monitoring assembly is connect by the mechanical carpal joint with the mechanical arm.
Optionally, the robot body specifically includes mainframe box and robot trunk；
The mainframe box is installed in the robot trunk；
The walking component is connect with the mainframe box；
The mechanical arm is connect with the robot trunk.
Optionally, the mainframe box is provided with sensor, console and communication device.
Optionally, the monitoring assembly is specially double vision PTZ camera.
Optionally, the quantity of the mechanical arm is even number, and the mechanical arm is symmetrically mounted on the robot body.
Optionally, the quantity of the mechanical arm is 6.
Optionally, the walking component further includes fixed auxiliary wheel, and the fixed auxiliary wheel is installed on the mobile holder
On, and it is located at the underface of the traveling wheel.
Compared with prior art, it is the advantages of the embodiment of the present application:
In the embodiment of the present application, provide a kind of cable tunnel inspection robot, including robot body, walking component,
Monitoring assembly and multiple telescopic mechanical arms, monitoring assembly are mounted on robot body by mechanical arm, component band of walking
Mobile robot moves in orbit.It is moved in the robot track of cable by being suspended on, while by multiple scalable
Mechanical arm drive monitoring assembly, can be realized cable is approached, multi-angle observation, reach fully assess cable safety
The beneficial effect of situation.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the application specific embodiment or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the application, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of cable tunnel inspection robot provided by the embodiment of the present application；
Fig. 2 is the operation schematic diagram of cable tunnel inspection robot provided by the embodiment of the present application.
Label: monitoring assembly 1；Mechanical arm 2；Cable 3；Mobile holder 4；Traveling wheel 5；Robot track 6；Auxiliary wheel 7；Machine
Tool arm shoulder joint 8；Mechanical carpal joint 9；Mainframe box 10；Robot trunk 11；Communication device 12；Ultrasonic sensor 13；Loudspeaking
Device 14.
Specific embodiment
It is clearly and completely described below in conjunction with technical solution of the attached drawing to the application, it is clear that described implementation
Example is some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
In the description of the present application, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for describe the application and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Unless otherwise clearly defined and limited, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, can
To be to be fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can
To be to be connected directly, the connection inside two elements can also be can be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in this application can be understood with concrete condition.
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is the structural representation of cable tunnel inspection robot provided by the embodiment of the present application
Figure, Fig. 2 are the operation schematic diagram of cable tunnel inspection robot provided by the embodiment of the present application.
The application devises a kind of cable tunnel inspection robot, including robot body, walking component, monitoring assembly 1
With telescopic mechanical arm 2.
One end of mechanical arm 2 is mounted on robot body, and the other end is connect with monitoring assembly, for driving monitoring assembly
1 pair of cable 3 carries out the inspection of short distance.When monitoring assembly carries out inspection to cable 3, mechanical arm 2 stretches, can be to electricity
Cable 3 carries out the observation of the multi-angles such as front and back, while the mechanical arm 2 of regular length can also be avoided to be easy to be contacted with cable 1,
It generates dangerous.In general, there are many cable 3 that needs to check in tunnel, therefore, it is necessary to multiple mechanical arms 2 and respective numbers are arranged
On the one hand monitoring assembly 1 can check multi-cable 3 simultaneously, improve efficiency, on the other hand multiple monitoring assemblies 1 can also be with
The inspection of multi-angle is carried out to same root cable 3.In order to guarantee robot left-right balance, it is preferred that the quantity of mechanical arm 2 is even
Number, and be symmetrically mounted on robot body.For example, then set each 3 around for the quantity of mechanical arm 2, i.e., totally 6, together
When multi-cable 3 is checked.When mechanical arm 2 be symmetrical arranged, and simultaneously be telescopic mechanical arm 2 when, side mechanical arm
When elongation, the mechanical arm of the other side can extend carry out counterweight accordingly, reach the purpose of stable operation.
Monitoring assembly 1 is for directly checking cable 3.Various kinds of sensors and detection can be installed on monitoring assembly 1
Device, such as infrared detecting device, video camera, lighting device etc. can also directly use double vision PTZ camera as monitoring
Component 1.
Component of walking includes mobile holder 4 and traveling wheel 5.Traveling wheel 5 is mounted on mobile holder 4, mobile holder 4 and machine
Device human agent connection.Traveling wheel 5 drives the advance with guided robot for being suspended on robot track 6.In order to enable machine
Device people, which can stablize, to be suspended in robot track 6, symmetrical two walkings component can will be arranged, so that robot is walking
Left-right balance in the process.Optionally, auxiliary wheel 7 can also be set in the underface of traveling wheel 5.Auxiliary wheel 7 is also mounted at walking
On bracket 4, robot track 6 is clamped together with traveling wheel 7, prevents robot from falling.
Between robot body and mechanical arm 2, mechanical arm shoulder joint 8,8 liftable of mechanical arm shoulder joint can also be set
Ground is mounted on robot body, and mechanical arm 2 is mounted on robot body by mechanical arm shoulder joint 8.Liftable installation
Mechanical arm shoulder joint 8 drives mechanical arm to move up and down, and facilitates monitoring assembly 1 close to or far from cable 3, so that robot is to cable
3 inspection can be more careful.Preferably, between mechanical arm 2 and mechanical arm shoulder joint 8 to be flexibly connected, i.e. mechanical arm 2 can be with
It is rotated around mechanical arm shoulder joint 8, need to only control mechanical arm 2 can also carry out cable 3 observing closely or at a distance.
Specifically, hinged between mechanical arm 2 and mechanical arm shoulder joint 8 or pass through two blocks of rib side plates being oppositely arranged and carry out activity chains
It connects.
Between mechanical arm 2 and monitoring assembly 1, mechanical carpal joint 9 can also be set, mechanical carpal joint 9 is rotatable
Ground is installed on mechanical arm 2, and monitoring assembly 1 passes through mechanical carpal joint 9 and connect with mechanical arm 2.Mechanical carpal joint 9 being capable of band
Dynamic monitoring assembly 1 is rotated, in order to which the detection visual field of monitoring assembly 1 is broader.
Robot body can specifically include mainframe box 10 and robot trunk 11.Mainframe box 10 is mounted on robot trunk
On 11, walking component is connect with mainframe box 10, the connection of 2 robot trunk 11 of mechanical arm.Mainframe box 10 is for accommodating robot
Various kinds of sensors, console and communication device 12 can also be arranged in various types of hardware facility.Sensor can specifically include: ultrasound
Sensor 13, for sending and receiving ultrasonic signal；Loudspeaker 14 is used for signal an alert or other voice signals；Gas
Body sensor, for monitoring the gas composition situation in tunnel, in order to find gas leakage or other exception informations in time.Control
Platform processed is used to send and receive the control information and machine man-hour of robot for controlling robot motion, communication device 12
The various information monitored.
It should be appreciated that the embodiment of the present application only provides a kind of feasible technical solution, and it is not all, such as above-mentioned sensing
The equipment such as device, console, communication device 12, both may be mounted on the mainframe box of robot body, and also may be mounted at other
Place.
This application provides a kind of cable tunnel inspection robots, including robot body, walking component, monitoring assembly 1
With multiple telescopic mechanical arms 2, monitoring assembly 1 is mounted on robot body by mechanical arm 2, walking component band movement machine
People moves on track 6.It is moved in the robot track of cable 3 by being suspended on, while passing through multiple telescopic machines
Tool arm 2 drive monitoring assembly 1, can be realized cable 3 is approached, multi-angle observation, fully assess the security situation of cable.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the application, rather than its limitations；To the greatest extent
Pipe is described in detail the application referring to foregoing embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, each embodiment technology of the application that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of cable tunnel inspection robot, which is characterized in that including robot body, walking component, monitoring assembly and more
A telescopic mechanical arm；
One end of the mechanical arm is installed on the robot body, and the other end is connect with the monitoring assembly；
The walking component includes mobile holder and traveling wheel；
The traveling wheel is installed on the mobile holder；
The mobile holder is connect with the robot body.
2. cable tunnel inspection robot according to claim 1, which is characterized in that further include mechanical arm shoulder joint；
The mechanical arm shoulder joint is liftably installed on the robot body；
The mechanical arm is installed on the robot body by the mechanical arm shoulder joint.
3. cable tunnel inspection robot according to claim 2, which is characterized in that the mechanical arm and mechanical arm shoulder joint
Section is flexibly connected.
4. cable tunnel inspection robot according to claim 1, which is characterized in that further include mechanical carpal joint；
The machinery carpal joint is rotatably mounted on the mechanical arm；
The monitoring assembly is connect by the mechanical carpal joint with the mechanical arm.
5. cable tunnel inspection robot according to claim 1, which is characterized in that the robot body specifically includes
Mainframe box and robot trunk；
The mainframe box is installed in the robot trunk；
The walking component is connect with the mainframe box；
The mechanical arm is connect with the robot trunk.
6. cable tunnel inspection robot according to claim 5, which is characterized in that the mainframe box is provided with sensing
Device, console and communication device.
7. cable tunnel inspection robot according to claim 1, which is characterized in that the monitoring assembly is specially double vision
PTZ camera.
8. cable tunnel inspection robot according to claim 1, which is characterized in that the quantity of the mechanical arm is even
Number, and the mechanical arm is symmetrically mounted on the robot body.
9. cable tunnel inspection robot according to claim 8, which is characterized in that the quantity of the mechanical arm is 6.
10. cable tunnel inspection robot according to claim 1, which is characterized in that the walking component further includes solid
Determine auxiliary wheel, the fixed auxiliary wheel is installed on the mobile holder, and is located at the underface of the traveling wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821922715.2U CN209007531U (en) | 2018-11-21 | 2018-11-21 | A kind of cable tunnel inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821922715.2U CN209007531U (en) | 2018-11-21 | 2018-11-21 | A kind of cable tunnel inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209007531U true CN209007531U (en) | 2019-06-21 |
Family
ID=66842792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821922715.2U Active CN209007531U (en) | 2018-11-21 | 2018-11-21 | A kind of cable tunnel inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209007531U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262583A (en) * | 2018-11-21 | 2019-01-25 | 广东电网有限责任公司 | A kind of cable tunnel inspection robot |
| CN113466610A (en) * | 2021-05-26 | 2021-10-01 | 国网山西省电力公司吕梁供电公司 | Cable tunnel obstacle removing device and cable tunnel obstacle removing method |
-
2018
- 2018-11-21 CN CN201821922715.2U patent/CN209007531U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262583A (en) * | 2018-11-21 | 2019-01-25 | 广东电网有限责任公司 | A kind of cable tunnel inspection robot |
| CN113466610A (en) * | 2021-05-26 | 2021-10-01 | 国网山西省电力公司吕梁供电公司 | Cable tunnel obstacle removing device and cable tunnel obstacle removing method |
| CN113466610B (en) * | 2021-05-26 | 2022-11-29 | 国网山西省电力公司吕梁供电公司 | Cable tunnel obstacle removing device and cable tunnel obstacle removing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109262583A (en) | A kind of cable tunnel inspection robot | |
| CN205310243U (en) | Robot is patrolled and examined to rail mounted | |
| CN106540390B (en) | Hanger rail type fire protection patrol robot system | |
| CN205377160U (en) | Inspection robot for cable tunnel | |
| CN105397795A (en) | Rail type polling robot | |
| WO2016037559A1 (en) | Charged water-flushing robot system and method for substation | |
| CN107458420B (en) | Servicing robot, operation device and system for locomotive roof | |
| CN209007531U (en) | A kind of cable tunnel inspection robot | |
| CN206411021U (en) | Natural gas leakage detection robot system based on graphical analysis | |
| CN103286785B (en) | Wireless cable crusing robot and control system thereof | |
| CN104898671A (en) | Automatic polling trolley with obstacle clearing function for track mine conveyer | |
| CN105507931B (en) | A kind of coal working face supporting robot | |
| CN108762125A (en) | A kind of coal mine fully-mechanized mining working crusing robot and system | |
| CN110319888B (en) | Petrochemical inspection robot and working method thereof | |
| CN104690733A (en) | Explosion-proof fire-fighting detection robot | |
| CN101979223A (en) | Ultrasonic inspection robot in pipeline | |
| CN210452803U (en) | Obstacle-avoiding inspection robot | |
| CN102841604B (en) | Towards rail system and the method for testing of tunnel cable crusing robot | |
| CN203693504U (en) | Outer wall cleaning and maintaining robot | |
| CN109849017A (en) | A kind of transformer substation robot hangs dismounting ground wire control system and control method | |
| CN107322567A (en) | A kind of piping lane monitoring robot | |
| CN201833366U (en) | Pipeline inside ultrasonic flaw detection robot | |
| CN103341858B (en) | cable inspection robot and control system thereof | |
| CN207120238U (en) | Confined space sniffing robot | |
| CN210036823U (en) | Petrochemical inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200122 Address after: 510000 room 501-503, annex building, Huaye building, No.1-3, Chumo new street, Xihua Road, Yuexiu District, Guangzhou City, Guangdong Province Patentee after: Guangdong Electric Power Research Institute of energy technology limited liability company Address before: 510600 No. 757 Dongfeng East Road, Guangzhou, Guangdong, Yuexiu District Co-patentee before: Electric Power Research Institute of Guangdong Power Grid Co.,Ltd. Patentee before: GUANGDONG STATE GRID CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 501-503, annex building, Huaye building, No.1-3 Chuimao new street, Xihua Road, Yuexiu District, Guangzhou City, Guangdong Province 510000 Patentee after: China Southern Power Grid Power Technology Co.,Ltd. Address before: Room 501-503, annex building, Huaye building, No.1-3 Chuimao new street, Xihua Road, Yuexiu District, Guangzhou City, Guangdong Province 510000 Patentee before: GUANGDONG ELECTRIC POWER SCIENCE RESEARCH INSTITUTE ENERGY TECHNOLOGY Co.,Ltd. |