CN210121845U

CN210121845U - Magnetic adsorption wheel type tunnel inspection robot

Info

Publication number: CN210121845U
Application number: CN201821881873.8U
Authority: CN
Inventors: 刘永成; 孙昊; 马孝林
Original assignee: Shandong Dalai Intelligent Technology Co Ltd; Shandong Lepwell Automation Technology Co Ltd; Shandong Industrial Technology Research Institute of ZJU
Current assignee: Shandong Dalai Intelligent Technology Co Ltd; Shandong Lepwell Automation Technology Co Ltd; Shandong Industrial Technology Research Institute of ZJU
Priority date: 2018-11-15
Filing date: 2018-11-15
Publication date: 2020-03-03
Anticipated expiration: 2028-11-15

Abstract

The utility model discloses a robot is patrolled and examined in wheeled tunnel of magnetism absorption, including installing track and the motion platform on the tunnel, the track is hollow steel pipe, is equipped with actuating mechanism between track and the motion platform, and actuating mechanism is as the action wheel, and actuating mechanism has the magnetism that slides along the track and adsorbs the wheel. The robot running track adopts low-cost steel pipes to replace high-cost aluminum alloy, so that the weight of the track is reduced, and the tunnel detection cost is effectively reduced; adopt magnetism to adsorb wheeled actuating mechanism, magnetism adsorbs the wheel and can rely on great magnetic force to adsorb in the steel pipe below, effectively reduces the volume of robot.

Description

Magnetic adsorption wheel type tunnel inspection robot

Technical Field

The utility model relates to a special type robot field, more specifically the saying so, it relates to magnetism adsorbs wheeled tunnel and patrols and examines robot.

Background

At present, inspection robots such as domestic comprehensive pipe galleries, cable tunnels and the like have made a certain degree of progress, and although robots of various manufacturers have different appearances, core contents such as a driving mode, a communication mode and the like are basically consistent, but the following problems exist:

(1) a driving machine adopted by a traditional robot is constructed into a robot which is large in size, occupies a large tunnel space and causes inconvenience in operation of the robot.

(2) By adopting the aluminum alloy rail hanging type driving technology, although the aluminum alloy has the advantages of light weight, rust prevention and the like, the price is relatively high; for the cable tunnel with the length of more than ten kilometers, the track cost accounts for a very large proportion; there is therefore a critical need for a low cost rail system.

(3) At present, the cable tunnel inspection robot mostly adopts traditional I-shaped rails, the height of the rails on the market is about 80mm, the space of the tunnel is limited, and the rails with larger sectional areas can occupy larger tunnel space.

Disclosure of Invention

An object of the utility model is to provide a wheeled tunnel of magnetism that low cost, lightweight are miniaturized patrols and examines robot.

The utility model provides a technical scheme that its technical problem adopted is: the magnetic adsorption wheel type tunnel inspection robot comprises a track and a moving platform, wherein the track and the moving platform are installed on a tunnel, the track is a hollow steel pipe, a driving mechanism is arranged between the track and the moving platform, the driving mechanism serves as a driving wheel, and the driving mechanism comprises a magnetic adsorption wheel sliding along the track.

Preferably, the driving mechanism comprises a transmission shaft and a transmission assembly, and the transmission assembly drives the magnetic adsorption wheel to rotate through the transmission shaft.

Preferably, the transmission assembly is a belt transmission assembly, and the belt transmission assembly comprises a belt, a driving pulley and a driven pulley.

As a preferred scheme, the driving mechanism comprises a first support, a second support, a third support and a motor, the motor, a driving belt wheel and a driven belt wheel are all fixed on the third support, an output shaft of the motor is connected with the driving belt wheel through a flat key, and the driving belt wheel and the driven belt wheel are in belt transmission; the magnetism adsorbs the wheel symmetry and is equipped with the same two sets of structure, and transmission shaft one end is passed through the bearing and is fixed with the second support, and the other end passes two magnetism in proper order and adsorbs wheel, third support, driven pulleys, and the transmission shaft passes through the bearing to be fixed with the second support, and second support and third support all are fixed in first support, and the steering spindle passes through the bearing and is fixed with first support.

Preferably, the transmission assembly comprises a tension wheel mounted on the third bracket, and the tension wheel is arranged on one side of the belt.

As preferred scheme, carry on detection components, fire extinguishing bomb, temperature and humidity detector and smoke transducer below the motion platform.

Preferably, the detection component comprises a visible light camera, a laser scanner and a tripod head, the tripod head is fixed on the motion platform, and the visible light camera and the laser scanner are respectively fixed with two ends of the tripod head.

The utility model has the advantages that:

(1) the robot running track adopts low-cost steel pipes to replace high-cost aluminum alloy, the track weight is reduced, and the tunnel detection cost is effectively reduced.

(2) Adopt magnetism to adsorb wheeled actuating mechanism, magnetism adsorbs the wheel and can rely on great magnetic force to adsorb in the steel pipe below, effectively reduces the volume of robot.

(3) The anti-falling mechanism has the functions of preventing falling and serving as the driven wheel component of the robot, and is small in size, simple in structure and convenient to install.

(4) The utility model discloses the robot can be used to detect humiture, gas in the tunnel, can put out a fire to the ignition point by automatic operation when discovering the conflagration.

(5) The utility model discloses belt drive assembly has the take-up pulley, can prevent effectively that the robot from patrolling and examining the in-process and causing the condition such as skid, band pulley idle running because of the belt is lax.

Drawings

Fig. 1 is a schematic view of the ceiling-mounted mounting structure of the present invention.

Fig. 2 is a top view of the present invention.

Fig. 3 is a schematic structural diagram of the robot of the present invention.

Fig. 4 is a schematic structural view of the driving wheel assembly of the present invention.

Fig. 5 is a schematic structural view of the belt transmission assembly of the present invention.

Fig. 6 is a schematic view of the installation of the driving wheel assembly on the robot according to the present invention.

Fig. 7 shows the structure of the anti-falling assembly of the present invention.

Fig. 8 is a schematic view of the installation of the anti-falling component on the robot.

Fig. 9 is a schematic view of a rail ceiling type installation structure with leaky wave cables in embodiment 2.

Fig. 10 is a schematic view of the overall structure of embodiment 2.

Fig. 11 is a schematic structural view of a driving wheel assembly of embodiment 2.

The labels in the figure are: 101. a hanger; 102. a transverse support; 103. a track; 2. a drive mechanism; 3. a fall protection mechanism; 4. a motion platform; 5. a steering shaft; 201. a magnetic adsorption wheel; 202. a motor; 203. a transmission assembly; 204. a first bracket; 205. a second bracket; 206. a third support; 207. a drive shaft; 2031. a belt; 2032. a tension wheel; 2033. a driven pulley; 2034. a driving pulley; 301. a grip tab 301; 302. a fourth bracket; 303. a clasping wheel; 104. a circular hole; 6. a leaky wave cable; 601. a wireless access terminal; 701. a wireless client; 702. a control system; 703. a communication system; 704. a holder; 705. a laser scanner; 706. a visible light camera; 8. a background; 9. an optical fiber.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the following detailed description.

Example 1

As shown in fig. 1-8, the track may be mounted in a side-mounted or suspended manner, as will now be described.

Magnetic adsorption wheel type tunnel inspection robot comprises a track 103 and a moving platform 4 which are installed on a tunnel, wherein the track 103 is a hollow steel pipe, a driving mechanism 2 and a falling prevention mechanism 3 are arranged between the track 103 and the moving platform 4, the driving mechanism 2 comprises a magnetic adsorption wheel 201 sliding along the track 103, and the falling prevention mechanism 34 comprises a holding wheel 303 holding the track tightly. Specifically, the rail 103 includes two symmetrically arranged steel pipes, and the steel pipes are circular.

The tunnel is provided with gallows 101, and gallows 101 is fixed on the wall in the tunnel, and gallows 101 fixedly connected with has horizontal support 103. The top end face of the rail 103 is a plane, the top end face is provided with a threaded hole, and the transverse support 103 is fixed to the top end face and can be fixedly connected through screws. The traditional rail adopts an aluminum alloy rail hanging type driving technology, and although aluminum alloy has the advantages of light weight, rust prevention and the like, the price is relatively high; for the cable tunnel with the length of more than ten kilometers, the track cost accounts for a very large proportion; and at present, the cable tunnel inspection robot mostly adopts a traditional I-shaped track, and the track with a larger sectional area will inevitably occupy a larger tunnel space. The utility model adopts the hollow steel pipe track, has high strength, low cost and light weight, and effectively reduces the detection cost of the tunnel; the track in the form of the steel pipe can reduce the occupied tunnel space, and is beneficial to the operation of the robot. Further, in order to prevent the surface of the steel pipe from rusting, chrome is plated on the surface of the steel pipe.

Driving mechanism

The driving mechanism 2 is rotatably connected with the motion platform through a steering shaft 5. The driving mechanism 2 comprises a magnetic attraction wheel 201, a transmission shaft 207 and a transmission assembly 203, wherein the magnetic attraction wheel 201 slides along the track 103, and the transmission assembly drives the magnetic attraction wheel 201 to rotate through the transmission shaft 207. Magnetism adsorbs wheel 201 can rely on great magnetic force to adsorb in the steel pipe below, makes magnetism adsorb wheel 201 tightly laminate the track, reduces the space between magnetism adsorb wheel 201 and the track 103 to effectively reduce the volume of robot. Specifically, the magnetic attraction wheel 201 has a groove that engages with the rail 103, and the magnetic attraction wheel 201 moves along the rail 103. Specifically, the track 103, i.e., the semicircle of the steel pipe, is located in the groove.

The transmission assembly 203 may be one of a chain transmission, a belt transmission and a gear transmission, and in this embodiment, the transmission assembly 203 is a belt transmission assembly including a belt 2031, a driving pulley 2034 and a driven pulley 2033. Specifically, the driving mechanism 2 includes a first bracket 204, a second bracket 205, a third bracket 206 and a motor 202, the motor 202 and the transmission assembly 203 are fixed on the third bracket 206, an output shaft of the motor is connected with the driving pulley 2034 through a flat key, and the driving pulley 2034 and the driven pulley 2033 are driven through a belt 2031; the magnetic adsorption wheel 201 is symmetrically provided with 2 magnetic adsorption wheels with the same structure, one end of the transmission shaft 207 is fixed with the second support 205 through a bearing, the other end of the transmission shaft passes through the two magnetic adsorption wheels 201, the third support 206 and the driven pulley 2033 in sequence, and the transmission shaft 207 is fixed with the second support 205 through a bearing. That is, one end of the magnetic attraction wheel 201 is fixedly connected with the driven pulley 2033 in the belt transmission assembly, and the other end is supported on the second bracket 205 through a bearing; two magnetic attraction wheels 201 are fixed to a drive shaft 207. The two magnetic-attraction wheels 201 are arranged in parallel. The motor output shaft drives the driving pulley 2034 to rotate, the driving pulley 2034 and the driven pulley 2033 transfer motion through the belt 2031, the driven pulley 2033 drives the transmission shaft 207 to rotate, and thus the two magnetic adsorption wheels 202 rotate. The second bracket 205 and the third bracket 206 are both fixed to the first bracket 204, the steering shaft 5 is fixed to the first bracket 204 by a bearing, and the steering shaft 5 can rotate. Due to the tortuous path of the tunnel, the steering shaft 5 is arranged to facilitate the turning of the moving platform 4 to adapt to the running path of the tunnel.

Further, in order to prevent the belt from loosening during the movement of the robot to cause slipping, idle rotation of the pulleys, and the like, the transmission assembly 203 includes a tension pulley 2032, and the tension pulley 2032 is disposed on one side of the belt 2031. The tension pulley 2032, the driving pulley 2034, and the driven pulley 2033 are mounted on the third bracket 206.

Anti-falling mechanism

The anti-falling mechanism 3 is rotationally connected with the moving platform 4 through a steering shaft 5. The anti-falling mechanism 3 comprises a fourth support 302 and a clasping wheel 303, the clasping wheel 303 comprises 2 clasping sheets 301 with the same structure, the two clasping sheets 301 are fixed on the fourth support 302 through screws, and the fourth support 302 is sleeved on the steering shaft 5 through a bearing. Specifically, each holding piece 301 is matched with the semi-circle of the steel pipe, the two holding pieces 301 surround the steel pipe, and the top end face of each holding piece is exposed. Specifically, the clasping piece 301 is made of a linear bearing or wear-resistant plastic with a lubricating function, so that the service life of the clasping wheel 303 can be prolonged. The linear bearing can convert sliding friction into rolling friction, and reduce the friction force between the holding sheet 301 and the rail 103. By adopting the anti-falling mechanism 3, the anti-falling mechanism not only has the function of preventing the robot from falling, but also has the function of serving as a driven wheel of the robot.

In this embodiment, actuating mechanism 2 is as the action wheel, and anti-falling mechanism 3 sets up around actuating mechanism 2 and anti-falling mechanism 3 as from the driving wheel, and anti-falling mechanism 3 has the dropproof and acts as the function that the robot was followed the driving wheel, reduces the occupation space of robot, reduce cost.

Detection assembly

As a specific embodiment, a detection component, a fire extinguishing bomb, a temperature and humidity detector and a smoke sensor are mounted below the moving platform 4. In this embodiment, a temperature and humidity sensor of HTU21 is used to detect environmental information such as indoor temperature and humidity.

In this embodiment, a smoke sensor of model JTY-GD-S836 is used to detect smoking, fire, etc. that may occur in a tunnel.

The detection component comprises a visible light camera 706, a laser scanner 705 and a pan-tilt 704, the pan-tilt 704 is fixed on the moving platform 4, and the visible light camera 706 and the laser scanner 705 are respectively fixed with two ends of the pan-tilt 704. Visible light camera 706 is used for detecting and intelligently identifying cable appearance, foreign matters and meter readings in the tunnel, and laser scanner 705 is used for detecting settlement and creep change of the tunnel structure, so that accidents such as structure subsidence and collapse which may occur in the tunnel can be effectively avoided.

Example 2

The present embodiment is different from embodiment 1 in that a leaky wave cable 6 is installed inside the track in the present embodiment. The track that adopts in this embodiment is hollow steel pipe, and leaky wave cable 6 is located hollow steel pipe, has saved leaky wave cable 6's wiring space, has avoided simultaneously arranging leaky wave cable 6 outside to the wearing and tearing of cable and destruction.

As shown in fig. 9-11, the tunnel inspection robot includes a leaky wave cable 6, the leaky wave cable 6 is installed inside a track, the moving platform is installed with a wireless client 701, a control system 702 and a communication system 703, the wireless client 701 is connected with the control system 702 and the communication system 703 respectively, one end of the wireless access 601 is connected with the leaky wave cable 6, and the other end of the wireless access 601 is connected with a background 8 through an optical fiber 9. The wireless client 701 is used for receiving signals transmitted by the leaky wave cable 6. Furthermore, in order to allow the signal of the leaky wave cable 6 to leak out, a plurality of through holes 104 are formed at equal intervals below the track, and a plurality of uniformly arranged wireless fields are formed to communicate with the robot. The shape of the through hole 104 is not limited, and specifically, the through hole 104 is a circular hole. The leaky wave cable 6 can radiate a regular signal region around a designated area of the cable, which ensures a stable and reliable communication link between the wireless client 701 and the wireless access terminal 601 and provides a certain cyclic access to data. The specific signal transmission mode is as follows: on one hand, the background 8 transmits the instruction signal to the wireless access terminal 601 through the optical fiber 9, the wireless access terminal 601 transmits the signal to the wireless client 701 through the leaky wave cable 6, and the wireless client 701 transmits the signal to the control system 702 and the communication system 703, so that the robot is communicated and controlled. On the other hand, the wireless client 701 transmits the monitoring information obtained by robot monitoring to the background 8 through the leaky-wave cable 6, the wireless access terminal 601 and the optical fiber 9 in sequence.

The tunnel is generally constructed underground, and a communication environment cannot be established through a ground wireless communication base station, so that a dedicated communication system must be introduced for the tunnel. In addition, radio signals are more rapidly attenuated in tunnels than in open places, and signal relay stations are also important for building communication environments. At present, a wireless communication relay station with an antenna is required to be built every 100m when a wireless communication environment of the inspection robot in the tunnel is built, so that the engineering quantity and the construction cost of the tunnel inspection robot are greatly improved, and in the aspect of safety, each relay station is inevitably provided with an independent power supply, and the relay stations are excessively introduced, so that a greater burden is caused to the operation safety work in the tunnel. Therefore, the leaky-wave cable 6 communication mode is adopted, the communication is reliable, and the defect that a plurality of relay points need to be arranged when the tunnel is long is overcome.

The embodiments described in this specification are merely illustrative of implementations of the inventive concepts, and the scope of the invention should not be considered limited to the specific forms set forth in the embodiments, but rather the scope of the invention is intended to include equivalent technical means as would be understood by those skilled in the art from the inventive concepts.

Claims

1. Robot is patrolled and examined in wheeled tunnel of magnetism absorption, its characterized in that: the tunnel magnetic adsorption device comprises a track and a moving platform which are arranged on a tunnel, wherein the track is a hollow steel pipe, a driving mechanism is arranged between the track and the moving platform and comprises a magnetic adsorption wheel, a transmission shaft and a transmission assembly, the magnetic adsorption wheel slides along the track, and the transmission assembly drives the magnetic adsorption wheel to rotate through the transmission shaft.

2. The magnetic adsorption wheel type tunnel inspection robot according to claim 1, characterized in that: the transmission assembly adopts a belt transmission assembly, the belt transmission assembly comprises a belt, a driving belt wheel and a driven belt wheel, and the driving belt wheel and the driven belt wheel are in belt transmission.

3. The magnetic adsorption wheel type tunnel inspection robot according to claim 2, characterized in that: the driving mechanism comprises a first support, a second support, a third support and a motor, the motor, a driving belt wheel and a driven belt wheel are all fixed on the third support, and an output shaft of the motor is connected with the driving belt wheel through a flat key; the magnetism adsorbs the wheel symmetry and is equipped with two that the structure is the same, and transmission shaft one end is passed through the bearing and is fixed with the second support, and the other end passes two magnetism in proper order and adsorbs wheel, third support, driven pulleys, and the transmission shaft passes through the bearing to be fixed with the second support, and second support and third support all are fixed in first support, and the steering spindle passes through the bearing and is fixed with first support.

4. The magnetic adsorption wheel type tunnel inspection robot according to claim 3, characterized in that: the transmission assembly comprises a tensioning wheel arranged on the third support, and the tensioning wheel is arranged on one side of the belt.