CN211163920U - Comprehensive pipe rack fortune inspection robot - Google Patents
Comprehensive pipe rack fortune inspection robot Download PDFInfo
- Publication number
- CN211163920U CN211163920U CN201921554834.1U CN201921554834U CN211163920U CN 211163920 U CN211163920 U CN 211163920U CN 201921554834 U CN201921554834 U CN 201921554834U CN 211163920 U CN211163920 U CN 211163920U
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- inspection robot
- connecting plate
- track
- guide rail
- control box
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Abstract
The utility model provides a utility tunnel fortune inspection robot, including the track, utility tunnel fortune inspection robot installs on the track, and move on its track, utility tunnel fortune inspection robot includes installs the connecting plate that sets up at track bilateral symmetry, the top symmetry of connecting plate both sides is equipped with stabilising arrangement, the inboard symmetry of connecting plate is installed and is driven the wheel, the drive wheel is connected with the drive gear of installing on the outer wall of connecting plate left and right sides through the axis of rotation, drive gear is connected to driving motor, the connecting plate sub-unit connection has the control box, gas detection device and laser sensor are installed to the control box front end, wireless transmission module is installed to the control box left and right sides, the control box bottom is provided with the revolute pair, the revolute pair is connected with camera system, the revolute pair still is connected with fire extinguishing bomb emitter, can realize utility tunnel's automation and patrol and examine, especially when discovering the conflagration, but the very first time is handled.
Description
Technical Field
The utility model relates to a patrol and examine robot is to a utility tunnel patrol and examine robot very much.
Background
The utility tunnel is a modern, scientific and intensive city infrastructure integrating various engineering pipelines such as sewage, electric power, communication, comprehensive communication, gas, heat supply, water supply and drainage, can avoid the problems of repeated excavation and repair of road surfaces, electric wire nets and the like, high use risk of the pipelines and the like, and is an important guarantee for ensuring the normal operation of cities.
In recent years, with the rapid development of the urbanization speed of China, the comprehensive pipe gallery is being built at an accelerated speed, the scale is continuously enlarged, the problems of the traditional inspection mode are obvious, the main problems include that the internal environment of the comprehensive pipe gallery is severe, the inspection process is complex, the inspection content is large and complex, the manual inspection task is heavy, the requirement on the comprehensive capacity of personnel is high, and the physical and mental health of the inspection personnel is influenced.
At present, the problems of incomplete routing inspection coverage range and irregular routing inspection flow can be frequently encountered by depending on personnel for routing inspection, and even if multi-party resources are utilized, routing inspection blind areas can exist, so that an ideal effect can not be achieved. Due to the problems, the traditional method is adopted at present, so that small hidden dangers gradually develop into big problems, accidents such as large-scale water cut-off, power failure, communication interruption, foundation sinking and the like occur in many cities in succession, and the normal life of citizens is seriously influenced by the problems.
Disclosure of Invention
The utility model provides a utility tunnel fortune patrols and examines robot can realize that utility tunnel's automation is patrolled and examined, especially when discovering the conflagration, but the very first time is handled, avoids the occurence of failure of a large scale such as cutting off the water, having a power failure, communication interruption.
In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides a comprehensive pipe rack inspection robot, which comprises a track, wherein the comprehensive pipe rack inspection robot is arranged on the track, and moves on the track, the comprehensive pipe gallery transportation inspection robot comprises connecting plates which are symmetrically arranged at the two sides of the track, the tops of both sides of the connecting plate are symmetrically provided with stabilizing devices, the inner side of the connecting plate is symmetrically provided with driving wheels, the driving wheel is connected with driving gears arranged on the left outer wall and the right outer wall of the connecting plate through a rotating shaft, the driving gears are connected to a driving motor, the lower part of the connecting plate is connected with a control box, the front end of the control box is provided with a gas detection device and a laser sensor, the left side and the right side of the control box are provided with wireless transmission modules, the bottom of the control box is provided with a revolute pair, the revolute pair is connected with a camera system and is also connected with a fire extinguishing bomb launching device.
Further, stabilising arrangement includes support frame, stabilizer wheel, backup pad, fixed knob, removal guide rail and guide rail groove, remove the guide rail and install at the guide rail inslot to can remove in it, the backup pad is installed on guide rail groove outer wall, installs fixed knob on it, fixed knob locks the position of removal guide rail in the guide rail groove, the backup pad rear connection has the support frame, install the stabilizer wheel on the support frame.
Further, the drive gear includes four gear sets that mesh with each other.
Further, the driving motor comprises a second driving motor and a third driving motor, and is connected with the driving gear through a motor shaft.
Further, the camera system comprises two cameras and two searchlights arranged on the side parts of the cameras.
Further, fire extinguishing bomb launcher includes the lantern ring, the steel cable, steel cable recovery unit, the latch closure, a driving motor and hinge, a driving motor is connected with steel cable recovery unit through the axle, the steel cable winding is in the steel cable recovery unit surface, steel cable one end is connected with the latch closure, the latch closure is connected on the lantern ring, the lantern ring cover is on the outer wall of fire extinguishing bomb, hinged joint fire extinguishing bomb and revolute pair for adjust the fire extinguishing bomb position.
The utility model provides a utility tunnel fortune patrols and examines robot can realize that utility tunnel's automation is patrolled and examined, especially when discovering the conflagration, but the very first time is handled, avoids the occurence of failure of a large scale such as cutting off the water, having a power failure, communication interruption.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the tail structure of the present invention;
fig. 3 is a schematic diagram of the forward structure of the present invention;
fig. 4 is a schematic side view of the present invention;
fig. 5 is a schematic structural view of the stabilizing device of the present invention;
fig. 6 is a schematic structural view of the driving device of the present invention;
FIG. 7 is a schematic structural view of the fire extinguishing bomb launching device of the present invention;
reference numerals: 1. the fire extinguishing bomb launching device comprises a track, a connecting plate, a gear II, a gear III, a gear I, a gear 6, a gear IV and a wireless transmission module, 8, a control box, 9, a gas detection device, 10, a revolute pair, 11, a first searchlight, 12, a camera, 13, a stabilizing device, 14, a driving wheel, 15, a laser sensor, 16, a second searchlight, 17, an infrared camera, 18, a rotating device, 19, a lantern ring, 20, a fire extinguishing bomb launching device, 21, a supporting frame, 22, a stabilizing wheel, 23, a fixing knob, 24, a supporting plate, 25, a moving guide rail, 26, a guide rail groove, 27, a driving wheel supporting frame, 28, a steel rope, 29, a steel rope recovery device, 30, a ring buckle, 31, a first driving motor, 32, a hinge, 33, a second driving motor and 34, and a third driving motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model relates to a utility tunnel fortune inspection robot, including track 1, utility tunnel fortune inspection robot installs on the track, and move on its track, utility tunnel fortune inspection robot includes installs at the connecting plate 2 that the track bilateral symmetry set up, the top symmetry of connecting plate both sides is equipped with stabilising arrangement 13, the inboard symmetry of connecting plate is installed and is driven wheel 14, driven wheel 14 is connected with the drive gear of installing on the outer wall of connecting plate left and right sides through the axis of rotation, drive gear is connected to driving motor, the connecting plate lower part is connected with control box 8, the control box front end is installed gas detection device 9 and laser sensor 15, wireless transmission module 7 is installed to the control box 8 left and right sides, control box 8 bottom is provided with revolute pair 10, revolute pair is connected with camera system, the revolute pair is also connected with a fire extinguishing bomb launching device 20.
The stabilizing device comprises a support frame 21, stabilizing wheels 22, a support plate 24, a fixing knob 23, a moving guide rail 25 and a guide rail groove 26, wherein the moving guide rail is arranged in the guide rail groove and can move in the guide rail groove, the support plate is arranged on the outer wall of the guide rail groove and is provided with the fixing knob, the fixing knob locks the position of the moving guide rail in the guide rail groove, the support frame is connected with the tail of the support plate, and the stabilizing wheels are arranged on the support frame.
The drive gear includes four gear sets that intermesh.
The driving motors include a second driving motor 33 and a third driving motor 34, and are connected to the driving gear through a motor shaft.
The camera system comprises two cameras and two searchlights arranged on the side parts of the cameras.
Fire extinguishing bomb launcher includes lantern ring 19, steel cable 28, steel cable recovery unit 29, latch closure 30, first driving motor 31 and hinge 32, first driving motor is connected with steel cable recovery unit through the axle, the steel cable winding is in the steel cable recovery unit surface, steel cable one end is connected with the latch closure, the latch closure is connected on the lantern ring, the lantern ring cover is on fire extinguishing bomb's outer wall, hinged joint fire extinguishing bomb and revolute pair for adjust the fire extinguishing bomb position.
Wherein, the track 1 is used for bearing the motion of the whole robot, and the cross section of the track is I-shaped.
And the connecting plates 2 are symmetrically arranged on two sides of the robot, driving wheels 14 and driving wheel supporting frames are installed on the inner sides of the connecting plates, and robot stabilizing devices 13 are installed on two sides of the top of the connecting plates.
And the second gears 3 are symmetrically arranged on two sides of the outer wall of the supporting plate and are used as a part of a robot transmission system.
And the 4 gears III are symmetrically arranged on two sides of the outer wall of the supporting plate and are used as a part of a robot transmission system.
And the 5 first gears are symmetrically arranged on two sides of the outer wall of the supporting plate and are used as a part of a robot transmission system.
And the 6 gears are symmetrically arranged on two sides of the outer wall of the supporting plate and are used as a part of a robot transmission system.
And 1 wireless transmission module 7 is respectively arranged on the left side and the right side of a control box of the robot 8 and is used for data transmission and data reception of the whole robot.
And the 8 control box is arranged at the lower part of the robot driving system and used for controlling the operation of the robot.
9 gaseous detection device arranges the front end of control box in, can detect the content of various gases in the piping lane.
And the 10 revolute pairs are connected with the camera system and can control the monitoring position of the camera.
The first searchlight 11 is matched with the camera system to monitor the environment, and the brightness can be adjusted according to the visibility of the environment.
12 the camera for detect the various condition in the piping lane, the video image of gathering can transmit to backstage big data platform through wireless transmission module.
The 13 stabilizing device can adjust the knob according to different conditions, so that the robot can stably run on the track.
And two sides of the 14 driving wheels are connected with the gear through shafts, and two ends of each shaft are supported by supporting frames and used for moving the whole robot.
15 laser sensor arranges the front end of robot control box in, scans and establishes the corridor condition at the in-process of patrolling and examining.
The 16 second searchlights are matched with the camera system to monitor the environment, and the brightness can be adjusted according to the visibility of the environment.
17 infrared camera can carry out infrared monitoring to the utility tunnel.
The 18 rotating devices can drive the whole fire extinguishing bomb launching device to rotate by a certain angle according to different required conditions.
The 19 lantern rings are tightly connected to the outer wall of the whole fire extinguishing bomb, and one end of each lantern ring is connected with a buckle.
The 20 fire extinguishing bomb launching devices can launch fire extinguishing bombs to carry out emergency treatment on a small-range fire source.
One end of the support frame 21 is connected with the stabilizing wheel and is used for supporting the rotation of the whole stabilizing wheel.
The 22 stabilizing wheels are connected with the whole supporting frame, so that the stable operation of the whole robot is ensured, and the deviation of the track in the walking process is avoided.
The 23 fixed knobs are connected with the supporting plates to adjust the position of the stabilizing wheel device.
The 24 supporting plates are used for supporting a supporting frame and a stabilizing wheel of the stabilizing device.
And the 25 moving guide rail is arranged in the guide rail groove and used for adjusting and moving the whole stabilizing device.
The guide rail groove 26, the moving groove of the whole stabilizing device, and the whole moving device can be adjusted along the guide rail groove.
The 27 driving wheel support frames are evenly distributed on the inner side of the connecting plate and used for supporting the driving wheels to move.
The 28 steel ropes are connected with the ring buckles, so that the whole fire extinguishing bomb launching device can be adjusted to rotate around the hinge.
The 29 steel rope recovery device is driven by a first driving motor, and can recover and release the steel rope through the rotation of the 29 steel rope recovery device.
And the 30-ring buckle is connected with the lantern ring and the steel rope and is used for adjusting the position of the fire extinguishing bomb launching device.
And the 31 first driving motor is used for driving the whole steel rope recovery device.
The 32 hinges are connected with the fire extinguishing bomb launching device and rotate in position.
And the 33 second driving motor drives the transmission gear at the left end.
And the third driving motor 34 drives a transmission gear at the right end.
Wherein, the robot adopts automatic mode of patrolling and examining, and the people is installed it to the track, and the fixed knob of adjustment stabilising arrangement adjusts stabilising arrangement to suitable position, and the switch on begins work, and the utility tunnel patrols and examines the robot and patrol and examine the route and patrol and examine along the track that has laid, and camera monitored control system carries out corresponding adjustment according to the control position of the locating of robot, and one of them camera is infrared camera, feeds back the infrared thermal imaging picture that detects to control system. The fire extinguishing bomb launching device of the robot and the moving speed of the robot are reasonably adjusted according to the data analysis result of the control box. The rotary motion of steel rope is transferred to vertical direction's up-and-down motion through a driving motor drive steel rope recovery unit, can adjust fire extinguishing bomb emitter's position like this, and the gas detection device of robot can detect the content of poisonous and harmful gas in the piping lane.
The fire extinguishing bomb launching device is arranged at the tail of the robot, and can be used for processing in the first time when a fire disaster is found. When the position of the fire extinguishing bomb launching device needs to be adjusted, the first driving motor rotates to drive the steel rope recovery device to rotate, the steel rope recovery device winds the steel rope on the surface of the steel rope recovery device, and the steel rope pulls the fire extinguishing bomb to move up and down around the hinge.
Wherein, the drive arrangement of whole robot, including 8 gears, 6 drive wheel support frames and 6 drive wheels that second driving motor, third driving motor, symmetry set up. And after the robot stabilizing device is debugged, the power supply is turned on. The second driving motor and the third driving motor start to rotate to drive the gear four to rotate, the gear four is meshed with the gear three, the gear three is meshed with the gear two, and the gear two is meshed with the gear one. The first gear rotates to drive the first gear, the second gear and the third gear to rotate, and the driving wheels are driven to rotate through the connection of the rotating shafts, so that the robot can move on the rail.
The whole robot collects data through the laser sensor, the gas detection device and the camera system, and the control system processes the data and transmits the processed data to the data collection system of the background through the wireless transmission module and the base station.
Claims (6)
1. The utility model provides a utility tunnel inspection robot, which comprises a track, the utility tunnel inspection robot is arranged on the track and moves on the track, it is characterized in that the comprehensive pipe rack transportation inspection robot comprises connecting plates which are symmetrically arranged at the two sides of the track, the tops of both sides of the connecting plate are symmetrically provided with stabilizing devices, the inner side of the connecting plate is symmetrically provided with driving wheels, the driving wheel is connected with driving gears arranged on the left outer wall and the right outer wall of the connecting plate through a rotating shaft, the driving gears are connected to a driving motor, the lower part of the connecting plate is connected with a control box, the front end of the control box is provided with a gas detection device and a laser sensor, the left side and the right side of the control box are provided with wireless transmission modules, the bottom of the control box is provided with a revolute pair, the revolute pair is connected with a camera system and is also connected with a fire extinguishing bomb launching device.
2. The utility model provides a robot is patrolled and examined in utility tunnel fortune, characterized in that, stabilising arrangement includes support frame, stabilizer wheel, backup pad, fixed knob, removal guide rail and guide rail groove, the removal guide rail is installed at the guide rail inslot to can remove in it, the backup pad is installed on guide rail groove outer wall, installs fixed knob on it, fixed knob locks the position of removal guide rail in the guide rail groove, the backup pad trailing end connection has the support frame, install the stabilizer wheel on the support frame.
3. The utility tunnel inspection robot according to claim 1, wherein the drive gears include four gear sets that intermesh.
4. The utility model provides a utility tunnel fortune inspection robot of claim 1, characterized in that, driving motor includes second driving motor and third driving motor, is connected with drive gear through the motor shaft.
5. The utility tunnel inspection robot according to claim 1, wherein the camera system comprises two cameras and two searchlights arranged on the sides of the cameras.
6. The utility model provides a utility tunnel fortune inspection robot according to claim 1, characterized in that, fire extinguishing bomb launcher includes lantern ring, steel cable recovery unit, latch closure, first driving motor and hinge, first driving motor is connected with steel cable recovery unit through the axle, the steel cable winding is in steel cable recovery unit surface, steel cable one end is connected with the latch closure, the latch closure is connected on the lantern ring, the lantern ring cover is on the outer wall of fire extinguishing bomb, hinged joint fire extinguishing bomb and revolute pair for adjust the fire extinguishing bomb position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921554834.1U CN211163920U (en) | 2019-09-19 | 2019-09-19 | Comprehensive pipe rack fortune inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921554834.1U CN211163920U (en) | 2019-09-19 | 2019-09-19 | Comprehensive pipe rack fortune inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN211163920U true CN211163920U (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921554834.1U Active CN211163920U (en) | 2019-09-19 | 2019-09-19 | Comprehensive pipe rack fortune inspection robot |
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| CN (1) | CN211163920U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666772A (en) * | 2019-09-19 | 2020-01-10 | 陕西中建建乐智能机器人有限公司 | Comprehensive pipe rack fortune inspection robot |
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2019
- 2019-09-19 CN CN201921554834.1U patent/CN211163920U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666772A (en) * | 2019-09-19 | 2020-01-10 | 陕西中建建乐智能机器人有限公司 | Comprehensive pipe rack fortune inspection robot |
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