CN211992967U - Cable tunnel inspection robot - Google Patents
Cable tunnel inspection robot Download PDFInfo
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- CN211992967U CN211992967U CN202020577268.2U CN202020577268U CN211992967U CN 211992967 U CN211992967 U CN 211992967U CN 202020577268 U CN202020577268 U CN 202020577268U CN 211992967 U CN211992967 U CN 211992967U
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Abstract
The utility model discloses a cable tunnel patrols and examines robot. The utility model discloses a cable tunnel patrols and examines robot, include: robot main part is patrolled and examined in the tunnel, motion and the mechanism of patrolling and examining, the inside of robot main part is patrolled and examined in the tunnel is provided with main control mechanism, power supply controller and power, the bottom of the mechanism of patrolling and examining is connected with the blade all around, be provided with infrared camera on the blade, the auxiliary lighting shot-light, temperature and humidity sensor, combustible gas detects sensor and smoke transducer, accessible motion moves on the suspension type guide rail of erectting in cable tunnel top, through infrared camera on the blade, temperature and humidity sensor, combustible gas detects sensor and smoke transducer and patrols and examines in the cable tunnel, moreover, the steam generator is simple in structure, and can realize the all-round control to the whole environment in tunnel, but wide application in the complicated power cable tunnel of various environment.
Description
Technical Field
The utility model relates to an inspection robot technical field, concretely relates to cable tunnel inspection robot.
Background
The electric power inspection robot has the advantages of wide inspection coverage, high detection precision, rich types of monitorable equipment, easiness in realizing automatic inspection and the like, is widely applied to the electric power industry, particularly in places with personnel safety risks such as transformer substations and the like, replaces traditional manual inspection by the inspection robot, provides inspection efficiency, and can effectively reduce the personal safety risks of operation and maintenance personnel.
At present, many domestic cities, large-scale power plants and industrial and mining enterprises adopt underground cable tunnels to supply electric energy, and the novel potential safety hazard is formed while the contradiction between road traffic and building space formed by ground erection is relieved. The dangerous factors existing in the cable tunnel include equipment damage, fire, water immersion, harmful gas, artificial damage and the like. If a complete monitoring system network is established for the environmental information such as temperature, smoke, toxic gas, accumulated water and the like in the existing tunnel, the investment cost is high, and the benefit is not obvious. At present, manual inspection is mainly used, but the method is high in danger and low in efficiency. The cable tunnel inspection robot system comprehensively realizes automation of fire prevention and harmful gas monitoring work of a tunnel in a robot mode, changes the backward mode of manual monitoring in the past, reduces labor intensity and work danger, improves work efficiency and can effectively reduce cost.
At present, the robots applied to the cable tunnel are few, and most of the robots move on the ground by adopting a wheel type or crawler type structure, so that the following defects are realized: is easily limited by the ground condition factors and has limited range of motion. Some sections in the tunnel are stairs, and the ground in many places is provided with cables, even larger stones may exist on the ground, so that the robot cannot pass through the large stones. In addition, the robot can not work normally due to accumulated water in the tunnel after raining. In addition, the existing inspection robot works on the ground, only can look up at cable equipment, but cannot observe in a short distance, and cannot realize all-round detection of cables.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a cable tunnel patrols and examines robot to solve current cable tunnel and patrol and examine the problem that the robot can't accomplish the all-round detection to the cable.
The utility model provides a cable tunnel patrols and examines robot, include: the tunnel inspection robot comprises a tunnel inspection robot main body, a movement mechanism and an inspection mechanism;
the tunnel inspection robot main body is cylindrical, a main control mechanism, a power supply controller and a power supply are arranged inside the tunnel inspection robot main body, the power supply controller is electrically connected with the power supply, and the main control mechanism is electrically connected with the power supply controller;
the moving mechanism is connected to the top of the tunnel inspection robot main body, a roller mechanism matched with a suspension type guide rail erected at the top of a cable tunnel is arranged on the moving mechanism, the roller mechanism is provided with a servo motor used for driving the roller mechanism to move along the suspension type guide rail, the servo motor is electrically connected with the power supply controller, and the servo motor is in communication connection with the main control mechanism;
the inspection mechanism is in a cuboid shape and is connected to the bottom of the tunnel inspection robot main body, a blade is rotatably connected to the periphery of the bottom end of the inspection mechanism through rotating shafts respectively, a blade motor is correspondingly arranged on each rotating shaft, the rotating shafts are in transmission connection with output shafts of the blade motors, the blade motors are in communication connection with the main control mechanism, and the blade motors are electrically connected with the power supply controller;
be provided with infrared camera, auxiliary lighting shot-light, temperature and humidity sensor, combustible gas detection sensor and smoke transducer on the blade, infrared camera, temperature and humidity sensor, combustible gas detection sensor and smoke transducer respectively with main control mechanism communication connection, infrared camera, auxiliary lighting shot-light, temperature and humidity sensor, combustible gas detection sensor and smoke transducer respectively with electrical source controller electric connection.
Optionally, gyro wheel mechanism includes gyro wheel seat, gyro wheel and gyro wheel seat mounting disc, the gyro wheel seat mounting disc set up in the top of robot main part is patrolled and examined in the tunnel, the quantity of gyro wheel seat is two, two gyro wheel seat parallel arrangement in gyro wheel seat mounting disc upper surface, the cross-section of gyro wheel seat is the U type, every the inside of gyro wheel seat is rotated and is connected with the gyro wheel that two axes are parallel to each other, servo motor set up in on the gyro wheel seat mounting disc, servo motor's output shaft with roller drive connects, gyro wheel mechanism is used for making the suspension type guide rail follow the gyro wheel seat with pass between the gyro wheel, the gyro wheel with the suspension type guide rail contacts.
Optionally, it is in to patrol and examine the mechanism the tunnel patrol and examine the axial of robot main part with robot main part sliding connection is patrolled and examined in the tunnel, patrol and examine the mechanism with the tunnel is patrolled and examined the axis of robot main part and is regarded as the axle, with the tunnel is patrolled and examined the robot main part and is rotated and be connected.
Optionally, the diameter of the roller seat mounting disc is smaller than that of the tunnel inspection robot main body.
Optionally, eight hydraulic buffers are connected between the roller seat mounting disc and the tunnel inspection robot main body.
Optionally, the blades are fan-shaped.
Optionally, a wireless communication module for communicating with an upper computer is arranged in the main control mechanism.
The utility model discloses following beneficial effect has: the utility model provides a pair of cable tunnel patrols and examines robot, include: the tunnel inspection robot comprises a tunnel inspection robot main body, a moving mechanism and an inspection mechanism, wherein a main control mechanism, a power controller and a power supply are arranged inside the tunnel inspection robot main body, blades are connected to the periphery of the bottom end of the inspection mechanism, infrared cameras, auxiliary lighting spotlights, temperature and humidity sensors, combustible gas detection sensors and smoke sensors are arranged on the blades, the movable mechanism can move on a suspension type guide rail erected at the top of a cable tunnel, the cable tunnel is inspected through the infrared cameras, the temperature and humidity sensors, the combustible gas detection sensors and the smoke sensors on the blades, the tunnel inspection device is simple in structure, the number of parts contained in the tunnel inspection device is small, each part can be separately and independently processed, assembly is simple, all-dimensional monitoring of the whole environment of the tunnel can be realized, and the tunnel inspection device can be widely applied, And (5) equipment inspection of the heating pipeline tunnel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is the utility model provides a cable tunnel patrols and examines robot's schematic diagram.
Fig. 2 is the utility model provides a motion's of robot schematic diagram is patrolled and examined in cable tunnel schematic diagram.
Fig. 3 is the utility model provides a cable tunnel patrols and examines robot's blade schematic diagram.
Fig. 4 is the utility model provides a cable tunnel patrols and examines robot's schematic diagram.
Illustration of the drawings: 1-a tunnel inspection robot main body; 2-a motion mechanism; 3, a routing inspection mechanism; 101-a master control mechanism; 102-a power supply controller; 103-a power supply; 201-a roller mechanism; 206-a servo motor; 6-a rotating shaft; 4-a blade; 5-a vane motor; 402-an infrared camera; 406-auxiliary lighting spot lights; 403-temperature and humidity sensor; 404-combustible gas detection sensor; 405-a smoke sensor; 203-roller seat; 204-a roller; 205-roller seat mounting plate; 202-hydraulic buffers; 104-wireless communication module.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art, in the drawings, the thicknesses of layers and regions are exaggerated for clarity, and the same devices are denoted by the same reference numerals, and thus the description thereof will be omitted.
Referring to fig. 1 to 4, an embodiment of the present invention provides a cable tunnel inspection robot, including: the tunnel inspection robot comprises a tunnel inspection robot main body 1, a moving mechanism 2 and an inspection mechanism 3.
The tunnel inspection robot main body 1 is cylindrical, the tunnel inspection robot main body 1 is hollow, and a main control mechanism 101, a power supply controller 102 and a power supply 103 are arranged in the tunnel inspection robot main body 1. The power controller 102 is electrically connected with the power source 103, the main control mechanism 101 is electrically connected with the power controller 102, and the power source 103 supplies power to the main control mechanism 101 through the power controller 102. A wireless communication module 104 for communicating with an upper computer is further disposed in the main control mechanism 101.
The moving mechanism 2 is connected to the top of the tunnel inspection robot main body 1, and a roller mechanism 201 used for being matched with a suspension type guide rail erected at the top of the cable tunnel is arranged on the moving mechanism 2. The roller mechanism 201 is provided with a servo motor 206 for driving the roller mechanism 201 to move along the suspension type guide rail, the servo motor 206 is electrically connected with the power controller 102, and the servo motor 206 is in communication connection with the main control mechanism 101.
In this embodiment, the roller mechanism 201 may specifically include two roller seats 203, two rollers 204 and a roller seat mounting disc 205, the roller seat mounting disc 205 is disposed above the tunnel inspection robot main body 1, the two roller seats 203 are disposed in parallel on the upper surface of the roller seat mounting disc 205, the cross section of the roller seat 203 is U-shaped, two rollers 204 whose axes are parallel to each other are rotatably connected inside each roller seat 203, the servo motor 206 is disposed on the roller seat mounting disc 205, an output shaft of the servo motor 206 is in transmission connection with the roller 204, the roller mechanism 201 is configured to enable the suspended guide rail to pass through between the roller seats 203 and the roller 204, and the roller 204 is in contact with the suspended guide rail. The servo motor 206 can drive the roller 204 to rotate, so that the roller 204 moves on the suspension type guide rail, and the motion of the tunnel inspection robot main body 1 is realized.
Further, the diameter of the roller seat mounting disc 205 is smaller than that of the tunnel inspection robot main body 1, and eight hydraulic buffers 202 are connected between the roller seat mounting disc 205 and the tunnel inspection robot main body 1 for counteracting vibration caused by the robot in the moving process and ensuring the definition of the picture shot by a camera in the inspection mechanism 4.
Patrol and examine mechanism 3 and be the cuboid form, patrol and examine mechanism 3 and connect in the bottom of tunnel patrol and examine robot main part 1, patrol and examine the bottom of mechanism 3 and rotate respectively through pivot 6 all around and be connected with a blade 4, blade 4 is fan-shaped, every pivot 6 corresponds and is provided with a blade motor 5, pivot 6 is connected with the output shaft transmission of blade motor 5, blade motor 5 and main control mechanism 101 communication connection, blade motor 5 and electrical source controller 102 electric connection. Four blades 4 can be in fixed position separately with certain angle luffing motion, each blade 4 mutual independence, every blade motor 5 of blade 4 all with main control mechanism communication connection, control its swing of blade 4 separately, can drive blade 4 through blade motor 5 and rotate to different angles to the inspection of adaptation different position.
In this embodiment, the blade 4 is provided with an infrared camera 402, an auxiliary illumination spot lamp 406, a temperature/humidity sensor 403, a combustible gas detection sensor 404, and a smoke sensor 405. The number of the infrared camera 402, the temperature and humidity sensor 403, the combustible gas detection sensor 404 and the smoke sensor 405 is at least one, and the number of the auxiliary lighting spot lights 406 is at least two.
The infrared camera 402, the temperature and humidity sensor 403, the combustible gas detection sensor 404 and the smoke sensor 405 are respectively in communication connection with the main control mechanism 101. The infrared camera 402, the auxiliary lighting spotlight 406, the temperature and humidity sensor 403, the combustible gas detection sensor 404 and the smoke sensor 405 are electrically connected with the power controller 102 respectively to realize power supply.
Further, patrol and examine mechanism 3 and patrol and examine robot main part 1 sliding connection with the tunnel in the axial of robot main part 1 is patrolled and examined in the tunnel, patrol and examine mechanism 3 and use the tunnel to patrol and examine the axis of robot main part 1 as the axle, patrol and examine robot main part 1 with the tunnel and rotate and be connected for patrol and examine the mechanism and can 360 rotations, realize the all-round control to the tunnel, patrol and examine mechanism 3 and tunnel and patrol and examine the concrete connection mode between the robot main part 1, technical personnel in the art can realize according to prior art, and the here is no longer repeated.
The cable tunnel inspection robot has a simple structure, the number of parts contained in the robot is small, each part can be separately and independently processed, and the assembly is simple; the four fan-shaped blades in the inspection mechanism move independently, so that the detection speed is increased; the mechanism of patrolling and examining can also 360 rotations in cylindrical main part simultaneously, can implement the all-round control to the tunnel, can detect and the control of the whole environment of fixed position equipment damage, thermal defect position and realization to the tunnel, but the wide application is patrolled and examined in the equipment in power cable tunnel, gas, the heating pipeline tunnel of various environment complicacies.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a robot is patrolled and examined in cable tunnel which characterized in that includes: the tunnel inspection robot comprises a tunnel inspection robot main body (1), a movement mechanism (2) and an inspection mechanism (3);
the tunnel inspection robot main body (1) is cylindrical, a main control mechanism (101), a power supply controller (102) and a power supply (103) are arranged inside the tunnel inspection robot main body (1), the power supply controller (102) is electrically connected with the power supply (103), and the main control mechanism (101) is electrically connected with the power supply controller (102);
the moving mechanism (2) is connected to the top of the tunnel inspection robot main body (1), a roller mechanism (201) matched with a suspension type guide rail erected at the top of a cable tunnel is arranged on the moving mechanism (2), a servo motor (206) used for driving the roller mechanism (201) to move along the suspension type guide rail is arranged on the roller mechanism (201), the servo motor (206) is electrically connected with the power supply controller (102), and the servo motor (206) is in communication connection with the main control mechanism (101);
the inspection robot is characterized in that the inspection mechanism (3) is rectangular, the inspection mechanism (3) is connected to the bottom of the tunnel inspection robot main body (1), a blade (4) is rotatably connected to the periphery of the bottom end of the inspection mechanism (3) through a rotating shaft (6), each rotating shaft (6) is correspondingly provided with a blade motor (5), the rotating shaft (6) is in transmission connection with an output shaft of the blade motor (5), the blade motors (5) are in communication connection with the main control mechanism (101), and the blade motors (5) are electrically connected with the power controller (102);
be provided with infrared camera (402), auxiliary lighting shot-light (406), temperature and humidity sensor (403), combustible gas detection sensor (404) and smoke transducer (405) on blade (4), infrared camera (402), temperature and humidity sensor (403), combustible gas detection sensor (404) and smoke transducer (405) respectively with main control mechanism (101) communication connection, infrared camera (402), auxiliary lighting shot-light (406), temperature and humidity sensor (403), combustible gas detection sensor (404) and smoke transducer (405) respectively with power controller (102) electric connection.
2. The robot is patrolled and examined in cable tunnel according to claim 1, characterized in that, roller mechanism (201) includes roller seat (203), roller (204) and roller seat mounting disc (205), roller seat mounting disc (205) sets up in the top of robot main part (1) is patrolled and examined in the tunnel, the quantity of roller seat (203) is two, two roller seats (203) parallel arrangement in the roller seat mounting disc (205) upper surface, the cross-section of roller seat (203) is the U type, the inside rotation of each roller seat (203) is connected with two gyro wheels (204) that the axis is parallel to each other, servo motor (206) set up on roller seat mounting disc (205), the output shaft of servo motor (206) with roller (204) transmission connection, roller mechanism (201) is used for making the suspended type guide rail pass between roller seat (203) and roller (204), the roller (204) is in contact with the suspension rail.
3. The cable tunnel inspection robot according to claim 2, wherein the inspection mechanism (3) is slidably connected with the tunnel inspection robot body (1) in an axial direction of the tunnel inspection robot body (1), and the inspection mechanism (3) is rotatably connected with the tunnel inspection robot body (1) by taking an axis of the tunnel inspection robot body (1) as an axis.
4. The cable tunnel inspection robot according to claim 3, wherein the roller mount mounting plate (205) has a diameter smaller than a diameter of the tunnel inspection robot main body (1).
5. The cable tunnel inspection robot according to claim 4, wherein eight hydraulic buffers (202) are connected between the roller mount mounting plate (205) and the tunnel inspection robot main body (1).
6. A cable tunnel inspection robot according to claim 5, characterized in that the blades (4) are fan-shaped.
7. The cable tunnel inspection robot according to claim 6, wherein a wireless communication module (104) for communicating with an upper computer is arranged in the main control mechanism (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020577268.2U CN211992967U (en) | 2020-04-17 | 2020-04-17 | Cable tunnel inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020577268.2U CN211992967U (en) | 2020-04-17 | 2020-04-17 | Cable tunnel inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN211992967U true CN211992967U (en) | 2020-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020577268.2U Active CN211992967U (en) | 2020-04-17 | 2020-04-17 | Cable tunnel inspection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112530128A (en) * | 2020-12-03 | 2021-03-19 | 国网山东省电力公司电力科学研究院 | Cable tunnel fire prevention early warning inspection system and inspection method |
| US20240050788A1 (en) * | 2021-03-25 | 2024-02-15 | State Grid Shandong Electric Power Research Institute | Automatic fire-extinguishing system and method for cable tunnel |
-
2020
- 2020-04-17 CN CN202020577268.2U patent/CN211992967U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112530128A (en) * | 2020-12-03 | 2021-03-19 | 国网山东省电力公司电力科学研究院 | Cable tunnel fire prevention early warning inspection system and inspection method |
| US20240050788A1 (en) * | 2021-03-25 | 2024-02-15 | State Grid Shandong Electric Power Research Institute | Automatic fire-extinguishing system and method for cable tunnel |
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