CN216266058U

CN216266058U - Narrow and small space detection robot

Info

Publication number: CN216266058U
Application number: CN202122603500.2U
Authority: CN
Inventors: 张崇滔
Original assignee: Shanghai Minghao Electrical Appliance Co ltd
Current assignee: Shanghai Minghao Electrical Appliance Co ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2022-04-12
Anticipated expiration: 2031-10-28

Abstract

The utility model provides a narrow space detection robot, which comprises a robot body, a spotlight and a camera device, wherein the spotlight and the camera device are arranged on the robot body; the camera device comprises a camera, a holder and a waterproof cover, a camera mounting groove is formed in the robot body, the waterproof cover is arranged on the camera mounting groove and forms an accommodating space between the camera mounting groove, and the camera is rotatably arranged in the accommodating space through the holder.

Description

Narrow and small space detection robot

Technical Field

The utility model belongs to the technical field of electric power, and particularly relates to a narrow space detection robot.

Background

Due to the reasons of shortage of urban land, high traffic pressure, urban construction and the like, the large cities generally adopt an underground pipeline cable power transmission mode, and underground pipe networks are inseparable from the operation and development of the cities.

The cable is typically laid in an underground cable trench. Because each coil of cable only has a certain length, about hundreds of meters, in order to lay longer cable lines, a plurality of sections of cables must be connected, a certain space is needed for manufacturing and placing cable joints, the space is called a cable working well, the width and the depth are generally larger than those of a cable trench, and a cover plate is arranged on the ground.

When the cable work well is subjected to fault detection, most detection personnel are deeply arranged inside the cable work well for detection, and on one hand, the space in the work well is narrow, the operation space is limited, and inconvenience is brought to the detection personnel; on the other hand, the environment in the work well where the high-voltage cable is located is extremely complex, and some toxic and harmful gases and the like exist usually, so that potential safety hazards are caused. If the person directly goes into the cable work well for inspection, danger exists, and therefore the detection robot needs to go into the cable work well for inspection first.

However, the existing detection robot has the following technical defects:

1. the camera on the existing detection robot is fixed, and only the condition of a fixed direction can be monitored, so that the monitoring range is narrow;

2. the existing detection robot is not provided with a light-gathering illumination device, and because the interior of the cable work well is dark, the robot cannot observe whether the interior of the cable work well is abnormal or not in a long distance during detection, so that the whole condition in the cable work well cannot be judged in advance, and the monitoring efficiency is low.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems, the present invention provides a robot for detecting a narrow space, including a robot body, a spotlight and a camera device arranged on the robot body, wherein the spotlight includes a spotlight mounting base and a spotlight main body, the spotlight mounting base is fixed on the robot body, and a driving device for driving the spotlight main body to rotate is arranged in the spotlight mounting base;

the camera device comprises a camera, a holder and a waterproof cover, a camera mounting groove is formed in the robot body, the waterproof cover is arranged on the camera mounting groove and forms an accommodating space between the camera mounting groove, and the camera is rotatably arranged in the accommodating space through the holder.

Preferably, the spotlight is disposed behind the camera device.

Preferably, the spotlight body is directed towards the front of the camera device.

Preferably, the spotlight body is fixed on a rotating bracket, the rotating bracket is rotatably arranged on the spotlight mounting seat, and the driving device is in driving connection with the rotating bracket.

Preferably, the rotating bracket is a U-shaped bracket, the spotlight body is fixed on one side of the U-shaped bracket, which faces away from the opening, the opening side of the U-shaped bracket is fixedly connected with two ends of a rotating shaft, the rotating shaft is rotatably arranged on the mounting seat, and the driving device is in driving connection with the rotating shaft through a transmission assembly.

Preferably, the transmission assembly includes a driving gear and a driven gear, the driving gear is fixedly connected with the rotating shaft of the driving device, the driven gear is fixedly connected with the rotating shaft, and the driving gear is engaged with the driven gear.

Preferably, a driving groove is formed in the mounting seat, and a cover plate is arranged on the driving groove to form a sealing structure; the driving device is arranged in the driving groove, and two ends of the rotating shaft are rotatably arranged on two groove walls of the driving groove.

Preferably, the outer ring of the spotlight main body is further provided with a plurality of LED lamp beads with a floodlight effect.

Preferably, the holder is a single-axis holder, a two-axis holder or a three-axis holder.

Preferably, a narrow and small space detection robot is applicable to in the cable worker well.

Compared with the prior art, the utility model has the following technical effects:

1. the utility model provides a narrow space detection robot.A camera is rotationally arranged on a robot main body through a holder, and can rotate through the holder according to specific use requirements, so that the monitoring range is wide;

2. in the underground cable work well with dim light, the robot can clearly carry out remote monitoring through a spotlight. Through the spotlight, whether the robot can observe cable worker well has the abnormality far away, can carry out preliminary monitoring to cable worker well internal overall situation promptly, has improved monitoring efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. In the drawings:

fig. 1 is a schematic structural diagram of a narrow space detection robot according to a preferred embodiment of the present invention;

fig. 2 is a schematic view illustrating a structure in which a spotlight body is rotated downward according to a preferred embodiment of the present invention;

FIG. 3 is a schematic structural view of a gear assembly provided in accordance with a preferred embodiment of the present invention;

fig. 4 is a schematic structural view of a lamp cap of a spotlight body according to a preferred embodiment of the present invention;

fig. 5 is a schematic structural diagram of a pan/tilt head according to a preferred embodiment of the present invention;

fig. 6 is an exploded view of a pan/tilt head according to a preferred embodiment of the present invention;

FIG. 7 is an assembly view of the elastomeric member, stationary shaft and camera head mount provided in accordance with a preferred embodiment of the present invention;

fig. 8 is a schematic structural view of a meshing portion having annular internal teeth 341 according to a preferred embodiment of the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the utility model. All falling within the scope of the present invention.

Referring to fig. 1 to 8, a robot for detecting a narrow space is suitable for use in a narrow space, and the robot is not particularly limited to a narrow space, and may be used in the power field, such as a cable work well, a cable trench, and the like, or in an underground narrow space in other fields. The embodiment takes the application of a robot to a cable work well as an example, and comprises a robot body 1, a spotlight 2 and a camera device 3, wherein the spotlight 2 and the camera device 3 are arranged on the robot body 1, the spotlight 2 comprises a spotlight mounting seat 23 and a spotlight main body 21, the spotlight mounting seat 23 is fixed on the robot body 1, and a driving device for driving the spotlight main body 21 to rotate is arranged in the spotlight mounting seat 23;

the camera device 3 comprises a camera, a holder and a waterproof cover, a camera mounting groove is formed in the robot body 1, the waterproof cover is arranged on the camera mounting groove and forms a sealed accommodating space between the camera mounting groove, the camera is rotatably arranged in the accommodating space through the holder, the sealed accommodating space is formed, and the purpose of preventing the camera from being wetted is achieved.

In this embodiment, the spotlight 2 has a function of focusing and releasing light, and thus, the function of the spotlight is to illuminate the camera far away, so that the camera can clearly shoot in the underground cable work well with dim light and at a long distance. The spotlight 2 is thus arranged behind the camera device 3, the spotlight body 21 being directed in front of the camera device 3.

The utility model does not limit whether the driving device drives the spotlight main body 21 to rotate up and down, or rotate left and right, or rotate 360 degrees, and can be set according to the actual use requirement. The spotlight body 21 is rotatable in order to increase the monitoring range when the robot is performing remote monitoring. Fig. 1 shows that the spotlight body 21 can be pivoted up and down by the driving device.

The utility model is not limited to the specific type of drive device, and may be an electric drive device, such as a motor; or may be a pneumatic drive, such as a pneumatic motor; the spotlight body 21 may be driven to rotate by a hydraulic driving device such as a hydraulic motor, and the driving device is preferably a motor in this embodiment.

In this embodiment, the spotlight body 21 is fixed to a pivot bracket, which is pivotally mounted on the spotlight mounting base 23, and the driving device is drivingly connected to the pivot bracket.

The driving device may be directly connected to the rotating bracket in a driving manner, or may be connected to the rotating bracket in a driving manner through a transmission assembly, which is not limited in the present invention.

The transmission assembly may be a gear transmission, a belt transmission, a transmission chain transmission or other transmission methods, which are not limited in the present invention. The present embodiment takes the transmission assembly as a gear transmission assembly as an example.

The specific structure of the rotating bracket is not limited, and can be set according to actual use requirements. In this embodiment, the rotating bracket is a U-shaped bracket 22, the spotlight body 21 is fixed on a side of the U-shaped bracket 22 opposite to the opening, the opening side of the U-shaped bracket 22 is fixedly connected with two ends of a rotating shaft 25, the rotating shaft 25 is horizontally and rotatably disposed on the spotlight mounting base 23, and the driving device is in driving connection with the rotating shaft 25 through a transmission assembly 24.

The transmission assembly 24 includes a driving gear 241 and a driven gear 242, the driving gear 241 is coaxially and fixedly connected with a rotating shaft of the driving device, the driven gear 242 is coaxially and fixedly connected with the rotating shaft 25, and the driving gear 241 is engaged with the driven gear 242.

The spotlight mounting base 23 is provided with a driving groove therein, the driving device is arranged in the driving groove, and two ends of the rotating shaft 25 are rotatably arranged on two groove walls of the driving groove.

Because probably there is water in the cable worker well, consequently, the driving groove adopts sealed design, be equipped with the apron on the driving groove, the purpose prevents that the motor from intaking.

The lamp head of the spotlight body 21 comprises a lamp base 217, a heat radiator 213, an aluminum substrate 215 with an LED light source 218, a reflecting cup 212, a transparent cover 211 and a lamp cover 214, wherein the lamp cover 214 is covered on the lamp base 217 through a pressing ring 216, and an installation space for installing the heat radiator 213, the aluminum substrate 215 and the reflecting cup 212 is formed between the lamp cover 214 and the lamp base 217.

The heat sink 213 is disposed on the lamp holder 217, and the aluminum substrate 215 is disposed on the bottom of the heat sink 213; the light reflecting cup 212 is arranged on the aluminum substrate 215, and the LED light source 218 on the aluminum substrate 215 is positioned in the light reflecting cup 212; the sleeve portion of the heat sink 213 is sleeved outside the reflective cup 212, and the transparent cover 211 is covered on the top of the heat sink 213 and the reflective cup 212.

Spotlight body 21's outer lane still sets up a plurality of LED lamp pearls that play floodlight effect, and the purpose carries out the light filling for the camera on the robot for the camera can be in the dim secret cable worker well clear carry out closely shooting of light.

Because the camera holder is a mature technology in the technical field of cameras, the utility model does not limit the specific structure of the holder, and all technical schemes that the camera can be driven to rotate by the holder belong to the protection scope of the utility model. The utility model does not specifically limit the rotation angle of the camera, and can be set according to the actual use requirement, for example, the cloud platform can be a single-shaft cloud platform, a two-shaft cloud platform or a three-shaft cloud platform, and the specific structures of the single-shaft cloud platform, the two-shaft cloud platform and the three-shaft cloud platform belong to the mature technology in the technical field of cameras, and the utility model does not limit the rotation angle.

In the embodiment, the pan/tilt head is taken as a single-shaft pan/tilt head 31, and the pan/tilt head includes a rotating shaft 313, a camera mounting seat 312, a fixed shaft 311, and a meshing portion 314 provided with an annular internal tooth 3141, wherein a groove 3121 is provided on a side surface of the camera mounting seat 312, and the camera is mounted on the groove 3121.

The middle of the engaging portion 314 is formed with a circular hole, and the circumference of the circular hole is formed with a plurality of teeth forming an annular internal tooth 3141. The engaging part 314 is fixedly arranged in the camera mounting groove;

one end of the camera mounting seat 312 is fixedly connected with the fixed shaft 311, the other end of the camera mounting seat is fixedly connected with the rotating shaft 313, and the rotating shaft 313 is in driving connection with a driving motor; the fixed shaft 311 is coaxial with the rotating shaft 313.

The fixed shaft 311 is fitted into the annular internal teeth 3141, and an elastic member 315 elastically extensible in the radial direction of the fixed shaft 311 is provided on the fixed shaft 311, and the elastic member 315 is engaged with the internal teeth when rotating to the root of the annular internal teeth 3141. The elastic member 315 may be a spring probe, or may be a structure with other specific elastic functions, such as an elastic sheet. When the elastic member 315 rotates to the root portion of the annular internal teeth 3141, it engages with the internal teeth, thereby performing a positioning function.

In this embodiment, a stopper 3142 is disposed on the annular inner teeth 3141, a groove 3131 corresponding to the stopper 3142 and used for limiting a rotation position of the stopper 3142 is disposed on the fixed shaft 311, and a length of the groove 3131 is greater than a length of the stopper 3142, that is, the stopper 3142 is movable in the groove 3131. When the stopper 3142 is located in the groove 3131, the driving motor drives the rotating shaft 313 to rotate, so as to drive the fixing shaft 311 to rotate, and when the stopper 3142 abuts against the edge of the circumference in the groove 3131, the maximum rotation amount of the camera is reached. The length of the groove 3131 is not limited in this embodiment, and may be set according to actual requirements.

In this embodiment, the camera head operates by the principle of the rotation of the pan/tilt head:

the driving motor drives the rotating shaft 313 to rotate, so that the camera mounting base 312 is driven to rotate, the camera mounting base 312 drives the fixing shaft 311 to rotate, the elastic part 315 on the fixing shaft 311 can rotate together with the fixing shaft 311, when the fixing shaft 311 rotates in the annular internal teeth 3141, the elastic part 315 can be compressed by the annular internal teeth 3141, and when the elastic part 315 crosses the next tooth top and reaches the tooth root, the elastic part 315 can ensure the meshing state of the tooth close contact with the annular internal teeth 3141 in the radial direction. When the fixed shaft 311 rotates a certain angle, the elastic member 315 rotates a tooth form and is periodically compressed once. After rotating a few tooth forms, the limiting block 3142 abuts against the edge of the groove 3131 in the circumferential direction, so that the limiting function is achieved, and the 360-degree circumferential rotation cannot be performed continuously. Meanwhile, in a rotation period, the elastic part 315 can be ensured to be in close contact with the teeth of the annular internal teeth 3141 in the radial direction, so that self-locking is realized, and fixed-point angle photographing can be performed at different angles.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A robot for detecting a narrow space is characterized by comprising a robot body, a spotlight and a camera device, wherein the spotlight and the camera device are arranged on the robot body;

2. The narrow space detection robot as claimed in claim 1, wherein said spotlight is disposed behind said camera device.

3. The narrow space detecting robot as claimed in claim 2, wherein the spotlight body is directed to the front of the camera device.

4. The narrow space detecting robot as claimed in claim 1, wherein the spotlight body is fixed to a rotary bracket, the rotary bracket is rotatably disposed on the spotlight mounting base, and the driving device is drivingly connected to the rotary bracket.

5. A narrow and small space detection robot as claimed in claim 4, characterized in that, the rotating bracket is a U-shaped bracket, the spotlight main body is fixed on one side of the U-shaped bracket facing away from the opening, the opening side of the U-shaped bracket is fixedly connected with two ends of a rotating shaft, the rotating shaft is rotatably arranged on the mounting seat, and the driving device is in driving connection with the rotating shaft through a transmission assembly.

6. The narrow space detection robot as claimed in claim 5, wherein said transmission assembly includes a driving gear and a driven gear, said driving gear is fixedly connected to a rotation shaft of said driving device, said driven gear is fixedly connected to said rotation shaft, and said driving gear is engaged with said driven gear.

7. The narrow space detection robot as claimed in claim 5, wherein a driving groove is formed in the mounting base, and a cover plate is arranged on the driving groove to form a sealing structure; the driving device is arranged in the driving groove, and two ends of the rotating shaft are rotatably arranged on two groove walls of the driving groove.

8. The narrow space detection robot as claimed in claim 1, wherein a plurality of LED lamp beads for floodlight are further disposed on an outer ring of the spotlight body.

9. The narrow space detection robot as claimed in claim 1, wherein the pan-tilt is a single-axis pan-tilt, a two-axis pan-tilt or a three-axis pan-tilt.

10. A narrow space detection robot as claimed in any one of claims 1 to 9, adapted for use in a cable work well.