CN218195160U - Cable conduit inspection robot - Google Patents
Cable conduit inspection robot Download PDFInfo
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- CN218195160U CN218195160U CN202222768567.6U CN202222768567U CN218195160U CN 218195160 U CN218195160 U CN 218195160U CN 202222768567 U CN202222768567 U CN 202222768567U CN 218195160 U CN218195160 U CN 218195160U
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Abstract
The utility model discloses a cable duct inspection robot, which comprises a machine body and a walking device arranged on the machine body; the walking device comprises a crawler walking mechanism arranged above the machine body and two wheel type walking mechanisms symmetrically arranged at the left side and the right side of the machine body; the crawler belt walking mechanism comprises a crawler belt bracket, a crawler belt body and a crawler belt driving motor, wherein the crawler belt bracket is connected with the machine body through a support rod I; the front end and the rear end of the crawler support are respectively provided with a crawler driving gear, the crawler body is arranged around the crawler support, the inner side wall of the crawler body is meshed with the crawler driving gears, and the crawler driving motor is arranged inside the crawler support and used for driving one of the crawler driving gears to rotate; the wheel type travelling mechanism comprises a travelling wheel I, and the travelling wheel I is connected with the machine body through a supporting rod II. The utility model discloses can improve the trafficability characteristic of robot walking when unevenness's cable pipeline, do benefit to the motion detection requirement that satisfies cable multimode and multi freedom in the pipeline.
Description
Technical Field
The utility model relates to a patrol and examine robot technical field, more specifically say, the utility model relates to a cable duct patrols and examines robot.
Background
With the development of cities and the advance of modernization, more and more cable pipelines are built to replace overhead cables in cities; and to the cable duct bank maintenance that takes underground cable laying, the tradition adopts artifical mode of overhauing, and it has following problem: firstly, the manual overhaul efficiency is low, the electric leakage rate is high, and overhaul worker accidents frequently occur; secondly, the real-time performance of fault detection is low, and the cable fault is difficult to realize quick and accurate positioning; thirdly, the difficulty of troubleshooting is high, and huge economic cost loss is caused by large-scale power failure maintenance.
The pipeline inspection robot is a machine, electricity and instrument integrated system for replacing manual maintenance, the robot can carry one or more sensors or operation machines (such as a CCD camera, a position and attitude sensor, an ultrasonic sensor, an eddy current sensor, a pipeline cleaning device, a pipeline crack and pipeline interface welding device, an anti-corrosion spraying device, a simple operation manipulator and the like) to automatically walk along the interior of a pipeline, and the robot automatically performs pipeline inspection operation and acquires required physical and chemical data under the remote control of a worker or the automatic control of a computer.
In the prior art, patent CN 210978971U discloses a straight wheel drive type pipeline inspection robot promptly, it is used for driving the advancing device including rack device and the circumference evenly distributed that is used for supporting, install resilient means between advancing device and the rack device, rack device internally mounted has adjusting device, adjusting device includes the regulation pole, regulation pole one side is provided with the hexagon head, install first swivel nut above the regulation pole, first swivel nut one side is provided with spacing jump ring, first swivel nut and rack device riveting are in the same place, adjust pole and first swivel nut threaded connection, rotate the regulation pole through the hexagon head and move under the support of first swivel nut, advancing device includes the bracing piece, install the gyro wheel above the bracing piece, the front mounted of the gyro wheel has the motor, the bracing piece supports the rotatory whole removal that drives of motor drive gyro wheel.
However, in the practical application process, the inspection robot completely adopts the roller as the traveling device, and the passing performance is poor when the inspection robot travels in an uneven cable pipeline, so that the requirement of multi-mode and multi-degree-of-freedom motion detection of the cable in the pipeline is difficult to meet.
The above technical problem needs to be solved.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model aims to provide a cable duct patrols and examines robot improves its trafficability characteristic when walking in unevenness's cable pipeline, does benefit to the motion detection requirement that satisfies cable multimode and multi freedom in the pipeline.
In order to achieve the above object, the utility model particularly provides a cable duct inspection robot, which comprises a machine body and a walking device arranged on the machine body;
the walking device comprises a crawler walking mechanism arranged above the machine body and two wheel type walking mechanisms symmetrically arranged on the left side and the right side of the machine body;
the crawler traveling mechanism comprises a crawler support, a crawler body and a crawler driving motor, and the crawler support is connected with the machine body through a support rod I; the front end and the rear end of the crawler support are respectively provided with a crawler driving gear, the crawler body is arranged around the crawler support, the inner side wall of the crawler body is meshed with the crawler driving gears, and the crawler driving motor is arranged inside the crawler support and is used for driving one of the crawler driving gears to rotate;
the wheel type travelling mechanism comprises a travelling wheel I, and the travelling wheel I is connected with the machine body through a supporting rod II.
As right the utility model discloses technical scheme's further improvement, crawler drive motor's power take off end installs through one and is connected with the crawler drive gear transmission that is driven at the inside transmission assembly of crawler support, transmission assembly includes the transmission shaft, is fixed in transmission epaxial first bevel gear, is fixed in transmission epaxial drive gear and is fixed in crawler drive motor's the epaxial second bevel gear of output, the transmission shaft rotates to be connected in crawler support and with crawler drive gear's pivot parallel arrangement, drive gear meshes with crawler drive gear mutually, first bevel gear meshes with second bevel gear mutually.
As right the utility model discloses technical scheme's further improvement, wheeled running gear all includes two parallel arrangement and synchronous pivoted walking wheel I, two be connected through a fixed axle I between the walking wheel I, I rotations of fixed axle are connected in II lower extremes of bracing piece.
As a further improvement, the bottom of the machine body is provided with a plurality of bull's eye universal wheels.
As a further improvement to the technical scheme of the utility model, the cable pipeline inspection robot further comprises an adjusting device; the adjusting device comprises a lead screw, a lead screw driving motor for driving the lead screw to rotate, a lead screw nut movably sleeved on the lead screw and three adjusting rods uniformly distributed along the circumferential direction;
the lead screw is fixed in the machine body through a bearing seat, the lead screw driving motor is fixed in the machine body through a motor seat, and the near ends of the three adjusting rods are connected to a lead screw nut in a single-degree-of-freedom rotating connection mode;
the crawler belt support is characterized in that the lower side of the crawler belt support is connected with two C-shaped connecting plates, the two supporting rods I are arranged in parallel, the upper ends of the two supporting rods I are connected to the middle of the bottom surface of each connecting plate in a single-degree-of-freedom rotating connection mode, the lower ends of the two supporting rods I are connected to the top surface of the crawler belt support in a single-degree-of-freedom rotating connection mode, and the crawler belt support, the two supporting rods I and the crawler belt support are connected to form a parallelogram structure;
the upper ends of the two support rods II are connected to the side face of the machine body in a single-degree-of-freedom rotating connection mode;
among the three adjusting rods, the far end of the adjusting rod positioned at the upper side extends out of the machine body and is connected to the side face of one supporting rod I in a single-degree-of-freedom rotating connection mode, and the far ends of the other two adjusting rods extend out of the machine body and are connected to the side face of the supporting rod II in a single-degree-of-freedom rotating connection mode.
As right the utility model discloses technical scheme's further improvement, the organism is for enclosing the box structure that closes the connection and form by roof, bottom plate, preceding curb plate, posterior lateral plate, left side board and right side board, all offer the regulation hole that is used for supplying the regulating lever to stretch out and remove on roof, left side board and the right side board.
As a further improvement of the technical scheme of the utility model, the walking device also comprises two auxiliary walking mechanisms symmetrically arranged at the left and right sides of the machine body, the auxiliary walking mechanisms comprise walking wheels II, and the walking wheels II are connected with the machine body through supporting rods III; the upper ends of the supporting rods III are connected to the side face of the machine body in a single-degree-of-freedom rotating connection mode, and elastic restoring pieces are arranged between the supporting rods III and the machine body.
As right the utility model discloses technical scheme's further improvement, supplementary running gear all includes two parallel arrangement and synchronous pivoted walking wheel II, two the walking wheel is connected through a fixed axle II between II, fixed axle II rotates to be connected in III lower extremes of bracing piece.
As a further improvement to the technical solution of the present invention, the cable duct inspection robot further comprises an intelligent detection system, wherein the intelligent detection system comprises a controller for data processing, a data transmitter for data transmission, and a sensor assembly; the sensor assembly comprises a camera device for shooting, a thermal imaging device for thermal imaging, a laser ranging device for laser ranging and/or a temperature and humidity sensor for temperature and humidity detection;
the data output end of the sensor assembly is connected with the data input end of the controller, the crawler driving motor and the lead screw driving motor are in communication connection with the controller and are controlled to be started by the controller, and the controller is in communication connection with an upper computer arranged outside through a data transmitter.
As right the utility model discloses technical scheme's further improvement, the inside battery that is equipped with of organism, the battery is used for supplying power for track driving motor, lead screw driving motor and intellectual detection system.
Compared with the prior art, the utility model discloses following beneficial technological effect has:
the utility model provides a cable conduit inspection robot, a two-wheeled running gear respectively attaches to the inner wall of the conduit and supports the machine body from the left and right sides, so that the machine body can be positioned in the conduit, and the machine body moves along the conduit under the driving of a track driving motor; the crawler traveling mechanism is combined with the wheel type traveling mechanism, the ground contact area of the crawler body is large, tooth grooves are fully distributed on the surface of the crawler body, large friction force is formed between the crawler body and the inner wall of a pipeline, sufficient driving force can be provided, the trafficability of the robot when the robot travels in an uneven cable pipeline is improved, the requirements of multi-mode and multi-degree-of-freedom motion detection of cables in the pipeline can be met, the wheel type traveling mechanism serves as a supporting and driven mechanism, driving elements of the robot can be effectively reduced, and the robot is compact in structure
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. But at least it can be learned that the present invention also provides a solution that is significantly different from the prior art, aiming at the technical problem that the prior art solution is too single.
Drawings
Fig. 1 is a schematic view of a first three-dimensional structure of the present invention;
fig. 2 is a schematic view of a second three-dimensional structure of the present invention;
fig. 3 is a schematic perspective view of the body of the present invention;
fig. 4 is a schematic perspective view of the crawler travel mechanism of the present invention;
fig. 5 is a schematic perspective view of the crawler travel mechanism of the present invention after the crawler support is removed;
FIG. 6 is a schematic view of the connection structure between the crawler belt and the machine body of the present invention;
fig. 7 is a schematic perspective view of the adjusting device of the present invention;
fig. 8 is a schematic block diagram of the intelligent detection system of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Examples
As shown in fig. 1 to 8: the embodiment provides an inspection robot, in particular to a cable pipeline inspection robot, which comprises a machine body 1 and a walking device arranged on the machine body 1; the machine body 1 is a main body part of the robot, and an intelligent detection system can be arranged on the surface and inside of the machine body to realize intelligent inspection; the walking device is used for realizing the walking of the robot along the inner wall of the pipeline.
The walking device comprises a crawler walking mechanism 2 arranged above the machine body 1 and two wheel type walking mechanisms 3 symmetrically arranged at the left side and the right side of the machine body 1; the terms "up, down, left, right, front and back" all refer to the directions shown in FIG. 1.
The crawler walking mechanism 2 comprises a crawler support 201, a crawler body 202 and a crawler driving motor 203, wherein the crawler support 201 is connected with the machine body 1 through a support rod I205; the front and rear ends of the track frame 201 are provided with track driving gears 204, the track body 202 is arranged around the track frame 201 and the inner side wall thereof is engaged with the track driving gears 204, and the track driving motor 203 is arranged inside the track frame 201 and is used for driving one of the track driving gears 204 to rotate.
The track support 201 can be in a track shape and is provided with a left guard plate and a right guard plate, and the track driving motor 203 and the track driving gear 204 are arranged between the left guard plate and the right guard plate; when the crawler driving motor 203 is started, it first drives one of the crawler driving gears 204 to rotate, the crawler driving gear 204 drives the crawler body 202 to rotate through the meshing action, and the other crawler driving gear 204 also rotates, because the crawler body 202 is in close contact with the inner wall of the pipeline, under the action of mutual friction, the crawler body 202 can be driven to move in the pipeline when rotating; the length of the track body 202 can be as desired.
The crawler belt travelling mechanism 2 is a driving travelling mechanism, and the wheel type travelling mechanism 3 is a driven travelling mechanism; the two-wheel type travelling mechanism 3 is respectively attached to the inner wall of the pipeline and supports the machine body 1 from the left side and the right side, so that the machine body 1 can be positioned in the pipeline, and the machine body 1 moves along the pipeline under the driving of the crawler driving motor 203; the crawler traveling mechanism 2 is combined with the wheel type traveling mechanism 3, as the grounding area of the crawler body 202 is large and the tooth grooves are fully distributed on the surface of the crawler body, the crawler traveling mechanism has large friction force with the inner wall of the pipeline, and can provide sufficient driving force, thereby improving the trafficability of the robot when the robot travels in the uneven cable pipeline, and being beneficial to meeting the requirements of multi-mode and multi-degree-of-freedom motion detection of cables in the pipeline, and the wheel type traveling mechanism 3 is used as a supporting and driven mechanism, so that the driving elements of the robot can be effectively reduced, and the structure of the robot is compact.
In this embodiment, the power output end of the track driving motor 203 is in transmission connection with the driven track driving gear 204 through a transmission assembly 207 installed inside the track support 201, the transmission assembly 207 includes a transmission shaft, a first bevel gear fixed on the transmission shaft, a transmission gear fixed on the transmission shaft, and a second bevel gear fixed on the output shaft of the track driving motor 203, the transmission shaft is rotatably connected to the track support 201 and arranged in parallel with the rotating shaft of the track driving gear 204, the transmission gear is engaged with the track driving gear 204, and the first bevel gear is engaged with the second bevel gear.
The left end and the right end of the transmission shaft can be connected with rotating bearings, and the rotating bearings are fixed on a left guard plate and a right guard plate of the crawler support 201; the first bevel gear and the transmission gear can be fixed on the transmission shaft in a key connection mode; the transmission gear and the track driving gear 204 can both be straight gear structures; the transmission assembly 207 transmits the power of the track driving motor 203 and has certain speed reducing and moment increasing effects; other structures of the transmission assembly 207 can be selected as long as the aforementioned effects can be achieved; the track driving motor 203 may be fixed to left and right guard plates of the track frame 201.
In this embodiment, the wheel type traveling mechanisms 3 each include two traveling wheels i 301 which are arranged in parallel and rotate synchronously, the two traveling wheels i 301 are connected through a fixing shaft i, and the fixing shaft i is rotatably connected to the lower end of the support rod ii 302 (i.e., the end far away from the machine body 1). By adopting the structure, the matching of the double traveling wheels I301 is beneficial to improving the support and the traveling capacity of the wheel type traveling mechanism 3.
In this embodiment, the bottom of the machine body 1 is provided with a plurality of bull's eye universal wheels 4. The structure and principle of the bull's eye universal wheel 4 are the same as those of the prior art, and for example, refer to patent CN 213167590U. The rotation ball of bull's eye universal wheel 4 sets up towards the below, and when the cable in 1 bottom of organism and the pipeline took place to contact, the rolling of rotation ball can reduce organism 1's resistance to make the robot can continue smooth and easy removal. The number of the bull-eye universal wheels 4 can be set as required, and only three are shown in the figure, and the bull-eye universal wheels are not limited to the three.
In this embodiment, the cable pipeline inspection robot further comprises an adjusting device; the adjusting device can adjust the included angle between the supporting rod I205, the supporting rod II 302 and the machine body 1, so that the crawler traveling mechanism 2 and the wheel type traveling mechanism 3 can rotate within a certain angle range, the positions of the crawler traveling mechanism 2 and the wheel type traveling mechanism 3 are changed, the robot is adapted to pipelines with different pipe diameters, and the adaptability and the universality of the robot are improved.
The adjusting device can comprise a screw 501, a screw driving motor 502 for driving the screw 501 to rotate, a screw nut 503 movably sleeved on the screw 501 and three adjusting rods 504 uniformly distributed along the circumferential direction; the lead screw 501 can be arranged parallel to the horizontal plane, and when the lead screw 501 rotates, the lead screw nut 503 can move along the length direction of the lead screw 501; the lead screw 501 is fixed inside the machine body 1 through a bearing seat 505, the lead screw driving motor 502 is fixed inside the machine body 1 through a motor seat, and the near ends (referring to the end close to the lead screw nut 503) of the three adjusting rods 504 are all connected to the lead screw nut 503 in a single-degree-of-freedom rotation connection mode; the single degree of freedom rotation connection in this embodiment can be realized by the relevant connection lug; the angle between adjacent adjustment rods 504 may be 120 °.
The lower side of the crawler support 201 is connected with two C-shaped connecting plates 206, the number of the supporting rods I205 is two, the two supporting rods I205 are arranged in parallel, the upper ends of the two supporting rods I205 are connected to the middle of the bottom surface of the connecting plate 206 in a single-degree-of-freedom rotating connection mode, the lower ends of the two supporting rods I205 are connected to the top surface of the machine body 1 in a single-degree-of-freedom rotating connection mode, and the crawler support 201, the two supporting rods I and the machine body 1 are connected to form a parallelogram structure; the two support rods I205 are always kept parallel to effectively support the track frame 201.
The upper ends of the two support rods II 302 are connected to the side surface of the machine body 1 in a single-degree-of-freedom rotating connection mode; the two support rods II 302 are always kept symmetrical so as to effectively support the machine body 1.
Among the three adjusting rods 504, the distal end of the adjusting rod 504 positioned at the upper side extends out of the machine body 1 and is connected to the side of one supporting rod I205 in a single-degree-of-freedom rotating connection mode, and the distal ends of the other two adjusting rods 504 extend out of the machine body 1 and are connected to the side of the supporting rod II 302 in a single-degree-of-freedom rotating connection mode. When the screw nut 503 moves along the length direction of the screw 501, the support rod i 205 and the support rod ii 302 can rotate in the direction away from or close to the machine body 1 through the power transmission of the adjusting rod 504, thereby realizing the adjusting effect of the adjusting device; the adjustment can be realized by only one lead screw driving motor 502, and the adjustment has high structure compactness and strong energy saving property.
In this embodiment, the machine body 1 is a box-shaped structure formed by enclosing and connecting a top plate 101, a bottom plate 102, a front side plate 103, a rear side plate 104, a left side plate 105 and a right side plate 106, and the top plate 101, the left side plate 105 and the right side plate 106 are all provided with adjusting holes 107 for extending and moving the adjusting rods 504. The box-type structure can be square, cylindrical or other reasonable shapes, and all the plates can be connected in a screwing or welding mode; the adjustment aperture 107 may be a rectangular aperture configuration to avoid displacement of the adjustment rod 504. Preferably, the lower portion of the front plate 103 may have a trapezoidal structure with a large top and a small bottom to reduce interference with the duct cable.
In this embodiment, the walking device further comprises two auxiliary walking mechanisms 6 symmetrically arranged on the left side and the right side of the machine body 1, each auxiliary walking mechanism 6 comprises a walking wheel II 601, and each walking wheel II 601 is connected with the machine body 1 through a supporting rod III 602; the upper ends of the supporting rods III 602 are connected to the side face of the machine body 1 in a single-degree-of-freedom rotation connection mode, and elastic restoring pieces are arranged between the supporting rods III 602 and the machine body 1.
The auxiliary walking mechanism 6 is used for enhancing the supporting and walking performance of the machine body 1; the traveling wheel II 601 and the traveling wheel I301 can adopt the same structure; the elastic restoring member can be a plate spring, a torsion spring, or the like, and can be disposed between the supporting rod iii 602 and the machine body 1, so that the auxiliary traveling mechanism 6 can be passively adjusted along with the adjustment of the wheel type traveling mechanism 3, that is, the supporting rod iii 602 can be substantially parallel to the supporting rod ii 302 on the same side. Similarly, the auxiliary travelling mechanism 6 comprises two travelling wheels II 601 which are arranged in parallel and rotate synchronously, the two travelling wheels II 601 are connected through a fixed shaft II, and the fixed shaft II is rotatably connected to the lower end of the supporting rod III 602.
In this embodiment, the cable pipe inspection robot further includes an intelligent detection system, where the intelligent detection system includes a controller 701 for data processing, a data transmitter 702 for data transmission, and a sensor assembly; according to the use requirement, the sensor assembly can comprise a camera 703 for shooting, a thermal imaging device 704 for thermal imaging, a laser ranging device 705 for laser ranging and a temperature and humidity sensor 706 for temperature and humidity detection; the data output end of the sensor assembly is connected with the data input end of the controller 701, the crawler driving motor 203 and the lead screw driving motor 502 are both in communication connection with the controller 701 and are controlled to be started by the controller 701, and the controller 701 is in communication connection with an upper computer 8 arranged outside through a data transmitter 702.
The controller 701 may be, for example, an existing single chip microcomputer, which is provided inside the machine body 1; the data transmitter 702 may be a wireless communication structure, for example, may communicate with the upper computer 8 through the existing wireless network, so as to transmit the information detected by the robot to the upper computer 8 in real time, which is convenient for the staff to monitor and control remotely; the camera device 703 can be arranged at the front end of the machine body 1, can be a high-definition camera and is provided with a brightness-variable LED lamp; the thermal imaging device 704 can detect the temperature of the cable and is arranged at the top of the machine body 1; the laser ranging device 705 can detect the distance of an obstacle right in front of the machine body 1 in real time and is arranged at the top of the machine body 1; temperature and humidity sensor 706 can detect temperature and humidity information in the pipeline and is arranged on the top of machine body 1.
In this embodiment, a storage battery 9 is arranged inside the machine body 1, and the storage battery 9 is used for supplying power to the track driving motor 203, the lead screw driving motor 502 and the intelligent detection system. Inside the machine body 1, the installation area of the storage battery 9 and the installation area of the adjusting device can be isolated by a partition plate to avoid mutual influence and improve the structural stability of the machine body 1.
The above description is only an example of the present invention, and the common general knowledge of the known specific structures and characteristics of the embodiments is not described herein. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Moreover, while the applicant has made the invention his invention, on the one hand, and on the other hand, due to the differences in understanding to those skilled in the art, numerous documents and patents have been developed and will not be limited in any way by the details of the disclosure set forth in this application, such disclosure is not to be construed as limiting the invention to the features of the prior art but rather is to be construed as providing the invention with essential features which are believed to be essential to the prior art and which applicant reserves the right to add to the prior art in question.
Claims (10)
1. A cable pipeline inspection robot comprises a machine body and a walking device arranged on the machine body; the method is characterized in that:
the walking device comprises a crawler walking mechanism arranged above the machine body and two wheel type walking mechanisms symmetrically arranged on the left side and the right side of the machine body;
the crawler traveling mechanism comprises a crawler support, a crawler body and a crawler driving motor, and the crawler support is connected with the machine body through a support rod I; the front end and the rear end of the crawler support are respectively provided with a crawler driving gear, the crawler body is arranged around the crawler support, the inner side wall of the crawler body is meshed with the crawler driving gears, and the crawler driving motor is arranged inside the crawler support and is used for driving one of the crawler driving gears to rotate;
the wheel type walking mechanism comprises a walking wheel I, and the walking wheel I is connected with the machine body through a supporting rod II.
2. The cable duct inspection robot according to claim 1, wherein:
the power output end of the track driving motor is in transmission connection with a driven track driving gear through a transmission assembly arranged inside the track support, the transmission assembly comprises a transmission shaft, a first bevel gear fixed on the transmission shaft, a transmission gear fixed on the transmission shaft and a second bevel gear fixed on an output shaft of the track driving motor, the transmission shaft is rotatably connected with the track support and arranged in parallel with a rotating shaft of the track driving gear, the transmission gear is meshed with the track driving gear, and the first bevel gear is meshed with the second bevel gear.
3. The cable duct inspection robot according to claim 1, wherein:
wheeled running gear all includes two parallel arrangement and synchronous pivoted walking wheel I, two the walking wheel is connected through a fixed axle I between I, I rotation of fixed axle is connected in II lower extremes of bracing piece.
4. The cable duct inspection robot according to claim 1, wherein:
the bottom of the machine body is provided with a plurality of bull-eye universal wheels.
5. The cable duct inspection robot according to claim 1, wherein:
the cable pipeline inspection robot also comprises an adjusting device; the adjusting device comprises a lead screw, a lead screw driving motor for driving the lead screw to rotate, a lead screw nut movably sleeved on the lead screw and three adjusting rods uniformly distributed along the circumferential direction;
the lead screw is fixed in the machine body through a bearing seat, the lead screw driving motor is fixed in the machine body through a motor seat, and the near ends of the three adjusting rods are connected to a lead screw nut in a single-degree-of-freedom rotation connection mode;
the crawler belt support is characterized in that the lower side of the crawler belt support is connected with two C-shaped connecting plates, the two supporting rods I are arranged in parallel, the upper ends of the two supporting rods I are connected to the middle of the bottom surface of each connecting plate in a single-degree-of-freedom rotating connection mode, the lower ends of the two supporting rods I are connected to the top surface of the machine body in a single-degree-of-freedom rotating connection mode, and the crawler belt support, the two supporting rods I and the machine body are connected to form a parallelogram structure;
the upper ends of the two support rods II are connected to the side face of the machine body in a single-degree-of-freedom rotating connection mode;
among the three adjusting rods, the far end of the adjusting rod positioned at the upper side extends out of the machine body and is connected to the side face of one supporting rod I in a single-degree-of-freedom rotating connection mode, and the far ends of the other two adjusting rods extend out of the machine body and are connected to the side face of the supporting rod II in a single-degree-of-freedom rotating connection mode.
6. The cable duct inspection robot according to claim 5, wherein:
the organism is by roof, bottom plate, preceding curb plate, posterior lateral plate, left side board and right side board enclose the box structure that closes the connection and form, all set up the regulation hole that is used for supplying the regulating stem to stretch out and remove on roof, left side board and the right side board.
7. The cable duct inspection robot according to claim 5, wherein:
the walking device also comprises two auxiliary walking mechanisms symmetrically arranged on the left side and the right side of the machine body, each auxiliary walking mechanism comprises a walking wheel II, and the walking wheels II are connected with the machine body through a supporting rod III; the upper ends of the supporting rods III are connected to the side face of the machine body in a single-degree-of-freedom rotating connection mode, and elastic restoring pieces are arranged between the supporting rods III and the machine body.
8. The cable duct inspection robot according to claim 7, wherein:
supplementary running gear all includes two parallel arrangement and synchronous pivoted walking wheel II, two the walking wheel is connected through a fixed axle II between II, II rotation of fixed axle are connected in III lower extremes of bracing piece.
9. The conduit routing inspection robot according to claim 5, wherein:
the cable pipeline inspection robot also comprises an intelligent detection system, wherein the intelligent detection system comprises a controller for data processing, a data transmitter for data transmission and a sensor assembly; the sensor assembly comprises a camera device for shooting, a thermal imaging device for thermal imaging, a laser ranging device for laser ranging and/or a temperature and humidity sensor for temperature and humidity detection;
the data output end of the sensor assembly is connected with the data input end of the controller, the crawler driving motor and the lead screw driving motor are in communication connection with the controller and are controlled to be started by the controller, and the controller is in communication connection with an upper computer arranged outside through a data transmitter.
10. The cable duct inspection robot according to claim 9, wherein:
the machine body is internally provided with a storage battery, and the storage battery is used for supplying power for the track driving motor, the lead screw driving motor and the intelligent detection system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222768567.6U CN218195160U (en) | 2022-10-20 | 2022-10-20 | Cable conduit inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222768567.6U CN218195160U (en) | 2022-10-20 | 2022-10-20 | Cable conduit inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218195160U true CN218195160U (en) | 2023-01-03 |
Family
ID=84643713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222768567.6U Active CN218195160U (en) | 2022-10-20 | 2022-10-20 | Cable conduit inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218195160U (en) |
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2022
- 2022-10-20 CN CN202222768567.6U patent/CN218195160U/en active Active
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