CN107546638A - A kind of tunnel is without dead angle crusing robot - Google Patents
A kind of tunnel is without dead angle crusing robot Download PDFInfo
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- CN107546638A CN107546638A CN201710963226.5A CN201710963226A CN107546638A CN 107546638 A CN107546638 A CN 107546638A CN 201710963226 A CN201710963226 A CN 201710963226A CN 107546638 A CN107546638 A CN 107546638A
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- hollow rotating
- rotating platform
- wheel
- dead angle
- robot body
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Abstract
A kind of tunnel is provided and is provided with walking mechanism without dead angle crusing robot, including robot body, the top of the robot body, walking mechanism includes road wheel, extruding wheel and movable motor；The bottom of robot body is provided with multiaxis image mechanism, multiaxis image mechanism includes telescoping mechanism, multi-axle steering mechanism and camera head, telescoping mechanism includes the linear electric motors being arranged in robot body, the mover connection elevating lever of linear electric motors, elevating lever connects multi-axle steering mechanism, multi-axle steering mechanism includes the first hollow rotating platform and the second hollow rotating platform, the stator connection elevating lever of first hollow rotating platform, the rotor of first hollow rotating platform connects the stator of the second hollow rotating platform, the rotor connection camera head of second hollow rotating platform, camera head is provided with high-definition camera, infrared camera and light compensating lamp；For the present invention using drag-line as walking track, cost is low, and shoots without dead angle, is worth promoting.
Description
Technical field
The invention belongs to robotic technology field, especially a kind of tunnel is without dead angle crusing robot.
Background technology
At present, with the development of the society, the floor planning of modern city is also more and more taken seriously, many cities are
Start to set up and the contradiction of road traffic and space alleviating ground using buried cable transmission electric energy on a large scale
Meanwhile also bring new technical problem.Due to the particular surroundings of cable tunnel, when fire, water logging, pernicious gas gather,
Great difficulty can be brought to daily manual inspection maintenance work.And if to the temperature in existing tunnel, smog, having poison gas
The environmental information such as body and ponding establishes complete monitoring system network, and cost of investment is high, benefit unobvious.Then electric power tunnel
Crusing robot arises at the historic moment, and that it changes the mode of conventional personal monitoring, reduces labor intensity, reduces the danger of work
Property, and improve operating efficiency.Usually, crusing robot is required for arranging rigid track system, structure in electric power tunnel
Complexity, construction precision require high, and cost is high, and the camera angle of this robot is limited, can not realize the prison at no dead angle
Survey.
The content of the invention
Present invention solves the technical problem that：One kind is provided using drag-line as walking track, and shoots the tunnel without dead angle
Without dead angle crusing robot.
The technical solution adopted by the present invention：A kind of tunnel is without dead angle crusing robot, including robot body, the machine
The top of human agent is provided with walking mechanism, and walking mechanism includes road wheel, extruding wheel and movable motor, and road wheel is pacified by wheel shaft
Mounted in the both ends of walking round frame, walking round frame is provided with movable motor, the wheel shaft of the output axis connection road wheel of movable motor, OK
The middle part for walking wheel carrier is arranged on the top of robot body by top-support, and extruding wheel is located at the lower section of road wheel, extruding wheel
The both ends of extruding wheel carrier are arranged on by wheel shaft, extruding wheel carrier is arranged on top-support；The bottom of robot body is provided with more
Axle image mechanism, multiaxis image mechanism include telescoping mechanism, multi-axle steering mechanism and camera head, and telescoping mechanism includes being arranged on
Linear electric motors in robot body, the mover connection elevating lever of linear electric motors, elevating lever connection multi-axle steering mechanism, multiaxis turn
Include the first hollow rotating platform and the second hollow rotating platform, the stator connection lifting of the first hollow rotating platform to mechanism
Bar, the rotor of the first hollow rotating platform connect the stator of the second hollow rotating platform, and the rotor of the second hollow rotating platform connects
Camera head is connect, camera head is provided with high-definition camera, infrared camera and light compensating lamp.
Further scheme as the present invention：The telescoping mechanism includes elevating screw pair, elevating screw reducing motor, risen
Slide and lifting sliding rail drop, and one end of the secondary screw mandrel of elevating screw connects the output of elevating screw reducing motor by shaft coupling
Axle, the secondary feed screw nut of elevating screw connect the lift slide on lifting sliding rail, the bottom connection multi-axle steering machine of lift slide
First hollow rotating platform of structure.
Further scheme as the present invention：The axis of the first hollow rotating platform and the second hollow rotating platform
It is mutually perpendicular to.
Further scheme as the present invention：Drag-line is provided between the road wheel and extruding wheel.Supported by drag-line, and
Track is provided.
Further scheme as the present invention：The top of the drag-line is provided with communication cable and electrified cable.
Further scheme as the present invention：The inside of the robot body is provided with power module and communication module.
The present invention compared with prior art the advantages of：
1st, movable motor of the invention driving road wheel is walked movement on drag-line, the patrol of robot is realized, with drag-line
Installation cost is substantially reduced as walking track.
2nd, the present invention is lifted by telescoping mechanism actuated camera head, realizes camera head without dead by multi-axle steering mechanism
The shooting at angle, each position is able to detect that, it is especially suitable for the complex environment of electric power tunnel.
3rd, the present invention also designs a variety of cameras, can be carried out in the case of insufficient light by infrared camera infrared
Imaging.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is the structural representation of the multi-axle steering mechanism of the present invention.
Fig. 3 is the structural representation of the video camera of the present invention.
Embodiment
A kind of embodiment of the 1-3 descriptions present invention below in conjunction with the accompanying drawings.
A kind of tunnel is provided with row without dead angle crusing robot, including robot body 1, the top of the robot body 1
Mechanism is walked, walking mechanism includes road wheel 2, extruding wheel 3 and movable motor, and road wheel 2 is arranged on walking round frame by wheel shaft
Both ends, walking round frame are provided with movable motor, the wheel shaft of the output axis connection road wheel 2 of movable motor, the middle part of walking round frame
The top of robot body 1 is arranged on by top-support 4, extruding wheel 3 is located at the lower section of road wheel 2, and extruding wheel 3 passes through wheel shaft
Installed in the both ends of extruding wheel carrier, extruding wheel carrier is arranged on top-support 4；
The bottom of robot body 1 is provided with multiaxis image mechanism, and multiaxis image mechanism includes telescoping mechanism, multi-axle steering machine
Structure and camera head 8, telescoping mechanism include the linear electric motors being arranged in robot body 1, and the mover connection of linear electric motors rises
Bar 5 drops, and elevating lever 5 connects multi-axle steering mechanism, and multi-axle steering mechanism includes the first hollow rotating platform 6 and the second hollow rotating
Platform 7, the stator connection elevating lever 5 of the first hollow rotating platform 6, the rotor connection second of the first hollow rotating platform 6 are hollow
The stator of rotation platform 7, the rotor connection camera head 8 of the second hollow rotating platform 7, camera head 8 are provided with high-definition camera
First 9, infrared camera 10 and light compensating lamp 11.
Further, telescoping mechanism can be screw mandrel telescoping mechanism, including elevating screw pair, elevating screw reducing motor, rise
Slide and lifting sliding rail drop, and one end of the secondary screw mandrel of elevating screw connects the output of elevating screw reducing motor by shaft coupling
Axle, the secondary feed screw nut of elevating screw connect the lift slide on lifting sliding rail, the bottom connection multi-axle steering machine of lift slide
First hollow rotating platform 6 of structure.
Further, the axis of the first hollow rotating platform 6 and the second hollow rotating platform 7 is mutually perpendicular to.
Further, drag-line 100 is provided between road wheel 2 and extruding wheel 3.Supported by drag-line 100, and track is provided.
Further, the top of drag-line is provided with communication cable and electrified cable.Information transfer and power supply can be realized.It is (specific
How to be attached with robot as prior art, refer to electric car).
Further, the inside of robot body 1 is provided with power module and communication module.
The design feature and its operation principle of the present invention：Movable motor driving road wheel 2 is walked movement on drag-line 100,
Realize the patrol of robot.
Robot body 1 realizes camera head by first 8 lifting of telescoping mechanism actuated camera by multi-axle steering mechanism
8 shootings without dead angle, each position is able to detect that, it is especially suitable for the complex environment of electric power tunnel.
The present invention also designs a variety of cameras in addition, can be carried out in the case of insufficient light by infrared camera 10
Infrared imaging.
Above-described embodiment, simply presently preferred embodiments of the present invention, is not used for limiting the scope of the present invention, therefore all with this
The equivalence changes that content described in invention claim is done, it all should be included within scope of the invention as claimed.
Claims (6)
1. a kind of tunnel is without dead angle crusing robot, including robot body, it is characterised in that the top of the robot body
Provided with walking mechanism, walking mechanism includes road wheel, extruding wheel and movable motor, and road wheel is arranged on walking round frame by wheel shaft
Both ends, walking round frame is provided with movable motor, the wheel shaft of the output axis connection road wheel of movable motor, the middle part of walking round frame
The top of robot body is arranged on by top-support, extruding wheel is located at the lower section of road wheel, and extruding wheel is installed by wheel shaft
At the both ends of extruding wheel carrier, extruding wheel carrier is arranged on top-support；The bottom of robot body is provided with multiaxis image mechanism, more
Axle image mechanism includes telescoping mechanism, multi-axle steering mechanism and camera head, and telescoping mechanism includes being arranged in robot body
Linear electric motors, the mover connection elevating lever of linear electric motors, elevating lever connection multi-axle steering mechanism, multi-axle steering mechanism includes the
One hollow rotating platform and the second hollow rotating platform, the stator connection elevating lever of the first hollow rotating platform, the first hollow rotation
The rotor for turning platform connects the stator of the second hollow rotating platform, the rotor connection camera head of the second hollow rotating platform, takes the photograph
Camera head is provided with high-definition camera, infrared camera and light compensating lamp.
2. a kind of tunnel according to claim 1 is without dead angle crusing robot, it is characterised in that：The telescoping mechanism includes
Elevating screw pair, elevating screw reducing motor, lift slide and lifting sliding rail, one end of the secondary screw mandrel of elevating screw pass through shaft coupling
Device connects the output shaft of elevating screw reducing motor, and the secondary feed screw nut of elevating screw connects the lift slide on lifting sliding rail,
First hollow rotating platform of the bottom connection multi-axle steering mechanism of lift slide.
3. a kind of tunnel according to claim 1 is without dead angle crusing robot, it is characterised in that：First hollow rotating
The axis of platform and the second hollow rotating platform is mutually perpendicular to.
4. a kind of tunnel according to claim 1 is without dead angle crusing robot, it is characterised in that：The road wheel and extruding
Drag-line is provided between wheel.Supported by drag-line, and track is provided.
5. a kind of tunnel according to claim 1 is without dead angle crusing robot, it is characterised in that：Set above the drag-line
There are communication cable and electrified cable.
6. a kind of tunnel according to claim 1 is without dead angle crusing robot, it is characterised in that：The robot body's
Inside is provided with power module and communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710963226.5A CN107546638A (en) | 2017-10-17 | 2017-10-17 | A kind of tunnel is without dead angle crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710963226.5A CN107546638A (en) | 2017-10-17 | 2017-10-17 | A kind of tunnel is without dead angle crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107546638A true CN107546638A (en) | 2018-01-05 |
Family
ID=60967303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710963226.5A Withdrawn CN107546638A (en) | 2017-10-17 | 2017-10-17 | A kind of tunnel is without dead angle crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107546638A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188764A (en) * | 2018-01-29 | 2018-06-22 | 无锡市恒翼通机械有限公司 | Horizontal mini rotates machining center |
| CN108799747A (en) * | 2018-08-15 | 2018-11-13 | 科大智能电气技术有限公司 | A kind of novel and multifunctional small-sized hanging detection ball storehouse mechanism |
| CN109434846A (en) * | 2018-10-29 | 2019-03-08 | 国网浙江平湖市供电有限公司 | A kind of substation's shelf depreciation crusing robot |
| CN109713606A (en) * | 2019-01-14 | 2019-05-03 | 南京电博机器人技术有限公司 | A kind of cable tunnel intelligent patrol detection device and method for inspecting |
| CN110076797A (en) * | 2019-05-14 | 2019-08-02 | 襄阳金美科林农业开发有限公司 | A kind of greenhouse plant disease crusing robot and method for inspecting |
| CN110707593A (en) * | 2019-08-31 | 2020-01-17 | 王远伦 | Electric power inspection robot |
| CN111028379A (en) * | 2019-12-12 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Image data acquisition robot |
| CN112318475A (en) * | 2020-11-02 | 2021-02-05 | 河南大学 | Two-wheeled robot for detecting steering by using two-wheeled differential chassis |
| CN117133096A (en) * | 2023-10-26 | 2023-11-28 | 中汽研汽车检验中心(宁波)有限公司 | Test system and test method for driver attention monitoring system |
-
2017
- 2017-10-17 CN CN201710963226.5A patent/CN107546638A/en not_active Withdrawn
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188764A (en) * | 2018-01-29 | 2018-06-22 | 无锡市恒翼通机械有限公司 | Horizontal mini rotates machining center |
| CN108799747A (en) * | 2018-08-15 | 2018-11-13 | 科大智能电气技术有限公司 | A kind of novel and multifunctional small-sized hanging detection ball storehouse mechanism |
| CN109434846A (en) * | 2018-10-29 | 2019-03-08 | 国网浙江平湖市供电有限公司 | A kind of substation's shelf depreciation crusing robot |
| CN109713606A (en) * | 2019-01-14 | 2019-05-03 | 南京电博机器人技术有限公司 | A kind of cable tunnel intelligent patrol detection device and method for inspecting |
| CN110076797A (en) * | 2019-05-14 | 2019-08-02 | 襄阳金美科林农业开发有限公司 | A kind of greenhouse plant disease crusing robot and method for inspecting |
| CN110707593A (en) * | 2019-08-31 | 2020-01-17 | 王远伦 | Electric power inspection robot |
| CN111028379A (en) * | 2019-12-12 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Image data acquisition robot |
| CN112318475A (en) * | 2020-11-02 | 2021-02-05 | 河南大学 | Two-wheeled robot for detecting steering by using two-wheeled differential chassis |
| CN117133096A (en) * | 2023-10-26 | 2023-11-28 | 中汽研汽车检验中心(宁波)有限公司 | Test system and test method for driver attention monitoring system |
| CN117133096B (en) * | 2023-10-26 | 2024-01-09 | 中汽研汽车检验中心(宁波)有限公司 | Test system and test method for driver attention monitoring system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180105 |