CN107938725B - Lifting platform of underground comprehensive pipe gallery inspection robot and control method thereof - Google Patents
Lifting platform of underground comprehensive pipe gallery inspection robot and control method thereof Download PDFInfo
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- CN107938725B CN107938725B CN201711393019.7A CN201711393019A CN107938725B CN 107938725 B CN107938725 B CN 107938725B CN 201711393019 A CN201711393019 A CN 201711393019A CN 107938725 B CN107938725 B CN 107938725B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/10—Tunnels or galleries specially adapted to house conduits, e.g. oil pipe-lines, sewer pipes ; Making conduits in situ, e.g. of concrete ; Casings, i.e. manhole shafts, access or inspection chambers or coverings of boreholes or narrow wells
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Abstract
The invention provides an underground comprehensive pipe gallery inspection robot lifting platform and a control method thereof, wherein the underground comprehensive pipe gallery inspection robot lifting platform is installed in a vertical shaft pipe gallery and comprises a driving device, a conveying chain device and a platform, the conveying chain device and the driving device can be both detachably installed inside the vertical shaft pipe gallery, the conveying chain device is connected with the driving device, the platform is connected with the conveying chain device, and the driving device can drive the conveying chain device to drive the platform to reciprocate up and down along the axial direction of the vertical shaft pipe gallery. The invention provides a method for controlling a lifting platform of an inspection robot of an underground comprehensive pipe rack, which is used for controlling the lifting platform of the inspection robot of the underground comprehensive pipe rack. The underground comprehensive pipe gallery inspection robot lifting platform and the control method thereof can effectively realize that the inspection robot smoothly, safely and freely passes through a vertical shaft pipe gallery.
Description
Technical Field
The invention relates to the technical field of lifting of an inspection robot for a pipe rack, in particular to a lifting platform of an inspection robot for an underground comprehensive pipe rack and a control method thereof.
Background
Along with the utility tunnel successively drops into the operation, also higher and higher to the requirement of safe patrolling and examining. Because of the long and narrow space in utility tunnel, the unknown factor of internal environment is many, especially to the piping lane that the underground depth is big, adopts the robot to patrol and examine and become reliable, safe means relatively, simultaneously, has also improved and has patrolled and examined efficiency. However, for the robot, it is generally only able to pass through a road surface with a gradient of not more than 30 °, and it is a practical problem to pass through a shaft pipe gallery smoothly, safely and without obstacles.
Disclosure of Invention
The invention aims to provide a lifting platform of an inspection robot for an underground comprehensive pipe gallery and a control method thereof, which can effectively realize smooth, safe and barrier-free passing of the inspection robot through a vertical shaft pipe gallery.
In order to achieve the purpose, the invention provides a lifting platform of an inspection robot for an underground comprehensive pipe gallery, wherein the lifting platform of the inspection robot for the underground comprehensive pipe gallery is installed in a vertical shaft pipe gallery, the lifting platform of the inspection robot for the underground comprehensive pipe gallery comprises a driving device, a conveying chain device and a platform, the conveying chain device and the driving device can be both detachably installed in the vertical shaft pipe gallery, the conveying chain device is connected with the driving device, the platform is connected with the conveying chain device, the driving device can drive the conveying chain device to drive the platform to reciprocate up and down along the axial direction of the vertical shaft pipe gallery, and a detection element capable of detecting that the inspection robot enters or leaves the platform is arranged on the platform.
As above the utility tunnel inspection robot lift platform, wherein, conveying chain device includes driving shaft, driven shaft and at least a set of chain subassembly, the driving shaft with drive arrangement connects, the driven shaft install in the below of driving shaft, just the driven shaft with driving shaft parallel arrangement, the chain subassembly respectively with the driving shaft driven shaft connection, the platform with the chain subassembly is connected, drive arrangement can drive the driving shaft rotates and passes through the chain subassembly drives the platform is followed the axial of shaft piping lane is reciprocating motion from top to bottom.
As above the utility tunnel patrol and examine robot lift platform, wherein, the chain subassembly includes drive sprocket, driven sprocket and chain, the drive sprocket cover establish install in on the driving shaft, just drive sprocket with the driving shaft keeps circumference static, driven sprocket can rotate ground cover establish install in on the driven shaft, the chain is around establishing drive sprocket with driven sprocket, drive arrangement can drive the driving shaft drives drive sprocket rotates, drive sprocket drives the chain encircles drive sprocket reaches driven sprocket reciprocating motion.
As above the utility tunnel patrol and examine robot lift platform, wherein, the chain subassembly is equipped with two sets ofly, two drive sprocket all overlaps establish install in on the driving shaft, the driving shaft drives two drive sprocket rotates in step, two driven sprocket homoenergetic is rotated ground the cover establish install in on the driven shaft, two the chain is respectively around establishing the correspondence drive sprocket with driven sprocket, and two the chain is parallel to each other, the platform respectively with two the chain is connected, drive arrangement passes through driving shaft and two drive sprocket drive two chain synchronous motion drives the platform rises and descends.
Underground utility tunnel patrol and examine robot lift platform, wherein, the chain subassembly still includes the chain backplate, the chain backplate is by the installation one side of platform is detained and is established on the chain, set up longitudinal extension's bar hole on the chain backplate, the platform runs through the bar hole with the chain is connected, just the chain drives the platform is followed bar hole up-and-down motion.
As above the utility model discloses an underground pipe gallery patrol and examine robot lift platform, wherein, the chain subassembly still includes elasticity tensioning assembly, elasticity tensioning assembly includes pillar, two crossbeams, pendulum rod, first connecting axle and second connecting axle, the pillar vertically set up in on the bottom surface of shaft piping lane, the lower extreme of pendulum rod pass through the adapter rotate connect in on the bottom surface of shaft piping lane, first connecting axle can run through with rotating the upper end of pillar, two the one end of crossbeam respectively with the both ends fixed connection of first connecting axle, two the other end of crossbeam respectively with the both ends of second connecting axle are rotated and are connected, the through-hole has been seted up at the middle part of second connecting axle, the pendulum rod runs through the through-hole with second connecting axle slides and cup joints, the upper end of pendulum rod is located the top of second connecting axle is equipped with spring, spacing sleeve and spacing nut by supreme order from bottom, the both ends of spring respectively support by on the upper surface of second connecting axle with spacing sleeve's lower terminal surface, spacing sleeve's up end supports and leans on the lower surface supports and leans on spacing nut's the equal pin joint of pivot, two driven shaft holes are connected the driven shaft respectively with two crossbeams.
Utility tunnel patrol and examine robot lift platform as above, wherein, the platform includes both ends open-ended box structure and connecting plate, the inside horizontal passage that forms of box structure, the one end opening orientation of box structure the conveying chain device, connecting plate fixed connection in the orientation of box structure the top position of the one end terminal surface of conveying chain device, just the connecting plate with the conveying chain device can be connected with dismouting.
Utility tunnel patrols and examines robot lift platform as above, wherein, be equipped with the guide rail on the bottom plate of box structure, the extending direction of guide rail with the direction of intercommunication of passageway is the same.
Utility tunnel patrols and examines robot lift platform as above, wherein, follow the direction of communication of passageway, the interval is equipped with two stops on the bottom plate of box structure, two the stop is close to respectively the both ends of box structure.
The lifting platform of the underground comprehensive pipe gallery inspection robot is characterized in that the detection element is a photoelectric sensor and/or a pressure sensor.
Utility tunnel patrols and examines robot lift platform as above, wherein, drive arrangement includes motor and stopper, the motor with the conveying chain device respectively with the stopper is connected.
As above utility model discloses a utility tunnel patrol and examine robot lift platform, wherein, utility tunnel patrol and examine robot lift platform still includes position detection device, position detection device includes first position sensor and second position sensor, first position sensor locate with be close to in the first horizontal piping lane of the upper end intercommunication of shaft piping lane the position department of shaft piping lane, second position sensor locate with be close to in the second horizontal piping lane of the lower extreme intercommunication of shaft piping lane the position department of shaft piping lane, first position sensor with second position sensor respectively with the drive arrangement electricity is connected.
The invention also provides a method for controlling the lifting platform of the inspection robot for the underground comprehensive pipe rack, wherein the method for controlling the lifting platform of the inspection robot for the underground comprehensive pipe rack comprises the following steps:
step 1: detecting the position of the inspection robot, and controlling the platform to move to a height corresponding to the position of the inspection robot;
step 2: driving the inspection robot to move and berth on the platform;
and step 3: controlling the platform to move to the target position of the inspection robot and stop moving;
and 4, step 4: and controlling the inspection robot to move and leave the platform.
Compared with the prior art, the invention has the following advantages:
the underground comprehensive pipe gallery inspection robot lifting platform and the control method thereof can effectively realize that the inspection robot smoothly, safely and freely passes through a vertical shaft pipe gallery.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
FIG. 1 is a schematic structural view of a main view of an underground utility tunnel inspection robot lifting platform installed in the underground utility tunnel;
FIG. 2 is a schematic side view of the lifting platform of the underground utility tunnel inspection robot provided by the invention installed in the underground utility tunnel;
FIG. 3 is a schematic view of a partial structure of a lifting platform of an underground comprehensive pipe gallery inspection robot provided by the invention;
fig. 4 is a schematic structural diagram of a driving device of a lifting platform of an underground comprehensive pipe gallery inspection robot provided by the invention;
FIG. 5 is an enlarged view of the structure at A in FIG. 1;
FIG. 6 is an enlarged view of the structure at B in FIG. 2;
FIG. 7 is a schematic sectional view taken along line C-C of FIG. 6;
fig. 8 is a flow chart of steps of the method for controlling the lifting platform of the underground comprehensive pipe gallery inspection robot provided by the invention.
The reference numbers illustrate:
1. a drive device;
11. a motor;
12. a brake;
2. a conveyor chain device;
21. a drive shaft;
22. a driven shaft;
23. a chain assembly;
231. a drive sprocket;
232. a driven sprocket;
233. a chain;
234. a chain guard plate;
235. an elastic tensioning assembly;
2351. a base pillar;
2352. a cross beam;
2353. a swing rod;
2354. a first connecting shaft;
2355. a second connecting shaft;
2356. a spring;
2357. a limiting sleeve;
2358. a limit nut;
3. a platform;
31. a box structure;
311. guide rail
Detailed Description
In order to clearly understand the technical solution, the purpose and the effect of the present invention, a detailed description of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 1-7, the invention provides an underground comprehensive pipe gallery inspection robot lifting platform, wherein the underground comprehensive pipe gallery inspection robot lifting platform is installed in a vertical shaft pipe gallery, when the vertical shaft pipe gallery is arranged, a first horizontal pipe gallery communicated with the vertical shaft pipe gallery is usually arranged at the top of the vertical shaft pipe gallery, a second horizontal pipe gallery communicated with the vertical shaft pipe gallery is arranged at the bottom of the vertical shaft pipe gallery, the underground comprehensive pipe gallery inspection robot lifting platform comprises a driving device 1, a conveying chain device 2 and a platform 3, the conveying chain device 2 and the driving device 1 can be detachably installed inside the vertical shaft pipe gallery, particularly the upper end of the conveying chain device 2 can be detachably installed on the side wall of the vertical shaft pipe gallery, and be close to the top of shaft piping lane, conveying chain device 2's lower extreme downwardly extending and can install in the bottom of shaft piping lane with dismouting, also can be regarded as connecting on the inner wall of second horizontal piping lane, conveying chain device 2 is connected with drive arrangement 1, drive arrangement 1 also installs on the inner wall of shaft piping lane, platform 3 is connected with conveying chain device 2, drive arrangement 1 can drive conveying chain device 2 and drive platform 3 along shaft piping lane's axial up-and-down reciprocating motion, so can be with patrolling and examining the robot by first horizontal piping lane to second horizontal piping lane through platform 3, or will patrol and examine the robot and take to first horizontal piping lane by second horizontal piping lane, the realization is patrolled and examined the robot and is smooth in shaft piping lane, safety, accessible lift. The platform 3 is provided with a detection element which can detect that the inspection robot enters and leaves the platform 3 so as to ensure that the inspection robot smoothly and safely enters or leaves the platform.
Further, as shown in fig. 1 to 3, the present invention provides a lifting platform of an inspection robot for an underground comprehensive pipe gallery, wherein the conveying chain device 2 includes a driving shaft 21, a driven shaft 22 and at least one set of chain components 23, the driving shaft 21 is connected with the driving device 1, the driving shaft 21 is rotatably mounted on a side wall of a vertical pipe gallery through an upper mounting bracket, the driven shaft 22 is mounted below the driving shaft 21, and the driven shaft 22 is arranged in parallel with the driving shaft 21, the driven shaft 22 is mounted on a bottom surface (i.e. an inner wall of a second horizontal pipe gallery) of the vertical pipe gallery through a bottom mounting bracket or other structures (e.g. an elastic tensioning component 235 described below), the driven shaft 22 may be rotatably mounted on the bottom mounting bracket or may be fixedly mounted on the bottom mounting bracket in a non-rotatable manner, which is not limited by the present invention; chain subassembly 23 is connected with driving shaft 21, driven shaft 22 respectively, and driving shaft 21 supports chain subassembly 23 with driven shaft 22 jointly, and platform 3 is connected with chain subassembly 23, and drive arrangement 1 can drive driving shaft 21 and rotate and drive platform 3 through chain subassembly 23 along the axial up-and-down reciprocating motion of shaft piping lane.
Furthermore, as shown in fig. 1 to 3, the invention provides a lifting platform of an inspection robot for an underground utility tunnel, wherein the chain assembly 23 comprises a driving sprocket 231, a driven sprocket 232 and a chain 233, the driving sprocket 231 is sleeved on the driving shaft 21, the driving sprocket 231 and the driving shaft 21 keep circumferential static, the driving sprocket 231 and the driving shaft 21 rotate synchronously in the process that the driving shaft 21 is driven by the driving device 1 to rotate, wherein a key can be arranged between the driving sprocket 231 and the driving shaft 21 to ensure circumferential static, so that the driving shaft 21 can be ensured to drive the driving sprocket 231 to rotate smoothly in the rotation process, and the occurrence of the situation that the platform 3 cannot be normally driven to lift due to relative rotation between the driving sprocket 231 and the driving shaft 21 is avoided; the driven sprocket 232 can be rotatably sleeved on the driven shaft 22, the rotation of the driven sprocket 232 can be realized by the rotation between the driven shaft 22 and the bottom mounting bracket, or the rotation between the driven sprocket 232 and the driven shaft 22, or the two rotations, and the invention is not limited thereto; the chain 233 is wound around the driving sprocket 231 and the driven sprocket 232, the driving device 1 can drive the driving shaft 21 to drive the driving sprocket 231 to rotate, and the driving sprocket 231 drives the chain 233 to reciprocate around the driving sprocket 231 and the driven sprocket 232.
Preferably, as shown in fig. 1, the invention provides a lifting platform of an inspection robot for an underground pipe gallery, wherein two groups of chain assemblies 23 are provided, the two groups of chain assemblies 23 are arranged in parallel, two driving sprockets 231 are respectively sleeved on a driving shaft 21, the two driving sprockets 231 are arranged at intervals, the driving shaft 21 drives the two driving sprockets 231 to synchronously rotate, the two driven sprockets 232 are respectively sleeved on a driven shaft 22 in a rotatable manner, the two chains 233 are respectively wound around the corresponding driving sprocket 231 and the corresponding driven sprocket 232, the two chains 233 are parallel to each other, the platform 3 is respectively connected with the two chains 233, the driving device 1 drives the two chains 233 to synchronously move and drive the platform 3 to ascend and descend through the driving shaft 21 and the two driving sprockets 231, the chain assemblies 23 are arranged into two groups and can be supported from two sides of the platform 3, so that the platform 3 is kept stable, the condition that the inspection robot falls due to the inclination of the platform 3 is prevented, the stress of the single chain 233 is reduced, and the service life of the chain 233 is ensured.
Preferably, as shown in fig. 2, the invention provides an underground pipe gallery inspection robot lifting platform, wherein the chain assembly 23 further comprises a chain guard 234, the chain guard 234 is fastened on the chain 233 from one side of the mounting platform 3, a longitudinally extending strip-shaped hole is formed in the chain guard 234, the strip-shaped hole can be understood as a guide groove for the platform 3 to move up and down, the platform 3 penetrates through the strip-shaped hole to be connected with the chain 233, and the chain 233 drives the platform 3 to reciprocate up and down along the strip-shaped hole, so that the chain 233 is prevented from warping due to the suspension of the platform 3, and the inspection robot or other objects on the platform 3 can be protected from being involved in the chain 233.
Further, as shown in fig. 1, 2, and 5 to 7, the invention provides a lifting platform of an inspection robot for an underground utility tunnel, wherein the chain assembly 23 further comprises an elastic tensioning assembly 235, the elastic tensioning assembly 235 comprises a base column 2351, two cross beams 2352, a swing rod 2353, a first connecting shaft 2354 and a second connecting shaft 2355, the base column 2351 is longitudinally arranged on the bottom surface of the shaft tunnel, the lower end of the swing rod 2353 is rotatably connected to the bottom surface of the shaft tunnel through an adapter, the first connecting shaft 2354 can rotatably penetrate through the upper end of the base column 2351, one ends of the two cross beams 2352 are respectively and fixedly connected with two ends of the first connecting shaft 2354, the other ends of the two cross beams 2352 are respectively and rotatably connected with two ends of the second connecting shaft 2355, a through hole is formed in the middle of the second connecting shaft 2355, the swing rod 2353 penetrates through the through hole and is slidably sleeved with the second connecting shaft 2355 (the second connecting shaft 2355 can also be regarded as a slider on the connecting shaft 2353), the upper end surface of the second connecting shaft 2353 is provided with a limiting nut 2356, the upper end surface of the second connecting shaft 2357, the upper end of the second connecting shaft 2356, the upper end of the second shaft 2352, the second shaft 2356, the limiting nut 2357 is rotatably connected with the upper end surface of the limiting nut 2356, the limiting nut 2357, the upper end of the second shaft 2355, the upper end of the limiting nut 2352, the limiting nut 2355, the limiting nut 2356, the upper end of the limiting nut 2352 is respectively and the upper end of the second shaft 2355, the limiting nut 2352, the limiting nut 2357, the limiting nut 2355, the limiting nut 2352, the upper end of the bushing is rotatably connected with the upper end of the bushing, the bushing is respectively and the upper end of the bushing, the bushing is rotatably connected with the bushing. After the installation is completed, because the spring 2356 is installed between the limiting sleeve 2357 and the second connecting shaft 2355 in a compressed state, under the action of the elastic restoring force of the spring 2356, two ends of the spring 2356 always push against the second connecting shaft 2355 and the limiting sleeve 2357, because of the action of the limiting nut 2358, the spring 2356 cannot push the limiting sleeve 2357 to move towards the direction away from the spring 2356, so that under the pushing action of the spring 2356, only the second connecting shaft 2355 moves towards the direction away from the limiting sleeve 2357, thereby driving the cross beam 2352 to swing downwards and pulling the chain 233, so that the chain 233 keeps a tensioning state, when the chain 233 is loosened and loosened, the position of the limiting nut 2358 on the swing rod 2353 can be adjusted downwards, thereby ensuring that the spring 2356 can always keep the state of elastically pushing against the second connecting shaft 2355, thereby ensuring that the chain 233 is in a tensioning state, and ensuring the reliability of conveying of the chain 233, and simultaneously because the spring pushes away, a buffering space is provided for the chain 233, and the situation that the chain 233 is excessively tensioned and therefore, which causes the chain 233 to be broken can not be tensioned, can be excessively tensioned, can be avoided. It should be noted that the above-mentioned structure of the elastic tensioning assembly 235 is only a preferred embodiment of the present invention, and those skilled in the art can also adopt other structural components to tension the chain 233, and the present invention is not limited thereto.
Further, as shown in fig. 1 to 3, the present invention provides an elevating platform of an inspection robot for an underground comprehensive pipe gallery, wherein the platform 3 includes a box structure 31 with two open ends (i.e. the left and right ends of the box structure 31 in fig. 2) and a connecting plate, a horizontal channel is formed inside the box structure 31, one end of the box structure 31 is open toward the conveying chain device 2, and the connecting plate is fixedly connected to the top position of the end surface of the box structure 31 facing one end of the conveying chain device 2, specifically, the connecting plate is parallel to the end surface of the box structure 31, and the lower edge of the connecting plate is connected to the upper edge of the end surface of the box structure 31 facing one end of the conveying chain device 2, so as to ensure that the connecting plate does not block the opening of the box structure 31 facing one end of the conveying chain device 2, so as to ensure that the inspection robot can smoothly pass through the opening of the box structure 31 facing one end of the conveying chain device 2 and drive away from the box structure 31; and the connecting plate is detachably connected with the conveying chain device 2. The box structure 31 can be regarded as a rectangular box body which is formed by enclosing a bottom plate, a top plate and two side plates and has two open ends, a horizontal channel is formed inside the rectangular box body, the extending direction of the horizontal channel is the same as the extending direction of the first horizontal pipe gallery and the second horizontal pipe gallery, so that an inspection robot can smoothly and directly enter the box structure 31 from the first horizontal pipe gallery and the second horizontal pipe gallery and smoothly enter the first horizontal pipe gallery and the second horizontal pipe gallery from the box structure 31 without turning; in which care should be taken to ensure that the floor of the box structure 31 is level when the box structure 31 is provided, so as to prevent the inspection robot from falling from the inside of the box structure 31 due to the inclination of the floor.
Further, as shown in fig. 1, the invention provides a lifting platform of an underground comprehensive pipe gallery inspection robot, wherein a guide rail 311 is arranged on a bottom plate, and the extending direction of the guide rail 311 is the same as the communication direction of a channel. The bottom of the inspection robot is provided with a guide groove matched with the guide rail 311, the guide rail 311 is arranged to effectively guide the position of the inspection robot when the inspection robot enters the box structure 31, so that the inspection robot is ensured to be parked at the central position of the bottom plate, the condition that the bottom plate of the box structure 31 is inclined due to uneven stress can be effectively avoided, and meanwhile, the two side plates of the inspection robot and the box structure 31 are prevented from being abraded due to friction.
Preferably, the invention provides a lifting platform of an underground comprehensive pipe gallery inspection robot, wherein two parking baffles are arranged on a bottom plate of a box body structure 31 at intervals along the communication direction of a channel, and the two parking baffles are respectively close to two ends of the box body structure 31 (namely the left end and the right end of the box body structure 31 in fig. 2). Can get into box structure 31 back at the robot of patrolling and examining through setting up the parking fender, carry on spacingly at the both ends opening part of box structure 31 to the robot of patrolling and examining to prevent to patrol and examine the both ends opening that the robot followed box structure 31 at the lift in-process and drop. Wherein, when platform 3 did not use, the inside of parking fender retraction platform 3 (the bottom plate of box structure 31) to supply to patrol and examine the inside that the robot got into box structure 31, after patrolling and examining the robot and getting into box structure 31 completely, the parking fender is automatic to be risen, and after platform 3 reached assigned position through going up and down, the parking fender retracts the inside of platform 3 once more, in order to supply to patrol and examine the robot and drive away from platform 3. The parking gear can be controlled by adopting an electric control mode, or the parking gear can also be realized by adopting a floating connecting rod structure, as long as the automatic lifting can be ensured after the inspection robot completely enters the platform 3, and the automatic retraction can be realized when the inspection robot needs to enter or leave the platform 3, and the invention is not limited by the above.
Further, as shown in fig. 4, the invention provides a lifting platform of an underground comprehensive pipe gallery inspection robot, wherein the driving device 1 comprises a motor 11 and a brake 12, and the motor 11 and the conveying chain device 2 are respectively connected with the brake 12. The motor 11 provides power for the conveying chain device 2, the brake 12 drives or stops the motor 11, and therefore the operation and the stop of the conveying chain device 2 are controlled, specifically, the stop of the conveying chain device 2 is controlled in the process that the inspection robot enters or leaves the platform 3, and the operation of the conveying chain device 2 is controlled to achieve lifting before the inspection robot does not enter the platform 3 and after the inspection robot completely enters the platform 3.
Preferably, the invention provides a lifting platform of an inspection robot for an underground comprehensive pipe gallery, wherein the lifting platform of the inspection robot for the underground comprehensive pipe gallery further comprises a position detection device, the position detection device comprises a first position sensor and a second position sensor, the first position sensor is arranged in a first horizontal pipe gallery communicated with the upper end of a vertical shaft pipe gallery and close to the vertical shaft pipe gallery, the second position sensor is arranged in a second horizontal pipe gallery communicated with the lower end of the vertical shaft pipe gallery and close to the vertical shaft pipe gallery, and the first position sensor and the second position sensor are respectively and electrically connected with a driving device 1. First position sensor and second position sensor are used for detecting the position of patrolling and examining the robot in first horizontal pipe gallery and second horizontal pipe gallery.
The inspection robot comprises a platform 3, a brake 12, a first position sensor, a second position sensor and a control system, wherein the first position sensor, the second position sensor and the brake 12 are electrically connected with the control system, the first position sensor and the second position sensor feed back signals to the control system after detecting the position of the inspection robot, and the control system controls the brake 12 to operate according to the detected position of the inspection robot, so that the platform 3 moves to a position corresponding to the inspection robot, and the inspection robot can conveniently enter the platform 3.
Preferably, a top position sensor and a bottom position sensor for detecting the position of the platform 3 are respectively arranged at the top and the bottom of the vertical shaft pipe gallery, the top position sensor and the bottom position sensor are also electrically connected with the control system respectively, the top position sensor and the bottom position sensor are used for detecting the position of the platform 3, when the top position sensor detects the platform 3, the inspection robot is controlled to enter the platform 3, and when the top position sensor cannot detect the platform 3, the inspection robot is controlled to be anchored in the first horizontal pipe gallery, so that the condition that the inspection robot enters the vertical shaft pipe gallery and falls and is damaged when the platform 3 does not ascend in place can be effectively prevented; similarly, the principle of the bottom position sensor is substantially the same as that of the top position sensor, and both the principles ensure that the inspection robot smoothly and safely enters the platform 3, and are not described herein again.
In addition, preferably, two detection elements are provided, the two detection elements are respectively provided at openings at two ends of the box structure 31, specifically, they may be photoelectric sensors, the photoelectric sensors emit light beams that cross the opening at the end of the box structure 31 (i.e., the opening at the end of the box structure 31 is provided in a direction perpendicular to the axis of the horizontal channel), when the inspection robot or the inspection personnel passes through the opening, the light beams emitted by the photoelectric sensors are blocked, so that the inspection robot or the inspection personnel can be determined whether the inspection robot or the inspection personnel passes through the opening by detecting the photoelectric sensors, and then the inspection personnel or the inspection robot can be determined to enter or leave the platform 3; alternatively, the detecting element may be disposed on the upper surface of the bottom plate of the box structure 31, and may be a pressure sensor, and the pressure change on the bottom plate of the box structure 31 may be used to determine whether the inspection person or the inspection robot enters or leaves the platform 3.
As shown in fig. 8, the invention further provides a method for controlling the lifting platform of the inspection robot for the underground comprehensive pipe gallery, wherein the method for controlling the lifting platform of the inspection robot for the underground comprehensive pipe gallery comprises the following steps:
step 1: detecting the position of the inspection robot, and controlling the platform to move to a height corresponding to the position of the inspection robot;
step 2: driving the inspection robot to move and berth on the platform;
and 3, step 3: the control platform moves to the target position of the inspection robot and stops moving;
and 4, step 4: and controlling the inspection robot to move and leave the platform.
The specific implementation process comprises the following steps:
when the inspection robot carries out inspection tasks from the high position of the vertical shaft pipe gallery to the low position of the vertical shaft pipe gallery, the inspection robot approaches the platform from the first horizontal pipe gallery, the first position sensor detects a position signal passed by the inspection robot, the inspection robot or an inspection person is about to enter the region of the vertical shaft pipe gallery, and the brake controls the platform to ascend;
when the platform rises to reach the high position of the vertical shaft pipe gallery, the top position sensor detects the platform, the brake brakes safely, the platform is kept still, and an inspection robot or an inspection person waits to enter the platform;
after the first position sensor detects a position signal passed by the inspection robot, if the top position sensor does not detect the platform within a preset time, starting a light alarm to prompt an inspection person, and braking the inspection robot to wait for braking;
after the inspection robot or an inspection person enters the platform, when a pressure sensor arranged in the box body structure detects that the pressure is increased to a preset value, the inspection robot is controlled to brake, the parking gear is stopped to stand, the inspection robot is limited and blocked at openings at two ends of the box body structure, and the platform is ready to descend;
the platform starts to descend, an inspection robot or other objects are carried to enter the vertical shaft pipe gallery, and the descending speed of the platform is controlled by a variable frequency motor and an encoder so as to meet the inspection requirements of the inspection robot on the space environment and the pipelines of the vertical shaft pipe gallery;
the inspection robot finishes the inspection task of the space environment of the vertical shaft pipe gallery and the pipeline in the descending process of the platform; other objects are lowered to a preset position in the vertical shaft pipe gallery along with the platform, and operations such as maintenance, replacement and the like are carried out;
when the platform is lowered to the low position of the shaft pipe gallery, the bottom position sensor detects a signal, the brake brakes safely, the platform keeps still, the parking gear falls back, and the inspection robot or the inspection personnel leave the platform;
after the inspection robot or the inspection personnel leave the platform, the pressure sensor inside the box structure detects that the pressure becomes smaller and returns to the initial value, and the inspection robot or the inspection personnel leave the platform to inspect the lower space of the vertical shaft pipe gallery or the second horizontal pipe gallery.
And when the inspection robot carries out inspection tasks from the lower part of the vertical shaft pipe gallery to the high part of the vertical shaft pipe gallery, the inspection process is opposite to the process.
Compared with the prior art, the invention has the following advantages:
the underground comprehensive pipe gallery inspection robot lifting platform and the control method thereof can effectively realize that the inspection robot smoothly, safely and freely passes through a shaft pipe gallery.
In the inspection stage, the wheel type inspection robot or other objects can be assisted to smoothly, safely and freely ascend and descend in the vertical shaft pipe gallery through the space of the underground comprehensive pipe gallery vertical shaft pipe gallery, and a set of system is formed by the wheel type inspection robot and the inspection robot, so that the inspection blind area of the conventional inspection robot on the vertical space is overcome, the inspection task of the environment and the pipeline of the space of the underground comprehensive pipe gallery vertical shaft pipe gallery and the complex three-dimensional space is completed, and the actual operation difficulty of the inspection robot in the space of the vertical shaft pipe gallery is broken through;
in the maintenance stage, the invention can assist the manual work, quickly and efficiently convey materials in the vertical shaft pipe gallery in a positioning and accurate manner, saves the labor, has operability in a narrow underground space and works more efficiently.
The invention can adjust the adaptive size according to the space size of the underground comprehensive pipe gallery vertical shaft pipe gallery, and has strong applicability.
The invention can complete the ascending and descending in the space of the vertical shaft pipe gallery of the underground comprehensive pipe gallery, and has bidirectionality.
The invention can be applied to other inspection occasions with robots in vertical space, and has wide application range.
The combined control system of the lifting platform of the inspection robot and the inspection robot for the underground comprehensive pipe gallery enables the lifting platform of the inspection robot and the inspection robot for the underground comprehensive pipe gallery to be matched with each other more efficiently and safely for inspection work.
The invention has the advantages of double braking, double control and other safety guarantees, so that the inspection equipment in the underground comprehensive pipe gallery is safer, and the control system is more intelligent.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications that can be made by one skilled in the art without departing from the spirit and principles of the invention should fall within the protection scope of the invention.
Claims (9)
1. The underground comprehensive pipe gallery inspection robot lifting platform is characterized in that the underground comprehensive pipe gallery inspection robot lifting platform is installed in a vertical shaft pipe gallery, the underground comprehensive pipe gallery inspection robot lifting platform comprises a driving device, a conveying chain device and a platform, the conveying chain device and the driving device can be installed inside the vertical shaft pipe gallery in a dismounting mode, the conveying chain device is connected with the driving device, the platform is connected with the conveying chain device, the driving device can drive the conveying chain device to drive the platform to reciprocate up and down along the axial direction of the vertical shaft pipe gallery, and a detection element capable of detecting that an inspection robot enters or leaves the platform is arranged on the platform;
the platform comprises a box body structure with two open ends and a connecting plate, a horizontal channel is formed in the box body structure, one open end of the box body structure faces the conveying chain device, the connecting plate is fixedly connected to the top of the end face of one end of the box body structure, the end face of one end of the box body structure faces the conveying chain device, and the connecting plate and the conveying chain device can be connected in a detachable mode;
a guide rail is arranged on a bottom plate of the box body structure, and the extending direction of the guide rail is the same as the communicating direction of the channel;
along the communication direction of the channel, two parking stops are arranged on a bottom plate of the box body structure at intervals, and the two parking stops are respectively close to two ends of the box body structure;
the underground comprehensive pipe gallery inspection robot lifting platform further comprises a position detection device, wherein the position detection device comprises a first position sensor and a second position sensor, the first position sensor is arranged in a first horizontal pipe gallery communicated with the upper end of the vertical shaft pipe gallery and close to the vertical shaft pipe gallery, the second position sensor is arranged in a second horizontal pipe gallery communicated with the lower end of the vertical shaft pipe gallery and close to the vertical shaft pipe gallery, and the first position sensor and the second position sensor are respectively electrically connected with the driving device;
the underground comprehensive pipe gallery inspection robot lifting platform further comprises a control method, and the control method comprises the following steps:
step 1: detecting the position of the inspection robot, and controlling the platform to move to a height corresponding to the position of the inspection robot;
and 2, step: driving the inspection robot to move and berth on the platform;
and step 3: controlling the platform to move to the target position of the inspection robot and stop moving;
and 4, step 4: and controlling the inspection robot to move and leave the platform.
2. The utility model provides a robot lift platform is patrolled and examined to utility tunnel according to claim 1, characterized in that, conveying chain device includes driving shaft, driven shaft and at least a set of chain subassembly, the driving shaft with drive arrangement connects, the driven shaft install in the below of driving shaft, just the driven shaft with driving shaft parallel arrangement, the chain subassembly respectively with the driving shaft driven shaft, the platform with the chain subassembly is connected, drive arrangement can drive the driving shaft rotates and passes through the chain subassembly drives the platform is followed the axial up-and-down reciprocating motion of shaft piping lane.
3. The utility model provides an underground pipe gallery inspection robot lift platform, its characterized in that, the chain subassembly includes drive sprocket, driven sprocket and chain, the drive sprocket cover establish install in on the driving shaft, just drive sprocket with the driving shaft keeps circumference static, driven sprocket can rotate ground cover establish install in on the driven shaft, the chain is around establishing drive sprocket with driven sprocket, drive arrangement can drive the driving shaft drives drive sprocket rotates, drive sprocket drives the chain encircles drive sprocket reaches driven sprocket reciprocating motion.
4. The utility model discloses a robot lift platform is patrolled and examined to utility tunnel according to claim 3, characterized in that, the chain subassembly is equipped with two sets ofly, two drive sprocket all overlaps establish install in on the driving shaft, the driving shaft drives two drive sprocket rotates in step, two driven sprocket all can rotate ground cover establish install in on the driven shaft, two the chain is respectively around establishing corresponding drive sprocket with driven sprocket, and two the chain is parallel to each other, the platform respectively with two the chain is connected, drive arrangement passes through driving shaft and two drive sprocket drives two the chain simultaneous movement drives the platform rises and descends.
5. The utility tunnel inspection robot lifting platform according to claim 3 or 4, wherein the chain assembly further comprises a chain guard plate, the chain guard plate is installed one side of the platform is buckled and is established on the chain, a longitudinally extending strip-shaped hole is formed in the chain guard plate, the platform runs through the strip-shaped hole and is connected with the chain, and the chain drives the platform to move up and down along the strip-shaped hole.
6. The utility model provides an underground utility tunnel patrol and examine robot lift platform of claim 2~4 arbitrary, its characterized in that, the chain subassembly still includes elasticity tensioning assembly, elasticity tensioning assembly includes foundation pillar, two crossbeams, pendulum rod, first connecting axle and second connecting axle, the foundation pillar vertically set up in on the bottom surface of shaft pipe gallery, the lower extreme of pendulum rod rotate through the adapter connect in on the bottom surface of shaft pipe gallery, first connecting axle can run through the upper end of foundation pillar with rotating, two one end of crossbeam respectively with the both ends fixed connection of first connecting axle, two the other end of crossbeam respectively with the both ends of second connecting axle rotate to be connected, the through-hole has been seted up in the middle part of second connecting axle, the pendulum rod runs through the through-hole with the second connecting axle slip cup joints, the upper end of pendulum rod is located the top of second connecting axle is equipped with spring, spacing sleeve and stop nut from bottom to top in proper order, the both ends of spring respectively support and lean on the upper surface of second connecting axle with the lower terminal surface of spacing sleeve, the upper end surface of nut of spacing sleeve supports and leans on respectively, the driven shaft on the lower surface of two crossbeams rotates the two crossbeams and both ends are seted up and are connected the two crossbeam holes are rotated.
7. The underground utility tunnel inspection robot lifting platform according to claim 1, wherein the detection element is a photoelectric sensor and/or a pressure sensor.
8. The utility tunnel inspection robot lifting platform of claim 1, wherein the driving device comprises a motor and a brake, and the motor and the conveying chain device are respectively connected with the brake.
9. A control method of a lifting platform of an underground comprehensive pipe gallery inspection robot is applied to the lifting platform of the underground comprehensive pipe gallery inspection robot as claimed in any one of claims 1 to 8, and is characterized by comprising the following steps:
step 1: detecting the position of the inspection robot, and controlling the platform to move to a height corresponding to the position of the inspection robot;
step 2: driving the inspection robot to move and berth on the platform;
and step 3: controlling the platform to move to the target position of the inspection robot and stop moving;
and 4, step 4: and controlling the inspection robot to move and leave the platform.
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| CN109454624A (en) * | 2018-12-04 | 2019-03-12 | 陕西西驱电子科技有限公司 | A kind of piping lane robot system |
| CN112124336B (en) * | 2020-08-28 | 2022-02-22 | 嘉兴学院 | Piping lane inspection device |
| CN112623989A (en) * | 2020-11-19 | 2021-04-09 | 国网浙江省电力有限公司绍兴供电公司 | Portable installation formula hoist mechanism of GIS equipment inspection robot |
| CN113880000B (en) * | 2021-09-02 | 2022-06-24 | 合肥中盛水务发展有限公司 | Hoisting device based on inspection robot |
| CN114151089B (en) * | 2021-11-30 | 2024-01-12 | 徐工集团凯宫重工南京股份有限公司 | Pipeline conveying device for vertical shaft heading machine |
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