CN109571405A - A kind of underground cables network managing intelligent crusing robot - Google Patents
A kind of underground cables network managing intelligent crusing robot Download PDFInfo
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- CN109571405A CN109571405A CN201811523374.6A CN201811523374A CN109571405A CN 109571405 A CN109571405 A CN 109571405A CN 201811523374 A CN201811523374 A CN 201811523374A CN 109571405 A CN109571405 A CN 109571405A
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- 241000935985 Certhiidae Species 0.000 claims abstract description 4
- 230000003028 elevating effect Effects 0.000 claims description 26
- 244000309464 bull Species 0.000 claims description 22
- 210000000245 forearm Anatomy 0.000 claims description 14
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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Abstract
The invention discloses a kind of underground cables network managing intelligent crusing robot, including body, the top of body is equipped with binocular camera shooting structure, and the both ends of body are equipped with work machine arm configuration, and the bottom of body is equipped with walking structure；Binocular camera shooting structure includes two image collection assemblies, left and right pitching adjusting mechanism, pitch regulating mechanism and lifting regulating mechanism, the top of lifting regulating mechanism is connected with pitch regulating mechanism, pitch regulating mechanism connects left and right pitching adjusting mechanism, and left and right pitching adjusting mechanism connects two image collection assemblies；Walking structure includes hoofing part mechanism and two secondary triangle creepers undercarriage, and hoofing part mechanism is set in body, and the both ends of hoofing part mechanism are equipped with triangle creeper undercarriage.The crusing robot structure is simple, science is convenient, with strong points, easy to use, low in cost, easy to operate, easy to spread, can well solve the Daily Round Check problem of underground cables network management.
Description
Technical field
The present invention relates to underground cables network management detection fields, and in particular to a kind of underground cables network managing intelligent inspection machine
People.
Background technique
With the quickening of urban modernization construction speed, the requirement to limited land use and urban beautification is also increasingly
It is high.Afforestation Landscape space and corresponding public resource in face of growing tension, plan a city develop while, create it is most pleasant
Habitat environment city becomes the top priority of urban development.The application of electricity makes people's lives become rich and varied, however electric power frame
Ceases to be busy and its a large amount of corollary apparatus are that the fine living space in city brings serious influence.Developed country already needs electricity consumption
The city living environment for summing fine contradiction between the two smoothly solves, they successfully land overhead line, and influence
The auxiliary facility of environment is placed in underground, forms underground distribution network, thus also citizen one environmentally protective city living environment.
The development boosting of China's urban modernization pace of construction in buried cable tunnel, in spies such as Beijing, Shanghai, Guangzhou
Large size city, underground distribution network have tended to be perfect, and some large- and-medium size cities are also in the construction progress for accelerating cable tunnel.Mesh
Before, it is different according to the cross section in tunnel, cable tunnel is divided into: three kinds of cut and cover method tunnel, shield tunnel and push bench process tunnel
Pattern, feature is mainly distance, with a varied topography, temperature is high, moist, cable type is more, mutually criss-cross.Due to tunnel
Middle environment is complicated, and cable also causes tunnel fire hazard due to biting and sting because of natural aging, corrosion or toy often.Cable needs long-term
Safe operation, once fire occurs for cable, certainly will spread the fast, intensity of a fire if cannot find early security risk and take measures
Suddenly, rob and help out of distress, it will cause serious power outage, consequence is extremely serious, and repair is also highly difficult, directly or indirectly economical
It loses huge.
Currently, the cable in tunnel detect it is more based on artificial, it is big due to that can be generated during cable work
Calorimetric amount, and ignite when, can release a large amount of dense smokes and pernicious gas；In addition, due to the destruction of natural calamity,
Some tunnels can have water leakage, these all greatly endanger the safety and health situation of operator.Therefore, artificial inspection
Survey danger coefficient height, the low efficiency, poor operability of tunnel cable.
To sum up, gradually popularizing with Urban Underground power grid, Cable fault examination will enter the high-incidence season, thus to cable
The development of tunnel crusing robot proposes urgent need.
In view of this, the present invention provides a kind of underground cables network managing intelligent crusing robot.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of underground cables network managing intelligent inspection machine
People.
In order to solve the above-mentioned technical problem, it adopts the following technical scheme that
The top of a kind of underground cables network managing intelligent crusing robot, including body, body is equipped with binocular camera shooting structure, machine
The both ends of body are equipped with work machine arm configuration, and the bottom of body is equipped with walking structure；Binocular camera shooting structure includes two images
The lower part of acquisition component, left and right pitching adjusting mechanism, pitch regulating mechanism and lifting regulating mechanism, lifting regulating mechanism is solid
Loaded in body, the top of lifting regulating mechanism is connected with pitch regulating mechanism, the connection of pitch regulating mechanism for Dingan County
Left and right pitching adjusting mechanism, left and right pitching adjusting mechanism connect two image collection assemblies；Work machine arm configuration includes operation
Forearm, operation postbrachium, operation refers to connecting joint between portion, arm and refers to a connecting joint, and operation postbrachium is connected on body, after operation
Connecting joint between arm linking arm, connecting joint connection operation forearm between arm, the connection of operation forearm refer to a connecting joint, connect between referring to
Joint connection operation refers to portion；Walking structure includes hoofing part mechanism and two secondary triangle creepers undercarriage, hoofing part mechanism
It is set in body, the both ends of hoofing part mechanism are equipped with triangle creeper undercarriage.
Further, lifting regulating mechanism includes lift adjustment principal arm, lift telescopic arm, lifting motor, elevating screw, lifting
Feed screw nut, lifting attachment base, lifting slider and lifting sliding rail, lift adjustment principal arm are fixedly installed in body, lift adjustment
The bottom of principal arm is equipped with lifting motor, and lifting motor connects elevating screw, and elevating screw is equipped with elevating screw nut, goes up and down silk
Stem nut connection lifting attachment base, lifting attachment base connect lift telescopic arm, and the both ends of lift telescopic arm are equipped with lifting slider, rise
It drops sliding block and connects lifting sliding rail, lifting sliding rail is installed on the inner wall of lift adjustment principal arm, and lift telescopic arm connects pitch
Regulating mechanism.
Further, pitch regulating mechanism includes pitch regulating arm, pitch adjusting motor, pitch tune
Save main shaft, pitch is adjusted from axis, pitch adjust driving gear, pitch adjusts driven gear, pitch tune
Section motor is installed on lift telescopic arm, and the output end that pitch adjusts motor is equipped with pitch and adjusts main shaft, and front and back is bowed
The end for adjusting main shaft is faced upward equipped with pitch adjusting driving gear, pitch adjusts driving gear and is connected with pitch tune
Driven gear is saved, pitch adjusts driving gear connection pitch and adjusts from axis, and pitch is adjusted to be connected from the both ends of axis
It is connected on pitch regulating arm.
Further, pitch adjust from the both ends of axis be equipped with planetary wheeling assembly, planetary wheeling assembly include multiple planetary gears,
Sun gear and outside support, the middle part of sun gear are equipped with sun wheel bore, and sun wheel bore, which is adjusted with pitch from axis, to match, too
Sun wheel external engagement is connected with multiple planetary gears, and planetary gear engagement is connected with outside support, and outside support is fixedly connected on front and back
On the inner wall of pitch regulation arm, the inside of outside support is equipped with arc-shaped gear, and arc-shaped gear is meshed with the external teeth of planetary gear.
Further, left and right pitching adjusting mechanism includes that connecting rod, shaft, the first bull stick, the second bull stick and left and right pitching are driven
Dynamic component, the lower part of connecting rod connect pitch regulating arm, and the top of connecting rod is transferred in shaft, and the both ends of shaft turn respectively
It is connected to the first bull stick and the second bull stick, the image collection assembly in the first bull stick connection left side, the image on the second bull stick connection right side
Acquisition component, there are two the settings of left and right pitching driving assembly, and pitching driving assembly in left and right includes the first or so pitching driving assembly
With the second or so pitching driving assembly, the structure of the first or so pitching driving assembly and second or so pitching driving assemblies is identical,
The image collection assembly in the first or so pitching driving assembly connection left side, the image on the second or so pitching driving assembly connection right side
Acquisition component.
Further, pitching driving assembly in left and right includes that left and right pitching driving cylinder, piston rod and attachment base, left and right pitching are driven
Cylinder of taking offence is fixedly installed on pitch regulating arm, and left and right pitching drives cylinder to connect piston rod, and piston rod connects attachment base,
Attachment base is set to the lower part of image collection assembly.
Further, two image collection assemblies are thermal infrared imager and visible light high-definition camera, thermal infrared imager setting
In the left side of left and right pitching adjusting mechanism, it is seen that light high-definition camera is set to the right side of left and right pitching adjusting mechanism.
Further, it is equipped with control system in body, control system includes that industrial personal computer, imaging-control apparatus, travelling control are set
Standby, work machine arm control equipment, wireless telecommunications system, warning device and charging equipment, industrial personal computer are separately connected camera shooting control
Equipment, controller for running, work machine arm control equipment, wireless telecommunications system, warning device and charging equipment, camera shooting control
The standby connection thermal infrared imager of equipment and visible light high-definition camera, controller for running connect walking structure, work machine arm control
Control equipment connection operation robotic arm, wireless telecommunications system connect remote control center.
Further, hoofing part mechanism include driving motor, gear reducer, it is walking output shaft, active drive bevel gear, driven
Driving bevel gear and driven output shaft, driving motor are set in body, and driving motor connects speed reducer, speed reducer connection walking
Output shaft, the end for output shaft of walking are equipped with active drive bevel gear, and the engagement of active drive bevel gear is connected with driven driving cone
Gear, driven driving bevel gear are connected with driven output shaft, and the both ends of driven output shaft connect triangle creeper undercarriage.
Further, triangle creeper undercarriage include actively walk return pulley, take turns in driven walking, taken turns in driven walking, from
Dynamic walking lower whorl, triangle crawler belt, the first connecting bracket, the second connecting bracket and third connecting bracket, in return pulley of actively walking
Portion connects driven output shaft, and the front end for return pulley of actively walking connects the first connecting bracket, and the first connecting bracket connects driven walking
Lower whorl, driven walking lower whorl connect the second connecting bracket, are connected in driven walking and take turns in the middle part of the second connecting bracket, driven row
The top for walking wheel, which is connected in driven walking, takes turns, wheel connection third connecting bracket in driven walking, the connection of third connecting bracket
Actively walk return pulley, wheel on return pulley of actively walking, driven walking, in driven walking wheel, driven walking lower whorl excircle connection
Triangle crawler belt.
As a result of the above technical solution, the following beneficial effects are obtained:
The present invention is a kind of underground cables network managing intelligent crusing robot, the crusing robot structure is simple, science is convenient,
It is with strong points, easy to use, it is low in cost, it is easy to operate, it is easy to spread, the daily of underground cables network management can be well solved
Inspection problem.
By the way that binocular camera shooting structure is arranged, when thermal infrared imager and visible light high-definition camera need by elevating movement come
It when carrying out camera adjusting, drives lift telescopic arm to move up and down by lifting regulating mechanism, realizes that thermal infrared imager, visible light are high
The elevating movement of clear video camera, left and right pitching adjusting mechanism and pitch regulating mechanism, to make thermal infrared imager and visible
Light high-definition camera can carry out integral elevating.When thermal infrared imager and visible light high-definition camera are needed through left and right pitching movement
To adjust the movement of motor driven pitch regulating mechanism by pitch, realize that pitch is adjusted when carrying out camera adjusting
The pitch of arm moves, to make the thermal infrared imager being installed on pitch regulating arm and visible light high-definition camera can
Pitch movement is carried out, to make thermal infrared imager and visible light high-definition camera that can carry out whole pitch movement.
It is left by setting when thermal infrared imager and visible light high-definition camera are needed through left and right pitching movement to carry out camera adjusting
Right pitching drives cylinder, drives thermal infrared imager and visible light high-definition camera to realize left and right pitching movement, to make infrared heat
As instrument and visible light high-definition camera can carry out whole left and right pitching movement.Thermal infrared imager and visible light high-definition camera in this way
Machine can carry out whole lifting, left and right pitching and pitch movement, expand thermal infrared imager and visible light high-definition camera
The image pickup scope of machine absorbs thermal infrared imager and visible light high-definition camera to more suitable picture, identifies underground cables
Barrier, detectable substance in network management preferably complete inspection work convenient for crusing robot.
By work machine arm configuration, work machine arm configuration is provided with two, is respectively arranged in the both ends of body, hot
After the detection target in outer thermal imaging system and visible light high-definition camera confirmation front, tool is completed by two work machine arm configuration matchings
Work is detected to body, which is equivalent to the arm of people, and operation forearm is equivalent to the lower arm of hand, operation postbrachium phase
When in the upper arm of hand, operation refers to that portion is equivalent to the finger of hand, and operation forearm, operation postbrachium, operation refer to be equipped with accordingly inside portion
Driving equipment, so that work machine arm configuration is completed corresponding detection work.
By walking structure, moved simultaneously by the secondary triangle creeper undercarriage in hoofing part mechanism driving left and right two, this three
Angle creeper undercarriage is equipped with return pulley of actively walk, takes turns in driven walking, wheel and driven walking lower whorl in driven walking, total bodily form
At eight wheel constructions, improve the kinetic stability of crusing robot, convenient for crusing robot complete underground cables network management in obstacle detouring,
Climb, climb the work such as hole, obstacle detouring, complete entire inspection work can smoothly.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is a kind of structural schematic diagram of underground cables network managing intelligent crusing robot in the embodiment of the present invention；
Fig. 2 is the external structure signal that pitch regulating mechanism is connected with lifting regulating mechanism in the embodiment of the present invention
Figure；
Fig. 3 is the schematic diagram of internal structure of lifting regulating mechanism in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of pitch regulating mechanism in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of planetary wheeling assembly in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of left and right pitching adjusting mechanism in the embodiment of the present invention；
Fig. 7 be in the embodiment of the present invention in Fig. 6 A to structural schematic diagram；
Fig. 8 is the structural schematic diagram of hoofing part mechanism in the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of intermediate cam of embodiment of the present invention creeper undercarriage；
Figure 10 is the structural schematic diagram of work machine arm configuration in the embodiment of the present invention；
Figure 11 is the structural schematic diagram of control system in the embodiment of the present invention.
In figure: 1- body；2- binocular camera shooting structure；3- work machine arm configuration；4- walking structure；5- Image Acquisition group
Part；6- or so pitching adjusting mechanism；7- pitch regulating mechanism；8- lifting regulating mechanism；9- operation forearm；After 10- operation
Arm；11- operation refers to portion；Connecting joint between 12- arm；13- refers to a connecting joint；14- hoofing part mechanism；15- triangle crawler belt row
Walk mechanism；16- lift adjustment principal arm；17- lift telescopic arm；18- lifting motor；19- elevating screw；20- elevating screw nut；
21- goes up and down attachment base；22- lifting slider；23- lifting sliding rail；24- pitch regulating arm；25- pitch adjusts motor；
26- pitch adjusts main shaft；27- pitch is adjusted from axis；28- pitch adjusts driving gear；29- pitch tune
Save driven gear；30- planetary wheeling assembly；31- planetary gear；32- sun gear；33- outside support；34- sun wheel bore；35- arc
Tooth；36- connecting rod；37- shaft；The first bull stick of 38-；The second bull stick of 39-；40- thermal infrared imager；41- visible light high-definition camera
Machine；42- or so pitching drives cylinder；43- piston rod；44- attachment base；45- driving motor；46- speed reducer；47- walking output
Axis；48- active drive bevel gear；The driven driving bevel gear of 49-；50- driven output shaft；51- actively walks return pulley；52- is driven
It is taken turns in walking；It is taken turns in the driven walking of 53-；The driven walking lower whorl of 54-；55- triangle crawler belt；The first connecting bracket of 56-；57- second
Connecting bracket；58- third connecting bracket.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by accompanying drawings and embodiments, to this
Invention is further elaborated.However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention,
The range being not intended to restrict the invention.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to keep away
Exempt from unnecessarily to obscure idea of the invention.
As shown in Figure 1, a kind of underground cables network managing intelligent crusing robot, including body, the top of body 1 are equipped with binocular
Camera settings 2, the both ends of body 1 are equipped with work machine arm configuration 3, and the bottom of body 1 is equipped with walking structure 4.
Binocular camera shooting structure 2 includes two image collection assemblies 5, left and right pitching adjusting mechanism 6, pitch regulating mechanism
7 and lifting regulating mechanism 8, the lower part of lifting regulating mechanism 8 be fixedly installed in body 1, the connection of the top of lifting regulating mechanism 8
There is pitch regulating mechanism 7, pitch regulating mechanism 7 connects left and right pitching adjusting mechanism 6, left and right pitching adjusting mechanism 6
Connect two image collection assemblies 5.
Referring to Figure 10, work machine arm configuration 3 refers to including operation forearm 9, operation postbrachium 10, operation to be connected between portion 11, arm
Joint 12 and referring to a connecting joint 13, operation postbrachium 10 is connected on body 1, connecting joint 12 between 10 linking arm of operation postbrachium,
12 connection operation forearm 9 of connecting joint between arm, the connection of operation forearm 9 refer to a connecting joint 13, refer to that the connection of a connecting joint 13 is made
Industry refers to portion 11.By work machine arm configuration 3, work machine arm configuration 3 is provided with two, is respectively arranged in the both ends of body 1,
After the detection target in thermal infrared imager 40 and the confirmation of visible light high-definition camera 41 front, by two work machine arm configurations 3
Matching is completed specifically to detect work, which is equivalent to the arm of people, and operation forearm 9 is equivalent under hand
Arm, operation postbrachium 10 are equivalent to the upper arm of hand, and operation refers to that portion 11 is equivalent to the finger of hand, and operation forearm 9, is made operation postbrachium 10
Industry, which refers to, is equipped with corresponding driving equipment inside portion 11, work machine arm configuration 3 is made to complete to detect work accordingly.
Walking structure 4 includes hoofing part mechanism 14 and two secondary triangle creepers undercarriage 15, and hoofing part mechanism 14 is set
It is placed in body 1, the both ends of hoofing part mechanism 14 are equipped with triangle creeper undercarriage 15.
Specifically, in embodiments of the present invention, referring to Fig. 2 and Fig. 3, lifting regulating mechanism 8 include lift adjustment principal arm 16,
Lift telescopic arm 17, lifting motor 18, elevating screw 19, elevating screw nut 20, lifting attachment base 21, lifting slider 22 and liter
Sliding rail 23 drops, and lift adjustment principal arm 16 is fixedly installed in body 1, and the bottom of lift adjustment principal arm 16 is equipped with lifting motor 18,
Lifting motor 18 connects elevating screw 19, and elevating screw 19 is equipped with elevating screw nut 20, and the connection of elevating screw nut 20 rises
Attachment base 21 drops, and lifting attachment base 21 connects lift telescopic arm 17, and the both ends of lift telescopic arm 17 are equipped with lifting slider 22, lifting
Sliding block 22 connects lifting sliding rail 23, and lifting sliding rail 23 is installed on the inner wall of lift adjustment principal arm 16, and lift telescopic arm 17 connects
Pitch regulating mechanism 7.When thermal infrared imager 40 and visible light high-definition camera 41 need to carry out mirror by elevating movement
When head is adjusted, elevating screw 19 is driven to do high speed rotary motion by lifting motor 18, in elevating screw 19 and elevating screw spiral shell
Under 20 effect of mother, the rotary motion of elevating screw 19 is converted to the linear motion of elevating screw nut 20, to drive lifting
Attachment base 21 carries out oscilaltion campaign, under the sliding effect of lifting slider 22 and lifting sliding rail 23, makes lift telescopic arm 17
Elevating movement can be carried out on lift adjustment principal arm 16, due to two image collection assemblies 5, left and right pitching adjusting mechanism 6 and preceding
Pitching adjusting mechanism 7 is mounted on lift telescopic arm 17 afterwards, to realize thermal infrared imager 40 and visible light high-definition camera
41 lift adjustment facilitates crusing robot preferably to absorb the field data in underground cables network management, to facilitate inspection
Robot preferably completes inspection work.
Specifically, in embodiments of the present invention, referring to Fig. 2 and Fig. 4, pitch regulating mechanism 7 includes pitch tune
Joint arm 24, pitch adjust motor 25, pitch adjusts main shaft 26, pitch is adjusted and adjusted from axis 27, pitch
Driving gear 28, pitch adjust driven gear 29, and pitch adjusts motor 25 and is installed on lift telescopic arm 17, front and back
The output end of pitch regulation motor 25 is equipped with pitch and adjusts main shaft 26, and the end that pitch adjusts main shaft 26 is equipped with front and back
Pitch regulation driving gear 28, pitch adjust driving gear 28 and are connected with pitch adjusting driven gear 29, and front and back is bowed
It faces upward and adjusts the connection pitch adjusting of driving gear 28 from axis 27, pitch adjusts from the both ends of axis 27 and is connected to pitch
On regulating arm 24.
Specifically, in embodiments of the present invention, referring to Fig. 5, pitch adjusts from the both ends of axis 27 and is equipped with planetary gear set
Part 30, planetary wheeling assembly 30 include multiple planetary gears 31, sun gear 32 and outside support 33, and the middle part of sun gear 32 is equipped with the sun
Wheel bore 34, sun wheel bore 34, which is adjusted with pitch from axis 27, to match, and 32 external engagement of sun gear is connected with multiple planetary gears
31, the engagement of planetary gear 31 is connected with outside support 33, and outside support 33 is fixedly connected on the inner wall of pitch regulating arm 24,
The inside of outside support 33 is equipped with arc-shaped gear 35, and arc-shaped gear 35 is meshed with the external teeth of planetary gear 31.
When thermal infrared imager 40 and visible light high-definition camera 41 need to carry out camera adjusting by pitch movement
When, motor 25 is adjusted by pitch, pitch adjusting main shaft 26 is driven to do high speed rotary motion, adjusted in pitch
Under the action of driving gear 28 and pitch adjust driven gear 29, pitch adjusting is driven to rotate from axis 27,
Under the action of planetary wheeling assembly 30, pitch regulating arm 24 is driven to make rotating motion, hereby, it is achieved that realize infrared heat
As the adjusting of the pitch of instrument 40 and visible light high-definition camera 41, crusing robot is facilitated preferably to absorb underground cables network management
Interior field data, so that facilitating crusing robot preferably completes inspection work.
Specifically, in embodiments of the present invention, left and right pitching adjusting mechanism 6 includes connecting rod 36, shaft 37, the first bull stick
38, the lower part of the second bull stick 39 and left and right pitching driving assembly, connecting rod 36 connects pitch regulating arm 24, connecting rod 36
Top is transferred in shaft 37, and the both ends of shaft 37 are transferred respectively the first bull stick 38 and the second bull stick 39, the connection of the first bull stick 38
The image collection assembly 5 in left side, the image collection assembly 5 on the second bull stick 39 connection right side, left and right pitching driving assembly are provided with
Two, left and right pitching driving assembly include the first or so pitching driving assembly and second or so pitching driving assemblies, first or so
The structure of pitching driving assembly and second or so pitching driving assemblies is identical, the figure in the first or so pitching driving assembly connection left side
As acquisition component 5, the image collection assembly 5 on the second or so pitching driving assembly connection right side.
Specifically, in embodiments of the present invention, referring to Fig. 6 and Fig. 7, left and right pitching driving assembly includes left and right pitching driving
Cylinder 42, piston rod 43 and attachment base 44, left and right pitching driving cylinder 42 are fixedly installed on pitch regulating arm 24, left and right
Pitching drives cylinder 42 to connect piston rod 43, and piston rod 43 connects attachment base 44, and attachment base 44 is set to image collection assembly 5
Lower part.
When thermal infrared imager 40 and visible light high-definition camera 41 need to carry out camera adjusting by left and right pitching movement
When, drive cylinder 42 that piston rod 43 is driven to do flexible linear motion by left and right pitching, left and right pitching drives cylinder 42 and piston
There are two the settings of bar 43, can when needing to carry out left and right pitch regulation to thermal infrared imager 40 and visible light high-definition camera 41
Individually carry out.When pitching driving cylinder 42 in left and right drives piston rod 43 to do flexible linear motion, in shaft 37, the first bull stick 38
Under the action of the second bull stick 39, rotate thermal infrared imager 40 and visible light high-definition camera 41 around shaft 37, thus real
The left and right pitch regulation of existing thermal infrared imager 40 and visible light high-definition camera 41, facilitates crusing robot preferably to absorb underground
Field data in cable network management, so that facilitating crusing robot preferably completes inspection work.
Specifically, in embodiments of the present invention, referring to Fig. 6 and Fig. 7, two image collection assemblies 5 are thermal infrared imager 40
With visible light high-definition camera 41, thermal infrared imager 40 is set to the left side of left and right pitching adjusting mechanism 6, it is seen that light high-definition camera
Machine 41 is set to the right side of left and right pitching adjusting mechanism 6.
Specifically, in embodiments of the present invention, referring to Figure 11, body 1 is interior to be equipped with control system, and control system includes industry control
Machine, imaging-control apparatus, controller for running, work machine arm control equipment, wireless telecommunications system, warning device and charging are set
Standby, industrial personal computer is separately connected imaging-control apparatus, controller for running, work machine arm control equipment, wireless telecommunications system, report
Alert equipment and charging equipment, the standby connection thermal infrared imager 40 of imaging-control apparatus and visible light high-definition camera 41, travelling control
Equipment connects walking structure 4, and work machine arm controls equipment connection operation robotic arm, and wireless telecommunications system connection is remotely in control
The heart.By the way that control system is arranged, the whole work for controlling crusing robot is controlled for receiving the instruction of remote control center
Imaging-control apparatus, controller for running, work machine arm control equipment, and entire crusing robot is allow to carry out work in phase
Make, completes the inspection work in cable network management.
Specifically, in embodiments of the present invention, referring to Fig. 8, hoofing part mechanism 14 includes driving motor 45, speed reducer
46, walking output shaft 47, active drive bevel gear 48, driven driving bevel gear 49 and driven output shaft 50, driving motor 45 are set
It is placed in body 1, driving motor 45 connects speed reducer 46, the connection walking output shaft 47 of speed reducer 46, the end for output shaft 47 of walking
Portion is equipped with active drive bevel gear 48, and the engagement of active drive bevel gear 48 is connected with driven driving bevel gear 49, driven driving cone
Gear 49 is connected with driven output shaft 50, and the both ends of driven output shaft 50 connect triangle creeper undercarriage 15.
Specifically, in embodiments of the present invention, referring to Fig. 9, triangle creeper undercarriage 15 include actively walk return pulley 51,
Wheel 53 in 52, driven walking, driven walking lower whorl 54, triangle crawler belt 55, the first connecting bracket 56, second is taken turns in driven walking to connect
Bracket 57 and third connecting bracket 58 are connect, the middle part for return pulley 51 of actively walking connects driven output shaft 50, return pulley 51 of actively walking
Front end connect the first connecting bracket 56, the first connecting bracket 56 connects driven walking lower whorl 54, the driven connection of walking lower whorl 54
Second connecting bracket 57, the middle part of the second connecting bracket 57, which is connected in driven walking, takes turns 53, the top of wheel 53 in driven walking
It is connected in driven walking and takes turns 52,52 connection third connecting bracket 58 of wheel in driven walking, the connection of third connecting bracket 58 is actively
It walks return pulley 51, wheel 52 on return pulley 51 of actively walk, driven walking, the outer circle that 53, driven lower whorl 54 of walking are taken turns in driven walking
Week connection triangle crawler belt 55.
By walking structure 4, by the same luck of two 55 walking mechanism of secondary triangle crawler belt of the driving of hoofing part mechanism 14 left and right 15
It is dynamic, 55 walking mechanism 15 of triangle crawler belt be equipped with return pulley 51 of actively walk, take turns in driven walking taken turns in 52, driven walking 53 and from
Dynamic walking lower whorl 54, generally forms eight wheel constructions, improves the kinetic stability of crusing robot, completes ground convenient for crusing robot
Obstacle detouring in lower cable network management climbs, climbs the work such as hole, obstacle detouring, complete entire inspection work can smoothly.
The above is only specific embodiments of the present invention, but technical characteristic of the invention is not limited thereto.It is any with this hair
Based on bright, to solve essentially identical technical problem, essentially identical technical effect is realized, made ground simple change, etc.
With replacement or modification etc., all it is covered by among protection scope of the present invention.
Claims (10)
1. a kind of underground cables network managing intelligent crusing robot, it is characterised in that: including body (1), the top of the body (1)
Equipped with binocular camera shooting structure (2), the both ends of the body (1) are equipped with work machine arm configuration (3), the bottom of the body (1)
Portion is equipped with walking structure (4)；The binocular camera shooting structure (2) includes two image collection assemblies (5), left and right pitching adjusting mechanisms
(6), the lower part of pitch regulating mechanism (7) and lifting regulating mechanism (8), the lifting regulating mechanism (8) is fixedly installed in
In the body (1), the top of the lifting regulating mechanism (8) is connected with the pitch regulating mechanism (7), the front and back
Pitching adjusting mechanism (7) connects the left and right pitching adjusting mechanism (6), and the left and right pitching adjusting mechanism (6) connects two figures
As acquisition component (5)；The work machine arm configuration (3) include operation forearm (9), operation postbrachium (10), operation refer to portion (11),
Connecting joint (12) and refer to a connecting joint (13) between arm, the operation postbrachium (10) is connected on the body (1), the work
Industry postbrachium (10) connects connecting joint (12) between the arm, and connecting joint (12) connects the operation forearm (9), institute between the arm
It states operation forearm (9) and connects connecting joint (13) between the finger, connecting joint (13) the connection operation refers to portion between the finger
(11)；The walking structure (4) includes hoofing part mechanism (14) and two secondary triangle creepers undercarriage (15), and the walking is driven
Motivation structure (14) is set in the body (1), and the both ends of the hoofing part mechanism (14) are equipped with triangle creeper undercarriage
(15)。
2. a kind of underground cables network managing intelligent crusing robot according to claim 1, it is characterised in that: the rising-falling tone
Section mechanism (8) includes lift adjustment principal arm (16), lift telescopic arm (17), lifting motor (18), elevating screw (19), lifting silk
Stem nut (20), lifting attachment base (21), lifting slider (22) and lifting sliding rail (23), the lift adjustment principal arm (16) are fixed
It is installed in the body (1), the bottom of the lift adjustment principal arm (16) is equipped with lifting motor (18), the lifting motor
(18) elevating screw (19) is connected, the elevating screw (19) is equipped with the elevating screw nut (20), the lifting
Feed screw nut (20) connects lifting attachment base (21), and the lifting attachment base (21) connects the lift telescopic arm (17), described
The both ends of lift telescopic arm (17) are equipped with lifting slider (22), and the lifting slider (22) connects the lifting sliding rail (23), institute
It states lifting sliding rail (23) to be installed on the inner wall of the lift adjustment principal arm (16), before lift telescopic arm (17) connection is described
Pitching adjusting mechanism (7) afterwards.
3. a kind of underground cables network managing intelligent crusing robot according to claim 2, it is characterised in that: bow the front and back
Facing upward regulating mechanism (7) includes pitch regulating arm (24), pitch adjusting motor (25), pitch adjusting main shaft
(26), pitch adjusts from axis (27), pitch and adjusts driving gear (28) and pitch adjusting driven gear (29),
The pitch adjusts motor (25) and is installed on the lift telescopic arm (17), and the pitch adjusts motor (25)
Output end is equipped with pitch and adjusts main shaft (26), and the end that the pitch adjusts main shaft (26) is adjusted equipped with pitch
Driving gear (28), the pitch adjusts driving gear (28) and is connected with pitch adjusting driven gear (29), described
Pitch adjusts driving gear (28) and connects the pitch adjusting from axis (27), and the pitch is adjusted from axis (27)
Both ends be connected on the pitch regulating arm (24).
4. a kind of underground cables network managing intelligent crusing robot according to claim 2, it is characterised in that: bow the front and back
Face upward adjusting from the both ends of axis (27) be equipped with planetary wheeling assembly (30), the planetary wheeling assembly (30) include multiple planetary gears (31),
The middle part of sun gear (32) and outside support (33), the sun gear (32) is equipped with sun wheel bore (34), the sun wheel bore
(34) it adjusts with the pitch from axis (27) and matches, sun gear (32) external engagement is connected with multiple planetary gears
(31), planetary gear (31) engagement is connected with outside support (33), and the outside support (33) is fixedly connected on the front and back
On the inner wall of pitch regulation arm (24), the inside of the outside support (33) is equipped with arc-shaped gear (35), the arc-shaped gear (35) with
The external teeth of the planetary gear (31) is meshed.
5. a kind of underground cables network managing intelligent crusing robot according to claim 3, it is characterised in that: bow the left and right
Facing upward regulating mechanism (6) includes connecting rod (36), shaft (37), the first bull stick (38), the second bull stick (39) and left and right pitching driving
Component, the lower part of the connecting rod (36) connect the pitch regulating arm (24), the top switching of the connecting rod (36)
In the shaft (37), the both ends of the shaft (37) are transferred respectively the first bull stick (38) and the second bull stick (39), and described
The image collection assembly (5) in one bull stick (38) connection left side, the image collection assembly on the second bull stick (39) connection right side
(5), there are two the left and right pitching driving assembly settings, the left and right pitching driving assembly includes the first or so pitching driving group
Part and second or so pitching driving assemblies, the structure of the first or so pitching driving assembly and second or so pitching driving assemblies
It is identical, the image collection assembly (5) in the first or so pitching driving assembly connection left side, the second or so pitching driving group
The image collection assembly (5) on part connection right side.
6. a kind of underground cables network managing intelligent crusing robot according to claim 5, it is characterised in that: bow the left and right
Facing upward driving assembly includes left and right pitching driving cylinder (42), piston rod (43) and attachment base (44), and the left and right pitching drives gas
Cylinder (42) is fixedly installed on the pitch regulating arm (24), and left and right pitching driving cylinder (42) connects the piston
Bar (43), the piston rod (43) connect the attachment base (44), and the attachment base (44) is set to described image acquisition component
(5) lower part.
7. a kind of underground cables network managing intelligent crusing robot according to claim 5, it is characterised in that: two figures
Picture acquisition component (5) is thermal infrared imager (40) and visible light high-definition camera (41), and the thermal infrared imager (40) is set to
The left side of the left and right pitching adjusting mechanism (6), the visible light high-definition camera (41) are set to the left and right pitch regulation
The right side of mechanism (6).
8. a kind of underground cables network managing intelligent crusing robot according to claim 7, it is characterised in that: the body
(1) control system is equipped in, the control system includes industrial personal computer, imaging-control apparatus, controller for running, work machine arm
Control equipment, wireless telecommunications system, warning device and charging equipment, the industrial personal computer be separately connected the imaging-control apparatus,
Controller for running, work machine arm control equipment, wireless telecommunications system, warning device and charging equipment, the camera shooting control
Equipment is standby to connect the thermal infrared imager (40) and visible light high-definition camera (41), and the controller for running connects the row
It walks structure (4), the work machine arm control equipment connects the work machine arm, the long-range control of wireless telecommunications system connection
Center processed.
9. a kind of underground cables network managing intelligent crusing robot according to claim 1, it is characterised in that: the walking is driven
Motivation structure (14) includes driving motor (45), speed reducer (46), walking output shaft (47), active drive bevel gear (48), driven
Driving bevel gear (49) and driven output shaft (50), the driving motor (45) are set in the body (1), the driving electricity
Machine (45) connects the speed reducer (46), and the speed reducer (46) connects the walking output shaft (47), the walking output shaft
(47) end is equipped with active drive bevel gear (48), and active drive bevel gear (48) engagement is connected with driven driving cone tooth
It takes turns (49), the driven driving bevel gear (49) is connected with driven output shaft (50), and the both ends of the driven output shaft (50) connect
Connect the triangle creeper undercarriage (15).
10. a kind of underground cables network managing intelligent crusing robot according to claim 9, it is characterised in that: the triangle
Creeper undercarriage (15) includes actively walk return pulley (51), wheel (52) in driven walking, wheel (53), driven row in driven walking
Lower whorl (54), triangle crawler belt (55), the first connecting bracket (56), the second connecting bracket (57) and third connecting bracket (58) are walked,
The middle part of the return pulley (51) of actively walking connects the driven output shaft (50), and the front end of the return pulley (51) of actively walking connects
First connecting bracket (56) is connect, first connecting bracket (56) connects the driven walking lower whorl (54), described driven
Walking lower whorl (54) connects second connecting bracket (57), is connected in the middle part of second connecting bracket (57) described driven
(53) are taken turns in walking, the top that (53) are taken turns in the driven walking is connected with wheel (52), the driven row in the driven walking
It goes on wheel (52) and connects the third connecting bracket (58), the third connecting bracket (58) connects the return pulley of actively walking
(51), the return pulley (51) of actively walking, take turns (52) in driven walking, take turns (53), driven walking lower whorl (54) in driven walking
Excircle connect the triangle crawler belt (55).
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| CN201811523374.6A CN109571405B (en) | 2018-12-13 | 2018-12-13 | Intelligent inspection robot for underground cable network management |
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|---|---|---|---|
| CN201811523374.6A CN109571405B (en) | 2018-12-13 | 2018-12-13 | Intelligent inspection robot for underground cable network management |
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| CN113618705A (en) * | 2021-08-11 | 2021-11-09 | 山东通广电子有限公司 | Intelligent inspection robot |
| CN114102629A (en) * | 2021-12-06 | 2022-03-01 | 长沙理工大学 | Motor car bottom inspection robot |
| CN114227640A (en) * | 2022-03-01 | 2022-03-25 | 湖南工商大学 | Intelligent inspection robot for cable tunnel |
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Denomination of invention: An Intelligent Inspection Robot for Underground Cable Network Management Effective date of registration: 20231011 Granted publication date: 20210618 Pledgee: Guotou Taikang Trust Co.,Ltd. Pledgor: Hangzhou Shenhao Technology Co.,Ltd. Registration number: Y2023980060509 |