CN206639039U - A kind of cable tunnel robot device based on active rail-variable technology - Google Patents
A kind of cable tunnel robot device based on active rail-variable technology Download PDFInfo
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- CN206639039U CN206639039U CN201621387305.3U CN201621387305U CN206639039U CN 206639039 U CN206639039 U CN 206639039U CN 201621387305 U CN201621387305 U CN 201621387305U CN 206639039 U CN206639039 U CN 206639039U
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- cable tunnel
- active rail
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Abstract
The utility model provides a kind of cable tunnel robot device based on active rail-variable technology, including robot device, variable track device and peripheral auxiliary monitoring device, robot is provided with supply unit, system master device, communicator, video-unit, thermal infrared imaging device, variable track device and drive device；The system master device is provided with sensor；The peripheral auxiliary monitoring device includes wireless router, monitor terminal and remote control；The utility model can be realized and intelligent inspection carried out to labyrinth tunnel or raceway groove effectively instead of manually patrolling by variable track technology, and point occurs to fire and carries out real-time fire-extinguishing operations and the real-time monitoring and monitoring that form entirely.
Description
Technical field
It the utility model is related to Study On Intelligent Monitoring Techniques field, and in particular to a kind of cable tunnel based on active rail-variable technology
Pipeline robot apparatus structure.
Background technology
At present, national power cable operation specialized management mode belongs to greatly the management mode of extensive style, power cable
The operational inspection on road and service work are most of all by being accomplished manually.Due to underground power cable tunnel because space is long and narrow, come in and go out
Mouth is limited, and high voltage cable is intensive, and internal combustible is complicated (insulating materials species is various), and high temperature dense smoke is based on when fire occurs
Accumulation, causes great difficulty to work of putting out a fire to save life and property, causes immeasurable loss.Therefore set in electric power tunnel reliable flexible
Fire-fighting system, turn into a vital link in current electric power tunnel Design of Digital Video Monitor System.In recent years, it is domestic more
Secondary electric power tunnel fire let us is startling, and the landslide for closing on electric power tunnel road surface has beaten alarm bell, high-tension cable to us
The stolen event of failure, power cable facility makes us pay and suffered heavy losses, and high-tension cable and electric power tunnel are downtown area electricity
The sustainer of power conveying, once go wrong, it will serious influence is caused to the core space power supply safety in whole city.This reality
With the new technical scheme being related to brand-new, the economic means solved the problems, such as are provided for above mentioned problem.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of brand-new polypody autonomous cable tunnel robot
Device, under manual remote control or automatic running pattern, straight-line travelling can be achieved, left and right becomes track or become rail traveling up and down,
The accident handlings such as the inspection of labyrinth tunnel intelligent and fire-extinguishing operations can be carried out in real time.
The technical solution of the utility model is as follows：
A kind of cable tunnel robot device based on active rail-variable technology, the utility model is characterised by, including machine
Device people device, variable track device, wireless router, monitor terminal and remote control；Wherein：
Robot device includes being located at the wheel type drive device of car body side, and is located at the same side and is located at in-wheel driving
Auxiliary wheel suspension system at left and right sides of device, is fixed with supply unit and system master device on wheel type drive device,
Fire extinguisher and rotary nozzle are provided with the opposite side of car body, the card that can carry other aided-detection devices is provided with fire extinguisher
Buckle device；Lighting device, HD video device and thermal infrared imaging device are respectively equipped with car body front end, is provided with body rear end logical
T unit；The video-unit, thermal infrared imaging device are located at the three-dimensional Universal arm bottom of internal installation；The fire extinguisher, rotation
Turn shower nozzle to be connected with system master device respectively；
Variable track device is located on the main frame of robot device.
Video-unit described in the utility model is HD video device.
Thermal infrared imaging device described in the utility model is thermal infrared imaging camera.
Fire extinguisher described in the utility model is fixed on the main frame of robot device by bayonet unit.
Main frame described in the utility model is provided with broadband wireless transceiver module.
Variable track device described in the utility model include can three direction controllings performs device.
Monitor terminal described in the utility model is smart mobile phone or notebook computer or tablet personal computer.
The utility model has advantages below relative to prior art：
1) the utility model can effectively run in the case of complicated track structure, carry by becoming orbits controlling technology
High adaptability and practicality of the robot system inside cable tunnel；Such as intersection it is automatic be divided into different directions, vertical shaft
Or surmount the traveling of tunnel up and down of river bed etc.；
2) the utility model can effectively replace artificial progress tunnel inspection, realize and carry out intelligence to tunnel or raceway groove
Change inspection and fire occurs point and carry out real-time fire-extinguishing operations and in real time monitoring and monitoring.
3) the utility model can realize automatic detecting, additionally it is possible to realized by remote control manually operated, improve this reality
With new practicality.
4) the utility model can carry other assisted detector device equipment by bayonet unit, substantially increase this reality
With new scalability, application and application value are improved.
5) the utility model is provided with single broadband wireless transceiver module, and monitoring robot can preferably and monitor terminal
Or remote control communication, reception and feedback signal, improve overall performance in time.
6) robot device designed by the utility model may span across the barrier and tunnel ponding of tunnel ground, can have
Inspection is carried out under malicious pernicious gas environment, smoky environment；
7) robot device designed by the utility model carries thermal camera and carries out temperature pattern inspection, finds early stage
Disaster hidden-trouble；
8) (personnel can not enter the robot device designed by the utility model under cable tunnel generation fire condition
Situation about entering) instead of people point of origin is found as early as possible into tunnel, get the time for repairing.
9) robot device's Miniaturization Design designed by the utility model can carry out inspection by narrow and small tunnel space.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 1-1 is the utility model wireless router structural representation；
Fig. 1-2 is the utility model monitor terminal structural representation；
Fig. 1-3 is the utility model remote controller structure schematic diagram；
Fig. 2 is partial structural diagram of the present utility model.
Embodiment
Below in conjunction with accompanying drawing, to a kind of cable tunnel robot device based on active rail-variable technology of the present utility model
It is described in further detail.
As shown in Figure 1-2, a kind of cable tunnel robot device based on active rail-variable technology, the utility model feature
It is, including robot device, variable track device 14, wireless router 9, monitor terminal 10 and remote control 11；Wherein：
Robot device includes being located at the wheel type drive device 1 of car body side, and is located at the same side and is located at wheeled drive
The auxiliary wheel suspension system 2 of the dynamic left and right sides of device 1, is fixed with supply unit 12 and system master on wheel type drive device 1
Device 8 processed, fire extinguisher 3 and rotary nozzle 4 are provided with the opposite side of car body, other auxiliary can be carried by being provided with fire extinguisher 3
The bayonet unit 15 of detection device；Lighting device 5, HD video device 6 and thermal infrared imaging device are respectively equipped with car body front end
7, it is provided with communicator 13 in body rear end；The video-unit 6, thermal infrared imaging device 7 are located at the three-dimensional universal of internal installation
Arm bottom；The fire extinguisher 3, rotary nozzle 4 are connected with system master device 8 respectively；
Variable track device 14 is located on the main frame of robot device.
Video-unit 6 described in the utility model is HD video device.
Thermal infrared imaging device 7 described in the utility model is thermal infrared imaging camera.
Fire extinguisher 3 described in the utility model is fixed on the main frame of robot device by bayonet unit 15.
Main frame described in the utility model is provided with broadband wireless transceiver module.
Variable track device 14 described in the utility model include can three direction controllings performs device.
Monitor terminal 10 described in the utility model is smart mobile phone or notebook computer or tablet personal computer.
In Fig. 1, the utility model is equipped with bayonet unit 15, main frame to carry other auxiliary equipments on main frame
Frame can carry other auxiliary equipments by bayonet unit 15.The utility model sets to realize fire-extinguishing function concurrently on main frame
There is fire extinguisher 3, fire extinguisher 3 is fixed on main frame by bayonet unit 15, and main frame, which is put down, is also equipped with broadband wireless transmitting-receiving
It module, can be sent and received signal, be realized on automatic, remote manual control control and real-time ground over the ground by wireless router 9
The monitoring of lower tunnel internal.
As shown in Fig. 2 be three controllable traffic directions (A, B, C) of rail changing device 14, the utility model is in order to improve
Tunnel robot can in the automatic running in complicated tunnel, can control realize straight-line travelling (A), the free turning driving in left and right or
Person freely up and down turning driving (B, C).
When implementing, HD video device 6 and thermal camera 7 work the utility model simultaneously, exist for thermal camera
Monitor cable fire hidden danger or carry out the video identification of equipment when fire occurs, while be monitored monitoring.
The utility model is Miniaturization Design, can be arranged in narrow and small old tunnel；Remote visualization is remotely controlled, and personnel are not
Need to enter tunnel, remote visualization straighforward operation can be carried out on ground；Applicability is wide, can install different types of portable small
Type fire extinguisher；With flexible bayonet unit, it can conveniently install, change fire extinguisher, it is past to carry out repeatedly scene
Return fire extinguishing；It is simple, convenient, quick；Intellectuality running, can autonomous operation monitoring, reliability is high, can off-line operation can be online
Operation etc..
Monitor terminal 10 of the present utility model can be a kind of in smart mobile phone, notebook computer and tablet personal computer or it
His intelligent terminal.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (7)
- A kind of 1. cable tunnel robot device based on active rail-variable technology, it is characterised in that includingRobot device, variable track device (14), wireless router (9), monitor terminal (10) and remote control (11)；Wherein：Robot device includes being located at the wheel type drive device (1) of car body side, and is located at the same side and is located at in-wheel driving Auxiliary wheel suspension system (2) at left and right sides of device (1), supply unit (12) is fixed with wheel type drive device (1) and is System main control unit (8), is provided with fire extinguisher (3) and rotary nozzle (4) in the opposite side of car body, energy is provided with fire extinguisher (3) Enough carry the bayonet unit (15) of other aided-detection devices；Lighting device (5), HD video dress are respectively equipped with car body front end (6) and thermal infrared imaging device (7) are put, communicator (13) is provided with body rear end；The video-unit (6), infrared thermal imagery dress Put the three-dimensional Universal arm bottom that (7) are located at internal installation；The fire extinguisher (3), rotary nozzle (4) respectively with system master system Device (8) connects；Variable track device (14) is located on the main frame of robot device.
- A kind of 2. cable tunnel robot device based on active rail-variable technology as claimed in claim 1, it is characterised in that The video-unit (6) is HD video device.
- A kind of 3. cable tunnel robot device based on active rail-variable technology as claimed in claim 1, it is characterised in that The thermal infrared imaging device (7) is thermal infrared imaging camera.
- A kind of 4. cable tunnel robot device based on active rail-variable technology as claimed in claim 1, it is characterised in that The fire extinguisher (3) is fixed on the main frame of robot device by bayonet unit (15).
- A kind of 5. cable tunnel robot device based on active rail-variable technology as claimed in claim 1, it is characterised in that The main frame is provided with broadband wireless transceiver module.
- A kind of 6. cable tunnel robot device based on active rail-variable technology as claimed in claim 1, it is characterised in that The variable track device (14) include can three direction controllings performs device.
- A kind of 7. cable tunnel robot device based on active rail-variable technology as claimed in claim 1, it is characterised in that The monitor terminal (10) is smart mobile phone or notebook computer or tablet personal computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621387305.3U CN206639039U (en) | 2016-12-16 | 2016-12-16 | A kind of cable tunnel robot device based on active rail-variable technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621387305.3U CN206639039U (en) | 2016-12-16 | 2016-12-16 | A kind of cable tunnel robot device based on active rail-variable technology |
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| Publication Number | Publication Date |
|---|---|
| CN206639039U true CN206639039U (en) | 2017-11-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621387305.3U Active CN206639039U (en) | 2016-12-16 | 2016-12-16 | A kind of cable tunnel robot device based on active rail-variable technology |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110007691A (en) * | 2019-05-13 | 2019-07-12 | 招商局重庆交通科研设计院有限公司 | A kind of running gear for tunnel crusing robot |
| CN111437546A (en) * | 2020-04-08 | 2020-07-24 | 山东和兑智能科技有限公司 | High-temperature fire extinguishing device for high-voltage cable trench |
| CN112043991A (en) * | 2020-09-15 | 2020-12-08 | 河北工业大学 | Tunnel guide rail traveling fire-fighting robot system and using method |
| CN113848412A (en) * | 2021-10-19 | 2021-12-28 | 中国三峡建工(集团)有限公司 | Intelligent dry-type air-core reactor running state on-line monitoring auxiliary system |
-
2016
- 2016-12-16 CN CN201621387305.3U patent/CN206639039U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110007691A (en) * | 2019-05-13 | 2019-07-12 | 招商局重庆交通科研设计院有限公司 | A kind of running gear for tunnel crusing robot |
| CN110007691B (en) * | 2019-05-13 | 2024-02-27 | 招商局重庆交通科研设计院有限公司 | Running system for tunnel inspection robot |
| CN111437546A (en) * | 2020-04-08 | 2020-07-24 | 山东和兑智能科技有限公司 | High-temperature fire extinguishing device for high-voltage cable trench |
| CN111437546B (en) * | 2020-04-08 | 2021-03-19 | 山东和兑智能科技有限公司 | High-temperature fire extinguishing device for high-voltage cable trench |
| CN112043991A (en) * | 2020-09-15 | 2020-12-08 | 河北工业大学 | Tunnel guide rail traveling fire-fighting robot system and using method |
| CN112043991B (en) * | 2020-09-15 | 2023-06-20 | 河北工业大学 | Tunnel guide rail traveling fire-fighting robot system and use method |
| CN113848412A (en) * | 2021-10-19 | 2021-12-28 | 中国三峡建工(集团)有限公司 | Intelligent dry-type air-core reactor running state on-line monitoring auxiliary system |
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