CN210152511U - Tunnel inspection robot is current prevents fire door device - Google Patents
Tunnel inspection robot is current prevents fire door device Download PDFInfo
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- CN210152511U CN210152511U CN201920645952.7U CN201920645952U CN210152511U CN 210152511 U CN210152511 U CN 210152511U CN 201920645952 U CN201920645952 U CN 201920645952U CN 210152511 U CN210152511 U CN 210152511U
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Abstract
The utility model discloses a tunnel inspection robot passage fireproof door device, belonging to the technical field of fireproof doors, comprising a fireproof door body, a control mechanism and a controller; control mechanism with prevent fire door this body coupling and be used for controlling preventing opening or closing of fire door body, the inboard and the outside of preventing fire door body all are equipped with the inductor, still be equipped with the state detector on preventing the fire door body, the inductor, state detector and control mechanism all are connected with the controller electricity, the inductor is used for detecting robot and is close information and convert the information that detects to signal transmission to controller, the state detector is used for detecting the switching state of preventing fire door and with the signal transmission to the controller that detects, the controller can control mechanism action. Its simple structure, convenient to use can send the deceleration signal to the robot that is close to preventing fire door to fire door is opened to the accuracy, guarantees that the robot passes through smoothly and prevents fire door, avoids the robot and prevents that fire door collides.
Description
Technical Field
The utility model belongs to the technical field of prevent fire door, concretely relates to tunnel is patrolled and examined current fire door gear of robot.
Background
For a long time, the internal environment of the cable tunnel and the operation condition of the cable always influence the stable operation of the equipment. In recent years, accidents such as cable tunnel fire, high-voltage cable water accumulation, power tunnel facility theft and the like occur for many times in China.
At present, tunnel inspection is still the traditional manual inspection. However, the number of cables, drainage, ventilation, power supply, lighting, fire protection, communication and other power transmission equipment and accessory equipment in the cable tunnel is large, the distribution points are multiple, the total mileage is long, and heavy polling content is brought to manual polling; meanwhile, the underground tunnel has the problems of easy water accumulation, easy generation of harmful gas, difficult circulation of air, slow heat dissipation and the like, and provides higher requirements for daily inspection, and increases the danger of manual inspection.
The cable tunnel inspection robot is arranged in the cable tunnel, so that automatic inspection of the severe environment of the cable tunnel can be realized, and dynamic data of tunnel states, cables and other high-voltage equipment can be acquired, returned and stored. Provides reliable digital basis for cable operators and upper management departments of the power grid,
the operation arrangement is better made, the labor intensity is reduced, and the guarantee is provided for urban power supply.
But present fire door exists when the robot is close to, because of the speed is too fast, prevents that fire door is not in time opened, leads to the robot to hit the condition of preventing fire door and takes place.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides a tunnel is patrolled and examined current fire door gear of robot, its simple structure, and convenient to use can solve the problem that the robot collided with preventing fire door.
The embodiment of the utility model is realized like this:
the embodiment of the utility model provides a tunnel inspection robot passing fireproof door device, which comprises a fireproof door body, a control mechanism and a controller; control mechanism with prevent fire door this body coupling and be used for control prevent opening or closing of fire door body, the inboard and the outside of preventing fire door body all are equipped with the inductor, still be equipped with the state detector on preventing the fire door body, the inductor the state detector with control mechanism all with the controller electricity is connected, the inductor is used for detecting that the robot is close information and with the information conversion who detects signal transmission extremely the controller, the state detector is used for detecting the switching state of preventing fire door and with the signal transmission who detects extremely the controller, the controller can control the control mechanism action.
Optionally, the fire rated door body includes a door frame, a first door panel and a second door panel, the door frame having opposing first and second hinged ends, one end of the first door plate is hinged with the first hinged end of the door frame, the other end of the first door plate is a free end, one end of the second door panel is hinged with the second hinged end of the door frame, the other end of the second door panel is a free end, the free end of the first door panel is provided with a first notch, the free end of the second door panel is provided with a second notch, the control mechanism is used for controlling the first door panel and the second door panel to be opened or closed, when the first door panel and the second door panel are closed, the first notch corresponds to the second notch, the sensors are arranged on the inner side and the outer side of the door frame, and the state detector is arranged on the inner side of the door frame.
Optionally, the number of the control mechanisms is two, the two control mechanisms are respectively a first control mechanism and a second control mechanism, the first control mechanism is connected with the first door panel and is used for controlling the opening or closing of the first door panel, and the second control mechanism is connected with the second door panel and is used for controlling the opening or closing of the second door panel.
Optionally, the first control mechanism includes a first motor, a first connecting rod and a second connecting rod, an output shaft of the first motor is fixedly connected to one end of the first connecting rod, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to the first door panel, and the first motor is electrically connected to the controller.
Optionally, the second control mechanism includes a second motor, a third connecting rod and a fourth connecting rod, an output shaft of the second motor is fixedly connected to one end of the third connecting rod, the other end of the third connecting rod is hinged to one end of the fourth connecting rod, the other end of the fourth connecting rod is hinged to the second door panel, and the second motor is electrically connected to the controller.
Optionally, the free end of the first door panel is provided with a first sealing groove, a first sealing strip is arranged in the first sealing groove, the free end of the second door panel is provided with a second sealing groove, a second sealing strip is arranged in the second sealing groove, and when the first door panel and the second door panel are closed, the first sealing strip and the second sealing strip are staggered.
Optionally, two inner side walls of the first notch are respectively provided with a first clamping groove, and one end of the first sealing strip, which is close to the first notch, is bent and clamped into the first clamping groove; and the two inner side walls of the second notch are respectively provided with a second clamping groove, and one end of the second sealing strip, which is close to the second notch, is bent and clamped into the second clamping groove.
Optionally, when the first door panel and the second door panel are closed, the first sealing strip abuts against the free end of the second door panel, and the second sealing strip abuts against the free end of the first door panel.
The utility model has the advantages that:
the utility model discloses the tunnel patrols and examines robot and pass fire door gear that passes that embodiment mode provided, its simple structure, convenient to use, the inductor can detect that the robot is close to preventing fire door and feed back the signal to the controller, the controller sends the signal of slowing down to the robot, the switching state that the state detector can detect the fire door body prevents and send the signal that detects to the controller, when preventing that the fire door body is in the open mode, the controller sends the signal of slowly passing through to the robot; when preventing that the door body is in the closed condition, the controller sends the signal of opening and preventing the door body to control mechanism, is opened the back when preventing that the door body, and the controller sends the signal of slow passing through to the robot, should prevent that the door device can avoid the robot to collide with preventing the door body, guarantees that the robot can pass through smoothly to the automatic control prevents opening or closing of door body, is convenient for realize remote management.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural view of a tunnel inspection robot passing fire door device according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a schematic structural view of a first door panel;
FIG. 4 is a schematic structural view of a second door panel;
fig. 5 is a circuit connection block diagram of the controller.
In the figure: 10-a fire door body; 11-a door frame; 12-a first door panel; 121-a first notch; 122-a first seal groove; 123-a first card slot; 124-a first sealing strip; 13-a second door panel; 131-a second notch; 132-a second seal groove; 133-a second card slot; 134-a second sealing strip; 21-a first control mechanism; 211-a first motor; 212-a first link; 213-a second link; 22-a second control mechanism; 221-a second motor; 222-a third link; 223-a fourth link; 30-a controller; 31-an inductor; 32-state detector.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the present invention, the embodiments and the features of the embodiments may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "left", "right", "inside", "outside", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that the utility model is usually placed when using, or the orientation or positional relationship that a person skilled in the art usually understands, only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the device or element that is referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1, an embodiment of the present invention provides a tunnel inspection robot fire door device that passes through, including fire door body 10, control mechanism and controller 30.
The fire door body 10 includes a door frame 11, a first door panel 12, and a second door panel 13.
The door frame 11 is a rectangular frame structure, and the door frame 11 can be made of aluminum alloy or stainless steel and other materials. The door frame 11 has a first hinge end and a second hinge end opposite to each other, and in this embodiment, the left end of the door frame 11 is the first hinge end, and the right end of the door frame 11 is the second hinge end.
The first door panel 12 is a rectangular plate structure, and the interior of the first door panel 12 is filled with a flame retardant material.
One end of the first door panel 12 is connected to the first hinge end of the door frame 11 through a hinge, of course, the first door panel 12 may be connected to the first hinge end of the door frame 11 through a pin, and the other end of the first door panel 12 is a free end. The free end of the first door panel 12 is provided with a first notch 121, the first notch 121 is a U-shaped notch, and the extending direction of the first notch 121 extends from the free end of the first door panel 12 toward the end of the first door panel 12 hinged to the door frame 11. The first notch 121 is opened to avoid the traveling track of the robot.
Referring to fig. 2 and 3, a first seal groove 122 is formed at a free end of the first door panel 12, an extending direction of the first seal groove 122 is the same as a height direction of the first door panel 12, a first seal strip 124 is disposed in the first seal groove 122, and a thickness of the first seal strip 124 is greater than a depth of the first seal groove 122.
All be equipped with first draw-in groove 123 on two inside walls of first breach 121, the one end of first sealing strip 124 that is close to first breach 121 is buckled the back card and is gone into in first draw-in groove 123, the tip of assurance first sealing strip 124 that like this can be better can not take place the perk.
The second door panel 13 is a rectangular plate structure, and the interior of the second door panel 13 is filled with a flame retardant material.
One end of the second door panel 13 is connected to the second hinge end of the door frame 11 through a hinge, of course, the second door panel 13 may be connected to the second hinge end of the door frame 11 through a pin, and the other end of the second door panel 13 is a free end. The free end of the second door panel 13 is provided with a second notch 131, the second notch 131 is a U-shaped notch, and the extending direction of the second notch 131 extends from the free end of the second door panel 13 toward the end of the second door panel 13 hinged to the door frame 11. The second notch 131 is opened to avoid the traveling track of the robot.
As shown in fig. 2 and 4, a second sealing groove 132 is disposed at a free end of the second door panel 13, an extending direction of the second sealing groove 132 is the same as a height direction of the second door panel 13, a second sealing strip 134 is disposed in the second sealing groove 132, and a thickness of the second sealing strip 134 is greater than a depth of the second sealing groove 132.
All be equipped with second draw-in groove 133 on the two inside walls of second breach 131, the one end that is close to second breach 131 of second sealing strip 134 is buckled the back card and is gone into in the second draw-in groove 133, the tip that guarantees second sealing strip 134 that like this can be better can not take place the perk.
The fire door has a first state in which the first door panel 12 and the second door panel 13 are closed, and a second state in which the first door panel 12 and the second door panel 13 are open.
When the fire door is in the first state, the first notch 121 on the first door panel 12 corresponds to the second notch 131 on the second door panel 13; and first sealing strip 124 staggers each other with second sealing strip 134, and simultaneously, first sealing strip 124 and the free end butt of second door plant 13, second sealing strip 134 and the free end butt of first door plant 12 just so form two-stage seal, have improved fire door's sealed effect greatly.
When preventing fire door and being in the second state, patrol and examine the robot and can follow and pass through in the fire door.
The number of the control mechanisms is two, and the two control mechanisms are respectively a first control mechanism 21 and a second control mechanism 22.
The first control mechanism 21 includes a first motor 211, a first link 212, and a second link 213.
The first motor 211 is located on one side of the door frame 11 close to the first hinge end thereof, an output shaft of the first motor 211 is fixedly connected with one end of the first connecting rod 212, the other end of the first connecting rod 212 is hinged with one end of the second connecting rod 213, and the other end of the second connecting rod 213 is hinged with the outer side of the first door panel 12. Thus, the output shaft of the first motor 211 rotates to drive the first link 212 to rotate, the first link 212 rotates to drive the second link 213 to move, and the second link 213 moves to drive the first door panel 12 to rotate, thereby opening or closing the first door panel 12.
The second control mechanism 22 includes a second motor 221, a third link 222, and a fourth link 223.
The second motor 221 is located on one side of the door frame 11 close to the second hinged end thereof, an output shaft of the second motor 221 is fixedly connected with one end of the third connecting rod 222, the other end of the third connecting rod 222 is hinged with one end of the fourth connecting rod 223, and the other end of the fourth connecting rod 223 is hinged with the outer side of the second door panel 13. Thus, the output shaft of the second motor 221 rotates to drive the third link 222 to rotate, the third link 222 rotates to drive the fourth link 223 to move, and the fourth link 223 moves to drive the second door panel 13 to rotate, so as to open or close the second door panel 13.
The inside and the outside of the door frame 11 are both provided with a sensor 31, the sensor 31 is supported on the door frame 11 through a support, the inside of the door frame 11 is also provided with a status detector 32, and the status detector 32 can adopt an RD627A sensor.
The controller 30 is used for receiving information or sending information, and the single-chip microcomputer of the controller 30 is STC89C52 in model number.
Referring to fig. 5, the sensor 31, the state detector 32, the first motor 211, and the second motor 221 are electrically connected to the controller 30.
The sensor 31 is used for detecting the proximity information of the robot and converting the detected information into an electric signal to be transmitted to the controller 30; the state detector 32 for detecting an open/close state of the fire door and transmitting the detected signal to the controller 30; the controller 30 can control the operation of the first motor 211 or the second motor 221.
The controller 30 is also in communication connection with a background terminal, and the controller 30 can transmit the received information to the background terminal, and can also send the information to the controller 30 through the background terminal.
Example 2
The embodiment two of the utility model provides a control method of current fire door gear of robot is patrolled and examined in tunnel.
It should be noted that, the tunnel inspection robot passing fireproof door device in the present embodiment adopts the tunnel inspection robot passing fireproof door device in the first embodiment, and the structure, the working principle and the generated effect of the tunnel inspection robot passing fireproof door device can refer to the corresponding contents in the first embodiment, which is not described herein again.
The control method comprises the following steps:
s1: when the sensor 31 senses that the robot approaches the fireproof door body 10, the sensor 31 transmits a robot approach signal to the controller 30, the controller 30 sends a deceleration signal to the robot, and the robot runs in a deceleration mode, so that the robot can be prevented from colliding with the fireproof door body 10; the running speed of the robot after deceleration is less than 20 cm/s.
S2: the controller 30 sends a signal to the state detector 32, and the state detector 32 detects the open and closed states of the first door panel 12 and the second door panel 13 and transmits the detected information to the controller 30; when the first door panel 12 and the second door panel 13 are in the open state, the controller 30 sends a signal to the robot to slowly pass through the fireproof door body 10, and the robot slowly runs through the fireproof door; when first door plant 12 and second door plant 13 are in the closed condition, controller 30 sends the opening signal to first motor 211 and second motor 221, and first motor 211 and second motor 221 control first door plant 12 and second door plant 13 respectively and open, is opened the back when first door plant 12 and second door plant 13, and controller 30 sends the signal that slowly passes through to prevent fire door body 10 to the robot, and the robot slowly travels through preventing fire door body 10.
S3: the robot sends a signal that the robot leaves to the controller 30 after passing through the fire door body 10, and then the controller 30 sends signals for closing the first door panel 12 and the second door panel 13 to the first motor 211 and the second motor 221, so that the first door panel 12 and the second door panel 13 are closed.
The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.
Claims (8)
1. The utility model provides a tunnel is patrolled and examined current fire door gear of robot which characterized in that: comprises a fireproof door body, a control mechanism and a controller; control mechanism with prevent fire door this body coupling and be used for control prevent opening or closing of fire door body, the inboard and the outside of preventing fire door body all are equipped with the inductor, still be equipped with the state detector on preventing the fire door body, the inductor the state detector with control mechanism all with the controller electricity is connected, the inductor is used for detecting that the robot is close information and with the information conversion who detects signal transmission extremely the controller, the state detector is used for detecting the switching state of preventing fire door and with the signal transmission who detects extremely the controller, the controller can control the control mechanism action.
2. The tunnel inspection robot passing fire door device according to claim 1, characterized in that: the fireproof door body comprises a door frame, a first door plate and a second door plate, wherein the door frame is provided with a first hinged end and a second hinged end which are opposite, one end of the first door plate is hinged to the first hinged end of the door frame, the other end of the first door plate is a free end, one end of the second door plate is hinged to the second hinged end of the door frame, the other end of the second door plate is a free end, the free end of the first door plate is provided with a first notch, the free end of the second door plate is provided with a second notch, a control mechanism is used for controlling the first door plate and the second door plate to be opened or closed, when the first door plate and the second door plate are closed, the first notch corresponds to the second notch, a sensor is arranged on the inner side and the outer side of the door frame, and a state detector is arranged on the inner side of the door frame.
3. The tunnel inspection robot passing fire door device according to claim 2, characterized in that: the number of the control mechanisms is two, the two control mechanisms are respectively a first control mechanism and a second control mechanism, the first control mechanism is connected with the first door plate and used for controlling the opening or closing of the first door plate, and the second control mechanism is connected with the second door plate and used for controlling the opening or closing of the second door plate.
4. The tunnel inspection robot passing fire door device according to claim 3, characterized in that: the first control mechanism comprises a first motor, a first connecting rod and a second connecting rod, an output shaft of the first motor is fixedly connected with one end of the first connecting rod, the other end of the first connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with the first door plate, and the first motor is electrically connected with the controller.
5. The tunnel inspection robot passing fire door device according to claim 3, characterized in that: the second control mechanism comprises a second motor, a third connecting rod and a fourth connecting rod, an output shaft of the second motor is fixedly connected with one end of the third connecting rod, the other end of the third connecting rod is hinged with one end of the fourth connecting rod, the other end of the fourth connecting rod is hinged with the second door panel, and the second motor is electrically connected with the controller.
6. The tunnel inspection robot passing fire door device according to claim 2, characterized in that: the free end of the first door panel is provided with a first sealing groove, a first sealing strip is arranged in the first sealing groove, the free end of the second door panel is provided with a second sealing groove, a second sealing strip is arranged in the second sealing groove, and when the first door panel and the second door panel are closed, the first sealing strip and the second sealing strip are staggered.
7. The tunnel inspection robot passing fire door device according to claim 6, characterized in that: two inner side walls of the first notch are respectively provided with a first clamping groove, and one end of the first sealing strip, which is close to the first notch, is bent and clamped into the first clamping groove; and the two inner side walls of the second notch are respectively provided with a second clamping groove, and one end of the second sealing strip, which is close to the second notch, is bent and clamped into the second clamping groove.
8. The tunnel inspection robot passing fire door device according to claim 7, characterized in that: when the first door panel and the second door panel are closed, the first sealing strip is abutted to the free end of the second door panel, and the second sealing strip is abutted to the free end of the first door panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920645952.7U CN210152511U (en) | 2019-05-07 | 2019-05-07 | Tunnel inspection robot is current prevents fire door device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920645952.7U CN210152511U (en) | 2019-05-07 | 2019-05-07 | Tunnel inspection robot is current prevents fire door device |
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| CN210152511U true CN210152511U (en) | 2020-03-17 |
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| CN201920645952.7U Active CN210152511U (en) | 2019-05-07 | 2019-05-07 | Tunnel inspection robot is current prevents fire door device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110029921A (en) * | 2019-05-07 | 2019-07-19 | 云南电网有限责任公司昆明供电局 | A kind of current Fire-proof door device of tunnel crusing robot and its control method |
-
2019
- 2019-05-07 CN CN201920645952.7U patent/CN210152511U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110029921A (en) * | 2019-05-07 | 2019-07-19 | 云南电网有限责任公司昆明供电局 | A kind of current Fire-proof door device of tunnel crusing robot and its control method |
| CN110029921B (en) * | 2019-05-07 | 2023-08-25 | 云南电网有限责任公司昆明供电局 | Tunnel inspection robot passing fireproof door device and control method thereof |
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