WO2021259387A9 - 一种电缆沟巡检机器人 - Google Patents
一种电缆沟巡检机器人 Download PDFInfo
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- WO2021259387A9 WO2021259387A9 PCT/CN2021/113856 CN2021113856W WO2021259387A9 WO 2021259387 A9 WO2021259387 A9 WO 2021259387A9 CN 2021113856 W CN2021113856 W CN 2021113856W WO 2021259387 A9 WO2021259387 A9 WO 2021259387A9
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- Prior art keywords
- plate
- block
- cable trench
- camera
- inspection robot
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- 238000007689 inspection Methods 0.000 title claims abstract description 44
- 230000009021 linear effect Effects 0.000 claims abstract description 25
- 238000006073 displacement reaction Methods 0.000 claims description 39
- 230000009471 action Effects 0.000 claims description 32
- 239000000725 suspension Substances 0.000 claims description 19
- 230000002457 bidirectional effect Effects 0.000 claims description 11
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 238000005728 strengthening Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
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- 238000004891 communication Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000011120 plywood Substances 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
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- 230000008439 repair process Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
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Classifications
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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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Definitions
- the invention belongs to the technical field of cable inspection, in particular to a cable trench inspection robot.
- the traditional cable tunnel adopts the way of manual inspection. At regular intervals, inspectors enter the tunnel and use temperature measuring instruments to manually check the temperature of the intermediate joints of the cables. This method wastes a lot of manpower. At the same time, due to the limitations of the manual method, it is difficult to test each intermediate joint every time. Only the places where the temperature rises rapidly can be checked, which cannot prevent problems before they occur, and cannot play a real preventive role. .
- the main structure is: including a body and a crawler for the body to move.
- the crawler is installed on both sides of the lower side of the body and is powered by a battery.
- the body is provided with A control system and a control pan/tilt
- the control system includes a main controller and a transmitting communication antenna connected to the main controller in communication
- the control pan/tilt includes a high-definition camera and a thermal imager that are communicated and connected to the main controller.
- the function is: to transmit the working status picture of the cable in the tunnel, the temperature, humidity in the tunnel, the surface temperature of the power cable and other parameters in real time to the technicians outside the tunnel through the wireless network; when these status parameters are abnormal, the technicians outside the tunnel It can be determined that the power cable where the robot is located has potential safety hazards, so that personnel can be organized to repair the corresponding parts.
- the above-mentioned tunnel inspection robots are indeed very effective, but there are still the following problems that cannot be solved:
- a thick firewall will be poured in the cable tunnel every specified length. , so as to isolate the cable tunnel into individual tunnel units to achieve the purpose of physical isolation in case of fire.
- the existence of the firewall makes it necessary to repeatedly take out the tunnel inspection robot from the previous tunnel unit - reset the cover of the previous tunnel unit - remove the cover of the new tunnel unit - put it back on.
- the process of entering the tunnel inspection robot is extremely complicated, and the manual labor is huge, which obviously seriously restricts the actual inspection efficiency.
- the cables in the cable tunnel are arranged in bundles, so there is a certain height.
- the traditional tunnel inspection robot can inspect at a constant height, and there must be some dead ends of the cables that cannot be inspected, resulting in inspection loopholes ,There are security risks.
- the purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, and to provide a cable trench inspection robot with a reasonable structure and practicality. Many usage problems are caused, and the scheduled inspection tasks can be completed efficiently.
- a cable trench inspection robot is characterized in that: the cable trench inspection robot includes a base deployment system and a camera lifting system arranged on the base deployment system, wherein:
- the base deployment system includes a base plate and two sets of parallel-arranged linear action units arranged on the base plate.
- Moving block the moving block is hinged to the fixed end of the cantilever plate through the first vertical hinge shaft, the cantilever end of the cantilever plate is hinged to the walking part through the second vertical hinge shaft, and the walking parts located on the same side of the bottom plate are fixed to each other to form a set of walking assemblies;
- the cantilever plate is also arranged with vertical convex pillars, the arrangement position of the vertical convex pillars is spaced from the arrangement position of the first vertical hinge shaft, and there is a concave guide on the upper surface of the bottom plate.
- a chute there is an included angle between the long direction of the guide chute and the moving path of the moving block, and the tip of the included angle points to the traveling direction of the moving block when the moving block moves away from each other;
- the module is lifted from the cable trench to a jacking module higher than or equal to the ground height of the cable tunnel;
- the camera lifting system includes a linear displacement unit, and the linear displacement unit includes a travel block arranged on the top plate that can perform a reciprocating linear displacement action along the length of the cable trench;
- the camera upgrading system also includes an imitation four-bar linkage assembly.
- the bottom end of the first rocker of the four-link assembly extends downward and forms a hinged fit with the stroke block; the bottom end of the first link is fixed at the end of the top plate behind the stroke block, and the top of the first link moves forward It extends and forms a hinged fit with the bottom end of the support rod;
- the top of the first rocker is hinged with a first sliding sleeve, and the sliding rail of the first sliding sleeve is matched with the first connecting rod;
- the tail end of the second connecting rod is hinged to the first connecting rod.
- the top end of the second connecting rod is hinged to the bottom end of the second rocker, the top end of the second rocker is hinged with a second sliding sleeve, and the sliding rail of the second sliding sleeve is matched with the support rod, and each hinge is hinged.
- the axes are arranged horizontally and parallel to each other; the top end of the support rod is fixed with the camera assembly.
- the power source is a power motor, and the output shaft of the power source is powered with a bidirectional screw rod; two sets of thread segments of each group of bidirectional screw rods are threadedly fitted with a set of moving blocks, so that the two groups of moving blocks and A group of bidirectional screw rods cooperate together to form a group of linear action units.
- the base deployment system further includes a top plate parallel to the bottom plate and arranged above the bottom plate;
- the moving block is in the shape of a square, and the cantilever plate includes an upper suspension plate and a lower suspension plate, the upper suspension plate and the lower suspension plate
- the plates extend horizontally and are separately hinged at the top and bottom surfaces of the moving block;
- the top plate is also provided with guide chutes, and the vertical protruding columns at the upper suspension plate extend vertically upward so as to be connected with the guide chutes at the top plate.
- the top plate, the bottom plate, the moving block, the cantilever plate and the walking component cooperate together to form a base; the front and rear ends of the base are arranged with sensing parts for controlling the direction of travel of the base; two groups located at the same end of the base The sensing ends of the sensing part are arranged horizontally and respectively point to the direction of the two side walls of the cable tunnel; the walking component is a crawler wheel.
- two sets of cantilever plates at the same end of the bottom plate are arranged with synchronous gears that are synchronously meshed with each other.
- the jacking assembly includes a top block; the front end of the top block is hingedly fixed to the bottom end of the first swing rod through a first horizontal hinge shaft, and the top end of the first rocker rod is hinged and fixed to the front end of the bottom plate through a second horizontal hinge shaft The rear end of the top block is hinged to the bottom end of the second swing rod through the third horizontal hinge shaft, and the top end of the second swing rod is powered with the output shaft of the swing arm motor located at the tail end of the bottom plate.
- the top blocks are two groups of straight rods, and the two groups of top blocks are fixed to each other by transverse tie rods to form a horizontal square frame structure.
- the linear displacement unit includes a displacement motor and a displacement screw coaxially fixed at the output shaft of the displacement motor, and the displacement screw is screwed with the travel block;
- the displacement motor is located behind the top plate, behind the top plate
- An extension frame is also extended along the length direction of the base, and a hinge seat is arranged on the extension frame to hinge the bottom end of the first connecting rod; the height of the hinge point of the bottom end of the first connecting rod is higher than that of the bottom end of the first rocker high.
- a support block for supporting the support rod is arranged at the shaft of the first connecting rod near the bottom end, and the support block is concavely provided with a placement groove for the support rod to rest.
- the camera assembly includes a camera seat and a rotating block horizontally hinged on the camera seat, a first torque motor is arranged on the rotating block, and the output shaft of the first torque motor extends vertically upward and is fixedly connected to the camera, so as to drive the camera to generate Rotation action; the turning block is driven by the second torsion motor arranged on the camera seat to generate a pitch action.
- a thick firewall will be arranged in the cable tunnel at intervals of specified lengths, so as to isolate the cable tunnel into tunnel units one by one for the purpose of physical isolation in the event of a fire; however, considering the drainage problem, A drainage ditch will be opened at the center line of the ground of the cable tunnel, and the drainage ditch will penetrate the firewall for drainage.
- the present invention considers designing a cable trench inspection robot, so that on the one hand, it can realize the controllable function of the lifting height of the camera, so that the targeted on-site adjustment can be carried out for different wire harness heights, so that the Ensure the purpose of multi-angle and multi-position scanning and shooting of cables arranged in bundles, and finally ensure the monitoring effect.
- it under the premise of meeting the above basic requirements, it can also simultaneously ensure the minimization of the volume after storage, thereby providing a basic guarantee for the subsequent wall-penetrating operation of the cable tunnel inspection robot.
- the present invention provides the driving force with the power source on the bottom plate, uses the linear motion unit as the motion source, and uses the guide chute as the guide portion, so that when the moving blocks are adjacent or separated, the moving blocks can be moved.
- the walking components on the same side of the base plate are forced to fit and extend relative to the base plate.
- the top plate is used as the carrier
- the linear displacement unit is used as the driving source on the top plate
- the first rocker, the first link, the second rocker and the second link together form a parallel double crank type the imitation four-bar linkage assembly, and then a support rod with a camera assembly is arranged on the imitation four-bar linkage assembly.
- the above-mentioned fitting and stretching action of the walking component together with the jacking component, enables the dual action function of walking on the ground of the cable tunnel to shoot the cable and walking in the cable trench to pass through the firewall.
- the top plate with linear displacement unit, the imitation four-link assembly with parallel double crank function and the support rod with the camera assembly together form a bottom-up three-dimensional support system, which can be used in the imitation four-link assembly and Under the action of the corresponding sliding sleeve, the retractable function of the system is finally realized.
- the travel block moves through the action of the driving source, namely the linear displacement unit, so that the top supports the imitation four-link assembly, which ensures the height-adjustable function of the camera assembly; when stored, the travel block returns and drives the imitation four-link assembly.
- the rod assembly slumps down, making the camera assembly descend and finally achieve the purpose of minimizing the volume, and its work is extremely reliable and stable.
- the present invention can realize the operation of penetrating the wall through the cable trench, so as to avoid many usage problems caused by the existence of the firewall, and thus can efficiently complete the predetermined inspection task.
- the linear action of the moving block can be realized by the action of the motor-driven rack and pinion, or the guide action function of the moving block can be guaranteed by the crank-slider structure, and even the cylinder can be used.
- the present invention preferably adopts a power motor with a two-way screw, so that the moving block is threaded on the two-way screw, so as to realize the compact assembly function of "one rod and two blocks", and finally The entire system can be retracted into a narrow cable trench and pass through the firewall accurately and reliably.
- the single bottom plate structure can preliminarily ensure the stability of the extension action of the cantilever plate; in order to further improve the above-mentioned stability, the present invention adopts a double plate body structure, that is, the bottom plate is matched with the top plate to form a plywood structure, thereby The cantilever plate and the moving block are clamped between the two plates, and each group of moving blocks has double guide chute to ensure the accuracy of the guiding action.
- the reliability of the extension and retraction actions of the cantilever plate can be significantly improved.
- the arrangement of the reinforcing plate is conducive to further improving the structural rigidity of a single cantilever plate, so as to better support the camera mounted on the present invention.
- the walking assembly can be a roller structure or other existing similar mechanisms that can walk on the ground.
- the crawler wheel is preferably used as the walking component, so as to improve its practicability, thereby maximally satisfying the complicated working conditions in the cable tunnel.
- the function of the jacking component is to lift the walking component when necessary, so as to lift the walking component to the ground level of the cable tunnel or higher than the ground level of the cable tunnel, so as to facilitate subsequent deployment and walking operations and ensure walking. Modules can rest naturally on the cable tunnel floor after the system is deployed.
- the bottom plate, the first swing rod, the top block and the second swing rod are connected end to end to form the imitation four-link mechanism, and the second swing rod is used as the active rod, so as to realize the action effect of the whole imitation four-bar linkage mechanism.
- the top block can move toward and away from the bottom plate, and it can also drive the traveling assembly to move up and down.
- the top block can be directly made of a flat plate, or as described in the present invention, two sets of top blocks can be used with transverse pull rods, so that the frame mechanism can be used to ensure the protection of the rugged cable trenches. fit suitability.
- the linear action of the travel block can be realized by the action of the motor-driven rack and pinion, or the guide action function of the travel block can be guaranteed by the crank-slider structure, and even the cylinder-driven guide rail can be used.
- the way of the stroke block on the top ensures the action effect.
- the present invention preferably adopts the method of the displacement motor and the displacement screw, so as to ensure the reciprocating action function of the stroke block.
- the height of the hinge point at the bottom end of the first link is higher than the height of the hinge point at the bottom end of the first rocker, which makes the overall mechanism fully fit and folded on the base when it is squatted and retracted, and the minimization of the volume can be effectively guaranteed .
- the setting of the support block and the placement slot is to consider that the support rod is hinged to the top of the first connecting rod by its own rigidity, and the top support of the second rocker rod is used to ensure the straightness of the rod body.
- the support rod is retracted under the overall mechanism, since the top end of the support rod carries a heavy camera assembly, it falls directly or may damage the camera assembly, or cause the support rod shaft to be damaged due to impact.
- the present invention arranges the support block so that the support rod can just fall into the placement groove of the support block when it falls.
- the reliable protection effect of the support rod and the camera assembly is ensured;
- the placement reliability of the overall structure when the volume is minimized, so as to avoid the situation that the positional deviation will affect the subsequent normal work due to the bumpy road surface of the cable trench, which serves multiple purposes.
- the camera can also be driven by the second torsion motor to make the camera tilt to ensure that the camera can always observe the cable in real time in a horizontal state.
- the camera can also generate a rotating motion through the first torque motor, so as to realize the purpose of fixed-point multi-angle observation, and the observation accuracy and reliability can be significantly improved.
- Fig. 1 and Fig. 2 are the three-dimensional structure schematic diagrams when the present invention is in the traveling posture
- 3 and 4 are three-dimensional schematic diagrams of the present invention when it is in an unfolded posture
- 5 and 6 are schematic diagrams of the three-dimensional structure of the base deployment system in the deployment posture
- FIG. 7 is a schematic three-dimensional structure diagram of a jacking assembly
- FIG. 8 is a schematic three-dimensional structural diagram of the base deployment system in a traveling posture
- FIG. 9 is a schematic three-dimensional structure diagram of the base deployment system in an unfolded posture
- FIG. 10 is a schematic three-dimensional structure diagram of the structure shown in FIG. 9 after removing the walking assembly
- Figure 11 is an exploded view of the structure of Figure 10;
- Fig. 12 is a partial enlarged view of part I of Fig. 11;
- Fig. 13 is the unfolded attitude diagram of the camera lifting system
- FIGS. 14 and 16 are schematic diagrams of the three-dimensional structure of the camera lifting system in the traveling attitude
- 15 and 17 are schematic diagrams of the three-dimensional structure of the camera lifting system in the unfolded posture.
- the cable trench inspection robot that is, the present invention, as shown in Figures 1-17, its main body includes a base deployment system and a camera lifting system arranged on the base deployment system. in:
- the base deployment system includes a deployment assembly for driving the running assembly 15 to extend so as to walk on the ground of the cable tunnel in a running position, and for driving the running assembly 15 back to the running state so as to retract the width of the cable trench , and a jacking assembly 16 for driving the entire system to lift above the cable trench and lower for retraction into the cable trench.
- the unfolding assembly includes a set of top plates 18, a set of bottom plates 11, a set of drive motors or power sources 12, two sets of bidirectional screw rods 17, four sets of moving blocks 13 and four cantilevers plate 14.
- the top plate 18 and the bottom plate 11 are both rectangular in shape and their surfaces are horizontally arranged.
- the two sets of bidirectional screw rods 17 are arranged side by side and parallel to the length direction of the bottom plate 11 , and the same ends of the two sets of bidirectional screw rods 17 are commonly connected to each other or the gears mesh with the same set of drive motors.
- the fixed end of the cantilever plate 14 is hinged through the first vertical hinge shaft, and the cantilever end of the cantilever plate 14 is hinged through the second vertical hinge shaft.
- the walking assembly 15 is a crawler wheel, and the cantilever end of the cantilever plate 14 directly forms a hinged cooperation relationship with a preset fixed block on the crawler wheel. Since the crawler wheels themselves have a length, the two sets of cantilever plates 14 located on the same side of the bottom plate 11 can cooperate with one set of crawler wheels to ensure the stability and accuracy of the system when traveling.
- the cantilever plate 14 includes an upper suspension plate 14a and a lower suspension plate 14b arranged in parallel with each other, and a reinforcing plate 14c arranged between the upper suspension plate 14a and the lower suspension plate 14b for structural reinforcement .
- the upper suspension plate 14a and the lower suspension plate 14b both extend horizontally and are hingedly connected to the top and bottom surfaces of the moving block 13, while the upper plate 11 and the lower plate 18 are provided with guide chutes 19.
- the vertical protruding column 14d at the upper hanging plate 14a extends vertically upward as shown in FIG. 12, thereby forming a guiding and matching relationship with the guiding chute 19 at the top plate 18, and the vertical convex column at the lower hanging plate 14b.
- the jacking assembly 16 As shown in Figures 6-7, it includes a four-bar mechanism formed by the bottom plate 11, the first swing rod 16b, the top block 16a and the second swing rod 16c connected end to end, and then a second The swing rod 16c is powered with the output shaft of the swing arm motor 16d to form an active rod, so as to realize the action effect of the whole four-bar mechanism.
- the top block 16a can move toward and away from the bottom plate 11, and can also drive the traveling assembly 15 to move up and down.
- the top block 16a can be directly made of a flat plate, or as described in the present invention, two sets of top blocks 16a can be combined with the transverse tie rods 16e.
- the two sets of top blocks 16a as shown in FIG. 7 can form a square frame-like structure in cooperation with the transverse tie rods 16e.
- the flatness of the contact surface is required to be lower, and it is especially suitable for use in a rugged cable trench environment.
- the sensing surfaces of the sensing part 30 point to the walls on both sides of the cable tunnel, so that the sensing surfaces of the sensing part 30 can ensure that the base is far away from the walls on both sides when the base travels along the cable tunnel.
- the distances are always the same, which ultimately achieves the purpose of ensuring the automatic centering and guiding of the present invention when traveling along the cable tunnel, which will not be repeated here.
- FIGS. 1-5 and 13-17 The specific structure of the camera lifting system is shown in FIGS. 1-5 and 13-17 , including the linear displacement assembly, the imitation four-link assembly 22 and the camera assembly 24 arranged in sequence from bottom to top. in:
- the outline of the linear displacement assembly is shown in FIG. 13 , including a displacement screw 25 arranged at the upper surface of the top plate 18 and extending along the length direction of the upper surface of the top plate 18 , and a displacement motor 26 is arranged at the tail end of the displacement screw 25 to play a driving function.
- the displacement screw 25 is threadedly fitted with a stroke block 21 to drive the displacement screw 25 to rotate by a driving motor, thereby achieving the purpose of reciprocating movement of the stroke block 21 .
- an extension frame 40 is also arranged behind the displacement motor 26 for the purpose of supporting the imitation four-bar linkage assembly 22 together with the top plate 18 at the base.
- the imitation four-link assembly 22 includes a first rocker 22a, a second rocker 22e, a first link 22b and a second link 22d.
- the imitation four-bar linkage assembly 22, as the name suggests, is similar in structure to a plane four-bar linkage mechanism, but as shown in Figure 13, some of the hinge points of the rod body can be slidable relative to the other rod bodies to realize the entire camera lifting system The stowable and extendable function.
- the bottom end of the first rocker 22a is horizontally hinged to the stroke block 21 and the top end is sleeved on the shaft of the first link 22b through the first sliding sleeve 22c; the bottom end of the first link 22b is horizontally hinged to the extension frame 40
- the top and top are horizontally hinged at the bottom end of the support rod 23;
- the bottom end of the second link 22d is horizontally hinged at the shaft of the first rocker 22a, and the top is horizontally hinged at the bottom end of the second rocker 22e;
- the second rocker 22e The top end of the hinge is sleeved on the shaft of the support rod 23 through the second sliding sleeve 22f; the axes of the above-mentioned hinge joints are all parallel to each other.
- each of the above-mentioned rod bodies forms a parallel double-crank structure similar to the length of the rods and rods at the joints.
- the first rocker 22a produces a lodging motion, thereby driving the first link 22b, the second link 22d and the second rocker 22e to follow move, and finally make the support rod 23 lie down.
- the support rod 23 is in the lowest position, it is just because the height of the hinge point of the bottom end of the first link 22b is higher than the height of the hinge point of the bottom end of the first rocker 22a, so it is stably rested on the first link 22b for the placement of the support block 50 on the groove 51 to ensure the stability of its placement.
- the second torque motor 24d can also be driven to make the camera head 24c produce a pitching motion, so as to ensure that the camera head 24c can always be aligned in a horizontal state. real-time observation of cables.
- the camera 24c can also drive the rotating block 24b through the first torsion motor to generate a rotating motion accordingly, so as to realize the purpose of multi-angle observation at a fixed point, and the observation accuracy and reliability can be significantly improved.
- the cable trench inspection robot of the present invention has two forms: a normal traveling posture and an unfolding posture when needed, so as to be used in different working conditions, wherein:
- the displacement motor 26 at the camera lifting system rotates, driving the travel block 21 to move forward along the displacement screw 25.
- the rod 22a produces a lodging action, thereby driving the first link 22b, the second link 22d and the second rocker 22e to perform a follow-up action, and finally makes the support rod 23 fall down.
- the support rod 23 is in the lowest position, it is just because the height of the hinge point of the bottom end of the first link 22b is higher than the height of the hinge point of the bottom end of the first rocker 22a, so it is stably rested on the first link 22b for the placement of the support block 50 slot 51.
- the jacking assembly 16 is in a retracted position and is close to the lower surface of the bottom plate 11 at the base, while the unfolding assembly is moved due to the rotation of the driving motor, and the cantilever plate 14 drives the two groups of track wheels to move toward each other until the two groups move toward each other.
- the crawler wheels are all close to the side of the base as shown in Figure 1-2 to complete the folding action.
- the action posture of the cable trench inspection robot is shown in Figure 1-2.
- the width of the cable trench inspection robot is smaller than the width of the cable trench, and the height is smaller than the height of the opening at the firewall; the entire cable trench inspection robot can be placed in the cable trench. , and can directly open holes along the firewall to pass through the firewall.
- the jacking assembly 16 moves to lift the base together with the components carried on the base until the minimum height of the crawler wheels is higher than the ground height of the cable tunnel.
- the unfolding assembly starts to work
- the driving motor starts to rotate and drives the two-way screw 17 to rotate
- the moving block 13 generates a linear displacement motion and drives the cantilever plate 14 to generate an abduction motion.
- the crawler wheels produce a separation action.
- the crawler wheel spreads out it will gradually cross the cable trench and finally locate directly above the ground of the cable tunnel.
- the jacking assembly 16 is reset again, and under the action of gravity, the two groups of crawler wheels are stably resting on the cable tunnel on both sides of the cable trench. on the ground.
- FIGS. 5-6 the state of the components of the present invention is shown with reference to FIGS. 5-6 .
- the displacement motor 26 at the camera lifting system rotates to drive the travel block 21 to move backward along the displacement screw 25.
- the first rocker 22a produces a lifting action, thereby driving the first rocker 22a.
- the first connecting rod 22b, the second connecting rod 22d and the second rocking rod 22e follow the movement, and finally the support rod 23 is gradually erected.
- the ray assembly located at the top of the support rod 23 will be lifted to the specified cable observation height.
- the camera 24c is driven by the second torsion motor 24d to make the camera 24c tilt, so as to ensure that the camera 24c can always observe the cable in a horizontal state.
- the camera 24c can also drive the rotating block 24b to act through the first torsion motor to generate a rotating motion accordingly, so as to realize the purpose of multi-angle observation at a fixed point.
- the crawler wheels are activated, and the present invention can travel along the current tunnel unit and execute the cable observation process of the current tunnel unit as shown in FIG. 3-4 .
- the cable trench inspection robot resets to the traveling posture shown in Figure 1-2, and passes through the front firewall again, so as to automatically, labor-saving and convenient execution of the next tunnel unit without additional operations. Online observation work.
- each power source 12 such as the use of driving cylinders or even racks and pinions to replace the rotational driving action of each motor, etc.
- Other sensing structures such as sensors can be used to replace the camera 24c for other methods of online monitoring, etc.; the conventional structural changes under these conventional ideas should be regarded as equivalent or similar designs and fall within the protection scope of the present invention.
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Abstract
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Claims (10)
- 一种电缆沟巡检机器人,其特征在于:本电缆沟巡检机器人包括底座展开***以及布置于底座展开***上的摄像机升降***,其中:所述底座展开***包括底板(11)以及布置于底板(11)上的一组并列排布的直线动作单元,每组直线动作单元均包括两组可在动力源(12)驱动下沿底板(11)长度方向作彼此相向及相离动作的移动块(13);移动块(13)通过第一铅垂铰接轴(20)而铰接悬臂板(14)的固定端,悬臂板(14)的悬臂端通过第二铅垂铰接轴(20a)而铰接行走部(20b),且位于底板(11)同侧的行走部之间彼此固接以形成一组行走组件(15);悬臂板(14)上还布置有铅垂凸柱(14d),所述铅垂凸柱(14d)的布置位置与第一铅垂铰接轴(20)的布置位置存有间距,底板(11)上板面处凹设有导向滑槽(19),所述导向滑槽(19)槽长方向与移动块(13)动作路径之间存有夹角,且夹角的角尖指向移动块(13)作相离动作时的行进方向;所述底座展开***还包括将行走组件(15)从电缆沟内顶升至高于或等于电缆隧道地面高度的顶升组件(16);所述摄像机升降***包括布置在顶板(18)上的可沿电缆沟长度方向作往复直线位移动作的行程块(21);所述摄像机升降***还包括仿四连杆组件(22),仿四连杆组件(22)的第一摇杆(22a)底端向下延伸并与行程块(21)间构成铰接配合;第一连杆(22b)的底端固接于行程块(21)后方的顶板(18)端部处,第一连杆(22b)的顶端向前延伸并与支撑杆(23)底端间构成铰接配合;第一摇杆(22a)的顶端铰接有第一滑套(22c),第一滑套(22c)滑轨配合于第一连杆(22b)上;第二连杆(22d)的尾端铰接于第一摇杆(22a)的杆身中段处,第二连杆(22d)的顶端铰接于第二摇杆(22e)底端,第二摇杆(22e)的顶端铰接有第二滑套(22f),第二滑套(22f)滑轨配合于支撑杆(23)上,各铰接处轴线均水平布置且彼此平行;所述支撑杆(23)的顶端固接摄像组件(24)。
- 根据权利要求1所述的一种电缆沟巡检机器人,其特征在于:所述动力源(12)为动力电机,动力源(12)的输出轴处动力连接有双向丝杆(17);每组双向丝杆(17)的两组螺纹段上均螺纹配合有一组移动块(13),以使得两组移动块(13)及一组双向丝杆(17)共同配合形成一组直线动作单元。
- 根据权利要求1或2所述的一种电缆沟巡检机器人,其特征在于:所述底座展开***还包括与底板(11)间彼此板面平行且布置于底板(11)上方的顶板(18);移动块(13)外形呈四方块状,悬臂板(14)包括上悬板(14a)及下悬板(14b),上悬板(14a)和下悬板(14b)均水平延伸且分置铰接于移动块(13)的顶端面及底端面处;顶板(18)上同样布置有导向滑槽(19),上悬板(14a)处的铅垂凸柱(14d)铅垂向上延伸从而与顶板(18)处的导向滑槽(19)间构成导向配合关系,而下悬板(14b)处的铅垂凸柱(14d)铅垂向下延伸从而与底板(11)处的导向滑槽(19)间构成导向配合关系;上悬板(14a)与下悬板(14b)之间布置有起结构加强功能的加强板(14c)。
- 根据权利要求3所述的一种电缆沟巡检机器人,其特征在于:所述顶板(18)、底板(11)、移动块(13)、悬臂板(14)及行走组件(15)共同配合形成底座;底座的前端及后端处均布置有用于控制底座行进方向的传感部(30);位于底座同端处的两组传感部(30)的感应端均水平布置,且分别指向电缆隧道的两侧壁所在方向;所述行走组件(15)为履带轮。
- 根据权利要求3所述的一种电缆沟巡检机器人,其特征在于:在底板(11)同端处的两组悬臂板(14)上布置有彼此同步啮合的同步齿轮(60)。
- 根据权利要求1或2所述的一种电缆沟巡检机器人,其特征在于:所述顶升组件(16)包括顶块(16a);顶块(16a)前端通过第一水平铰接轴而铰接固定于第一摆杆(16b)底端,第一摆杆(16b)顶端通过第二水平铰接轴而铰接固定于底板(11)前端处;顶块(16a)后端通过第三水平铰接轴而铰接于第二摆杆(16c)底端,第二摆杆(16c)顶端与位于底板(11)尾端的摆臂电机(16d)的输出轴间动力连接。
- 根据权利要求6所述的一种电缆沟巡检机器人,其特征在于:所述顶块(16a)为直杆状的两组,两组顶块(16a)之间通过横向拉杆(16e)固接彼此从而形成水平四方框架结构。
- 根据权利要求1或2所述的一种电缆沟巡检机器人,其特征在于:所述直线位移单元包括位移电机(26)以及同轴固接于位移电机(26)输出轴处的位移丝杆(25),位移丝杆(25)上螺纹配合有所述行程块(21);所述位移电机(26)位于顶板(18)后方处,顶板(18)后方还沿底座长度方向外延有延伸架(40),延伸架(40)上设置铰接座以便铰接所述第一连杆(22b)的底端;所述第一连杆(22b)底端铰接点高度高于第一摇杆(22a)的底端铰接点高度。
- 根据权利要求8所述的一种电缆沟巡检机器人,其特征在于:所述第一连杆(22b)的临近底端的杆身处布置有用于托撑支撑杆(23)的托撑块(50),托撑块(50)上凹设有便于支撑杆(23)搁置的放置槽(51)。
- 根据权利要求1或2所述的一种电缆沟巡检机器人,其特征在于:所述摄像组件(24)包括摄像座(24a)以及水平铰接于摄像座(24a)上的转块(24b),转块(24b)上布置第一扭力电机(24e),第一扭力电机的输出轴铅垂向上延伸并固接摄像头(24c),以驱动摄像头(24c)产生回转动作;转块(24b)通过布置于摄像座(24a)上的第二扭力电机(24d)驱动而产生俯仰动作。
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CN113114996B (zh) * | 2021-04-09 | 2022-05-31 | 国网河北省电力有限公司行唐县供电分公司 | 一种电力***视频监控一体化设备 |
US20230097460A1 (en) * | 2021-09-30 | 2023-03-30 | Southwest Research Institute | Elevated Window Passable Autonomous Self-Driving Assembly |
CN114055485B (zh) * | 2021-10-14 | 2023-03-10 | 合肥中科蓝睿科技有限公司 | 一种电缆沟巡检机器人 |
CN114458865B (zh) * | 2022-02-09 | 2023-08-04 | 水利部交通运输部国家能源局南京水利科学研究院 | 一种自救援式管道检测机器人 |
CN114227640A (zh) * | 2022-03-01 | 2022-03-25 | 湖南工商大学 | 一种电缆隧道智能巡检机器人 |
CN114811372B (zh) * | 2022-04-29 | 2024-04-02 | 杨凌职业技术学院 | 一种边坡监测用移动报警装置的使用方法 |
CN115346284B (zh) * | 2022-08-18 | 2023-11-03 | 杭州集联科技有限公司 | 一种用于城市地下管廊线路的智能巡检设备及其工作方法 |
CN115370912B (zh) * | 2022-10-26 | 2023-12-01 | 广东电网有限责任公司中山供电局 | 一种电缆沟自动巡维用的环境移动侦测摄像机 |
CN116293330B (zh) * | 2023-03-20 | 2023-09-12 | 中建三局集团有限公司 | 一种建筑墙体垂直度检测装置 |
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