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Cable trench inspection robot walking mechanism and control system thereof

A technology for inspection robots and walking mechanisms, applied in the directions of control drive, control device, cable installation, etc., can solve problems such as poor obstacle crossing ability, unsafe manual inspection, and high labor intensity.

Active Publication Date: 2019-02-01
北京思迈特科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of cities and electric power industry, the supply of electric energy by cables in underground cable trenches, tunnels, etc. has become a conventional way for power system to transmit electric energy. Aging causes fires in the cable trench and other phenomena, which seriously affect the normal power supply of the cable. Therefore, it is necessary to inspect the cable. Due to the small space in the cable trench and the harsh environment, there are relatively unsafe factors in manual inspection. Therefore, the current power supply The company uses a large number of air quality monitoring equipment in the cable trench, and the staff need to go to the equipment placement point to read the monitoring data regularly, and at the same time check whether the cable in the cable trench is damaged; but this method also needs to rely on manual work, and the labor intensity is high.
With the development of intelligent robots, the prior art discloses many robots used for cable trench inspection in cable trenches, such as the cable track inspection robot disclosed in CN105576563A, and a cable cable trench inspection robot disclosed in CN107910806A, The inspection robots disclosed in the prior art can all check the cable conditions in the cable trench, and the robots drive the robot forward by setting a traveling mechanism, but the traveling mechanism of the robot disclosed in the prior art can only be used in relatively stable cable trenches. Walking in the road, when the cable laying in the cable trench is complicated, the walking mechanism of the existing robot cannot pass the cable, and the ability to overcome obstacles is poor. Drive the robot to walk

Method used

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  • Cable trench inspection robot walking mechanism and control system thereof
  • Cable trench inspection robot walking mechanism and control system thereof
  • Cable trench inspection robot walking mechanism and control system thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0081] Embodiment 1 of the present invention provides a walking mechanism of a cable trench inspection robot, such as figure 1 As shown, the running mechanism includes a chassis 1, such as Figure 7 and Figure 8 As shown, the chassis 1 includes two first aluminum angles 11 arranged in parallel, and two second aluminum angles 12 parallel to the first aluminum angles 11 are arranged between the two first aluminum angles 11; The second angle aluminum and the first angle aluminum are fixed and connected by screws; figure 2 As shown, two first motors 2 are fixedly installed on the opposite inner walls of the chassis 1, the output shafts of the first motors 2 pass through the side walls of the chassis 1 and road wheels 3 are installed at the ends. The sidewall of described chassis 1 can be provided with opening, and opening is provided with first bearing, and the output shaft of first motor can pass first bearing and then end is equipped with traveling wheel, and traveling wheel...

Embodiment 2

[0086] Embodiment 2 of the present invention provides a walking mechanism of a cable trench inspection robot, which is basically the same as that of Embodiment 1. The difference is that, continue to refer to image 3 , the angle γ between each hob 424 and the horizontal plane is 15°, the corresponding hobs 424 in the first hob set and the second hob set are not on the same cross-section, and the corresponding The extension line where the two hobbing teeth 424 are located forms an included angle σ of 30°.

[0087] By limiting the included angle between the hobbing teeth and the horizontal plane and the corresponding gears of the two hobbing sets, the obstacle-surmounting capability of the traveling mechanism can be significantly improved.

Embodiment 3

[0089] Embodiment 3 of the present invention provides a walking mechanism of a cable trench inspection robot, which is basically the same as that of Embodiment 1, the difference is that, as Figure 9 and Figure 10As shown, the chassis 1 is equipped with a support plate 6 through four vertically placed columns 5, and one side of the support plate 6 is provided with two first edge patrol strips 7 and a second edge patrol strip parallel to each other. 8.

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Abstract

The invention provides a cable trench inspection robot walking mechanism and a control system thereof. The walking mechanism comprises a chassis, the two opposite inner side walls of the chassis are each fixedly provided with two first motors, output shafts of the first motors penetrate through the side walls of the chassis, walking wheels are installed at the ends of the output shafts, auxiliarywheel assemblies are installed at the front end and the back end of the chassis, and each auxiliary wheel assembly comprises a rolling wheel and a second motor used for driving the rolling wheel to move. The walking mechanism has the very good obstacle crossing capability.

Description

technical field [0001] The invention belongs to the field of robot components, in particular to a walking mechanism and a control system of a cable trench inspection robot. Background technique [0002] With the rapid development of cities and electric power industry, the supply of electric energy by cables in underground cable trenches, tunnels, etc. has become a conventional way for power system to transmit electric energy. Aging causes fires in the cable trench and other phenomena, which seriously affect the normal power supply of the cable. Therefore, it is necessary to inspect the cable. Due to the small space in the cable trench and the harsh environment, there are relatively unsafe factors in manual inspection. Therefore, the current power supply The company uses a large number of air quality monitoring equipment in the cable trench, and the staff need to go to the equipment placement point to read the monitoring data regularly, and at the same time check whether the ...

Claims

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Application Information

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IPC IPC(8): B25J5/00B25J11/00B60L15/32B60L15/20H02G1/06H02G9/06
CPCB25J5/007B25J11/00B60L15/20B60L15/32B60L2240/421H02G1/06H02G9/06Y02T10/72
Inventor 商小龙曾维鲁
Owner 北京思迈特科技有限公司