Crawling robot for safety inspection of tailings pond flood discharge facilities

Abstract

The present invention relates to a crawling robot for safety inspection of flood discharge facilities in tailings ponds, comprising a shell and a walking device, wherein the front end of the shell is provided with a first camera unit and a lighting unit, and the rear end of the shell is provided with a second camera unit; a synchronous retractable device and a battery pack are provided inside the shell; wherein the synchronous retractable device comprises an optical fiber and a cable arranging device, and the optical fiber extends to the outside of the shell through the cable arranging device; the battery pack is used to provide electric energy to the robot; the walking device is fixedly connected to the lower end of the shell, and the walking device comprises a driving motor and a crawler walking mechanism; the number of the crawler walking mechanisms is two groups. The crawling robot for safety inspection of flood discharge facilities in tailings ponds of the present invention can realize real-time, efficient and accurate communication, and has the ability to travel over ultra-long distances.

Description

Technical Field

[0001] The invention relates to the technical field of tailings pond detection, and in particular to a crawling robot for safety detection of flood discharge facilities in tailings ponds. Background Art

[0002] Tailings pond refers to a place where tailings or other industrial wastes are discharged after ore selection by building dams to intercept valley mouths or enclosures. It contains useful or harmful components that cannot be treated temporarily. If discharged at will, it will cause resource loss, large-scale submergence of farmland or siltation of rivers, and environmental pollution. Since tailings ponds are a dangerous source of man-made debris flows with high potential energy. Tailings ponds are a major source of danger for safe production. For more than ten years or even decades, various natural (rainwater, earthquakes, rat holes, etc.) and man-made (poor management, uncoordinated relations between workers and farmers, etc.) unfavorable factors threaten its safety at all times or periodically. If a safety accident occurs in a tailings pond, the dam slope will collapse and landslide at the least, and the entire dam body will collapse to form a debris flow at the worst, which will seriously threaten the safety of life and property of the people downstream and restrict the sustainable and stable development of safe production. Statistics show that most of the causes of safety accidents in tailings ponds are caused by problems with flood discharge facilities. Therefore, whether the flood discharge facilities operate well is very important for the safe operation of tailings ponds.

[0003] Carrying out inspections of flood discharge facilities before the flood season can detect hidden dangers early. This is one of the successful experiences explored in flood prevention practices for many years, and it has also become a necessary measure to achieve safe operation of tailings ponds. However, some existing flood discharge facilities have small cross-sections, and some have long pipelines. If manual entry inspection is adopted, it is not only difficult to implement, but also has safety hazards. Therefore, fire detection robots are currently widely used, but fire detection robots are large in size and mostly remotely controlled by wireless remote control. When they perform pipeline inspection tasks, due to the strong shielding effect of the pipeline, the communication signal is greatly lost during the wireless transmission process, and the signal cannot be stably and reliably transmitted between the controller and the robot. Due to the harsh environment in the tailings pond flood discharge culvert, there are various obstacles and unknown environmental conditions such as silt and sewage. The on-site operator needs to understand the global status of the robot operation in real time through the video images collected by the camera unit, so as to carry out timely control intervention. How to achieve real-time, efficient and accurate communication is the primary issue in the development of the tailings pond flood discharge culvert safety inspection robot.

[0004] At present, the existing wireless communication transmission technology at home and abroad cannot solve the communication problem due to the influence of pipeline shielding. Therefore, in order to solve the communication problem, the drainage pipeline robot generally uses a special composite multi-core cable with an enhanced protective layer and sheath to supply energy and communication externally. This method determines that the robot is affected by cable line loss, cable drag friction and wire communication transmission distance. The maximum walking distance of the general robot does not exceed 150 meters. The length of the tailings pond flood discharge culvert is generally more than 500 meters. Therefore, it is impossible for the existing pipeline robot to complete the safety inspection task.

[0005] Therefore, developing a crawling machine for safety inspection of tailings pond flood discharge facilities that can achieve real-time, efficient and accurate communication within the tailings pond flood discharge culvert and has the ability to travel ultra-long distances has become an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0006] In view of this, the present invention aims to propose a crawling robot for safety detection of tailings pond flood discharge facilities, so as to achieve real-time, efficient and accurate communication in the tailings pond flood discharge culvert and have the ability to travel over ultra-long distances.

[0007] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0008] A crawling robot for safety inspection of tailings pond flood discharge facilities, comprising

[0009] A housing, wherein a first camera unit and an illumination unit are disposed at the front end of the housing, and a second camera unit is disposed at the rear end of the housing; a synchronous retractable device and a battery pack are disposed inside the housing; wherein the synchronous retractable device is provided with an optical fiber, and the optical fiber extends to the outside of the housing; the battery pack is electrically connected to the first camera unit, the second camera unit and the illumination unit; the optical fiber is signal-connected to the first camera unit and the second camera unit; and

[0010] A walking device is fixedly connected to the lower end of the shell, and the walking device includes a crawler walking mechanism and a first motor for driving the crawler walking mechanism, and the first motor is connected to the optical fiber signal; the crawler walking mechanism is in two groups.

[0011] Furthermore, the battery pack is a 50AH lithium iron battery pack.

[0012] Furthermore, the first camera unit includes a first camera unit A fixedly connected to the top end of the shell and a second camera unit B fixedly connected to the bottom end of the shell; the first camera unit A can rotate 360° along its own axis.

[0013] Furthermore, the synchronous retractable device also includes

[0014] A wire arrangement roller is rotatably connected to the housing, and an optical fiber is wound around the wire arrangement roller; the optical fiber includes a fixed end and an extended end, the fixed end is fixed to the wire arrangement roller, and the extended end extends to the outside of the housing through a wire arrangement device;

[0015] A driving motor is fixedly connected to the housing, and an output end of the driving motor is drivingly connected to the wire arranging roller; the driving motor drives the wire arranging roller to rotate forward or reverse;

[0016] A wire arranging device, fixedly connected to the housing, and arranged on one side of the wire arranging roller;

[0017] A control switch is provided between the cable arranging roller and the cable arranging device, and the control switch is electrically connected to the driving motor;

[0018] A metal wire is arranged along the axis direction of the cable arrangement roller; the metal wire is arranged above the extension end, one end of the metal wire is connected to the inside of the shell, and the other end is connected to the control switch; when the extension end is in a straightened state, the metal wire is compressed and bent by the extension end.

[0019] Furthermore, the cable arranging device includes a cable arranging body, a conductor rod, a conductor rod limiting plate and a second motor, and the conductor rod limiting plate and the second motor are both fixedly connected to the shell; a fiber optic guide hole is provided at the top of the cable arranging body; the cable arranging body is sleeved on the outside of the conductor rod and moves left and right along the conductor rod perpendicular to the fiber optic retraction and release path under the drive of the second motor; the extension end extends to the cable arranging body, and passes through the fiber optic guide hole to the outside of the shell, and the optical fiber is retracted and released along the guide direction of the fiber optic guide hole; the number of the conductor rod limiting plates is two, and the two conductor rod limiting plates are respectively fixedly connected to the two ends of the conductor rod.

[0020] Furthermore, each set of the crawler walking mechanism includes

[0021] A driving wheel is rotatably connected to the bottom end of the housing; the driving wheel is connected to the output end of the first motor; and gear teeth are evenly arranged on the outer circumference of the driving wheel;

[0022] A driven wheel rotatably connected to the bottom end of the housing; and

[0023] A crawler track is installed on the outer sides of the driving wheel and the plurality of driven wheels; the teeth are meshed with the crawler track; the crawler track includes a plurality of rubber friction blocks connected to each other;

[0024] Wherein, the driving wheel is arranged at one end of the crawler belt; the driven wheels include a first driven wheel arranged at the other end of the crawler belt and a plurality of second driven wheels arranged on the inner surface of the crawler belt.

[0025] Furthermore, the number of the first motors is two, and the output ends of the two first motors are connected to the two driving wheels in a one-to-one correspondence.

[0026] Furthermore, the rubber friction block includes a rubber support block and a track plate, the rubber support block and the track plate are connected by a bolt pair; two adjacent track plates are rotatably connected; a plurality of track plates connected end to end form a double-row chain; the double-row chain is meshed with the gear teeth of the driving wheel.

[0027] Furthermore, an iron plate is provided inside the rubber support block, and the bolt pair is connected between the track shoe and the iron plate.

[0028] Furthermore, lining blocks are provided at both ends of the iron plate.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] 1. The optical fiber in the present invention has the characteristics of large communication capacity, long relay distance, good confidentiality performance, strong adaptability, small size and light weight, etc., especially the transmission distance of single-mode optical fiber can exceed 20 kilometers, which can meet the communication requirements of robots. The optical fiber communication system of the present invention has the advantages of large communication capacity, good stability, small size and light weight. Images and signals can be transmitted stably and reliably, and the optical fiber has certain tensile and compressive strength, which can better adapt to the harsh environment of the tailings pond drainage pipe culvert. It can not only realize real-time, efficient and accurate communication of the robot, but also enable the robot to have an ultra-long distance driving ability of more than 500m.

[0031] 2. Under the conditions of meeting real-time, efficient and accurate communication, the present invention sets two camera units and a lighting unit so that on-site workers can understand the global status of the robot operation and the surrounding actual situation in real time through the video images collected by the camera units, so as to carry out timely control intervention.

[0032] 3. The battery pack of the present invention uses a 50AH lithium iron battery pack to power the safety detection robot for normal operation. The cable-free power supply operation mode provides strong support for the ultra-long distance driving capability of the safety monitoring crawling robot, overcoming the cable operation mode of power supply in the prior art. This functional mode has the problem of excessive line loss in low-voltage long-distance power supply and certain requirements on the diameter and strength of the cable. The longer the power supply is, the larger the volume and the heavier the weight of the cable required, and the greater the friction between the cable and the pipe wall, which seriously affects the maximum walking distance of the robot during operation.

[0033] 4. The tailings pond flood discharge facility safety inspection crawling robot of the present invention adopts a crawler-type moving mechanism, which makes the robot have strong maneuverability, high mobile stability and strong obstacle crossing ability, thereby meeting the requirements of the robot running in the flood discharge culvert, and overcoming the technical problems of poor obstacle crossing ability and poor reliability in the wheel-type, leg-type and other moving modes in the prior art; secondly, the number of walking devices in the present invention is two groups, which further ensures that the robot can crawl stably in the tailings pond flood discharge culvert and has a high obstacle crossing ability; finally, the crawler of the present invention is composed of rubber friction blocks, which on the one hand makes the robot have good grip, high bearing strength, low noise and little damage to the road surface; on the other hand, its circumference can be determined by itself, is not affected by other processing techniques, and its circumference can be adjusted arbitrarily according to the needs of the robot.

[0034] 5. The robot of the present invention uses two independent motors to drive the walking mechanism, which can independently realize the advancement and stopping of the two walking mechanisms, so that the robot can crawl stably, flexibly turn, and simply control in the tailings pond flood discharge pipe culvert. When the robot changes direction to pass through a curve, the speed of the track wheel on one side decreases or stops, and the speed of the track wheel on the other side increases, so that the robot can change direction on the spot and pass through the curve. The use of a stepper motor can more accurately control the speed and position of the robot.

[0035] 6. The crawler of the present invention is composed of replaceable rubber support blocks, which can be replaced in time after wear, which is convenient and efficient, and is not affected by the diameter of the driving wheel and the tensioning wheel. The service life is more than doubled compared with the traditional crawler, saving equipment maintenance costs and improving work efficiency. In addition, special rubber friction blocks such as flame retardant, explosion-proof, antistatic, high temperature resistant, acid and alkali resistant can be replaced according to the requirements of the use environment, meeting all working conditions and having strong applicability.

[0036] 7. The present invention senses the tightness or pressure of the optical fiber extension end through a metal wire disposed at the optical fiber extension end, and then adjusts the winding or releasing speed of the wire arrangement roller through a control switch connected to the metal wire until the winding or releasing speed of the wire arrangement roller is consistent with the travel speed of the robot. This solves the technical problem in the prior art that when the robot moves forward, if the fiber release speed is too fast, the fiber is easily entangled inside the robot, making the robot unable to move, and the staff cannot enter the pipeline to take the robot out; if the fiber release speed is too slow, the fiber is easily disconnected, making the communication task impossible to complete. At the same time, the present invention controls the synchronization of the travel speed and the winding and releasing speed, which can be completed automatically without the need for the staff to operate in manual mode.

[0037] 8. The present invention sets a cable arrangement body, a conductor rod, an optical fiber guide hole, a conductor rod limit plate and a driving motor, so that when the cable arrangement roller releases the optical fiber, the cable arrangement device can reciprocate along the optical fiber arrangement direction, smoothly completing the task of optical fiber winding and unwinding, and at the same time ensuring that the optical fiber will not be scratched or blocked by other substances when winding and unwinding. At the same time, the present invention sets the length of the cable arrangement body to be less than the length of the cable arrangement roller, which can further reduce the friction force when the optical fiber is winding and unwinding, and smoothly complete the task of optical fiber winding and unwinding.

[0038] 9. The present invention uses a wire to connect with the control switch, taking advantage of the moderate elasticity of the wire. If the elasticity of the wire is too small, the wire will be too sensitive to the tensile state of the optical fiber, and the control switch will have difficulty in transmitting accurate signals to the cable arranging roller, thereby failing to ensure that the winding or unwinding speed of the cable arranging roller is consistent with the travel speed of the robot. If the elasticity of the wire is too large, the wire will not be sensitive enough to the tensile state of the optical fiber, and when the winding or unwinding speed of the cable arranging roller needs to be adjusted, the wire still cannot transmit signals to the cable arranging roller, causing the cable arranging roller to be unable to adjust the winding or unwinding speed of the optical fiber, thereby failing to ensure that the winding or unwinding speed of the cable arranging roller is consistent with the travel speed of the robot.

[0039] 10. The present invention sequentially passes bolts through the track plate, the part of the rubber support block close to the track plate, and the iron plate and the part of the rubber support block away from the track plate; the iron plate can provide strength, so that the rubber support block and the track plate are tightly connected together, and then the track composed of the rubber friction block can have sufficient strength. At the same time, both ends of the iron plate are provided with lining blocks, which can expand the force-bearing surface of the rubber support block, prevent the iron plate from damaging the rubber support block, and increase the service life of the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0041] Figure 1 This is a left-side structural schematic diagram of the tailings pond flood discharge facility safety detection crawling robot according to Example 1 of the present invention;

[0042] Figure 2 This is a schematic diagram of the main structure of the crawling robot for safety detection of tailings pond flood discharge facilities according to Example 1 of the present invention;

[0043] Figure 3 This is a schematic diagram of a top view of the structure of a synchronous retracting and releasing device of a crawling robot for safety detection of tailings pond flood discharge facilities according to Example 1 of the present invention;

[0044] Figure 4It is a right view structural schematic diagram of a wire arranging device in a synchronous retracting and releasing device of a crawling robot for safety detection of flood discharge facilities of a tailings pond according to Example 1 of the present invention;

[0045] Figure 5 This is a left-side structural schematic diagram of the tailings pond flood discharge facility safety detection crawling robot according to Example 2 of the present invention;

[0046] Figure 6 This is a schematic diagram of the three-dimensional structure of the rubber support block and the track shoe in the crawling robot for safety detection of tailings pond flood discharge facilities according to Example 2 of the present invention;

[0047] Figure 7 This is a schematic diagram of the main structure of the rubber support block in the crawling robot for safety detection of tailings pond flood discharge facilities according to Example 2 of the present invention;

[0048] Figure 8 It is a right view structural schematic diagram of the rubber support block and the track shoe in the crawling robot for safety detection of tailings pond flood discharge facilities according to Example 2 of the present invention;

[0049] Fig. 9 for Figure 7 Schematic diagram of the cross section in the AA direction;

[0050] Fig.10 This is a schematic diagram of the main structure of the track shoe in the crawler robot for safety detection of tailings pond flood discharge facilities according to Example 2 of the present invention;

[0051] Fig.11 This is a schematic diagram of the three-dimensional structure of the first support rod and the second support rod in the crawling robot for safety detection of tailings pond flood discharge facilities according to Example 2 of the present invention;

[0052] Fig.12 This is a schematic diagram of the main structure of the first support rod and the second support rod in the crawling robot for safety detection of tailings pond flood discharge facilities according to Example 2 of the present invention;

[0053] Fig.13 It is a right view structural schematic diagram of the first support rod and the second support rod in the crawling robot for safety detection of tailings pond flood discharge facilities according to Example 2 of the present invention;

[0054] Fig.14 This is a schematic diagram of the bottom-up structure of the first support rod and the second support rod in the crawling robot for safety detection of tailings pond flood discharge facilities according to Example 2 of the present invention;

[0055] Description of reference numerals:

[0056] 1-housing; 2-traveling device, 21-track, 211-rubber support block, 212, track shoe, 213-bolt pair; 214-iron plate, 215-lining block; 22-driving wheel, 231-first driven wheel, 232-second driven wheel; 311-first camera unit A, 312-first camera unit B, 32-second camera unit; 4-cable arranging device, 41-cable arranging body, 42-conductor rod, 43-optical fiber guide hole, 44-conductor rod limit plate; 5-optical fiber, 51-extension end; 6-illumination unit; 7-cable arranging roller; 8-motor; 9-control switch; 10-metal wire; 11-first support rod; 12-second support rod; 13-tension spring; 14-reversing rod; 15-fixed plate; 16-support plate. DETAILED DESCRIPTION

[0057] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0058] In the present invention, due to the harsh outdoor use environment of the mine tailings pond flood discharge pipe culvert, in order to ensure a safe and comprehensive inspection of the flood discharge pipe, the tailings pond safety inspection robot planned to be developed should focus on solving the following problems:

[0059] 1. Ultra-long distance driving capability: The tailings pond drainage pipe is relatively long, generally more than 500 meters long. The safety inspection robot developed must have the ability to travel a distance of more than 500 meters.

[0060] 2. Climbing ability: The terrain of the tailings pond flood discharge pipeline laying area is generally undulating, and the pipeline has a certain slope. The developed safety inspection robot must have strong climbing ability.

[0061] 3. Obstacle crossing, mud crossing and obstacle avoidance capabilities: There may be debris such as gravel and branches in the flood drainage pipes, and there is a lot of silt in some flood drainage pipes after rain. The developed safety inspection robot must not only have strong obstacle crossing and obstacle avoidance capabilities, but also be able to walk normally in a silt accumulation environment.

[0062] 6Remote control and real-time communication capabilities

[0063] The safety inspection robot developed must be able to remotely control the robot's operating status through peripherals such as handles, and be able to display the actual situation around the robot in real time.

[0064] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0065] Example 1

[0066] This embodiment relates to a crawling robot for safety inspection of tailings pond flood discharge facilities, wherein an exemplary structure is as follows Figures 1 to 4 As shown. Figures 1 to 4 It can be seen that the robot includes a shell 1 and a walking device 2. First, the outside of the shell 1 is provided with a first camera unit and a lighting unit 6 at the front end, and a second camera unit 32 is provided at the rear end of the shell 1. The lighting unit 6 is used for lighting, and both camera units are used to collect images to ensure that the operator can understand the global status of the robot operation in real time. Preferably, the first camera unit includes a first camera unit A311 fixedly connected to the top of the shell 1 and a second camera unit B312 fixedly connected to the bottom of the shell 1. More preferably, the first camera unit A311 can rotate 360° along its own axis. In this way, it can be ensured that the first camera unit and the second camera unit 31 can collect all images around the robot without omission, so that the operator can smoothly complete the inspection of all problems of the flood discharge pipeline, including structural defects inside the flood discharge pipeline, functional defects inside the flood discharge pipeline, erosion of the flood discharge structure, leakage, telescopic connection status, and whether there is any change, etc.

[0067] Then look at the interior of the shell 1, which is provided with a synchronous retractable device and a battery pack (not shown in the figure). Preferably, the battery pack is a 50AH lithium iron battery pack. The synchronous retractable device is provided with an optical fiber 5, which extends to the outside of the shell 1 through the cable arranger; the battery pack is electrically connected to the first camera unit, the second camera unit 32 and the lighting unit 6; the optical fiber 5 is signal-connected to the first camera unit and the second camera unit 32. The walking device 2 is fixedly connected to the lower end of the shell 1, and the walking device 2 includes a crawler walking mechanism and a first motor for driving the crawler walking mechanism, and the first motor is signal-connected to the optical fiber 5; the number of crawler walking mechanisms is two groups.

[0068] The optical fiber in this embodiment has the characteristics of large communication capacity, long relay distance, good confidentiality performance, strong adaptability, small size and light weight, etc., especially the transmission distance of single-mode optical fiber can exceed 20 kilometers, which can meet the communication requirements of the robot. The optical fiber communication system of the present invention has the advantages of large communication capacity, good stability, small size and light weight. Images and signals can be transmitted stably and reliably, and the optical fiber has a certain tensile and compressive strength, which can better adapt to the harsh environment of the tailings pond drainage pipe culvert. It can not only realize the real-time, efficient and accurate communication of the robot, but also enable the robot to have an ultra-long distance driving ability of more than 500m. On this basis, by setting two camera units and lighting units, the on-site operators can understand the global status of the robot operation and the surrounding actual situation in real time through the video images collected by the camera unit, so as to carry out timely control intervention.

[0069] The battery pack of this embodiment uses a 50AH lithium iron battery pack to supply the safety detection robot for normal operation. This cable-free power supply operation mode provides strong support for the ultra-long-distance driving ability of the safety monitoring crawling robot, overcoming the cable operation mode of power supply in the prior art. This power supply mode has the problem of excessive line loss in low-voltage long-distance power supply, and has certain requirements on the diameter and strength of the cable. The longer the power supply, the larger the volume and the heavier the weight of the cable required, and the greater the friction between the cable and the pipe wall, which seriously affects the maximum walking distance of the robot during operation. In this embodiment, according to the maximum power of 300 watts during normal operation, the robot can run smoothly for more than 4 hours, and according to the operating speed of 0.5 m / s, it can run 7200 meters, which can meet the operation requirements of a round trip of the flood discharge pipe culvert.

[0070] In order to further improve the performance of the crawling robot for safety inspection of tailings pond flood discharge facilities, in one specific embodiment of the present invention, the synchronous retracting and releasing device includes a wire arranging roller 7, a motor 8, a wire arranging device 4, a control switch 9 and a metal wire 10. Specifically, the wire arranging roller 7 is rotatably connected to the housing 1, and an optical fiber 5 is arranged around its outer circumference. The optical fiber 5 includes a fixed end and an extension end 51, and the fixed end is wound into the inside of the wire arranging roller 7 and fixed to the wire arranging roller 7. The driving motor 8 is fixedly connected to the housing 1, and the output end of the driving motor 8 is transmission-connected to the wire arranging roller 7; the driving motor 8 drives the wire arranging roller 7 to rotate forward or reverse. Specifically in this embodiment, the output end of the driving motor 8 is connected to the end of the wire arranging roller 7 through a belt transmission. In this embodiment, when the crawling robot moves forward, the wire arranging roller 7 rotates clockwise to release the wire under the drive of the motor 8; when the crawling robot moves backward, the wire arranging roller 7 rotates counterclockwise to retract the wire under the drive of the motor 8. The cable arranging device 4 is fixedly connected to the housing 1 and is disposed on one side of the cable arranging roller 7. The extending end 51 extends to the outside of the housing through the cable arranging device 4.

[0071] The metal wire 10 is arranged along the axis direction of the wire arrangement roller 7, one end of the metal wire 10 is connected to the inside of the housing, and the other end is connected to the control switch 9. When the extension end 51 is in a straightened state, the metal wire 10 is compressed and bent by the extension end 51. The control switch 9 is arranged between the wire arrangement roller 7 and the wire arrangement device 4, and is electrically connected to the drive motor 8. The metal wire 10 is arranged above the extension end 51, and whether the two are in contact depends on whether the winding or unwinding speed of the wire arrangement roller 7 is consistent with the travel speed of the robot. In this embodiment, a fixed plate 15 is provided, and the control switch 9 is fixedly connected to the fixed plate. When the metal wire 10 is connected to the control switch 9, it is necessary to change the stretching direction of the metal wire 10 by bypassing the reversing rod 14 of the fixed plate, and adapt to the triggering direction of the control switch 9. Finally, the metal wire 10 controls the winding speed of the wire arrangement roller 7 to be consistent with the travel speed of the robot, or controls the unwinding speed of the wire arrangement roller 7 to be consistent with the travel speed of the robot. Specifically, the control switch 5 can be a torque sensor or a tension and pressure sensor in the prior art.

[0072] When the crawling robot moves forward, the wire arrangement roller 7 rotates clockwise to pay out the wire. If the pay-out speed of the wire arrangement roller 7 is less than the traveling speed of the robot, the extension end 51 gradually becomes straightened and contacts the metal wire 10, thereby causing the metal wire 10 to move upward. The metal wire 10 bends and moves upward, triggering the control switch 9, which transmits signal A to the wire arrangement roller 7. After receiving signal A, the wire arrangement roller 7 accelerates clockwise rotation to pay out the wire. When the wire is paid out to the point where the metal wire 10 bends and slightly moves upward, the control switch 9 transmits signal C to the wire arrangement roller 7; wherein, whether the specific bending and upward displacement values ​​trigger the control switch 9 to send signal A or signal C is determined according to the performance of the selected crawling robot and is not a fixed value. After receiving signal C, the wire arrangement roller 7 resumes its normal pay-out speed, and then the pay-out speed of the wire arrangement roller 7 is consistent with the traveling speed of the robot.

[0073] When the crawling robot moves forward, the wire-arranging roller 7 rotates clockwise to pay out the wire. If the pay-out speed of the wire-arranging roller 7 is greater than the traveling speed of the robot, the extension end 51 gradually becomes relaxed and cannot contact the metal wire 10. The metal wire 10 cannot move upward under the action of the extension end 51, and cannot trigger the control switch 9, and the control switch 9 transmits the signal B to the wire-arranging roller 7. After receiving the signal B, the wire-arranging roller 7 slows down the clockwise rotation to pay out the wire. When the wire is paid out to the point where the extension end 51 is in direct contact with the metal wire 10 but there is no interaction force, the control switch 9 transmits the signal C to the wire-arranging roller 7. After receiving the signal C, the wire-arranging roller 7 resumes the normal pay-out speed, and then the pay-out speed of the wire-arranging roller 7 is consistent with the traveling speed of the robot.

[0074] In this embodiment, the metal wire 10 provided at the optical fiber extension end 51 senses the tightness of the optical fiber 5 extension end 51, and then adjusts the winding or releasing speed of the wire arrangement roller 7 through the control switch 9 connected to the metal wire 10, until the winding or releasing speed of the wire arrangement roller 7 is consistent with the travel speed of the robot. This solves the technical problems in the prior art that when the robot moves forward, if the fiber release speed is too fast, the fiber is easily entangled inside the robot, making the robot unable to move, and the staff cannot enter the pipeline to take the robot out; if the fiber release speed is too slow, the fiber is easy to disconnect, making the communication task impossible to complete. At the same time, the present invention controls the synchronization of the travel speed and the winding and releasing speed, which can be completed automatically without the need for the staff to operate in manual mode.

[0075] In order to further improve the performance of the crawling robot for safety inspection of tailings pond flood discharge facilities, in one specific embodiment of the present invention, the cable arranging device 4 includes a cable arranging body 41, a conductor rod 42, a conductor rod limiting plate 44 and a second motor, and the conductor rod limiting plate 44 and the second motor are both fixedly connected to the shell; a fiber optic guide hole 43 is provided at the top of the cable arranging body 41; the cable arranging body 41 is sleeved on the outside of the conductor rod 42 and moves left and right along the conductor rod 42 perpendicular to the retraction and release path of the optical fiber 2 under the drive of the second motor; the extension end 21 extends to the cable arranging body 41, and extends to the outside of the shell through the optical fiber guide hole 43, and the optical fiber 2 is retracted and released along the guide direction of the optical fiber guide hole 43; the number of the conductor rod limiting plates 44 is two, and the two conductor rod limiting plates 44 are respectively fixedly connected to the two ends of the conductor rod 42.

[0076] By setting the cable arrangement body, the conductor rod, the optical fiber guide hole, the conductor rod limit plate and the driving motor, when the cable arrangement roller releases the optical fiber, the cable arrangement device can reciprocate along the cable arrangement direction of the optical fiber, successfully complete the task of fiber winding and unwinding, and at the same time ensure that the optical fiber will not be scratched or blocked by other substances when winding and unwinding. Preferably, the length of the conductor rod 42 is not less than the length of the cable arrangement roller 7, the top surface of the cable arrangement roller 7 is lower than the top of the conductor rod 42, and the bottom surface of the cable arrangement roller 7 is higher than the bottom of the conductor rod 42, so as to ensure that the cable arrangement roller 7 can wind up and unwind more smoothly. More preferably, the length of the cable arrangement body 41 is less than the length of the cable arrangement roller 7. By setting the length of the cable arrangement body 41 to be less than the length of the cable arrangement roller 7, the friction force when winding and unwinding the optical fiber 5 can be further reduced, and the task of winding and unwinding the optical fiber 5 can be successfully completed.

[0077] In order to further improve the performance of the crawling robot for safety detection of tailings pond flood discharge facilities, in one of the specific embodiments of the present invention, the metal wire 10 is any one of iron wire, copper wire and steel wire. Specifically in this embodiment, the metal wire 10 is iron wire, and the reference value of the Young's modulus of the iron wire is 1.90*10^11 Newton per square meter, which best meets the elasticity requirements of this embodiment, followed by steel wire. By using the metal wire to connect with the control switch, the moderate elasticity of the metal wire is utilized; if the elasticity of the metal wire is too small, the metal wire is too sensitive to the tensile state of the optical fiber, and the control switch is difficult to transmit accurate signals to the cable roller, and it is impossible to ensure that the winding or unwinding speed of the cable roller is consistent with the travel speed of the robot; if the elasticity of the metal wire is too large, the metal wire is not sensitive enough to the tensile state of the optical fiber. When the winding and unwinding speed of the cable roller needs to be adjusted, the metal wire still cannot transmit signals to the cable roller, causing the cable roller to be unable to adjust the winding and unwinding speed of the optical fiber, and thus it is impossible to achieve the winding or unwinding speed of the cable roller to be consistent with the travel speed of the robot.

[0078] Example 2

[0079] This embodiment relates to a crawling robot for safety inspection of tailings pond flood discharge facilities, wherein an exemplary structure is as follows Figures 5 to 14 As shown. Figures 5 to 14 It can be seen that the specific structure thereof is roughly similar to that of Example 1, and the only difference is that: the walking device includes a driving motor and a walking mechanism installed in the housing 1; the number of the walking mechanisms is two groups, and each group of walking mechanisms includes a driving wheel 22, a driven wheel and a crawler 21. Specifically, the driving wheel 22 is rotatably connected to the bottom end of the housing 1. The driving wheel 22 is connected to the output end of the first motor, and the driving wheel 22 can rotate clockwise or counterclockwise under the drive of the driving motor. The outer periphery of the driving wheel 22 is evenly provided with gear teeth.

[0080] The driven wheel is rotatably connected to the bottom end of the housing 1. The crawler 21 is installed on the outside of the driving wheel 22 and several of the driven wheels; the teeth on the outer periphery of the driving wheel 22 are meshed with the crawler 21. Among them, the driving wheel 22 is arranged at one end of the crawler 21, and the driven wheel includes a first driven wheel 231 arranged at the other end of the crawler 21 and several second driven wheels 232 arranged on the inner surface of the crawler 21. Under the drive of the driving motor, if the driving wheel 22 rotates clockwise, it drives the crawler 21 forward and the driven wheel to rotate, so that the robot can move forward and crawl stably in the tailings pond drainage culvert.

[0081] The walking device of the crawling robot for safety inspection of tailings pond flood discharge facilities in this embodiment adopts a crawler-type moving mechanism, which makes the robot have strong maneuverability, high moving stability and strong obstacle crossing ability, thereby meeting the requirements for the robot to operate in the flood discharge culvert, and overcoming the technical problems of poor obstacle crossing ability and poor reliability existing in the wheel-type, leg-type and other moving modes in the prior art; at the same time, the number of walking devices in this embodiment is two groups, which further ensures that the robot can crawl stably in the flood discharge culvert of the tailings pond and has a high obstacle crossing ability.

[0082] Among them, the track 21 includes a number of rubber friction blocks connected to each other. The track 21 of this embodiment is composed of rubber friction blocks. On the one hand, the robot has good grip, high bearing strength, low noise and little damage to the road surface. On the other hand, its circumference can be determined by itself and is not affected by other processing techniques. Its circumference can be adjusted arbitrarily according to the needs of the robot, and it has strong applicability.

[0083] In order to further improve the performance of the crawling robot for safety inspection of tailings pond flood discharge facilities, in one specific embodiment of the present invention, the number of the first motors is two, and the output ends of the two first motors are connected to the two driving wheels 22 in a one-to-one correspondence. The use of two independent motors to drive the walking mechanism can independently realize the advancement and stopping of the two walking mechanisms, so that the robot can crawl stably, flexibly turn, and simply control in the tailings pond flood discharge culvert. When the robot needs to change direction to pass a curve, the speed of the track wheel on one side decreases or stops, and the speed of the track wheel on the other side increases, so that the robot can change direction on the spot to pass the curve. Preferably, the drive motor is a stepper motor, which has the characteristics of high linear speed and small time coefficient. The use of a stepper motor can more accurately control the speed and position of the robot.

[0084] In order to further improve the performance of the crawling robot for safety detection of tailings pond flood discharge facilities, in another specific embodiment of the present invention, in the walking device, a first support rod 11 with a spring group wound therearound is connected between the second driven wheel 232 and the bottom end of the shell 1. The second driven wheel 232 includes two parallel sub-wheels and a connecting rod connecting the sub-wheels, and the middle part of the connecting rod is vertically connected to the first support rod 11. Preferably, the second driven wheel 232 near the front and rear ends of the shell 1 is rotatably connected to the second support rod 12, the second support rod 12 is in an inverted L shape, the lower end of the second support rod 12 is rotatably connected to the second driven wheel 232, the second support rod 12 is rotatably connected to the shell 1 at the corner of the inverted L shape, and a tension spring 13 is provided between the upper end of the second support rod 12 and the shell 1. Among them, the second support rod 12 also serves as a limit plate. By connecting a first support rod with a spring group between the driven wheel and the bottom end of the shell, the vertical stability of the robot is further increased when walking, and by connecting an L-shaped second support rod and a tension spring with a spring group between the driven wheel and the bottom end of the shell, the horizontal stability of the robot is further increased when walking. More preferably, the angle between the first support rod 11 near the front and rear ends of the shell 1 and the plumb line is an acute angle; in the same set of the crawler walking mechanism, the bottom ends of the two first support rods 11 near the front and rear ends of the shell 1 are far away from each other and the top ends are close to each other.

[0085] In order to further improve the performance of the crawling robot for safety detection of tailings pond flood discharge facilities, in one specific embodiment of the present invention, the diameter of the first driven wheel 231 is greater than the diameter of the second driven wheel 232. Setting the diameter of the first driven wheel larger than the diameter of the second driven wheel can, on the one hand, make the turning angle of the crawler track at the first driven wheel larger, to a certain extent prevent the crawler track from bending too much, thereby extending the service life of the crawler track; on the other hand, it can also make the crawler track move more smoothly during operation, increasing the walking stability of the robot. Preferably, a support plate 16 is connected between the two second driven wheels 232 to fix the spacing between the two second driven wheels 232.

[0086] In order to further improve the performance of the crawling robot for safety inspection of tailings pond flood discharge facilities, in another specific embodiment of the present invention, the rubber friction block includes a rubber support block 211 and a track shoe 212, and the rubber support block 211 and the track shoe 212 are connected by a bolt pair 213. The unit structure diagram of the track shoe 212 is shown in FIG. Fig.10As shown, two adjacent track plates 212 are rotatably connected; a plurality of track plates 212 connected end to end form a double-row chain; the double-row chain meshes with the gear teeth of the driving wheel 22. The rubber support block 211 is fixed to the track plate 212 through the connection of the bolt pair 213, and a plurality of rubber support blocks 211 are fixed to the double-row chain composed of a plurality of track plates 212 in the same manner, and finally a complete track 21 is formed. The track 21 is composed of replaceable rubber support blocks 211, which can be replaced in time after wear, which is convenient and efficient, and is not affected by the diameter of the driving wheel and the tensioning wheel. The service life is more than doubled compared with the traditional track, which saves equipment maintenance costs and improves work efficiency. Preferably, the rubber support block 211 is selected from any one of a flame-retardant rubber friction block, an explosion-proof rubber friction block, an antistatic rubber friction block, a high-temperature resistant rubber friction block, and an acid- and alkali-resistant rubber friction block. In this way, special rubber friction blocks such as flame retardant, explosion-proof, antistatic, high temperature resistant, acid and alkali resistant can be replaced according to the requirements of the use environment, so that the tailings pond flood discharge facility safety inspection crawling robot can meet the requirements of all working conditions and has strong applicability.

[0087] In order to further improve the performance of the crawling robot for safety inspection of tailings pond flood discharge facilities, in one specific embodiment of the present invention, an iron plate 214 is provided inside the rubber support block 211, and the bolt pair 213 is connected between the track shoe 212 and the iron plate 214. Fig. 9 As shown, the bolt pair 213 passes through the track shoe 212, the portion of the rubber support block 211 close to the track shoe 212, the iron plate 214 and the portion of the rubber support block 211 away from the track shoe 212 in sequence. The iron plate 214 is completely surrounded by the rubber support block 211, and the two are integrally formed. Since the rubber support block 211 and the track shoe 212 are respectively made of soft material and hard material, the two are connected only by the bolt pair 213, which cannot meet the requirements of fixed strength. The iron plate 214 can provide strength, so that the rubber support block 211 and the track shoe 212 are tightly connected together, and then the track 21 composed of the rubber friction block can have sufficient strength. Preferably, the bolt pair 213 is an anti-loosening bolt.

[0088] In order to further improve the performance of the tailings pond flood discharge facility safety detection crawler robot, in another specific embodiment of the present invention, both ends of the iron plate 214 are provided with lining blocks 215. Since the iron plate 214 is arranged inside the rubber support block 211, the lining blocks 215 are arranged at both ends of the iron plate 214, which can expand the force-bearing surface of the rubber support block 211, prevent the iron plate 214 from damaging the rubber support block 211, and increase the service life of the crawler 21.

[0089] In summary, the robot of this embodiment is 0.8 meters long, 0.45 meters wide, and 0.5 meters high. It can walk continuously for more than 1000 meters and run continuously for more than four hours. It can climb a 15-degree slope and can smoothly pass through the pipeline laying section with large terrain fluctuations. It can pass smoothly in the 0.8-meter flood drainage culvert and can realize on-the-spot turning with a turning radius of 0.4 meters. The optical fiber communication transmission is stable and reliable, which can ensure the control of the operation status of the remote robot and display the operation environment around the robot in real time. The synchronous retractable device on the robot is operating normally, which can ensure that the optical fiber is automatically retracted and released according to the robot's operating speed, and the optical fiber arrangement is completed in sequence.

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A crawling robot for safety inspection of tailings pond flood discharge facilities, characterized by: include A shell (1), wherein a first camera unit and a lighting unit (6) are provided at the front end of the shell (1), and a second camera unit (32) is provided at the rear end of the shell (1); a synchronous retractable device and a battery pack are provided inside the shell (1); wherein the synchronous retractable device is provided with an optical fiber (5), and the optical fiber (5) extends to the outside of the shell (1); the battery pack is electrically connected to the first camera unit, the second camera unit (32) and the lighting unit (6); the optical fiber (5) is signal-connected to the first camera unit and the second camera unit (32); and a walking device (2) fixedly connected to the lower end of the shell (1), the walking device (2) comprising a crawler walking mechanism and a first motor for driving the crawler walking mechanism, the first motor being signal-connected to the optical fiber (5); the crawler walking mechanism is in two groups; The synchronous retractable device also includes a wire arranging roller (7) rotatably connected to the housing (1), and the wire arranging roller (7) is wound with an optical fiber (5); the optical fiber (5) includes a fixed end and an extended end (51), the fixed end is fixed to the wire arranging roller (7), and the extended end (51) extends to the outside of the housing through the wire arranging device (4); A drive motor (8) is fixedly connected to the housing (1), and an output end of the drive motor (8) is drivingly connected to the wire arrangement roller (7); the drive motor (8) drives the wire arrangement roller (7) to rotate forward or reverse; A cable arranging device (4) is fixedly connected to the housing (1), and the cable arranging device (4) is arranged on one side of the cable arranging roller (7); A control switch (9) is arranged between the cable arrangement roller (7) and the cable arrangement device (4), and the control switch (9) is electrically connected to the drive motor (8); A metal wire (10) is arranged along the axis direction of the cable arrangement roller (7); the metal wire (10) is arranged above the extension end (51), one end of the metal wire is connected to the inside of the housing (1), and the other end is connected to the control switch (9); when the extension end (51) is in a straightened state, the metal wire (10) is compressed and bent by the extension end (51); The cable arranging device (4) comprises a cable arranging body (41), a conductor rod (42), a conductor rod limiting plate (44) and a second motor, wherein the conductor rod limiting plate (44) and the second motor are both fixedly connected to the housing; a fiber guide hole (43) is provided at the top of the cable arranging body (41); the cable arranging body (41) is sleeved on the outside of the conductor rod (42) and moves left and right along the conductor rod (42) perpendicular to the retracting and releasing path of the optical fiber (5) under the drive of the second motor; the extension end (51) extends to the cable arranging body (41) and passes through the fiber guide hole (43) to extend to the outside of the housing, and the optical fiber (5) is retracted and released along the guiding direction of the fiber guide hole (43); there are two conductor rod limiting plates (44), and the two conductor rod limiting plates (44) are respectively fixedly connected to the two ends of the conductor rod (42); Each set of the crawler walking mechanism comprises a driving wheel (22) rotatably connected to the bottom end of the housing (1); the driving wheel (22) is connected to the output end of the first motor; and gear teeth are evenly arranged on the outer circumference of the driving wheel (22); A driven wheel rotatably connected to the bottom end of the housing (1); and A crawler (21) is installed on the outer sides of the driving wheel (22) and the plurality of driven wheels; the teeth are meshed with the crawler (21); the crawler (21) comprises a plurality of rubber friction blocks connected to each other; The driving wheel (22) is arranged at one end of the crawler (21); the driven wheels include a first driven wheel (231) arranged at the other end of the crawler (21) and a plurality of second driven wheels (232) arranged on the inner surface of the crawler (21).

2. The tailings pond flood discharge facility safety detection crawling robot according to claim 1 is characterized by: The battery pack is a 50AH lithium iron battery pack.

3. The tailings pond flood discharge facility safety detection crawling robot according to claim 1 is characterized by: The first camera unit comprises a first camera unit A (311) fixedly connected to the top end of the shell (1) and a second camera unit B (312) fixedly connected to the bottom end of the shell (1); the first camera unit A (311) can rotate 360 ​​degrees along its own axis.

4. The tailings pond flood discharge facility safety detection crawling robot according to claim 1 is characterized by: The number of the first motors is two, and the output ends of the two first motors are connected to the two driving wheels (22) in a one-to-one correspondence.

5. The tailings pond flood discharge facility safety detection crawling robot according to claim 1 is characterized by: The rubber friction block comprises a rubber support block (211) and a track shoe (212); the rubber support block (211) and the track shoe (212) are connected via a bolt pair (213); two adjacent track shoes (212) are rotatably connected; a plurality of track shoes (212) connected end to end form a double-row chain; and the double-row chain is meshed with the gear teeth of the driving wheel (22).

6. The tailings pond flood discharge facility safety detection crawling robot according to claim 5 is characterized by: An iron plate (214) is provided inside the rubber support block (211), and the bolt pair (213) is connected between the track shoe (212) and the iron plate (214).

7. The tailings pond flood discharge facility safety detection crawling robot according to claim 6 is characterized by: Both ends of the iron plate (214) are provided with lining blocks (215).

Images