Cable channel acceptance robot equipment

Abstract

The invention discloses cable channel acceptance robot equipment which comprises a supporting frame platform. The radar support is installed on the supporting frame platform, and a camera, an infrared light supplementing lamp and a laser radar are carried on the radar support; the mechanical legs are fixedly connected with the supporting frame platform and used for supporting the supporting frame platform; the bottom of each mechanical leg is provided with a mechanical wheel driven by a driving motor; the side wheels are oppositely installed on the inner sides of the mechanical legs through side wheel supports, and the axes of the side wheels are perpendicular to the axes of the mechanical wheels. According to the invention, the efficiency and safety of cable comprehensive trench acceptance inspection are obviously improved. The robot can ride on the middle partition wall of the cable comprehensive trench, the space limitation caused by the partition wall is effectively overcome, the collection range of carried equipment is expanded, the blind area is reduced, the adaptability and passing ability of the robot in complex terrains are improved, the risk of manual operation is reduced, and potential risks such as poisoning during operation in a closed space are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of digital acceptance of power cable channels, and in particular to a cable channel acceptance robot device. Background Art

[0002] With the acceleration of urbanization, power cables have been widely used in urban power grids because they can effectively save land resources and ensure high reliability of power supply. Generally, power cables in urban power grids are divided into two categories according to voltage levels: those below 35kV are called distribution cables, while those above 35kV are considered transmission cables. In order to ensure the stability and safety of power transmission, transmission cable channels and distribution cable channels are often laid separately, and usually in dedicated cable trenches. Traditional cable laying methods mainly include cable tunnels and cable trenches.

[0003] As the space for underground pipelines in cities becomes increasingly saturated, it becomes difficult to lay transmission cables and distribution cables in separate trenches. In order to solve this problem and meet the needs of operation and maintenance and the goal of saving land resources, cable integrated trenches have emerged as an innovative solution.

[0004] High-quality acceptance of cable channels (covering cable tunnels, cable dedicated trenches, cable integrated trenches, cable culverts and other types) is a key link in ensuring the safe operation of cable equipment. The traditional acceptance method mainly relies on manual climbing of cable trenches and dimensional measurements, but this method has many limitations. The internal space of the cable channel is narrow and the environment is complex, making manual measurement operations cumbersome and time-consuming, and it is difficult to meet the requirements of high-efficiency and high-precision acceptance. In addition, manual acceptance also has potential risks such as poisoning in confined space operations, which poses a threat to the safety of operators.

[0005] In order to overcome these challenges, digital acceptance strategies have gradually emerged. This strategy usually achieves the goal of digital acceptance by installing sensor equipment on the cable channel acceptance robot platform, using the robot to automatically collect data in the channel and perform accurate analysis. However, the current conventional robot-carrying platforms (such as four-legged robot dogs, tracked robots, etc.) are limited in application in the complex spatial environment of the cable integrated trench. The structural features such as partition walls and water collection wells in the integrated trench make it difficult for these conventional robots to walk stably and effectively carry equipment for acceptance operations. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a cable channel acceptance robot device to adapt to the complex environment of the cable integrated trench and realize efficient and high-precision digital acceptance.

[0007] In order to solve the above technical problems, the present invention provides a cable channel acceptance robot device, comprising:

[0008] Support frame platform;

[0009] A radar bracket installed on the support frame platform, wherein the radar bracket is equipped with a camera, an infrared fill light and a laser radar;

[0010] A plurality of mechanical legs fixedly connected to the support frame platform and used to support the support frame platform; the bottom of each mechanical leg is provided with a mechanical wheel driven by a driving motor;

[0011] The side wheels are mounted relative to the inner side of the mechanical legs via side wheel brackets, and the axes of the side wheels are perpendicular to the axes of the mechanical wheels.

[0012] Preferably, four corners of the top of the radar bracket are provided with support bars protruding outwards, and the laser radar is installed at the ends of the support bars.

[0013] Preferably, the infrared fill light is arranged between the two laser radars, and at least two of the cameras are arranged at the top center of the radar bracket.

[0014] Preferably, a fixing hole is provided in the center of the support frame platform, and the radar bracket is rotatably mounted on the support frame platform through the fixing hole.

[0015] Preferably, fixing grooves are respectively extended downward from the bottom surface of the support frame platform, a first bolt hole is provided on the fixing groove, a second bolt hole is provided on the upper part of the mechanical leg, the upper part of the mechanical leg is inserted into the fixing groove, the first fixing bolt passes through the first bolt hole and the second bolt hole and is locked to assemble the mechanical leg to the support frame platform.

[0016] Preferably, the side wheel bracket is fixedly mounted on the mechanical leg by a second fixing bolt; a pair of fixing grooves are provided on the side wheel bracket for mounting and fixing the spring tube.

[0017] Preferably, the spring tube is a hollow tubular structure with a spring installed inside. The spring is pressed into the spring tube by a spring pressure cover at the end of the spring tube.

[0018] Preferably, the side wheel is placed between two fixing grooves on the side wheel bracket, and the side wheel bolt passes through one of the fixing grooves into the side wheel and passes through the other fixing groove.

[0019] Preferably, the side of the spring pressure cover close to the spring is a pressing portion, which is used to press the spring into the spring tube; the side of the spring pressure cover away from the spring is a semicircular structure, which is coaxial with the central axis of the side wheel bolt.

[0020] Preferably, the axis of the mechanical wheel is parallel to the ground, and the axis of the side wheel is perpendicular to the ground.

[0021] The implementation of the present invention has the following beneficial effects: The present invention significantly improves the efficiency and safety of cable trench acceptance through an innovative robot walking mechanism. The robot can ride on the middle partition wall of the cable trench, effectively overcoming the space limitations caused by the partition wall, expanding the collection range of the onboard equipment, and reducing blind spots. In addition, the side wheel design on the mechanical legs allows the robot to maintain stable passage when encountering a seepage well even if the mechanical wheels are suspended in the air, avoiding the drawbacks that conventional tracked robots are prone to fall into. This design not only improves the robot's adaptability and passability in complex terrain, but also reduces the risk of manual operations and reduces potential dangers such as poisoning during operations in confined spaces. Overall, the present invention achieves high efficiency and high precision in cable channel acceptance through an intelligent and automated acceptance method, providing a strong guarantee for the safe operation of cable equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 The present invention is a schematic diagram of a three-dimensional exploded structure of a cable channel acceptance robot device according to an embodiment of the present invention.

[0024] Figure 2 It is a schematic diagram of the three-dimensional exploded structure of the side wheel assembly in an embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the assembled side wheel structure in an embodiment of the present invention.

[0026] Figure 4 It is a schematic diagram of the three-dimensional structure of the spring gland in an embodiment of the present invention.

[0027] Figure 5 It is a front view structural schematic diagram of a cable channel acceptance robot device according to an embodiment of the present invention.

[0028] Figure 6 The present invention is a front view schematic diagram of applying the cable channel acceptance robot device according to an embodiment of the present invention to a cable trench.

[0029] Figure 7 It is a three-dimensional schematic diagram of applying the cable channel acceptance robot equipment according to an embodiment of the present invention to a cable trench. DETAILED DESCRIPTION

[0030] The following descriptions of the embodiments are with reference to the accompanying drawings to illustrate specific embodiments in which the present invention can be implemented. In the description of the present invention, it should be understood that the terms "longitudinal", "length", "circumferential", "front", "rear", "left", "right", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0031] Please refer to Figure 1 , Figure 2 As shown, an embodiment of the present invention provides a cable channel acceptance robot device, comprising:

[0032] Support frame platform 6;

[0033] A radar bracket 4 installed on the support frame platform 6, wherein the radar bracket 4 is equipped with a camera 1, an infrared fill light 2 and a laser radar 3;

[0034] A plurality of mechanical legs 10 fixedly connected to the support frame platform 6 and used to support the support frame platform 6; a mechanical wheel 12 driven by a driving motor 11 is provided at the bottom of the mechanical legs 10;

[0035] The side wheel 18 is mounted on the inner side of the mechanical leg 10 via the side wheel bracket 14 , and the axis of the side wheel 18 is perpendicular to the axis of the mechanical wheel 12 .

[0036] Specifically, in the embodiment of the present invention, the radar bracket 4 is roughly a rectangular parallelepiped structure, and the four corners of the top thereof are provided with support bars protruding outward, and the laser radar 3 is installed at the end of the support bar, that is, a total of 4 laser radars 3 are provided in this embodiment. The laser radar 3 is used to create a 3D map of the cable channel to help the robot to accurately locate and plan the path. An infrared fill light 2 is provided between the two laser radars 3 to provide lighting in the cable channel with insufficient light to ensure that the camera 1 can capture the image clearly. At least two cameras 1 are provided in the center of the top of the radar bracket 4 to capture images inside the cable channel to help the robot to identify and navigate the environment.

[0037] A fixing hole 5 is provided in the center of the support frame platform 6, and the radar bracket 4 is installed on the support frame platform 6 through the fixing hole 5 and can be rotated as needed. The bottom surface of the support frame platform 6 is respectively extended downward with fixing grooves for assembling the mechanical leg 10. A first bolt hole 7 is provided on the fixing groove, and a second bolt hole 8 is provided on the upper part of the mechanical leg 10. The upper part of the mechanical leg 10 is inserted into the fixing groove, and the first fixing bolt 9 is passed through the first bolt hole 7 and the second bolt hole 8 and locked, so that the mechanical leg 10 is assembled to the support frame platform 6. In this embodiment, the support frame platform 6 is supported by four mechanical legs 10. A mechanical wheel 12 is provided at the bottom of the mechanical leg 10, and the mechanical wheel 12 is installed on the output shaft of the driving motor 11. The driving motor 11 is independently driven to provide power for the mechanical leg 10, so that the robot can move in the cable channel.

[0038] Please combine again Figure 3 As shown, the side wheel 18 is fixed to the mechanical leg 10 through the side wheel bracket 14. Specifically, the side wheel bracket 14 is fixedly mounted on the mechanical leg 10 by a second fixing bolt 19. A pair of fixing grooves are provided on the side wheel bracket 14 for installing and fixing the spring tube 15. The spring tube 15 is a hollow tubular structure, in which a spring 16 is installed. At the end of the spring tube 15, a spring pressure cover 17 is used to press the spring 16, thereby limiting the position of the spring 16 and preventing the spring 16 from escaping from the spring tube 15. The side wheel 18 is placed between the two fixing grooves on the side wheel bracket 14, and the side wheel bolt 13 passes through the side wheel 18 from one of the fixing grooves and passes out from the other fixing groove, thereby assembling the side wheel 18 to the side wheel bracket 14. As shown Figure 4 As shown, the side of the spring cover 17 close to the spring 16 is a pressing portion 171, which is used to press the spring 16 into the spring tube 15; the side of the spring cover 17 away from the spring 16 is a semicircular structure 172, which is coaxial with the central axis of the side wheel bolt 13 to ensure that the side wheel bolt 13 and the side wheel 18 can rotate smoothly at the same time and maintain a stable positional relationship between the spring cover 17 and the side wheel bolt 13.

[0039] Cable channel acceptance robot equipment after assembly Figure 5 As shown. It can be seen that the axis of the mechanical wheel 12 is a straight line passing through the center of the mechanical wheel 12 and parallel to the contact surface of the mechanical wheel 12, that is, the axis of the mechanical wheel 12 is horizontal and parallel to the ground. The side wheel 18 is mounted on the side wheel bracket 14, and the side wheel bracket 14 is fixed to the mechanical leg 10 by the second fixing bolt 19. The axis of the side wheel 18 is a straight line passing through the center of the side wheel 18 and perpendicular to the contact surface of the side wheel 18, that is, the axis of the side wheel 18 is perpendicular to the ground. It can be seen that the axis of the side wheel 18 is perpendicular to the axis of the mechanical wheel 12.

[0040] Please also refer to Figure 6 , Figure 7As shown, when the cable channel acceptance robot device of the embodiment of the present invention is applied to the cable integrated trench, the defects of conventional robots can be overcome. The partition wall 100 in the cable integrated trench is a structure used to separate different areas. Due to the existence of the partition wall 100, conventional robots can only walk on one side of the partition wall 100, which limits their range of movement and the collection range of the onboard equipment. The cable channel acceptance robot device of the embodiment of the present invention is designed with a special structure and walking mechanism, so that it can "ride" on the partition wall 100. That is, the robot is allowed to cross the partition wall 100, so as to walk on both sides of the cable integrated trench, which significantly expands the collection range of the onboard equipment and reduces blind spots.

[0041] Specifically, according to the construction standards of the cable integrated trench, a seepage well with a diameter of not less than 20 cm will be set up every 15 meters, usually filled with pebbles to facilitate water seepage. Conventional tracked robots may fall into these seepage wells when passing through them, resulting in the inability to continue walking. When the robot passes over the seepage well, the mechanical wheel 12 may be temporarily suspended. However, in this embodiment, side wheels 18 are designed on the mechanical legs 10, and the side wheels 18 located on both sides of the partition wall 100 are close to the partition wall 100, and the spacing (for example, 95mm) is slightly smaller than the thickness of the partition wall (for example, 100mm). Since the side wheels 18 are equipped with spring tubes 15, the side wheels 18 can be retracted under the squeezing of the partition wall 100, so that they can walk synchronously close to the partition wall 100. As mentioned above, the axis of the side wheels 18 is perpendicular to the axis of the mechanical wheel 12, and the side wheels 18 can provide additional support and stability in a plane perpendicular to the rolling direction of the mechanical wheel 12. Therefore, when the robot walks on the middle partition wall 100 of the cable integrated trench, the side wheels 18 can cling to the partition wall to provide lateral support, while the mechanical wheels 12 are responsible for rolling on the ground.

[0042] Since the side wheels 18 provide additional support and stability, the robot can remain stable and pass normally when encountering a seepage well even if the mechanical wheels 12 are suspended. In addition, when the bottom of the cable integrated trench is uneven or there is a sump, if a mechanical wheel 12 on the mechanical leg 10 cannot exert force, other mechanical wheels 12 can be used to walk, and the side wheels 18 are used to maintain balance. The cable channel acceptance robot device of this embodiment can still maintain an unchanged posture to operate.

[0043] The dual walking mechanism, in which the side wheels 18 cling to the partition wall and the mechanical wheels 12 roll on the ground, enables the robot to move flexibly in the cable trench and remain stable even in complex terrain conditions, thereby improving the collection efficiency and range of the equipment and enhancing the robot's ability to navigate in complex environments.

[0044] It can be seen from the above description that compared with the prior art, the beneficial effect brought by the embodiments of the present invention is that the present invention significantly improves the efficiency and safety of cable trench acceptance through an innovative robot walking mechanism. The robot can ride on the middle partition wall of the cable trench, effectively overcoming the space limitations caused by the partition wall, expanding the collection range of the onboard equipment, and reducing blind spots. In addition, the side wheel design on the mechanical legs allows the robot to maintain stable passage even when the mechanical wheels are suspended when encountering a seepage well, avoiding the drawbacks that conventional crawler robots are prone to fall into. This design not only improves the adaptability and passability of the robot in complex terrain, but also reduces the risk of manual operation and reduces potential dangers such as poisoning during confined space operations. Overall, the present invention achieves high efficiency and high precision in cable channel acceptance through an intelligent and automated acceptance method, providing a strong guarantee for the safe operation of cable equipment.

[0045] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A cable channel acceptance robot device, characterized in that: include: Support frame platform; A radar bracket installed on the support frame platform, wherein the radar bracket is equipped with a camera, an infrared fill light and a laser radar; A plurality of mechanical legs fixedly connected to the support frame platform and used to support the support frame platform; a mechanical wheel driven by a driving motor is provided at the bottom of the mechanical legs; The side wheels are mounted relative to the inner side of the mechanical legs via side wheel brackets, and the axes of the side wheels are perpendicular to the axes of the mechanical wheels.

2. The cable channel acceptance robot device according to claim 1, characterized in that: The four corners of the top of the radar bracket are protruding outwards to be provided with support bars, and the laser radar is installed at the ends of the support bars.

3. The cable channel acceptance robot device according to claim 2 is characterized in that: The infrared fill light is arranged between the two laser radars, and at least two cameras are arranged at the top center of the radar bracket.

4. The cable channel acceptance robot device according to claim 1, characterized in that: A fixing hole is provided in the center of the support frame platform, and the radar bracket is rotatably mounted on the support frame platform through the fixing hole.

5. The cable channel acceptance robot device according to claim 1, characterized in that: The bottom surface of the support frame platform is respectively extended downward to form fixing grooves, the fixing grooves are provided with a first bolt hole, the upper part of the mechanical leg is provided with a second bolt hole, the upper part of the mechanical leg is inserted into the fixing grooves, the first fixing bolt passes through the first bolt hole and the second bolt hole and is locked to assemble the mechanical leg to the support frame platform.

6. The cable channel acceptance robot device according to claim 1, characterized in that: The side wheel bracket is fixedly mounted on the mechanical leg by a second fixing bolt; a pair of fixing grooves are provided on the side wheel bracket for mounting and fixing the spring tube.

7. The cable channel acceptance robot device according to claim 6, characterized in that: The spring tube is a hollow tubular structure with a spring installed inside. The spring is pressed into the spring tube by a spring pressure cover at the end of the spring tube.

8. The cable channel acceptance robot device according to claim 7, characterized in that: The side wheel is placed between two fixing grooves on the side wheel bracket, and the side wheel bolt penetrates into the side wheel from one of the fixing grooves and passes out from the other fixing groove.

9. The cable channel acceptance robot device according to claim 8, characterized in that: The side of the spring pressure cover close to the spring is a pressing portion, which is used to press the spring into the spring tube; the side of the spring pressure cover away from the spring is a semicircular structure, which is coaxial with the central axis of the side wheel bolt.

10. The cable channel acceptance robot device according to claim 1, characterized in that: The axis of the mechanical wheel is parallel to the ground, and the axis of the side wheel is perpendicular to the ground.

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