Foldable multi-degree-of-freedom cable inspection robot and control system thereof

Abstract

The invention discloses a foldable multi-degree-of-freedom cable inspection robot and a control system thereof, and belongs to the technical field of cable inspection, the foldable multi-degree-of-freedom cable inspection robot comprises a base plate, an arched plate is arranged at the top end of the base plate, a rotating piece is connected between the middle of the bottom end of the arched plate and the top end of the base plate, and telescopic rods are elastically and slidably connected to the two sides of the base plate; a telescopic rod is arranged on the base plate, a wheel cover is vertically fixed to the end of the telescopic rod, wheels are rotationally connected to the inner side of the wheel cover, a driving assembly used for driving the wheels is arranged on the outer side of the wheel cover, a multi-folding steering assembly is arranged on the base plate, and a camera is arranged on the driving assembly; the whole cable inspection device is directly placed between cables for inspection, the inspection length can be extended in a folding and telescopic mode through cooperative use of the steering assembly, the rotating piece and other structures, rotation inspection can be performed around the cables to a certain extent through rotation of the rotating piece, inspection is convenient, labor intensity is reduced, and the inspection efficiency is improved. Therefore, the safety of personnel is protected.

Description

Technical Field

[0001] The present invention relates to the technical field of cable inspection, and more particularly to a foldable multi-degree-of-freedom cable inspection robot and a control system thereof. Background Art

[0002] Cables are made up of multiple insulated conductors and have a multi-layer structure, including conductors, insulation, fillers, shielding, and sheaths, making them more complex. For example, the YJV cable is a cross-linked polyethylene insulated and PVC-sheathed power cable, known for its high-temperature resistance and anti-interference properties.

[0003] When inspecting cables for problems, people currently conduct inspections on the ground with inspection rods, which not only increases the labor intensity of the personnel but also may cause the risk of electric shock if the air is humid. Summary of the Invention

[0004] In view of the problems mentioned in the background art in the prior art, the purpose of the present invention is to provide a foldable multi-degree-of-freedom cable inspection robot and a control system thereof.

[0005] To solve the above problems, the present invention adopts the following technical solutions.

[0006] A foldable multi-degree-of-freedom cable inspection robot includes a base plate, a bow-shaped plate is provided at the top of the base plate, a rotating part is connected between the middle part of the bottom end of the bow plate and the top of the base plate, telescopic rods are elastically and slidably connected to both sides of the base plate, wheel covers are vertically fixed to the ends of the telescopic rods, wheels are rotatably connected to the inner side of the wheel cover, a driving assembly for driving the wheels is provided on the outer side of the wheel cover, a multi-folding steering assembly is provided on the base plate, and a camera is provided on the driving assembly.

[0007] As a preferred solution of the foldable multi-degree-of-freedom cable inspection robot of the present invention, wherein: the steering assembly includes hinge seats both vertically fixed on both sides of the bow plate, one of the hinge seats is rotatably connected to a rotating plate, and a telescopic part is rotatably connected between the other hinge seat and the bottom end of the rotating plate, the top of the rotating plate is rotatably connected to a Y-shaped plate near the telescopic part, a driving part I for driving the Y-shaped plate to rotate is provided at the connection between the rotating plate and the Y-shaped plate, the end of the Y-shaped plate is rotatably connected to an execution plate, a driving part II for driving the execution plate is provided at the connection between the execution plate and the Y-shaped plate, and the camera is fixed on the top of the execution plate.

[0008] As a preferred solution of the foldable multi-degree-of-freedom cable inspection robot of the present invention, the driving member I includes a driven gear fixed on the Y-shaped plate rotating shaft, a driving gear is engaged on one side of the driven gear, and a driving motor is connected to the input end of the driving gear, and the driving member II has the same structure as the driving member I.

[0009] As a preferred solution of the foldable multi-degree-of-freedom cable inspection robot of the present invention, the driving component includes a mounting cover fixed to the outside of the wheel cover, a motor is embedded in the middle of the mounting cover, and a gear combination is connected between the motor output end and the wheel shaft.

[0010] As a preferred solution of the foldable multi-degree-of-freedom cable inspection robot of the present invention, the gear assembly includes gears fixed on the wheel shaft and the motor output end, and the gears are meshed with each other.

[0011] As a preferred solution of the foldable multi-degree-of-freedom cable inspection robot of the present invention, the wheels include limiting wheels on both sides and friction wheels located between the limiting wheels, the limiting wheels and the friction wheels are slidingly connected, and a reset spring is connected between the limiting wheels and the friction wheels.

[0012] As a preferred solution of the foldable multi-degree-of-freedom cable inspection robot of the present invention, a compression spring is connected between the base plate and the telescopic rod.

[0013] As a preferred solution of the foldable multi-degree-of-freedom cable inspection robot of the present invention, the base plate is equipped with a built-in counterweight.

[0014] As a preferred solution of the foldable multi-degree-of-freedom cable inspection robot of the present invention, there is a gap between the arch plate and the base plate.

[0015] The control system of the foldable multi-degree-of-freedom cable inspection robot includes a control module, an image acquisition module, a comparison module, a storage module and a power module. The control module is electrically connected to the image acquisition module, the comparison module, the storage module and the power module respectively.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The whole can be placed directly between the cables for inspection. By cooperating with the steering assembly and the rotating part and other structures, the inspection length can be extended in a foldable and telescopic manner. By rotating the rotating part, the inspection can be carried out around the cable to a certain extent, which facilitates inspection, reduces labor intensity, and thus protects personnel safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the three-dimensional structure of the foldable multi-degree-of-freedom cable inspection robot of the present invention;

[0019] Figure 2 A side view of the foldable multi-degree-of-freedom cable inspection robot of the present invention;

[0020] Figure 3This is another schematic diagram of the three-dimensional structure of the foldable multi-degree-of-freedom cable inspection robot of the present invention;

[0021] Figure 4 This is a schematic diagram of the installation structure of the hinge seat of the foldable multi-degree-of-freedom cable inspection robot of the present invention;

[0022] Figure 5 This is a bottom view of the foldable multi-degree-of-freedom cable inspection robot of the present invention;

[0023] Figure 6 This is a foldable multi-degree-of-freedom cable inspection robot Figure 5 Cross-sectional view along the middle line AA;

[0024] Figure 7 This is a schematic structural diagram of the drive assembly of the foldable multi-degree-of-freedom cable inspection robot of the present invention;

[0025] Figure 8 Schematic diagram of the control system of the foldable multi-degree-of-freedom cable inspection robot of the present invention.

[0026] Markings in the accompanying drawings: 100, base plate; 200, bow plate; 300, rotating part; 400, wheel cover; 500, telescopic rod; 600, wheel; 700, drive assembly; 701, mounting cover; 702, motor; 703, gear assembly; 800, hinge seat; 900, rotating plate; 1010, telescopic part; 1020, driving part I; 1020', driving part II; 1021, driven gear; 1022, driving gear; 1030, Y-type plate; 1040, execution board; 1050, camera; 1061, control module; 1062, image acquisition module; 1063, comparison module; 1064, storage module; 1065, power module. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-Figure 7A foldable multi-degree-of-freedom cable inspection robot includes a base plate 100. A bow plate 200 is provided at the top of the base plate 100. A rotating member 300 is connected between the middle part of the bottom end of the bow plate 200 and the top of the base plate 100. The rotating member 300 adopts an electric turntable, which belongs to the existing technology and is not repeated here. The specific model is selected according to the specific situation. Telescopic rods 500 are elastically slidably connected to both sides of the base plate 100. Wheel covers 400 are vertically fixed to the ends of the telescopic rods 500. Wheels 600 are rotatably connected to the inside of the wheel cover 400. A driving assembly 700 for driving the wheel 600 is provided on the outside of the wheel cover 400. A multi-folding steering assembly is provided on the base plate 100, and a camera 1050 is provided on the driving assembly.

[0029] When in use, the wheel cover 400 is placed on the cable, and the position of the telescopic rod 500 between the base plate 100 is changed to adapt to the distance between the two cables. The driving component 700 drives the whole to move forward. Through the use of the driving component, multiple foldings and multiple degrees of freedom can be performed to drive the camera 1050 to check and inspect the cable, which can make the cable inspection more comprehensive.

[0030] See also Figure 1 and Figure 6 The steering assembly includes hinge seats 800 vertically fixed on both sides of the bow plate 200, one hinge seat 800 is rotatably connected to a rotating plate 900, and a telescopic member 1010 is rotatably connected between the other hinge seat 800 and the bottom end of the rotating plate 900. The telescopic member 1010 adopts an electric push rod, and the top of the rotating plate 900 is rotatably connected to the side of the telescopic member 1010 near the telescopic member 1010. A driving member I 1020 for driving the Y-type plate 1030 to rotate is provided at the connection between the rotating plate 900 and the Y-type plate 1030, and an executive plate 1040 is rotatably connected at the end of the Y-type plate 1030. A driving member II 1020' for driving the executive plate 1040 is provided at the connection between the executive plate 1040 and the Y-type plate 1030. The camera 1050 is fixed on the top of the executive plate 1040.

[0031] When in use, the telescopic part 1010 drives the rotating plate 900 to rotate clockwise, the driving part I 1020 drives the Y-shaped plate 1030 to rotate counterclockwise, and the driving part II 1020' drives the execution plate 1040 to rotate clockwise, thereby driving the camera 1050 to a suitable height and distance from the cable, and driving the steering assembly as a whole to rotate through the rotating part 300, so that cables at different positions can be inspected.

[0032] See also Figure 1 and Figure 6The driving member I 1020 includes a driven gear 1021 fixed on the rotating shaft of the Y-shaped plate 1030, and a driving gear 1022 is engaged with one side of the driven gear 1021. The input end of the driving gear 1022 is connected to the driving motor. The driving member II 1020 ' has the same structure as the driving member I 1020.

[0033] During use, the driving motor drives the driving gear 1022 to rotate, and the rotating gear meshing of the driving gear 1022 drives the driven gear 1021 to rotate, and the rotation of the driven gear 1021 drives the Y-shaped plate 1030 or the execution plate 1040 to rotate.

[0034] See also Figure 7 The driving assembly 700 includes a mounting cover 701 fixed to the outside of the wheel cover 400, a motor 702 is embedded in the middle of the mounting cover 701, and a gear assembly 703 is connected between the output end of the motor 702 and the rotating shaft of the wheel 600.

[0035] When in use, the motor 702 rotates, and the rotation of the motor 702 drives the rotating shaft of the wheel 600 to rotate through the gear combination 703, and the rotating shaft of the wheel 600 drives the wheel 600 to rotate, thereby completing the movement work.

[0036] The gear assembly 703 includes gears fixed on the rotating shaft of the wheel 600 and the output end of the motor 702, and the gears are meshed with each other.

[0037] The wheel 600 includes limiting wheels on both sides and a friction wheel located between the limiting wheels. The limiting wheels and the friction wheels are slidably connected to each other, and a return spring is connected between the limiting wheels and the friction wheels.

[0038] When in use, the wheel 600 can be tightly clamped on the cable through the return spring between the limiting wheel and the friction wheel, so that the entire device will not fall off the cable.

[0039] A compression spring is connected between the base plate 100 and the telescopic rod 500 .

[0040] During use, by using the compression spring, the telescopic rod 500 can be kept away from the base plate 100, so that the entire device is always located between the two cables, ensuring the stability of the entire device on the cables.

[0041] The base plate 100 has a built-in counterweight.

[0042] The use of counterweights can facilitate the balance of the remaining structures.

[0043] See also Figure 1 There is a gap between the arch plate 200 and the base plate 100 to facilitate the rotation of the arch plate 200.

[0044] See also Figure 8 The control system of the foldable multi-degree-of-freedom cable inspection robot includes a control module 1061, an image acquisition module 1062, a comparison module 1063, a storage module 1064 and a power module 1065. The control module 1061 is electrically connected to the image acquisition module 1062, the comparison module 1063, the storage module 1064 and the power module 1065 respectively. The control module 1061 is wirelessly connected to the image acquisition module 1062, the comparison module 1063, the storage module 1064 and the power module 1065 respectively. The image acquisition module 1062 is located in the camera 1050.

[0045] When in use, the problems existing in various cables are first stored in the storage module 1064. When the cable image captured by the image acquisition module 1062 is transmitted to the control module 1061, the storage module 1064 also transmits the information to the control module 1061. The control module 1061 transmits the above information to the comparison module 1063, and the comparison module 1063 transmits the result to the control module 1061, and then the inspection result of the cable is judged.

[0046] Working process: The wheel cover 400 is placed on the cable, and the entire device is always placed between the two cables through the telescopic rod 500 to ensure the stability of the entire device on the cable. The motor 702 rotates, and the wheel 600 shaft is driven to rotate through the gear combination 703, driving the wheel 600 to rotate, and the telescopic part 1010 drives the rotating plate 900 to rotate clockwise, and the driving part I 1020 drives the Y-type plate 1030 to rotate counterclockwise, and the driving part II 1020' drives the executive plate 1040 to rotate clockwise, thereby driving the camera 1050 to a suitable height and distance from the cable. The working principle of the driving part I 1020 is that the rotating gear engagement of the driving gear 1022 drives the driven gear 1021 to rotate, and the rotation of the driven gear 1021 drives the Y-type plate 1030 or the executive plate 1040 to rotate, and the steering assembly is driven to rotate as a whole through the rotating part 300, so that cables at different positions can be inspected.

[0047] It is important to note that the construction and arrangement of the present application shown in a number of different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, directional changes, etc.) without departing substantially from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature or number or position of the discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structures. Other replacements, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, the invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

Claims

1. Foldable multi-degree-of-freedom cable inspection robot, characterized by: The invention comprises a base plate (100), a bow plate (200) is provided at the top of the base plate (100), a rotating member (300) is connected between the middle of the bottom end of the bow plate (200) and the top end of the base plate (100), telescopic rods (500) are elastically slidably connected to both sides of the base plate (100), wheel covers (400) are vertically fixed to the ends of the telescopic rods (500), a wheel (600) is rotatably connected to the inner side of the wheel cover (400), a driving assembly (700) for driving the wheel (600) is provided on the outer side of the wheel cover (400), a multi-folding steering assembly is provided on the base plate (100), and a camera (1050) is provided on the driving assembly.

2. The foldable multi-degree-of-freedom cable inspection robot according to claim 1, characterized in that: The steering assembly comprises hinge seats (800) both of which are vertically fixed on both sides of the bow plate (200), one of the hinge seats (800) is rotatably connected to a rotating plate (900), a telescopic member (1010) is rotatably connected between the other hinge seat (800) and the bottom end of the rotating plate (900), a top end of the rotating plate (900) close to the telescopic member (1010) is rotatably connected to a Y-shaped plate (1030), a driving member I (1020) for driving the Y-shaped plate (1030) to rotate is provided at the connection between the rotating plate (900) and the Y-shaped plate (1030), an actuator plate (1040) is rotatably connected at the end of the Y-shaped plate (1030), a driving member II (1020') for driving the actuator plate (1040) is provided at the connection between the actuator plate (1040) and the Y-shaped plate (1030), and the camera (1050) is fixed on the top of the actuator plate (1040).

3. The foldable multi-degree-of-freedom cable inspection robot according to claim 2, characterized in that: The driving member I (1020) includes a driven gear (1021) fixed on the rotating shaft of the Y-shaped plate (1030), one side of the driven gear (1021) is meshed with a driving gear (1022), and the input end of the driving gear (1022) is connected to a driving motor. The driving member II (1020') has the same structure as the driving member I (1020).

4. The foldable multi-degree-of-freedom cable inspection robot according to claim 1, characterized in that: The driving assembly (700) comprises a mounting cover (701) fixed on the outside of the wheel cover (400), a motor (702) is embedded in the middle of the mounting cover (701), and a gear assembly (703) is connected between the output end of the motor (702) and the rotating shaft of the wheel (600).

5. The foldable multi-degree-of-freedom cable inspection robot according to claim 4, characterized in that: The gear assembly (703) includes gears fixed on the rotating shaft of the wheel (600) and the output end of the motor (702), and the gears are meshed with each other.

6. The foldable multi-degree-of-freedom cable inspection robot according to claim 5, characterized in that: The wheel (600) comprises limiting wheels on both sides and a friction wheel located between the limiting wheels, the limiting wheels and the friction wheels are slidably connected, and a return spring is connected between the limiting wheels and the friction wheels.

7. The foldable multi-degree-of-freedom cable inspection robot according to claim 1, characterized in that: A compression spring is connected between the base plate (100) and the telescopic rod (500).

8. The foldable multi-degree-of-freedom cable inspection robot according to claim 7, characterized in that: The base plate (100) is internally provided with a counterweight.

9. The foldable multi-degree-of-freedom cable inspection robot according to claim 1, characterized in that: There is a gap between the arched plate (200) and the base plate (100).

10. The control system of the foldable multi-degree-of-freedom cable inspection robot is characterized by: The invention comprises a foldable multi-degree-of-freedom cable inspection robot as described in any one of claims 1 to 9, comprising a control module (1061), an image acquisition module (1062), a comparison module (1063), a storage module (1064) and a power module (1065), wherein the control module (1061) is electrically connected to the image acquisition module (1062), the comparison module (1063), the storage module (1064) and the power module (1065), respectively.

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