Cable trench inspection robot walking device

Abstract

The invention provides a cable trench inspection robot walking device which comprises two moving wheel sets and a control box, and a steering driving mechanism is installed in the control box. Each moving wheel set comprises a mounting plate, a rotating frame, a wheel frame, an auxiliary front wheel and a moving rear wheel, a limiting structure and an elastic structure are arranged between the rotating frame and the wheel frame, the limiting structure is arranged above the auxiliary front wheel, and the elastic structure is arranged above the moving rear wheel. During normal driving, the upper end of the limiting structure abuts against the top plate of the rotating frame, and under the elastic effect of the elastic structure, the movable rear wheel makes contact with the ground, and the auxiliary front wheel is suspended; when the movable rear wheel encounters an obstacle, the movable rear wheel is stressed to compress the elastic structure, so that the movable rear wheel swings and lifts around the transverse pin shaft under the action of the wheel carrier, and meanwhile, the front wheel is assisted to downwards touch the ground, so that the walking device can cross the obstacle to continue to move forwards, stable operation in a cable trench is ensured, and the inspection purpose is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of substation cable trench inspection, and particularly relates to a cable trench inspection robot walking device. BACKGROUND

[0002] The substation cable trench is mainly used for laying and protecting control cables, optical fibers, network cables and the like, and is an important component of the substation power transmission and control system. The structure of the substation cable trench is generally an underground closed trench with a width of 0.8-1.2 m and a height of 0.8-1.5 m, which mainly comprises a trench body, a cover plate, a support and the like. The trench body is made of concrete or masonry materials and has certain bearing capacity and waterproof performance. The support is used for fixing cables and is distributed on both sides of the cable trench, with 2-4 layers on each side to ensure the arrangement of the cables and reduce mutual interference. In order to prevent the spread of fire in the cable trench, a fireproof wall is arranged in the cable trench every 60 m or at the branch of the cable trench, into the chamber and the like.

[0003] Due to the existence of some sundries in the old cable trench, including abandoned cables, construction leftovers and the like, some effective space is occupied, which hinders the normal operation and maintenance of the cables. Some cables have been in operation for a long time and have different degrees of aging phenomenon, which reduces the insulation performance and increases the risk of leakage, short circuit and fire. The humid environment easily leads to the reduction of the insulation performance of the cables, and the accumulation of a large amount of sundries affects heat dissipation, which increases the risk of cable overheating. Once the temperature is too high, it is easy to cause a fire, which threatens the overall safe operation of the substation. In addition, in the humid environment, the decomposition of the cable insulation material produces toxic gases such as hydrogen sulfide and carbon monoxide, and the concentration of toxic gases in some areas exceeds the safety standard, which causes harm to the life and health of the personnel entering the cable trench for operation. Therefore, the narrow space of the cable trench and the accumulation of sundries increase the difficulty of inspection, and it is difficult to comprehensively and timely find the defects and hidden dangers of the cables and the auxiliary facilities, which is not conducive to the stable operation of the power system.

[0004] Therefore, some substation cable trenches adopt a track type camera to realize automatic inspection of the inside of the cable trench, which replaces the traditional mode of personnel entering the inside of the cable trench for inspection, and guarantees the safety and stability of the power system. However, this cable trench inspection mode needs to install an inspection track in the cable trench, which has a large difficulty in installation and modification for the cable trench in operation, and affects the integrity of the fireproof wall. SUMMARY

[0005] The present application aims to provide a cable trench inspection robot walking device to solve the problem of the large difficulty in installation and modification of the existing track type camera inspection device for the cable trench in operation.

[0006] The application provides a cable trench inspection robot walking device, which comprises two moving wheel groups and a control box installed on the two moving wheel groups, a steering driving mechanism is installed in the control box, each moving wheel group comprises an installation plate, a rotating frame, a wheel frame, an auxiliary front wheel and a moving rear wheel, the installation plate is fixedly installed at the bottom of the control box, the rotating frame is located below the installation plate, the steering driving mechanism is drivingly connected with the upper end of a connecting shaft, the lower end of the connecting shaft is fixedly connected with the rotating frame through the installation plate, and the connecting shaft and the installation plate are connected through a bearing; the rotating frame and the wheel frame are rotationally connected through a transverse pin shaft, the auxiliary front wheel and the moving rear wheel are respectively installed at the front end and the rear end of the wheel frame; a limiting structure and an elastic structure are respectively arranged between the rotating frame and the wheel frame, the limiting structure is arranged above the auxiliary front wheel, and the elastic structure is arranged above the moving rear wheel; during normal driving, the upper end of the limiting structure abuts against the top plate of the rotating frame, and the moving rear wheel is in contact with the ground under the elastic force of the elastic structure, and the auxiliary front wheel is suspended.

[0007] According to the cable trench inspection robot walking device, the elastic structure comprises a vertical limiting hole arranged on the wheel frame and a compression spring arranged in the vertical limiting hole, and the top end of the compression spring is connected with the top plate of the rotating frame.

[0008] According to the cable trench inspection robot walking device, the limiting structure is a vertical column, the lower end of the vertical column is fixedly connected with the wheel frame, and the top end of the vertical column is in spherical surface structure.

[0009] According to the cable trench inspection robot walking device, a rear wheel driving mechanism is installed on the wheel frame, and the rear wheel driving mechanism is drivingly connected with the wheel shaft of the moving rear wheel.

[0010] According to the cable trench inspection robot walking device, a controller and a battery are installed in the control box, the battery is electrically connected with the controller, and the controller is electrically connected with the rear wheel driving mechanism and the steering driving mechanism.

[0011] According to the cable trench inspection robot walking device, an automatic charging device is installed on the rear side wall of the control box, the automatic charging device comprises a mounting frame and a charging adapter, the mounting frame is fixedly connected with the control box, the charging adapter is fixedly arranged on the mounting frame, and the charging adapter is electrically connected with the battery.

[0012] According to the cable trench inspection robot walking device, a plurality of ultrasonic ranging modules are further installed on the side wall of the control box, and the ultrasonic ranging modules are electrically connected with the controller.

[0013] The cable trench inspection robot walking device provided by the application is characterized in that the control box is further provided with an electric telescopic rod, and the electric telescopic rod is provided with an image acquisition device.

[0014] The cable trench inspection robot walking device provided by the application is characterized in that the image acquisition device comprises a fixed cover and a monitoring main body provided on the upper end of the fixed cover, monitoring lenses are respectively provided on the opposite sides of the monitoring main body, and the monitoring lenses are electrically connected with the controller.

[0015] The cable trench inspection robot walking device provided by the application is characterized in that an electric rotating disc mechanism is further provided between the telescopic end of the electric telescopic rod and the fixed cover, and the electric rotating disc mechanism and the electric telescopic rod are respectively electrically connected with the controller.

[0016] The cable trench inspection robot walking device provided by the application is characterized in that the upper end of the limiting structure is in abutment with the top plate of the rotating frame during normal driving, so as to prevent the elastic structure from being overtopped, and the moving rear wheel is in contact with the ground and the auxiliary front wheel is suspended in the air under the elastic force of the elastic structure, so as to ensure the stability of the walking device; when the moving rear wheel encounters an obstacle, the moving rear wheel is swung and lifted around the transverse pin shaft under the action of the wheel frame, and the auxiliary front wheel is swung downward and in contact with the ground, so that the walking device can overcome the obstacle and continue to move forward; the steering driving mechanism is installed in the control box, the steering driving mechanism can control the horizontal rotation of the rotating frame relative to the control box through the connecting shaft, and the steering control of the walking device is realized; and the upper part of the control box is used for installing the image acquisition device, so as to realize the inspection of the inside of the cable trench.

[0017] Therefore, the cable trench inspection robot walking device provided by the application does not need to be modified inside the cable trench, has reliable obstacle overcoming capability, can stably walk on the ground inside the cable trench, can adapt to the narrow space and the accumulation of sundries inside the cable trench, and thus the purpose of inspection is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the application or the technical solutions in the prior art, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort.

[0019] Fig. 1 It is a structural schematic view of the cable trench inspection robot walking device of the application.

[0020] Fig. 2It is the structural schematic view of the mobile wheel group in the cable trench inspection robot walking device of the application;

[0021] Fig. 3 It is the assembly schematic view of the automatic charging device in the cable trench inspection robot walking device of the application.

[0022] Marked legend:

[0023] 1, control box; 2, mounting plate; 3, rotating frame; 4, wheel frame; 5, auxiliary front wheel; 6, mobile rear wheel; 7, connecting shaft; 8, transverse pin shaft; 9, vertical column; 10, vertical limiting hole; 11, compression spring; 12, mounting frame; 13, charging butt joint; 14, electric telescopic rod; 15, fixed cover; 16, monitoring main body; 17, monitoring lens; 18, illuminating lamp; 19, electric rotary disc mechanism. DETAILED DESCRIPTION

[0024] The technical solutions of the application will be described clearly and completely below in conjunction with embodiments. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the application.

[0025] In the description of the application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0026] In addition, the terms "first", "second" are only for description purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited. In addition, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0027] As Figs. 1 to 3 shown, the cable trench inspection robot walking device of the embodiment of the present application comprises two moving wheel groups and a control box 1 installed on the two moving wheel groups, a steering driving mechanism (not shown in the figure) is installed in the control box 1, the upper part of the control box 1 is used for installing an image acquisition device to realize the inspection of the inside of the cable trench.

[0028] Each moving wheel group comprises an installation plate 2, a rotating frame 3, a wheel frame 4, an auxiliary front wheel 5 and a moving rear wheel 6, the installation plate 2 is fixedly installed at the bottom of the control box 1, the rotating frame 3 is located below the installation plate 2, the steering driving mechanism is drivingly connected with the upper end of a connecting shaft 7, the lower end of the connecting shaft 7 is fixedly connected with the rotating frame 3 through the installation plate 2, and the connecting shaft 7 is connected with the installation plate through a bearing. That is, the rotating frame 3 can be controlled to horizontally rotate relative to the control box 1 through the steering driving mechanism, thereby realizing the steering control of the walking device.

[0029] The rotating frame 3 is rotationally connected with the wheel frame 4 through a transverse pin shaft 8, the auxiliary front wheel 5 and the moving rear wheel 6 are respectively installed at the front and rear ends of the wheel frame 4, a limiting structure and an elastic structure are respectively arranged between the rotating frame 3 and the wheel frame 4, the limiting structure is arranged above the auxiliary front wheel 5, and the elastic structure is arranged above the moving rear wheel 6, so that the auxiliary front wheel 5 and the moving rear wheel 6 can swing forward and backward relative to the rotating frame 3 around the transverse pin shaft 8 through the wheel frame 4 when the walking device overcomes obstacles.

[0030] In normal driving, the upper end of the limiting structure abuts against the top plate of the rotating frame 3 to prevent the elastic structure from overtopping, and under the action of the elastic force of the elastic structure, the moving rear wheel 6 touches the ground and the auxiliary front wheel 5 is suspended, thereby ensuring the stability of the walking device.

[0031] When the moving rear wheel 6 encounters an obstacle, the moving rear wheel 6 is swung and lifted around the transverse pin shaft 8 under the action of the wheel frame 4 and the elastic structure, and at the same time, the auxiliary front wheel 5 swings downward to touch the ground, so that the walking device can overcome the obstacle and continue to move forward.

[0032] Therefore, the cable trench inspection robot walking device of the embodiment of the present application does not need to be modified inside the cable trench, has reliable obstacle overcoming capability, can stably walk on the ground inside the cable trench, can adapt to the narrow space and the accumulation of sundries inside the cable trench, and thus the purpose of inspection is achieved.

[0033] In some embodiments of the present application, the limiting structure is a vertical column 9, the lower end of the vertical column 9 is fixedly connected with the wheel frame 4, and the top end of the vertical column 9 is a spherical surface structure. Since the top of the vertical column 9 is provided with a spherical surface, the rotating swing of the wheel frame 4 around the transverse pin shaft 8 is more smooth.

[0034] The elastic structure comprises a vertical limiting hole 10 arranged on the wheel frame 4 and a compression spring 11 arranged in the vertical limiting hole 10. The top end of the compression spring 11 is connected with the top plate of the rotating frame 3.

[0035] Under the elastic force of the compression spring 11, the moving rear wheel 6 can be supported under the top plate of the rotating frame 3. When the rotating torque of the moving rear wheel 6 is less than the torque generated by the compression spring 11, the moving rear wheel 6 is grounded, and the auxiliary front wheel 5 is in a suspended state. When the moving rear wheel 6 encounters an obstacle, the moving rear wheel 6 is compressed by force, the compression spring 11 is contracted, and the moving rear wheel 6 is rotated and lifted around the horizontal pin shaft 8 under the action of the wheel frame 4, and at the same time, the auxiliary front wheel 5 moves downward to touch the ground, so that the walking device can continue to move forward to achieve the purpose of obstacle crossing.

[0036] Specifically, a rear wheel driving mechanism (not shown in the figure) is arranged on the wheel frame 4, and the rear wheel driving mechanism is drivingly connected with the wheel shaft of the moving rear wheel 6, so that the moving rear wheel 6 can be driven to move.

[0037] Specifically, a controller (not shown in the figure) and a battery (not shown in the figure) are arranged in the control box 1. The battery is electrically connected with the controller, and the controller is electrically connected with the rear wheel driving mechanism and the steering driving mechanism. That is, the battery provides electric energy for the operation of the walking device, and the controller can control the running and steering states of the walking device. The rear wheel driving mechanism and the steering driving mechanism both adopt existing structural forms.

[0038] Specifically, an automatic charging device is arranged on the rear side wall of the control box 1. The automatic charging device comprises a mounting frame 12 and a charging adapter 13. The mounting frame 12 is connected and fixed with the rear side wall of the control box 1, and the charging adapter 13 is fixedly arranged on the mounting frame 12 and electrically connected with the battery. That is, the cable trench inspection robot walking device of the embodiment has an automatic charging function. The cable trench inspection robot walking device is charged in the charging room, so that the charging adapter 13 is connected with a compatible charger arranged in the charging room for charging. After the charging is completed, the walking device can walk to the cable trench elevator according to the pre-planned route, and then is lowered to the bottom of the cable trench by the cable trench elevator to perform the inspection task.

[0039] Specifically, a plurality of ultrasonic ranging modules (not shown in the figure) are arranged on the side wall of the control box 1 and electrically connected with the controller. According to actual use requirements, the ultrasonic ranging modules can be arranged on the front side wall of the control box 1, or can be arranged on the left and right side walls of the control box 1 respectively. By arranging the ultrasonic ranging modules, the distance between the walking device and the inner wall of the cable trench and the objects in the cable trench can be detected and determined to prevent collision.

[0040] Specifically, the control box 1 is further provided with an electric telescopic rod 14, an image acquisition device is installed on the electric telescopic rod 14, and the electric telescopic rod 14 is electrically connected with the controller. The image acquisition device can be lifted and lowered by controlling the electric telescopic rod 14, so as to realize image acquisition of the upper and lower layers of cables in the cable trench, and ensure the inspection effect.

[0041] The image acquisition device comprises a fixed cover 15 and a monitoring main body 16 installed on the upper end of the fixed cover 15, monitoring lenses 17 and illuminating lamps 18 are respectively installed on the opposite sides of the monitoring main body 16, and the monitoring lenses 17 and the illuminating lamps 18 are respectively electrically connected with the controller. The illuminating lamps 18 can illuminate in the dark environment in the cable trench, and the monitoring lenses 17 can acquire image information in the cable trench, so as to achieve the purpose of inspection.

[0042] The electric telescopic rod 14 is further provided with an electric rotating disc mechanism 19 between the telescopic end and the fixed cover 15, and the electric rotating disc mechanism 19 is electrically connected with the controller. The image acquisition device can be horizontally rotated by the electric rotating disc mechanism 19, and is more flexible to use.

[0043] In addition, various detection elements for detecting heating, discharging, fire, toxic gas and the like of each layer of cables in the cable trench can be integrated on the image acquisition device, and a temperature and humidity detection element for detecting the temperature and humidity of the environment in the cable trench can also be integrated.

[0044] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cable trench inspection robot walking device, characterized in that: The swivel chair is located below the bottom of the control box, and the steering wheel is fixed on the steering column, and the steering wheel is connected with the upper end of the steering column to the upper end of the steering column. The steering drive mechanism is driven by the upper end of the connecting shaft and the lower end of the connecting shaft passes through the mounting plate and is fixedly connected to the rotating frame, and the connecting shaft and the mounting plate are connected by a bearing; the rotating frame is rotatably connected to the wheel frame by a transverse pin shaft, and the auxiliary front wheel and the movable rear wheel are respectively mounted on the front and rear ends of the wheel frame; a limiting structure and an elastic structure are respectively provided between the rotating frame and the wheel frame, the limiting structure is arranged above the auxiliary front wheel, and the elastic structure is arranged above the movable rear wheel; during normal driving, the upper end of the limiting structure conflicts with the top plate of the rotating frame, and under the elastic force of the elastic structure, the movable rear wheel touches the ground, so that the auxiliary front wheel is suspended.

2. The cable trench inspection robot walking device according to claim 1, characterized in that: The elastic structure includes a vertical limiting hole provided on the wheel frame and a compression spring provided in the vertical limiting hole, and the top end of the compression spring is connected to the top plate of the rotating frame.

3. The cable trench inspection robot walking device according to claim 2, characterized in that: The limiting structure is a vertical column, the lower end of the vertical column is fixedly connected to the wheel frame, and the top end of the vertical column is a spherical structure.

4. The cable trench inspection robot walking device according to claim 1, characterized in that: A rear wheel drive mechanism is installed on the wheel frame, and the rear wheel drive mechanism is drivingly connected to the wheel axle of the movable rear wheel.

5. The cable trench inspection robot walking device according to claim 4, characterized in that: A controller and a battery are installed in the control box. The battery is electrically connected to the controller, and the controller is electrically connected to the rear wheel drive mechanism and the steering drive mechanism respectively.

6. The cable trench inspection robot walking device according to claim 5, characterized in that: An automatic charging device is installed on the rear side wall of the control box. The automatic charging device includes a mounting bracket and a charging docking connector. The mounting bracket is connected and fixed to the control box. The charging docking connector is fixed on the mounting bracket and is electrically connected to the battery.

7. The cable trench inspection robot walking device according to claim 5, characterized in that: A plurality of ultrasonic distance measuring modules are also installed on the side wall of the control box, and the ultrasonic distance measuring modules are electrically connected to the controller.

8. The cable trench inspection robot walking device according to claim 5, characterized in that: The control box is also equipped with an electric telescopic rod, and an image acquisition device is installed on the electric telescopic rod.

9. The cable trench inspection robot walking device according to claim 8, characterized in that: The image acquisition device includes a fixed cover and a monitoring body installed on the upper end of the fixed cover. Monitoring lenses are respectively installed on opposite sides of the monitoring body. The monitoring lenses are electrically connected to the controller.

10. The cable trench inspection robot walking device according to claim 9, characterized in that: An electric turntable mechanism is further installed between the telescopic end of the electric telescopic rod and the fixed cover. The electric turntable mechanism and the electric telescopic rod are electrically connected to the controller respectively.

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