Underground cable tunnel inspection robot

Abstract

The invention relates to the technical field of inspection robots, in particular to an underground cable tunnel inspection robot which comprises a track body, a guide wheel and a driving wheel are arranged at the top end of the robot body and abut against different side walls of the track body respectively, and the driving wheel is fixedly connected with the output end of a driving motor. According to the invention, the problem that the analysis of detection data is interfered because the inspection robot acts reversely and repeatedly detects a certain position for multiple times due to the fact that a slipping line is easy to generate when the inspection robot is on an uphill and downhill road section of an underground tunnel can be avoided; the high reliability and low failure rate of gear and rack meshing transmission ensure that the robot can realize 24-hour uninterrupted inspection, and by combining a data real-time return function, the automation level of tunnel operation and maintenance is greatly improved, manual intervention is reduced, and the robot is particularly suitable for long-distance and high-risk underground cable tunnel scenes.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to an underground cable tunnel inspection robot. Background Technology

[0002] With the continuous growth of urban power grid load, underground cable tunnels, as the core channel for power transmission, directly affect the reliability of regional power supply through their operational safety and stability. Underground cable tunnels are mostly long and narrow enclosed structures, with numerous uphill and downhill sections (the maximum gradient often reaches 20°-30°), lateral bends, and complex branching paths. Moreover, the environment is often characterized by high humidity and dust, and some areas also suffer from problems such as cable oil seepage and track corrosion, posing severe challenges to inspection operations.

[0003] Track-mounted inspection robots are gradually becoming the core equipment for the operation and maintenance of underground cable tunnels. They move autonomously through preset tracks and are equipped with modules such as high-definition cameras, infrared temperature measurement, and partial discharge detection. They can efficiently complete all-round inspections of the cable body, accessories, and tunnel environment, greatly improving the accuracy and safety of inspections.

[0004] Currently, most track-mounted cable tunnel inspection robots use a friction wheel-track contact transmission mode for walking. This solution can meet basic operating requirements on flat, straight tracks, but it is prone to slippage on uphill and downhill sections of underground tunnels. This causes the inspection robot to move in the opposite direction and repeatedly perform multiple inspections on the same location, thus interfering with the analysis of the inspection data. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned shortcomings in the prior art by proposing an underground cable tunnel inspection robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: Design an underground cable tunnel inspection robot, including a track body, a robot body, a detection head, guide wheels, drive wheels, and a drive motor. The top of the robot body is respectively provided with guide wheels and drive wheels, which abut against different side walls of the track body. The drive wheels are fixedly connected to the output end of the drive motor. The drive motor is located at the top of the robot body. The detection head is located below the robot body. The top of the robot body is provided with a first anti-slip component. The first anti-slip component includes a first gear disposed at the top of the robot body. The first gear is embedded in the inner wall of the mounting groove, which is located at the top of the robot body. The top of the first gear meshes with a rack plate, which is disposed at the bottom of the track body. A gear shaft is fixedly installed on the inner wall of the first gear. One end of the gear shaft is rotatably connected to the robot body. A second anti-slip component is disposed at the other end of the gear shaft. Vibration mechanisms are uniformly disposed on the side wall of the first gear.

[0007] Preferably, the rack plate is installed on the uphill and downhill sections of the track body.

[0008] Preferably, the second anti-slip component includes a second gear fixedly installed on the outer wall of the gear shaft end, and a limiting plate for limiting the position is provided on the side wall of the second gear. The side wall of the limiting plate is rotatably connected to the inner wall of the robot body through a rotating shaft, and the side of the limiting plate away from the second gear is connected to the inner wall of the robot body through a first spring.

[0009] Preferably, there are two limiting plates, and a control mechanism is provided between the two limiting plates. The two limiting plates are symmetrically arranged on both sides of the second gear.

[0010] Preferably, the limiting plate is divided into a first abutting part and a second abutting part with the rotation axis as the center, and the first spring is placed on the side wall of the second abutting part.

[0011] Preferably, the control mechanism includes a cam disposed between the limiting plates, a connecting rod fixedly installed on the side wall of the cam, a connecting block fixedly installed on the side of the connecting rod away from the cam, a second sliding groove opened on the inner wall of the connecting block, a first slider disposed on the inner wall of the second sliding groove, a drive rod fixedly installed on one side of the first slider, the end of the drive rod fixedly installed on the output end of the drive cylinder, and the drive cylinder fixedly installed inside the robot body.

[0012] Preferably, the end of the cam is placed on the side wall of the first abutment portion.

[0013] Preferably, rotating rods are provided on both sides of the first slider, and the rotating rods are embedded in the inner wall of the first sliding groove, which is formed on the side wall of the connecting block.

[0014] Preferably, the vibration mechanism includes an arc-shaped groove formed on the side wall of the first gear, a second slider is slidably mounted on the inner wall of the arc-shaped groove, and a second spring is provided on both sides of the second slider.

[0015] Preferably, a cover plate is provided at the opening of the arc-shaped groove, and the cover plate is sealed to the arc-shaped groove.

[0016] The underground cable tunnel inspection robot proposed in this invention has the following advantages: by setting up a first anti-slip mechanism and a second anti-slip mechanism to cooperate with each other, it can avoid the problem of slippage on the road surface when going up or down the slope of the underground tunnel, which would cause the inspection robot to move in the opposite direction and repeatedly perform multiple inspections on the same position, thus interfering with the analysis of the inspection data. The high reliability and low failure rate of the gear and rack meshing transmission ensure that the robot can carry out 24-hour uninterrupted inspection. Combined with the real-time data feedback function, it greatly improves the automation level of tunnel operation and maintenance, reduces manual intervention, and is especially suitable for long-distance, high-risk underground cable tunnel scenarios. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the inspection robot of the present invention; Figure 3 This is a schematic diagram of the structure of the first anti-slip component of the present invention; Figure 4 This is a partial cross-sectional structural diagram of the inspection robot of the present invention; Figure 5 For the present invention Figure 4 Enlarged view of point A in the middle; Figure 6 For the present invention Figure 5 Enlarged view at point B in the middle; Figure 7 This is a schematic diagram of the structure of the vibration mechanism of the present invention; Figure 8 This is a control flowchart of the drive motor and drive cylinder of the present invention.

[0018] In the diagram: 1. Track body; 2. Robot body; 3. Rack plate; 4. Detection head; 5. Guide wheel; 6. Drive wheel; 7. Drive motor; 8. Mounting slot; 9. First gear; 10. Gear shaft; 11. Second gear; 12. Limiting plate; 121. First abutment part; 122. Second abutment part; 13. Rotating shaft; 14. First spring; 15. Cam; 16. Connecting rod; 17. Connecting block; 18. First slider; 19. Rotating rod; 20. Drive rod; 21. Drive cylinder; 22. First slide groove; 23. Second slide groove; 24. Arc groove; 25. Second spring; 26. Second slider; 27. Cover plate. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Example 1 Reference Figure 1-8 An underground cable tunnel inspection robot includes a track body 1, a robot body 2, an inspection head 4, guide wheels 5, drive wheels 6, and a drive motor 7. The top of the robot body 2 is equipped with guide wheels 5 and drive wheels 6, which abut against different side walls of the track body 1. The guide wheels 5 serve a guiding function, controlling the movement direction of the robot body 2. The drive wheels 6 are fixedly connected to the output end of the drive motor 7, which is located at the top of the robot body 2. The drive motor 7 drives the drive wheels 6 to rotate, thereby controlling the entire inspection robot to perform inspections. The input end of the drive motor 7 is connected to the robot body 1 via a wire. The power connection inside the main body 2 is described in detail, as the internal structure of the robot main body 2 is existing technology and will not be elaborated upon. A detection head 4 is located at the bottom of the robot main body 2. The detection head 4 is used to collect cable information. The detection head 4 can be a camera, temperature sensor, or other device capable of collecting cable information or environmental information in the tunnel. Furthermore, the detection head 4 and the robot main body 2 are rotatably connected. The position of the detection head 4 can be adjusted via a drive mechanism, allowing it to collect information from the corresponding location. The connection method between the detection head 4 and the robot main body 2 is also existing technology, and its specific structure will not be described in detail.

[0021] Example 2 The top of the robot body 2 is provided with a first anti-slip component; the first anti-slip component includes a first gear 9 set at the top of the robot body 2, the first gear 9 is embedded in the inner wall of the mounting groove 8, the mounting groove 8 is opened at the top of the robot body 2, wherein the bottom of the mounting groove 8 is set in an inclined shape to facilitate dust falling to the ground, the top of the first gear 9 is meshed with the rack plate 3, the rack plate 3 is set at the bottom of the track body 1, a gear shaft 10 is fixedly installed on the inner wall of the first gear 9, one end of the gear shaft 10 is rotatably connected to the robot body 2, the other end of the gear shaft 10 is provided with a second anti-slip component, and vibration mechanisms are evenly arranged on the side wall of the first gear 9.

[0022] Compared to the first embodiment, which relies on the friction between the guide wheel 5 and the track body 1 to obtain power, the first anti-slip component in this embodiment uses the rigid transmission between the rack plate 3 and the first gear 9. The meshing of the first gear 9 can form a forced power transmission relationship, which is not affected by the change of the friction coefficient. It can significantly suppress slippage. When going uphill, the first gear 9 exerts force by meshing with the rack plate 3 through its tooth surface, accurately converting the power into forward force and avoiding power loss due to insufficient friction. When going downhill, the meshing structure can also play a limiting role similar to a "brake", preventing the robot from accelerating downhill due to gravity. This not only solves the slippage problem, but also improves the speed controllability.

[0023] Example 3.

[0024] Reference Figure 1 The rack plate 3 is set on the uphill and downhill sections of the track body 1. Compared with the rack plate 3 being distributed at the bottom of the entire track body 1, the rack plate 3 is only set on the uphill and downhill sections. This can reduce the cost of modifying the track body 1 and reduce the wear and noise generated by the meshing of the first gear 9 when traveling on the horizontal section. The robot travels on the flat road by the conventional drive wheel 6. After entering the slope, the gear and rack automatically mesh, which is more adaptable. In addition, on the horizontal section, the first gear 9 does not contact the track body 1. Compared with the first gear 9 meshing with the rack plate 3, the resistance is smaller, thereby reducing the power loss inside the robot body 2 and making more rational use of resources.

[0025] The second anti-slip component includes a second gear 11 fixedly installed on the outer wall of the end of the gear shaft 10. The side wall of the second gear 11 is provided with a limiting plate 12 for limiting the position. The side wall of the limiting plate 12 is rotatably connected to the inner wall of the robot body 2 through a rotating shaft 13. The side of the limiting plate 12 away from the second gear 11 is connected to the inner wall of the robot body 2 through a first spring 14.

[0026] Compared to the first anti-slip component in Embodiment 2, the second anti-slip component, with its further design, can prevent the robot from sliding backwards due to unexpected situations such as power outages or drive failures when traveling uphill, thus forming a mechanical lock and improving operational safety. In addition, by forming a mechanical lock, it can also prevent the inspection robot from slipping and causing it to reverse its movement during unidirectional operation, repeatedly performing multiple inspections on the same location, thereby interfering with the analysis of the inspection data.

[0027] There are two limit plates 12, and a control mechanism is set between the two limit plates 12. The two limit plates 12 are symmetrically arranged on both sides of the second gear 11. When there is only one limit plate 12, the inspection robot can only be used in a single-direction operation scenario, which is not suitable for a scenario that requires bidirectional operation. However, by setting two limit plates 12 and adjusting them through the control mechanism, the inspection robot can be used in a bidirectional movement scenario, thus improving the applicability of the inspection robot.

[0028] The limiting plate 12 is divided into a first abutting part 121 and a second abutting part 122 with the rotating shaft 13 as the center. The first spring 14 is placed on the side wall of the second abutting part 122, and the other end of the first spring 14 is fixedly connected to the inner wall of the robot body 2, thereby pulling the limiting plate 12 to rotate around the rotating shaft 13. When the limiting plate 12 is not blocked by the cam 15, it can move to one side of the second gear 11. At the same time, when the second gear 11 squeezes the limiting plate 12, it can control the limiting plate 12 to return to its original position, lock the second gear 11, and form a mechanical lock.

[0029] The control mechanism includes a cam 15 disposed between the limit plates 12. A connecting rod 16 is fixedly installed on the side wall of the cam 15. A connecting block 17 is fixedly installed on the side of the connecting rod 16 away from the cam 15. A second slide groove 23 is opened on the inner wall of the connecting block 17. A first slider 18 is disposed on the inner wall of the second slide groove 23. A drive rod 20 is fixedly installed on one side of the first slider 18. The end of the drive rod 20 is fixedly installed on the output end of the drive cylinder 21. The drive cylinder 21 is fixedly installed inside the robot body 2. The input end of the drive cylinder 21 is connected to the logic controller through a wire. The logic controller is connected to the control chip through a wire. The control chip is connected to the drive motor 7 through a wire.

[0030] The control mechanism can detect the rotation direction of the drive wheel 6 when it rotates and send it to the control chip. The control chip controls the logic controller to drive the drive cylinder 21, causing the cam 15 to abut against one side of the limiting plate 12, thereby pushing one end of the limiting plate 12 and causing the other end of the limiting plate 12 to abut against the teeth of the second gear 11, thus limiting the second gear 11. The other limiting plate 12 is moved away from the second gear 11 and separated from it under the action of the first spring 14. By switching different limiting plates 12 to engage and disengage with the second gear 11, the second gear 11 can only rotate in the corresponding direction, thus forming a mechanical lock and preventing the inspection robot from slipping when going uphill.

[0031] As shown in the figure, when the drive wheel 6 rotates clockwise, the control chip controls the drive cylinder 21 to retract to the state shown in the figure. At this time, the cam 15 abuts against one side of the limiting plate 12, so that the limiting plate 12 is embedded between the teeth of the second gear 11, thereby controlling the second gear 11 to rotate counterclockwise and not clockwise. Similarly, when the drive wheel 6 rotates counterclockwise, the cam 15 abuts against one side of the other limiting plate 12, so that the first gear 9 can only rotate clockwise, providing mechanical locking for the movement of the inspection robot and preventing slippage.

[0032] The end of the cam 15 is placed on the side wall of the first abutment portion 121, which can push the limiting plate 12 to rotate around the rotating shaft 13.

[0033] Rotating rods 19 are provided on both sides of the first slider 18. The rotating rods 19 are embedded in the inner wall of the first slide groove 22. The first slide groove 22 is opened on the side wall of the connecting block 17, which can ensure that the rotating rods 19 slide and rotate on the inner wall of the first slide groove 22. The rotating rods 19 must be round rods, and the length between the two sides of the first slide groove 22 is equal to the diameter of the rotating rods 19.

[0034] The side of the limiting plate 12 closest to the second gear 11 is set as a flat surface, and the side of the limiting plate 12 away from the second gear 11 and the end closest to the second gear 11 is set as an arc. This allows the limiting plate 12 to block the second gear 11 when it comes into contact with the flat side of the limiting plate 12, and at the same time, it can push the limiting plate 12 to rotate when the second gear 11 comes into contact with the arc side of the limiting plate 12, so that the second gear 11 can continue to rotate, which achieves one-way locking.

[0035] The vibration mechanism includes an arc-shaped groove 24 formed on the side wall of the first gear 9. A second slider 26 is slidably mounted on the inner wall of the arc-shaped groove 24. A second spring 25 is provided on both sides of the second slider 26. When the first gear 9 rotates, it generates centrifugal force. Under the action of centrifugal force, the second slider 26 slides on the inner wall of the arc-shaped groove 24. During this process, it will squeeze the second spring 25 on one side. When the rotational speed of the first gear 9 fluctuates, the centrifugal force decreases accordingly. The squeezed second spring 25 will release elastic potential energy, push the second slider 26 to slide in the opposite direction, and then squeeze the second spring 25 on the other side. The reciprocating sliding of the second slider 26 within the arc-shaped groove 24 continuously generates periodic impact forces on the side wall of the first gear 9, disrupting the force balance during the rotation of the first gear 9. This causes the first gear 9 to vibrate, which dislodges dust from its surface, preventing dust accumulation between the gear teeth and thus affecting the meshing between the first gear 9 and the rack plate 3, which in turn affects the operation of the inspection robot. Furthermore, when the first gear 9 is not meshing with the rack plate 3, it remains stationary. In conjunction with the shape of the arc-shaped groove 24, the second slider 26 will not move within the arc-shaped groove 24, thus preventing vibration or significant vibration that could affect the use of the equipment.

[0036] A cover plate 27 is provided at the opening of the arc groove 24. The cover plate 27 is sealed to the arc groove 24. The cover plate 27 can protect the second spring 25 and the second slider 26, preventing dust and moisture from entering the interior of the arc groove 24 and causing damage, thus improving the service life of the vibration mechanism.

[0037] Example 4 Optionally, a first motor (not shown in the figure) can be installed at the end of the gear shaft 10 away from the second gear 11. This motor can serve as an auxiliary power source to drive the gear to rotate, thus improving its climbing ability. The first motor is connected to the internal power supply and control chip via wires. The specific connection method and working principle are well-established technologies and will not be elaborated here. Alternatively, the first motor can be a servo motor, which can control the first gear 9 to rotate at a certain speed, thereby controlling the speed when going downhill. However, adding a first motor will increase power consumption, requiring a larger power supply capacity. Of course, the first motor can also be omitted. In this case, the first gear 9 is in a free-moving state. When going uphill, it can work with the mechanical locking to prevent slippage. However, when going downhill, since there is no power restriction, the speed is limited only by the resistance generated by the meshing between the first gear 9 and the rack plate 3 to prevent the inspection robot from moving too fast. However, it is impossible to control the inspection robot to move at a constant speed. Therefore, the choice between installing a first motor or a servo motor can be made appropriately in different tunnels. When there are long uphill and downhill sections with steep slopes, servo motors can be installed to reasonably control the speed of the inspection robot and provide auxiliary power when going uphill, reducing heat generated by friction between the drive wheels 6 and the track body 1, thus protecting the drive wheels 6. When there are long uphill and downhill sections with gentle slopes, normal motors can be installed to provide auxiliary power when going uphill. Since the downhill slope is gentle and the drive wheels 6 provide power control, the inspection robot's speed will not be too fast; servo motors can also be installed. When the uphill and downhill sections are short and the slope is steep... When the slope is very steep, a servo motor can be installed, mainly to control the speed when going downhill. When the uphill and downhill sections are short and the slope is gentle, the first motor can be omitted. In this case, the speed of the inspection robot can be controlled by driving the drive wheel 6. Compared with installing a servo motor, not installing one makes the overall weight of the inspection robot lighter and reduces energy consumption, making it more economical. In summary, the position and interface for installing a servo motor can be directly reserved inside the robot body 2. At the same time, the output end of the servo motor and the end of the gear shaft 10 are detachably connected, allowing for the selection of whether or not to install a servo motor in different scenarios.

[0038] Working method: When inspection is required, the inspection robot receives instructions and inspects along the track body 1. At this time, the inspection robot will start the drive motor 7. The control chip will receive the rotation direction information of the drive motor 7 and send instructions to the logic controller. The logic controller will drive the drive cylinder 21 to work, so that the drive cylinder 21 pushes / pulls the first slider 18 to move on the inner wall of the connecting block 17. During the movement, the connecting block 17 will rotate, which in turn drives the cam 15 to rotate, so that the cam 15 abuts against one side of one of the limit plates 12, thereby controlling the limit plate 12 to engage between the teeth of the second gear 11, thus forming a one-way mechanical lock. When the inspection robot moves uphill or downhill... When the robot is on a slope, the first gear 9 meshes with the rack plate 3. The first gear 9 will rotate under the action of the rack plate 3. When slippage occurs between the drive wheel 6 and the track body 1, the inspection robot will not back up because the first gear 9 cannot rotate in the opposite direction. When the robot needs to return, the drive motor 7 will rotate in the opposite direction. At this time, the control chip receives the rotation direction information of the drive motor 7 and controls the drive cylinder 21 to work through the logic controller. The drive cylinder 21 drives the cam 15 to abut against another limit plate 12, thereby changing the locking direction of the first gear 9. At the same time, the other limit plate 12 separates from the second gear 11 under the action of the first spring 14, thereby realizing the inspection robot's cyclic inspection on the track.

[0039] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An underground cable tunnel inspection robot, comprising a track body (1), a robot body (2), a detection head (4), guide wheels (5), drive wheels (6), and a drive motor (7), wherein guide wheels (5) and drive wheels (6) are respectively provided at the top of the robot body (2), the guide wheels (5) and drive wheels (6) respectively abut against different side walls of the track body (1), the drive wheels (6) are fixedly connected to the output end of the drive motor (7), the drive motor (7) is provided at the top of the robot body (2), and a detection head (4) is provided below the robot body (2), characterized in that: The top of the robot body (2) is provided with a first anti-slip component; The first anti-slip component includes a first gear (9) set at the top of the robot body (2). The first gear (9) is embedded in the inner wall of the mounting groove (8). The mounting groove (8) is opened at the top of the robot body (2). The top of the first gear (9) is meshed with a rack plate (3). The rack plate (3) is set at the bottom of the track body (1). A gear shaft (10) is fixedly installed on the inner wall of the first gear (9). One end of the gear shaft (10) is rotatably connected to the robot body (2). The other end of the gear shaft (10) is provided with a second anti-slip component. Vibration mechanisms are uniformly arranged on the side wall of the first gear (9).

2. The underground cable tunnel inspection robot according to claim 1, characterized in that: The rack plate (3) is installed on the uphill and downhill sections of the track body (1).

3. The underground cable tunnel inspection robot according to claim 1, characterized in that: The second anti-slip component includes a second gear (11) fixedly installed on the outer wall of the end of the gear shaft (10). The side wall of the second gear (11) is provided with a limiting plate (12) for limiting. The side wall of the limiting plate (12) is rotatably connected to the inner wall of the robot body (2) through a rotating shaft (13). The side of the limiting plate (12) away from the second gear (11) is connected to the inner wall of the robot body (2) through a first spring (14).

4. The underground cable tunnel inspection robot according to claim 3, characterized in that: There are two limiting plates (12), and a control mechanism is provided between the two limiting plates (12). The two limiting plates (12) are symmetrically arranged on both sides of the second gear (11).

5. The underground cable tunnel inspection robot according to claim 4, characterized in that: The limiting plate (12) is divided into a first abutting part (121) and a second abutting part (122) with the rotating shaft (13) as the center, and the first spring (14) is placed on the side wall of the second abutting part (122).

6. The underground cable tunnel inspection robot according to claim 5, characterized in that: The control mechanism includes a cam (15) disposed between the limiting plates (12), a connecting rod (16) fixedly installed on the side wall of the cam (15), a connecting block (17) fixedly installed on the side of the connecting rod (16) away from the cam (15), a second sliding groove (23) is provided on the inner wall of the connecting block (17), a first slider (18) is provided on the inner wall of the second sliding groove (23), a drive rod (20) is fixedly installed on one side of the first slider (18), the end of the drive rod (20) is fixedly installed on the output end of the drive cylinder (21), and the drive cylinder (21) is fixedly installed inside the robot body (2).

7. The underground cable tunnel inspection robot according to claim 6, characterized in that: The end of the cam (15) is placed on the side wall of the first abutment (121).

8. The underground cable tunnel inspection robot according to claim 6, characterized in that: Rotating rods (19) are provided on both sides of the first slider (18). The rotating rods (19) are embedded in the inner wall of the first groove (22), which is opened on the side wall of the connecting block (17).

9. The underground cable tunnel inspection robot according to claim 1, characterized in that: The vibration mechanism includes an arc-shaped groove (24) formed on the side wall of the first gear (9), and a second slider (26) is slidably mounted on the inner wall of the arc-shaped groove (24). A second spring (25) is provided on both sides of the second slider (26).

10. The underground cable tunnel inspection robot according to claim 9, characterized in that: A cover plate (27) is provided at the opening of the arc-shaped groove (24), and the cover plate (27) and the arc-shaped groove (24) are connected by a sealing connection.

Images