Cable trench inspection robot and use method thereof

Abstract

The invention discloses a cable trench inspection robot and a using method thereof, and relates to the technical field of robots, the cable trench inspection robot comprises a vehicle body and a moving mechanical arm, and four or more bottom wheels are arranged at the bottom of the vehicle body; the protruding amount of the bottom wheels from the bottom of the vehicle is not larger than two fifths of the size of the bottom wheels. The bottom protection assembly is arranged at the bottom of the vehicle body; the bottom protection assembly comprises an end carrier and a bottom belt; the bottom belt is a soft belt body, the two ends of the bottom belt are detachably positioned at the two ends of the vehicle body through different end carriers respectively, the bottom of the shifting wheel carrying body is covered, and wheel exposing grooves allowing the bottom wheels to penetrate through are formed in the bottom belt; the wheel exposing groove is a rectangular groove body, a rectangular annular carrying ring is fixed to the edge of the wheel exposing groove, and bristles are densely distributed on the carrying ring. When the bottom belt is loaded on a vehicle body, the bristles abut against the side faces and the end faces of the bottom wheels, and muddy water is prevented from splashing and brushing off the muddy water adhering to the bottom wheels. The technical effects that in the use process of the cable trench inspection robot, much mud and liquid cannot be splashed and accumulated on the movable part, and cleaning is convenient and fast after use are achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a cable trench inspection robot and its usage method. Background Technology

[0002] Cable tunnels are prone to fires due to factors such as aging insulation, accumulation of dust and oil, and loose joints, which can cause the local temperature of cables to gradually rise. If the temperature of the cables inside the cable tunnel can be regularly inspected before an accident occurs, the occurrence of fires can be reduced or even avoided.

[0003] During inspections, manual inspection is not only labor-intensive and prone to omissions, but also inefficient. Therefore, cable tunnel inspection robots with robotic arms and temperature and image acquisition devices at the arm head are widely used. There are two main types of cable tunnel inspection robots. One type is the top-mounted track-mounted inspection robot, which has high track laying costs and poor flexibility and adaptability due to limited movement. The other type is the tracked or wheeled inspection robot that moves on the ground. The ground-moving inspection robot uses the drainage channels in the tunnel to pass through the firewalls in the tunnel to achieve the inspection of the entire tunnel (a thick firewall is installed at specified intervals in cable tunnels to isolate the cable tunnel into tunnel units, which serves as a physical isolation in case of fire; however, considering the drainage problem, a drainage ditch is opened on the ground of the cable tunnel, and the drainage ditch runs through the firewall for drainage). Cable tunnels are mostly underground structures, and their water-proof performance is affected by various factors such as design, construction, and operating environment. Seepage and leakage problems occur frequently, and some water (clear water or muddy water) can easily accumulate in certain areas. During inspection, whether a tracked or wheeled inspection robot is used, it is limited by its own structure and operating environment. Because it needs to contact the ground and move with the help of drainage ditches, the moving parts (wheels or filter belts) can splash and accumulate a lot of dirt on the inspection robot during use. The inspection robot is relatively delicate and has many moving parts. The accumulation of dirt will seriously affect the service life, failure rate and operational stability of the equipment. In order to ensure the long-term stable operation of the inspection robot, a relatively thorough cleaning is required after each use (especially in the gaps between parts). The cleaning process is tedious, complex and labor-intensive.

[0004] Therefore, there is a need for a cable trench inspection robot that will not splash or accumulate excessive mud and liquid on moving parts during use, and is easy to clean after use. Summary of the Invention

[0005] This application provides a cable trench inspection robot, which solves the technical problems of existing cable trench inspection robots, which are limited by their own structure and working environment, resulting in the accumulation of a lot of mud and liquid on themselves during use, the need for tedious and complicated cleaning operations after use, short service life, and high failure rate. It achieves the technical effect that the cable trench inspection robot will not splash or accumulate a lot of mud and liquid on its moving parts during use and is easy to clean after use.

[0006] This application provides a cable trench inspection robot, including a vehicle body and a moving robotic arm. The bottom of the vehicle body is provided with four or more bottom wheels. The amount of the bottom wheels protruding from the bottom of the vehicle body is no more than two-fifths of their own volume. It also includes a bottom protection component installed at the bottom of the vehicle body; the bottom protection component includes an end carrier and a bottom strip; The bottom belt is a soft belt, and its two ends are detachably positioned at both ends of the vehicle body through different end carriers to cover the bottom of the displacement wheel body. The bottom belt is provided with exposed wheel grooves for the bottom wheel to pass through. The exposed wheel groove is a rectangular groove with a rectangular ring-shaped carrier ring fixed to its edge. The carrier ring is densely covered with bristles. When the bottom belt is mounted on the vehicle body, the bristles contact the side and end face of the bottom wheel to prevent mud and water from splashing and to brush off the mud and water adhering to the bottom wheel. After the inspection robot completes its inspection or when the brushes on the carrier ring are severely worn, the bottom belt should be removed for cleaning or replacement.

[0007] Furthermore, the vehicle body includes a base plate and two shifting wheel bodies; The base plate is a long, rigid plate with its length parallel to the horizontal ground and its width perpendicular to the horizontal ground. The number of the displacement wheel body is two, located on both sides of the base plate respectively; the displacement wheel body is a horizontally placed long strip block with a flat bottom surface. The bottom is provided with a bottom wheel for maintaining the stability of the vehicle body and driving the vehicle body to move, and a drive component for driving the bottom wheel to run is built in. A transverse component is fixed on the base plate; the transverse component is a horizontal telescopic rod structure that is controlled to extend and retract, and during extension and retraction, it drives the displacement wheel body to move laterally, thereby changing the width of the vehicle body.

[0008] Furthermore, a barrier plate is positioned between the base plate and the displacement wheel body; The barrier is a strip with a downward-opening arc-shaped cross-section. There are two strips, each corresponding to a displacement wheel. The two sides are fixed to the bottom of the base plate and the bottom edge of the displacement wheel near the base plate, respectively.

[0009] Furthermore, the number of bottom straps is two, the width of which is greater than the bottom width of the displacement wheel body, and they are set tightly against the bottom surface of the displacement wheel body; the end carrier includes a base frame and sliding rods; the base frame is a horizontally placed rigid rod-shaped support, there are two of them, which are fixed at both ends of the displacement wheel body respectively; the sliding rod is a horizontally placed rigid rod, which is slidably positioned on the base frame and slides along the length direction of the base frame; each base frame has two sliding rods positioned on it; the two ends of the bottom strap are respectively fixed on the two sliding rods and are always in a taut state.

[0010] Preferably, the end carrier of the bottom protection assembly includes a support frame, a drive body, an end shaft, a sliding drum, and a drum carrier; the bottom surface of the base plate is provided with one or more bottom support legs; The driving unit is a motor with two output shafts, which are coaxial, arranged laterally, and fixed to the end of the base plate. The end shaft is positioned on the output shaft of the drive body; The sliding drum is slidably positioned on the end shaft and rotates under the drive of the end shaft; The sliding drum is rotatably connected to the displacement wheel body via a drum carrier frame around its own axis; The number of bottom belts is two, and the number of exposed wheel grooves on the bottom belts is several times that of the bottom wheels; The two ends of the bottom strip are respectively wound and positioned on two sliding drums located at both ends of the vehicle body; The bottom support leg is a vertical telescopic rod structure that can be extended and retracted in a controlled manner to lift the entire vehicle body as needed.

[0011] Preferably, the bottom belt consists of two sections, one section having a row of exposed wheel grooves and the other section having one or more rows of rubber strips, the rubber strips being used to increase the friction force during travel; When encountering obstacles that are difficult to cross, the vehicle body can be lifted up and the undercarriage track can be moved so that the part of the undercarriage track with rubber strips moves to the bottom of the bottom wheel. Then the vehicle body is lowered so that the rubber strips touch the ground. After that, by controlling the rotation of the sliding drum, the combination of the undercarriage protection component and the bottom wheel can be made to have the function of a track structure.

[0012] Preferably, the bottom strip is made of elastic rubber, and the mud and dirt adhering to it can be automatically removed by controlling the bottom strip to stretch and then shorten after it dries naturally.

[0013] Preferably, a rotating rod is positioned at both ends of the base plate; The end rotating rod is a rigid straight rod, one end of which is rotatably connected to the base plate. The axial direction of the rotating shaft is the same as the thickness direction of the base plate, and the rotation is controlled. The end carrier is positioned at the end of the end rotating rod away from the base plate; Each end rotating rod has two auxiliary rotating rods on both sides; the length direction of the end rotating rod and the auxiliary rotating rods are the same. The auxiliary rotating rod is a rigid straight rod, one end of which is rotatably connected to the end of the displacement carrier wheel. The axial direction of the rotating shaft is the same as the thickness direction of the base plate. The sliding drum is positioned on the auxiliary rotating rod through the drum carrier, corresponding one-to-one with the auxiliary rotating rod.

[0014] Preferably, the bottom belt consists of three sections, one of which is a mesh belt section, and the bottom belt of the mesh belt section is a mesh belt body; when the vehicle body is supported by the end rotating rod, the bottom belt is controlled to be taut and the mesh belt section is moved between the sliding drums, which can enable the inspection vehicle to drive stably and temporarily on muddy roads.

[0015] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: By adding a strip-shaped bottom protection component to the bottom of the robot body to prevent mud and water from splashing onto the robot's moving parts, the tediousness of subsequent cleaning is reduced. The bottom protection component has wheel grooves for the bottom wheels of the robot body to enter, and the edges of the wheel grooves are equipped with bristles. When the bottom wheels rotate, they work with the bristles to achieve self-cleaning. This effectively solves the technical problems of existing cable trench inspection robots, which are limited by their own structure and working environment, resulting in the accumulation of a lot of mud and liquid on themselves during use, requiring tedious and complicated cleaning operations after use, having a short service life, and a high failure rate. Thus, the cable trench inspection robot achieves the technical effect of not splashing or accumulating a lot of mud and liquid on its moving parts during use and being easy to clean after use. Attached Figure Description

[0016] Figure 1 This is a schematic diagram showing the positional relationship of the various components of the cable trench inspection robot of this application; Figure 2 This is a schematic diagram of the bottom structure of the cable trench inspection robot of this application; Figure 3 This is a schematic diagram of the bottom strip structure; Figure 4 A schematic diagram showing the extended state of the robotic arm for movement; Figure 5 A schematic diagram showing the positional relationship between the base plate and the displacement wheel; Figure 6 This is a scaled-down schematic diagram of the cable trench inspection robot of this application. Figure 7 A schematic diagram showing the positional relationship between the drive unit, the sliding drum, and the bottom strip; Figure 8 A schematic diagram of the drive unit, sliding drum, and base belt; Figure 9 A schematic diagram showing the deformation state of the bottom protection component; Figure 10 Here is a simplified structural diagram of the base strip; Figure 11 This is a schematic diagram showing the positional relationship between the end rotating rod, the foundation plate, and the displacement wheel. Figure 12 This is a structural diagram of each component of the bottom protection assembly; Figure 13 A schematic diagram showing the positional relationship between the belt body embedding part, the auxiliary rotating rod, and the sliding drum; Figure 14 This is a simplified structural diagram of the embedded part of the belt.

[0017] In the picture: The components include: base plate 100, horizontal plate 110, moving robotic arm 200, functional head 210, shifting wheel body 300, bottom wheel 301, barrier plate 302, lateral movement assembly 310, end carrier 410, base frame 411, sliding rod 412, bearing frame 413, drive body 414, end shaft 415, sliding drum 416, drum carrier 417, end rotating rod 418, auxiliary rotating rod 419, bottom belt 420, exposed wheel groove 421, mesh belt section 424, and bottom support leg 430. Detailed Implementation

[0018] To facilitate understanding of the present invention, a more complete description of this application will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the present invention.

[0019] It should be noted that the terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Example

[0021] like Figures 1 to 6As shown, the cable trench inspection robot of this application includes a vehicle body, a moving robotic arm 200, a bottom protection assembly, a power assembly, and a control unit located at the bottom of the vehicle body; the bottom of the vehicle body is provided with four or more bottom wheels 301; the moving robotic arm 200 is a foldable multi-degree-of-freedom robotic arm, with one end positioned on the top of the vehicle body and the other end provided with a functional head 210, which has camera and temperature measurement functions; the moving robotic arm 200 can be controlled to extend and fold, when extended it can move the functional head 210 closer to the cable to be tested, and when folded it is close to the top of the vehicle body, so that the inspection robot can move in the cable tunnel drainage ditch; the power assembly is used to provide power for the operation of various components of the cable trench inspection robot of this application, and the control unit plays the role of controlling the coordinated operation of various components of the cable trench inspection robot and has a remote control function; the moving robotic arm 200, the functional head 210, the power assembly, and the control unit are all prior art, and will not be described in detail here.

[0022] The vehicle body includes a base plate 100 and two shifting wheel bodies 300; The base plate 100 is a long, rigid plate with its length parallel to the horizontal ground and its width perpendicular to the horizontal ground, serving as a load-bearing support. The number of the displacement carrier wheels 300 is two, which are located on both sides of the base carrier plate 100 and are arranged symmetrically. The displacement wheel body 300 is a horizontally placed elongated block with a flat bottom surface. The bottom is provided with a base wheel 301 for maintaining vehicle stability and driving vehicle movement, and a drive component for driving the base wheel 301 is built in. The drive component is existing technology. Each displacement wheel body 300 has at least two base wheels 301 at its bottom. Most of the volume of the base wheel 301 is embedded inside the displacement wheel body 300, and the amount protruding from the bottom surface of the displacement wheel body 300 is no more than two-fifths of its own volume. A horizontally placed carrier plate 110 is fixed at one end of the top of the base carrier plate 100; the horizontally placed carrier plate 110 is a rigid plate arranged horizontally, preferably a circular plate; the end of the transfer robotic arm 200 is positioned at the top of the base carrier plate 100.

[0023] A transverse component 310 is fixed on the base plate 100. The transverse component 310 is a horizontal telescopic rod structure that is controlled to extend and retract. It is fixed on the base plate 100 and the displacement wheel body 300 at the same time. When it extends and retracts, it drives the displacement wheel body 300 to move laterally, thereby changing the width of the vehicle body. This allows the inspection robot to not only travel stably on the ground but also easily pass through drainage ditches. like Figure 5As shown, a barrier plate 302 is also positioned between the base plate 100 and the displacement wheel body 300; the barrier plate 302 is a strip with a downward-opening arc cross-section, preferably made of elastic material, and there are two of them, corresponding one-to-one with the displacement wheel body 300, with the two side edges fixed to the bottom of the base plate 100 and the bottom edge of the displacement wheel body 300 near the base plate 100, respectively; the barrier plate 302 is used to prevent mud and water from splashing into the space between the base plate 100 and the displacement wheel body 300.

[0024] The bottom protection assembly is used to protect the bottom of the vehicle body and prevent mud and water from splashing onto the vehicle body and the moving robotic arm 200, and includes an end carrier 410 and a bottom belt 420; like Figure 3 and Figure 10 As shown, the bottom belt 420 is a soft belt, with both ends detachably positioned at both ends of the vehicle body via different end carriers 410, covering the bottom of the displacement wheel body 300. The bottom belt 420 has an exposed wheel groove 421 for the bottom wheel 301 to pass through. The exposed wheel groove 421 is a rectangular groove with a rectangular ring fixed to its edge, and the ring is densely covered with bristles. When the bottom belt 420 is mounted on the vehicle body, the bristles abut against the side and end face of the bottom wheel 301 to prevent mud and water from splashing and to brush off the mud and water adhering to the bottom wheel 301. After the inspection robot completes its inspection or when the bristles on the ring are severely worn, the bottom belt 420 is removed for cleaning or replacement.

[0025] During the use of the cable trench inspection robot in this embodiment: before use, a bottom protection component needs to be installed on the bottom of the vehicle body so that the bottom wheel 301 passes through the exposed wheel groove 421; during inspection, the bottom protection component shields the splashed mud and continuously brushes the bottom wheel 301, and the moving robotic arm 200 drives the functional head 210 to approach the cable to be inspected to collect images and temperature information through its own deformation; after the inspection is completed, the bottom protection component is removed for cleaning or replacement.

[0026] Preferably, there are two bottom straps 420, the width of which is greater than the bottom width of the displacement wheel body 300, and they are set close to the bottom surface of the displacement wheel body 300; the two ends of the bottom straps 420 are respectively fixed to the two ends of the displacement wheel body 300 through the end carriers 410.

[0027] Preferred, such as Figure 2As shown, there are two bottom straps 420, each wider than the bottom surface width of the shifting wheel body 300, and they are set tightly against the bottom surface of the shifting wheel body 300. The end carrier 410 includes a base frame 411 and sliding rods 412. The base frame 411 is a horizontally placed rigid rod-shaped support, and there are two of them, which are fixed at both ends of the shifting wheel body 300 respectively. The sliding rods 412 are horizontally placed rigid rods that are slidably positioned on the base frame 411 and slide along the length of the base frame 411. Two sliding rods 412 are positioned on each base frame 411. The two ends of the bottom straps 420 are fixed to the two sliding rods 412 respectively and are always in a taut state. The extension and contraction of the vehicle body will not affect the shielding of the shifting wheel body 300 by the bottom straps 420.

[0028] Preferably, the bottom wheel 301 achieves vehicle steering through asynchronous rotation.

[0029] Preferably, the bottom wheel 301 achieves steering by deflection (rotating around a line perpendicular to its own axis); in order to ensure the shielding effect of the bottom belt 420 and the effect of brushing off mud and water, the carrier ring is made of elastic material; the area of ​​the bottom belt 420 near the exposed wheel groove 421 is made of elastic material (preferably elastic rubber) or the entire bottom belt 420 is made of elastic material.

[0030] To further ensure the ease of use and stable performance of the bottom protection components; preferably, such as Figure 7 and Figure 8 As shown, the end carrier 410 of the bottom protection assembly includes a support frame 413, a drive body 414, an end shaft 415, a sliding drum 416, and a drum carrier 417; the bottom surface of the base plate 100 is provided with one or more bottom support legs 430. The drive unit 414 is a motor with two coaxial output shafts arranged laterally. It is fixed to the end of the base plate 100 by a support frame 413, which is a rod, plate, or frame structure and serves to connect and fix the components. The end shaft 415 is a rigid shaft that serves to transmit power and is sleeved and fixed on the output shaft of the drive unit 414 or integrally formed with the output shaft. The sliding drum 416 is a drum structure, slidably positioned on the end shaft 415, sliding along the length of the end shaft 415 and rotating under the drive of the end shaft 415; the sliding drum 416 is rotatably connected to the displacement wheel body 300 via a drum carrier 417 around its own axis; the drum carrier 417 is a rod, plate, or frame structure, serving as a connection and positioning function; the end shaft 415 and the sliding drum 416 are axially aligned; the end shaft 415 is provided with protrusions or grooves to limit the rotation of the sliding drum 416 relative to the end shaft 415; there are four sliding drums 416 corresponding one to one end shaft 415, with each pair supporting a bottom belt 420; there are two bottom belts 420, and the bottom belts 420 have... The number of exposed wheel grooves 421 is several times that of the bottom wheel 301, and the spacing between the exposed wheel grooves 421 is similar to the spacing between the bottom wheels 301. The two ends of the bottom belt 420 are respectively wound and positioned on two sliding drums 416 located at both ends of the vehicle body. The two bottom belts 420 are parallel to each other. The combination of the bottom belt 420 and the sliding drums 416 located at its two ends forms a roll shape. The bottom support leg 430 is a support leg with a vertical telescopic rod structure, which can be controlled to extend and retract to lift the entire vehicle body in a timely manner. During use, if the brush bristles are severely worn, or the bottom belt 420 is severely dirty or damaged, the bottom support leg 430 can be controlled to lift the vehicle body as needed, and then the sliding drums 416 can be controlled to rotate to wind up or release the bottom belt 420, and the bottom belt 420 located at the bottom of the displacement wheel body 300 can be replaced.

[0031] The technical solutions described in the embodiments of this application have at least the following technical effects or advantages: This invention solves the technical problems of existing cable trench inspection robots, which are limited by their own structure and working environment, resulting in the accumulation of a lot of mud and liquid on themselves during use, requiring tedious and complicated cleaning operations after use, having a short service life, and a high failure rate. It achieves the technical effect of cable trench inspection robots not splashing or accumulating a lot of mud and liquid on their moving parts during use, and being easy to clean after use. Example

[0032] To further improve the practicality, passability, and adaptability (obstacle-crossing ability) of the inspection robot of this application, the structure of the base belt 420 has been optimized and improved based on the above embodiments, specifically as follows: like Figure 9 and Figure 10 As shown, the bottom belt 420 consists of two sections, one of which has a row of exposed wheel grooves 421, and the other section has one or more rows of rubber strips. The rubber strips are used to increase the friction of travel. When encountering obstacles that are difficult to cross, the vehicle body can be lifted up and the bottom track 420 can be moved so that the part of the bottom track 420 with rubber strips moves to the bottom of the bottom wheel 301. Then the vehicle body is lowered so that the rubber strips touch the ground. After that, by controlling the rotation of the sliding drum 416, the bottom protection component and the bottom wheel 301 can be combined to have the function of a track structure.

[0033] Preferably, the bottom strip 420 is a strip made of elastic rubber. The mud and dirt adhering to it can be automatically removed by controlling the bottom strip 420 to stretch and then shorten after it dries naturally. Example

[0034] To further improve the passability and obstacle-crossing ability of the inspection robot of this application, the embodiment of this application optimizes and improves the structure of the vehicle body based on the above embodiment, adding an end rotating rod 418 and an auxiliary rotating rod 419; specifically: like Figure 11 and Figure 12 As shown, a rotating rod 418 is positioned at both ends of the base plate 100; the rotating rod 418 is a rigid straight rod, one end of which is rotatably connected to the base plate 100, and the axial direction of the rotating shaft is the same as the thickness direction of the base plate 100, and it rotates in a controlled manner. The end carrier 410 is positioned at the end of the end rotating rod 418 away from the base plate 100; specifically, the drive body 414 is arranged laterally and is directly fixed or fixed to the end of the base plate 100 through the support frame 413. Each end rotating rod 418 has two auxiliary rotating rods 419 on both sides; the end rotating rod 418 and the auxiliary rotating rod 419 have the same length direction. The auxiliary rotating rod 419 is a rigid straight rod, one end of which is rotatably connected to the end of the displacement carrier 300, and the axial direction of the rotating shaft is the same as the thickness direction of the base plate 100. The sliding drum 416 is positioned on the auxiliary rotating rod 419 by the drum carrier 417, and corresponds one-to-one with the auxiliary rotating rod 419; under the drive of the auxiliary rotating rod 419, the sliding drum 416 moves with the change of vehicle width; when the end rotating rod 418 rotates, the auxiliary rotating rod 419 also rotates due to linkage. The bottom surface of the base plate 100 is provided with one or more bottom support legs 430; When it is necessary to cross obstacles that are difficult to cross (such as cables that have fallen off the cable support or are temporarily erected and are placed horizontally at the bottom of the cable tunnel), the rotation of the controllable end rotating rod 418 is coordinated with the operation of the bottom support leg 430 and the drive body 414. While the controllable end rotating rod 418 swings, it controls the tension and position of the bottom belt 420 to achieve obstacle crossing.

[0035] Preferably, the edge of the sliding drum 416 is fitted with a tire.

[0036] Preferably, both the end rotating rod 418 and the auxiliary rotating rod 419 are telescopic rods with built-in compression springs, which to some extent play the role of tensioning the bottom belt 420.

[0037] Preferably, in an emergency (e.g., a sudden large influx of water into a tunnel), the rotation of the controllable end rotating rod 418, in conjunction with the operation of the bottom outrigger 430 and the drive body 414, causes the sliding drum 416 to touch the ground and lift the vehicle body, preventing water from entering the vehicle body (reducing economic losses) and allowing the vehicle to wait for rescue.

[0038] Preferred, such as Figure 13 and Figure 14 As shown, the bottom belt 420 consists of three sections, one of which is a mesh belt section 424. The bottom belt 420 of the mesh belt section 424 is a mesh belt. When the vehicle body is supported by the end rotating rod 418, the bottom belt 420 is taut and the mesh belt section 424 is moved between the sliding drum 416, which enables the inspection vehicle to drive stably on muddy roads (at this time, the mesh belt section 424 is embedded in the mud to ensure driving stability).

[0039] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A cable trench inspection robot, comprising a vehicle body and a moving robotic arm (200), wherein the bottom of the vehicle body is provided with four or more bottom wheels (301); characterized in that: The protrusion of the bottom wheel (301) from the bottom of the vehicle is no more than two-fifths of its own volume; It also includes a bottom protection assembly installed at the bottom of the vehicle body; the bottom protection assembly includes an end carrier (410) and a bottom strip (420); The bottom belt (420) is a soft belt, and its two ends are detachably positioned at both ends of the vehicle body through different end carriers (410) to cover the bottom of the displacement wheel body (300). The bottom belt (420) is provided with exposed wheel grooves (421) for the bottom wheel (301) to pass through. The exposed wheel groove (421) is a rectangular groove with a rectangular ring fixed on the edge. The ring is covered with bristles. When the bottom belt (420) is mounted on the vehicle body, the bristles abut against the side and end face of the bottom wheel (301) to prevent mud and water from splashing and to brush off the mud and water adhering to the bottom wheel (301). After the inspection robot completes its inspection or the brush on the carrier ring is severely worn, the bottom belt (420) will be removed for cleaning or replacement.

2. The cable trench inspection robot as described in claim 1, characterized in that: The vehicle body includes a base plate (100) and two shifting wheel bodies (300); The base plate (100) is a long, rigid plate with its length parallel to the horizontal ground and its width perpendicular to the horizontal ground. There are two displacement wheel bodies (300), located on both sides of the base plate (100); the displacement wheel body (300) is a horizontally placed long strip block with a flat bottom surface. The bottom is provided with a bottom wheel (301) for maintaining vehicle stability and driving vehicle movement, and a drive component for driving the bottom wheel (301) is built in. A transverse component (310) is fixed on the base plate (100); the transverse component (310) is a horizontal telescopic rod structure that is controlled to extend and retract, and when it extends and retracts, it drives the displacement wheel body (300) to move laterally, thereby changing the width of the vehicle body.

3. The cable trench inspection robot as described in claim 2, characterized in that: A barrier plate (302) is also positioned between the base plate (100) and the displacement wheel body (300); The barrier plate (302) is a strip with a downward-opening arc shape in its longitudinal section. There are two of them, which correspond one-to-one with the displacement wheel body (300). The two sides are fixed to the bottom of the base plate (100) and the bottom edge of the displacement wheel body (300) near the base plate (100), respectively.

4. The cable trench inspection robot as described in claim 2, characterized in that: The number of the bottom straps (420) is two, the width of which is greater than the bottom width of the displacement wheel body (300), and they are set close to the bottom surface of the displacement wheel body (300); the end carrier (410) includes a base frame (411) and a sliding rod (412); the base frame (411) is a horizontal rigid rod-shaped support, there are two of them, which are fixed at both ends of the displacement wheel body (300); the sliding rod (412) is a horizontal rigid rod, which is slidably positioned on the base frame (411) and slides along the length direction of the base frame (411); each base frame (411) has two sliding rods (412) positioned on it; the two ends of the bottom straps (420) are fixed on the two sliding rods (412) respectively and are always in a taut state.

5. The cable trench inspection robot as described in claim 2, characterized in that: The end carrier (410) of the bottom protection assembly includes a support frame (413), a drive body (414), an end shaft (415), a sliding drum (416), and a drum carrier (417); the bottom surface of the base plate (100) is provided with one or more bottom support legs (430); The drive unit (414) is a motor with two output shafts, and the two output shafts are coaxial, arranged laterally, and fixed to the end of the base plate (100). The end shaft (415) is positioned on the output shaft of the drive body (414); The sliding drum (416) is slidably positioned on the end shaft (415) and rotates under the drive of the end shaft (415); The sliding drum (416) is rotatably connected to the displacement wheel body (300) via the drum carrier (417) around its own axis; The number of the bottom belts (420) is two, and the number of exposed wheel grooves (421) on the bottom belts (420) is several times that of the bottom wheels (301); The two ends of the bottom strip (420) are respectively wound and positioned on two sliding drums (416) located at both ends of the vehicle body; The bottom support leg (430) is a vertical telescopic rod structure support leg that can be extended and retracted in a controlled manner to lift the entire vehicle body as needed.

6. The cable trench inspection robot as described in claim 5, characterized in that: The bottom strip (420) consists of two sections, one of which has a row of exposed wheel grooves (421), and the other section has one or more rows of rubber strips. The rubber strips are used to increase the friction of travel. When encountering obstacles that are difficult to cross, the vehicle body can be lifted up and the bottom track (420) can be moved so that the part of the bottom track (420) with rubber strips moves to the bottom of the bottom wheel (301), and then the vehicle body is lowered so that the rubber strips touch the ground; thereafter, by controlling the rotation of the sliding drum (416), the bottom protection component and the bottom wheel (301) can be combined to have the function of a track structure.

7. The cable trench inspection robot as described in claim 6, characterized in that: The bottom strip (420) is made of elastic rubber. The mud and dirt adhering to it can be automatically removed by controlling the bottom strip (420) to stretch and then shorten after it dries naturally.

8. The cable trench inspection robot as described in any one of claims 5 to 7, characterized in that: Both ends of the base plate (100) are positioned with an end rotating rod (418); The end rotating rod (418) is a rigid straight rod, one end of which is rotatably connected to the base plate (100). The axial direction of the rotating shaft is the same as the thickness direction of the base plate (100), and it rotates in a controlled manner. The end carrier (410) is positioned at the end of the end rotating rod (418) away from the base plate (100); Each end rotating rod (418) has two auxiliary rotating rods (419) on both sides; the length direction of the end rotating rod (418) and the auxiliary rotating rods (419) is the same; The auxiliary rotating rod (419) is a rigid straight rod, one end of which is rotatably connected to the end of the displacement carrier (300), and the axial direction of the rotating shaft is the same as the thickness direction of the base plate (100); the sliding drum (416) is positioned on the auxiliary rotating rod (419) through the drum carrier (417), and corresponds one-to-one with the auxiliary rotating rod (419).

9. The cable trench inspection robot as described in claim 8, characterized in that: The bottom belt (420) consists of three sections, one of which is a mesh belt section (424). The bottom belt (420) of the mesh belt section (424) is a mesh belt. When the vehicle body is supported by the end rotating rod (418), the bottom belt (420) is straightened and the mesh belt section (424) is moved between the sliding drum (416), which enables the inspection vehicle to drive stably on muddy roads.

10. A method for using a cable trench inspection robot, characterized in that: The cable trench inspection robot as described in claim 1 is used in conjunction with the following steps: Before use, a bottom protection component needs to be installed on the bottom of the vehicle body so that the bottom wheel (301) passes through the exposed wheel groove (421); during inspection, the bottom protection component shields the mud and dirt splashed up and continuously brushes the bottom wheel (301), and the moving robotic arm (200) drives the functional head (210) to approach the cable to be inspected to collect images and temperature information through its own deformation; after the inspection is completed, the bottom protection component is removed for cleaning or replacement.

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