Electric power tunnel inspection robot with angle-adjustable light supplement lamp

Abstract

The utility model relates to an electric power tunnel inspection robot with an angle-adjustable light supplement lamp, which belongs to the technical field of tunnel inspection robots and comprises a case, a guide rail is arranged on the upper surface of the case, a connecting box is fixed on the lower surface of the case, and an inspection camera is fixed on the front side of the connecting box. The connecting box is provided with a light supplementing mechanism for supplementing light during inspection, and the case is provided with a driving mechanism for driving the robot to move. According to the electric power tunnel inspection robot with the angle-adjustable light supplementing lamp, through cooperation of the lamp box and the light supplementing lamp, light supplementing can be conducted on the interior of a tunnel when an inspection camera shoots a picture in the electric power tunnel, and therefore workers can observe the content in the picture more clearly; the first belt pulley can be driven to rotate, so that the transmission belt is driven to transmit, and the second belt pulley and the connecting rod can be driven to rotate through transmission of the transmission belt, so that the illumination angle of the light supplementing lamp is adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel inspection robots, in particular to an electric tunnel inspection robot with an angle-adjustable fill light. Background Art

[0002] The tunnel inspection robot is an intelligent robot based on machine vision, lidar, ultrasound, infrared and other technologies. It is mainly used for monitoring the tunnel environment and safety inspections. The tunnel inspection robot can effectively improve the inspection efficiency and avoid personnel from performing more dangerous inspection operations, thereby reducing labor costs and safety risks.

[0003] For example, a power tunnel inspection robot is disclosed in the Chinese utility model patent authorization announcement number (CN210564661 U), which includes a column and an I-beam track. A separation mechanism is arranged at the center of the column. Horizontal bars are arranged at the upper and lower ends of the column. A control box is arranged at the center of the lower end of the lower horizontal bar. The control box is convenient for controlling components to perform detection work. An I-beam track is arranged at the center between the column and the horizontal bar. An auxiliary wheel frame is arranged at the center of the lower end of the upper horizontal bar. Auxiliary wheels are arranged at the lower end of the auxiliary wheel frame. The auxiliary wheels ensure the stability of the entire device during operation. Crossbeams are arranged on both sides of the upper end of the lower horizontal bar. Wheel motors are arranged at the upper ends of the crossbeams. The inner output end of the wheel motor An active wheel is provided, which is tightly attached to the upper surface of the lower end of the I-beam track. The wheel motor is convenient for driving the active wheel to rotate, so that the active wheel is used to drive the entire device to move left and right along the I-beam track. This utility solves the problem that the manual inspection method is not only inefficient but also easy to miss inspections, and the toxic gases in the tunnel pose a great threat to personnel safety. However, when inspecting the tunnel in this patent, it is easy to affect the pictures taken by the inspection robot by relying solely on the lights in the tunnel, which makes it difficult for the staff to observe the pictures sent back by the inspection robot clearly, resulting in errors in the inspection results and affecting the efficiency of the inspection. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides an electric tunnel inspection robot with an angle-adjustable fill light, which has the advantages of providing fill light when the robot is inspecting the tunnel, thereby improving the clarity of the captured images. This solves the problem in the patent that when inspecting the tunnel, the images captured by the inspection robot are easily affected by relying solely on the lights in the tunnel, making it difficult for staff to clearly observe the images transmitted back by the inspection robot, resulting in errors in the inspection results and affecting the efficiency of the inspection.

[0005] To achieve the above object, the utility model provides the following technical solutions: a power tunnel inspection robot with an angle-adjustable fill light, comprising a chassis, a guide rail is provided on the upper surface of the chassis, a connection box is fixed on the lower surface of the chassis, an inspection camera is fixed on the front of the connection box, a fill light mechanism for fill light during inspection is provided on the connection box, and a driving mechanism for driving the robot to move is provided on the chassis;

[0006] The fill light mechanism includes a connecting rod, the two ends of the connecting rod are rotatably connected to the left and right inner walls of the connecting box through bearings, a light box is fixed to the outside of the connecting rod, the front of the light box passes through and extends to the front side of the connecting box, a fill light is fixed to the front of the light box, and an adjustment component is provided on the chassis.

[0007] Furthermore, the number of the inspection cameras is no less than two and they are evenly distributed on the front side of the connection box.

[0008] Furthermore, the number of the fill light fixtures is two, and they are symmetrically distributed about the central axis of the light box.

[0009] Furthermore, the adjustment component includes a first motor, a first pulley is fixed to the output shaft of the first motor, a transmission belt is connected to the outer side of the first pulley, a second pulley is fixed to the outer side of the connecting rod, the other end of the transmission belt passes through and extends to the interior of the connecting box, and is connected to the outer side of the second pulley.

[0010] Furthermore, two limit plates are fixed to the outer sides of the first pulley and the second pulley, and are symmetrically distributed about the central axis of the first pulley and the second pulley.

[0011] Further, the driving mechanism includes a second motor, which is fixed to the inner bottom wall of the chassis, and a first rotating rod is fixed to the output shaft of the second motor, and the other end of the first rotating rod passes through and extends to the top of the chassis and is fixed with a first moving wheel, the outer side of the first moving wheel contacts the left inner wall of the guide rail, a driving gear is fixed to the outer side of the first rotating rod, a driven gear is meshed with the outer side of the driving gear, a second rotating rod is fixed to the inner side of the driven gear, one end of the second rotating rod is rotatably connected to the inner bottom wall of the chassis through a bearing, the other end of the second rotating rod passes through and extends to the upper side of the chassis and is fixed with a second moving wheel, and the outer side of the second moving wheel contacts the right inner wall of the guide rail.

[0012] Furthermore, two support plates are fixed on the upper surface of the chassis and are symmetrically distributed about the central axis of the chassis. The opposite sides of the two support plates are rotatably connected to support wheels through bearings, and the two support wheels are respectively in contact with the inner bottom walls on the left and right sides of the guide rail.

[0013] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0014] 1. The power tunnel inspection robot with an angle-adjustable fill light can fill light in the tunnel when the inspection camera shoots the picture inside the power tunnel through the cooperation of the light box and the fill light, so that the staff can observe the content in the picture more clearly. Through the cooperation of the first motor, the first pulley can be driven to rotate, thereby driving the transmission belt to drive, and through the transmission of the transmission belt, the second pulley can be driven to rotate, thereby driving the connecting rod to rotate, so as to adjust the lighting angle of the fill light.

[0015] 2. The electric tunnel inspection robot with an angle-adjustable fill light can drive the first rotating rod to rotate through the cooperation of the second motor, thereby driving the first moving wheel to rotate. The rotation of the first rotating rod can drive the driving gear to rotate, thereby driving the driven gear and the second rotating rod to rotate, so as to drive the second moving wheel to rotate, so that the robot can move smoothly on the guide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the internal structure of the utility model;

[0018] Figure 3 This is a schematic diagram of the light-filling mechanism of the utility model;

[0019] Figure 4 It is a schematic diagram of the mobile mechanism of the utility model.

[0020] In the figure: 1 chassis, 2 guide rails, 3 connection box, 4 inspection camera, 5 fill light mechanism, 501 connecting rod, 502 light box, 503 fill light, 504 first motor, 505 first pulley, 506 transmission belt, 507 second pulley, 6 driving mechanism, 601 second motor, 602 first rotating rod, 603 first moving wheel, 604 driving gear, 605 driven gear, 606 second rotating rod, 607 second moving wheel. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] See also Figure 1-2In this embodiment, a power tunnel inspection robot with an angle-adjustable fill light comprises a chassis 1, a guide rail 2 is provided on the upper surface of the chassis 1, a connection box 3 is fixed to the lower surface of the chassis 1, an inspection camera 4 is fixed to the front of the connection box 3, and a fill light mechanism 5 for fill light during inspection is provided on the connection box 3 to improve the clarity of the image captured by the inspection robot and avoid errors in the inspection results. A driving mechanism 6 for driving the robot to move is provided on the chassis 1, so that the inspection robot can move completely in the power tunnel.

[0023] There are no less than two inspection cameras 4 , which are evenly distributed on the front of the connection box 3 , so that the images captured by the inspection cameras 4 can completely cover the entire power tunnel, avoiding inspection blind spots.

[0024] See also Figure 3 In order to improve the clarity of the images captured by the inspection robot and avoid errors in the inspection results, the fill light mechanism 5 in this embodiment includes a connecting rod 501, and the two ends of the connecting rod 501 are rotatably connected to the left and right inner walls of the connecting box 3 through bearings. A light box 502 is fixed to the outside of the connecting rod 501, and the front of the light box 502 penetrates and extends to the front side of the connecting box 3. A fill light fixture 503 is fixed to the front of the light box 502. The fill light fixture 503 fills light in the range of the image captured by the inspection camera 4, thereby improving the clarity of the captured image and avoiding the inspection work being affected. An adjustment component is provided on the chassis 1.

[0025] In this example, there are two fill-in lights 503 , which are symmetrically distributed about the central axis of the light box 502 , so that the irradiation range of the fill-in lights 503 can cover the shooting range of the inspection camera 4 .

[0026] It should be noted that the adjustment component includes a first motor 504, and a first pulley 505 is fixed to the output shaft of the first motor 504. The output shaft of the first motor 504 drives the first pulley 505 to rotate. The outer side of the first pulley 505 is connected to a transmission belt 506 for transmission. The first pulley 505 drives the transmission belt 506 for transmission. A second pulley 507 is fixed to the outer side of the connecting rod 501. The other end of the transmission belt 506 passes through and extends to the interior of the connecting box 3, and is connected to the outer side of the second pulley 507 for transmission. The transmission belt 506 drives the second pulley 507 to rotate, so that the connecting rod 501 can be rotated to adjust the angle of the fill light fixture 503, so that the fill light fixture 503 can perform concentrated fill light on some special positions. Two limit plates are fixed to the outer sides of the first pulley 505 and the second pulley 507, and are symmetrically distributed about the central axis of the first pulley 505 and the second pulley 507 to prevent the transmission belt 506 from falling off the first pulley 505 and the second pulley 507.

[0027] See also Figure 4 In order to enable the inspection robot to move completely in the power tunnel, the driving mechanism 6 in this embodiment includes a second motor 601, the second motor 601 is fixed to the inner bottom wall of the chassis 1, the output shaft of the second motor 601 is fixed with a first rotating rod 602, the output shaft of the second motor 601 drives the first rotating rod 602 to rotate, the other end of the first rotating rod 602 passes through and extends to the top of the chassis 1, and is fixed with a first moving wheel 603, the first rotating rod 602 drives the first moving wheel 603 to rotate, the outer side of the first moving wheel 603 contacts the left inner wall of the guide rail 2, the outer side of the first rotating rod 602 is fixed with a driving gear 604, the first rotating rod 602 drives the driving gear 604 to rotate, and the outer side of the driving gear 604 is meshed with a driven gear Gear 605, the driving gear 604 drives the driven gear 605 to rotate, and a second rotating rod 606 is fixed on the inner side of the driven gear 605. The driven gear 605 drives the second rotating rod 606 to rotate, and one end of the second rotating rod 606 is rotatably connected to the inner bottom wall of the chassis 1 through a bearing, and the other end of the second rotating rod 606 passes through and extends to the upper side of the chassis 1, and is fixed with a second moving wheel 607. The second rotating rod 606 drives the second moving wheel 607 to rotate, and the outer side of the second moving wheel 607 contacts the right inner wall of the guide rail 2. The first moving wheel 603 and the second moving wheel 607 rotate at the same time and in opposite directions, so that the chassis 1 can move along the guide rail 2, so that the inspection robot can fully inspect the power tunnel.

[0028] In this example, two support plates are fixed on the upper surface of the chassis 1 and are symmetrically distributed about the central axis of the chassis 1. The opposite sides of the two support plates are rotatably connected to support wheels through bearings. The two support wheels are respectively in contact with the left and right inner bottom walls of the guide rail 2. The support wheels can keep a certain distance between the sides of the first moving wheel 603 and the second moving wheel 607 and the left and right inner bottom walls of the guide rail 2 to avoid wear.

[0029] The working principle of the above embodiment is:

[0030] (1) First, when the inspection robot performs inspection work in the power tunnel, the second motor 601 is turned on, and the output shaft of the second motor 601 drives the first rotating rod 602 to rotate, and the first rotating rod 602 drives the first moving wheel 603 to rotate. At the same time, the first rotating rod 602 drives the driving gear 604 to rotate, and the driving gear 604 drives the driven gear 605 to rotate, and the driven gear 605 drives the second rotating rod 606 to rotate, and the second rotating rod 606 drives the second moving wheel 607 to rotate. The first moving wheel 603 and the second moving wheel 607 rotate at the same time and in opposite directions, so that the chassis 1 can move along the guide rail 2, so that the inspection robot can fully inspect the power tunnel, and the support wheels can keep a certain distance between the side surfaces of the first moving wheel 603 and the inner bottom walls on the left and right sides of the guide rail 2 to avoid wear.

[0031] (2) While the inspection robot is moving, the inspection camera 4 is turned on. The inspection camera 4 takes a picture of the interior of the power tunnel and transmits it to the control console. However, the lighting in the power tunnel is generally dim, and the pictures taken are not clear enough, which may easily affect the inspection work. At this time, the fill light 503 is turned on. The fill light 503 fills the range of the picture taken by the inspection camera 4, thereby improving the clarity of the picture. The first motor 504 is turned on, and the output shaft of the first motor 504 drives the first pulley 505 to rotate. The first pulley 505 drives the transmission belt 506 to transmit, and the transmission belt 506 drives the second pulley 507 to rotate, so that the connecting rod 501 can rotate, so as to adjust the angle of the fill light 503, so that the fill light 503 can provide concentrated fill light to some special positions.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0033] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention.

Claims

1. A power tunnel inspection robot with an angle-adjustable fill light, comprising a chassis (1), characterized in that: The upper surface of the chassis (1) is provided with a guide rail (2), the lower surface of the chassis (1) is fixed with a connection box (3), the front of the connection box (3) is fixed with a patrol camera (4), the connection box (3) is provided with a fill light mechanism (5) for fill light during patrol, and the chassis (1) is provided with a drive mechanism (6) for driving the robot to move; The fill light mechanism (5) comprises a connecting rod (501), the two ends of the connecting rod (501) being rotatably connected to the left and right inner walls of the connecting box (3) via bearings, a light box (502) being fixed to the outside of the connecting rod (501), the front of the light box (502) passing through and extending to the front side of the connecting box (3), a fill light fixture (503) being fixed to the front of the light box (502), and an adjustment component being arranged on the chassis (1).

2. The power tunnel inspection robot with an angle-adjustable fill light according to claim 1, characterized in that: The number of the inspection cameras (4) is no less than two and they are evenly distributed on the front side of the connection box (3).

3. The power tunnel inspection robot with an angle-adjustable fill light according to claim 1, characterized in that: The number of the fill light fixtures (503) is two, and they are symmetrically distributed about the central axis of the light box (502).

4. The power tunnel inspection robot with an angle-adjustable fill light according to claim 1, characterized in that: The adjustment component comprises a first motor (504), the output shaft of the first motor (504) is fixed with a first pulley (505), the outer side of the first pulley (505) is transmission-connected with a transmission belt (506), the outer side of the connecting rod (501) is fixed with a second pulley (507), the other end of the transmission belt (506) passes through and extends to the interior of the connecting box (3), and is transmission-connected with the outer side of the second pulley (507).

5. The power tunnel inspection robot with an angle-adjustable fill light according to claim 4, characterized in that: Two limit plates are fixed on the outer sides of the first belt pulley (505) and the second belt pulley (507), and are symmetrically distributed about the central axis of the first belt pulley (505) and the second belt pulley (507).

6. The power tunnel inspection robot with an angle-adjustable fill light according to claim 1, characterized in that: The driving mechanism (6) comprises a second motor (601), the second motor (601) being fixed to the inner bottom wall of the chassis (1), the output shaft of the second motor (601) being fixed with a first rotating rod (602), the other end of the first rotating rod (602) passing through and extending to the top of the chassis (1) and being fixed with a first moving wheel (603), the outer side of the first moving wheel (603) being in contact with the left inner wall of the guide rail (2), and the outer side of the first rotating rod (602) being fixed with a driving gear (604), the outer side of the driving gear (604) is meshed with a driven gear (605), the inner side of the driven gear (605) is fixed with a second rotating rod (606), one end of the second rotating rod (606) is rotatably connected to the inner bottom wall of the chassis (1) through a bearing, the other end of the second rotating rod (606) passes through and extends to the upper side of the chassis (1), and is fixed with a second moving wheel (607), the outer side of the second moving wheel (607) is in contact with the right inner wall of the guide rail (2).

7. The power tunnel inspection robot with an angle-adjustable fill light according to claim 6, characterized in that: Two support plates are fixed on the upper surface of the chassis (1) and are symmetrically distributed about the central axis of the chassis (1). The opposite sides of the two support plates are rotatably connected to support wheels via bearings. The two support wheels are respectively in contact with the inner bottom walls on the left and right sides of the guide rail (2).

Images