Intelligent robot for shaft inspection
By designing an intelligent robot for inspection of vertical shafts with adjustable cameras, the problem of cameras in the existing technology cannot be adjusted for close-up viewing is solved, and staff can accurately judge lines or facilities without entering the vertical shaft, reducing labor burden.
Patent Information
- Application Number
- CN202422378263.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-28
- Publication Date
- 2025-06-13
- Estimated Expiration
- 2034-09-28
AI Technical Summary
When existing inspection robots encounter suspected problems in the line or facilities, the camera cannot be adjusted for close inspection, which makes it difficult for staff to accurately judge the problem and need to manually enter the vertical shaft for inspection, which increases the labor burden.
An intelligent robot for vertical shaft inspection was designed, equipped with a No. 1 camera fixed on the circular plate and a No. 2 camera that can be moved horizontally by driving the motor and an electric telescopic rod to move the No. 2 camera towards the suspected problem area, achieving close viewing.
The staff can accurately determine whether there are problems with the line or facility through real-time monitoring screens, and there is no need to enter the shaft for manual inspection, which reduces the labor burden of the staff.
Smart Images
Figure CN222976882U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of inspection robots, in particular to an intelligent robot for shaft inspection. Background Art
[0002] In shafts in places such as substations, underground pipe galleries, mines and factories, due to the complex environment, it is not convenient for staff to conduct manual inspections. The manual inspection method is time-consuming and laborious and has certain risks. Therefore, intelligent robots that can be lifted and equipped with cameras are used for regular inspection to check whether there are safety hazards such as damage to lines and other facilities in the shaft. However, during the use of current inspection robots, generally only one camera is used for shooting and viewing. When a problem is suspected with a line or facility, the camera cannot be adjusted for close viewing, which is not convenient for staff to judge the problem. Subsequently, staff still need to enter the shaft for manual inspection, increasing the labor burden of the staff. Summary of the Utility Model
[0003] The utility model discloses an intelligent robot for shaft inspection, which solves the problem that when a problem is suspected with a line or facility, the camera cannot be adjusted for close viewing, which is not convenient for staff to judge the problem, and staff still need to enter the shaft for manual inspection.
[0004] To solve the above technical problems, the utility model specifically adopts the following technical solutions:
[0005] An intelligent robot for shaft inspection includes a fixing plate. Support plates are arranged on both sides of the fixing plate. A lifting plate is arranged below the fixing plate. A driving motor is fixed at the bottom of the lifting plate. A circular plate is fixed on the rotating shaft of the driving motor. A connecting plate is fixed at the bottom of the circular plate. A first camera is fixed at the bottom of the connecting plate. A second camera is arranged on one side of the circular plate. An electric telescopic rod for driving the second camera to move horizontally is arranged on the circular plate. A first storage battery is embedded in the circular plate. Above the lifting plate, a double-shaft motor connected to the fixing plate is arranged. A winding rod is fixed on the rotating shaft of the double-shaft motor. A connecting rope connected to the lifting plate is wound on the winding rod.
[0006] Compared with the prior art, the utility model has the following beneficial effects:
[0007] After placing the fixed plate on the top of the vertical wellhead, support the support plate on the ground, then start the double-shaft motor to rotate the two winding rods and unwind the connecting rope, so that the lifting plate moves downward, and the first camera enters the vertical well to capture images of the lines and facilities in the vertical well. The images can be transmitted to an external display in real time for the staff to view. When it is found that a certain line or device in the vertical well is suspected to have a problem, the double-shaft motor can be turned off, and then the drive motor is started to rotate the circular plate, so that the second camera faces the suspected problem area. Then, the electric telescopic rod is started to move the second camera towards the problem area. After the second camera approaches the suspected problem area, it is convenient for the staff to judge whether there is a problem with the line or device through the image transmitted by the second camera displayed on the external display. The utility model drives the circular plate to rotate through the drive motor, and the electric telescopic rod drives the second camera to expand and contract, so that the staff can closely view any suspected problem area in the vertical well, enabling the staff to accurately judge whether there is a problem with the line and device, without the need for the staff to enter the vertical well for manual judgment, reducing the labor burden of the staff. Description of the Drawings
[0008] Figure 1 It is a schematic structural diagram of the front view cross-section of the present utility model;
[0009] Figure 2 is Figure 1 The enlarged structural diagram of part A of
[0010] In the figure: 1, fixed plate; 2, support plate; 21, plug board; 22, bolt; 3, double-shaft motor; 31, winding rod; 32, connecting rope; 33, limiting ring; 34, connecting block; 4, lifting plate; 41, drive motor; 42, circular plate; 43, electric telescopic rod; 44, first battery; 45, connecting plate; 46, first camera; 47, first lighting lamp; 48, second battery; 5, connecting cylinder; 51, second camera; 52, telescopic plate; 53, slider; 54, cross bar; 55, storage cavity; 56, sponge block; 57, liquid injection pipe; 58, second lighting lamp; 6, connecting rod; 61, rubber ring; 62, sponge column; 7, vertical plate; 8, handle; 9, vertical rod. Detailed Embodiment
[0011] The following will describe the specific content of the present utility model in detail with reference to the drawings and embodiments.
[0012] As Figure 1 and Figure 2As shown in the figure, the utility model provides an intelligent robot for shaft inspection, which includes a fixing plate 1. Support plates 2 are arranged on both sides of the fixing plate 1. A lifting plate 4 is arranged below the fixing plate 1. A driving motor 41 is fixed at the bottom of the lifting plate 4. A circular plate 42 is fixed on the rotating shaft of the driving motor 41. A connecting plate 45 is fixed at the bottom of the circular plate 42. A first camera 46 is fixed at the bottom of the connecting plate 45. A second camera 51 is arranged on one side of the circular plate 42. An electric telescopic rod 43 for driving the second camera 51 to move horizontally is arranged on the circular plate 42. A first battery 44 is embedded in the circular plate 42. Above the lifting plate 4, a double-shaft motor 3 connected to the fixing plate 1 is arranged. A winding rod 31 is fixed on the rotating shaft of the double-shaft motor 3. A connecting rope 32 connected to the lifting plate 4 is wound on the winding rod 31.
[0013] As Figure 1 and Figure 2 shown, a connecting cylinder 5 is fixed at the telescopic end of the electric telescopic rod 43. The connecting seat of the second camera 51 is located in the connecting cylinder 5 and a telescopic plate 52 fixed to the inner wall of the connecting cylinder 5 is fixed. A sliding block 53 slidably connected to the inner wall of the connecting cylinder 5 is fixed on the connecting seat of the second camera 51. A cross bar 54 extending outside the connecting cylinder 5 is fixed on the sliding block 53. One end of the cross bar 54 outside the connecting cylinder 5 is on the side of the second camera 51 away from the telescopic plate 52. The connecting cylinder 5 can play a role in protecting the second camera 51, preventing the whole of the second camera 51 from being exposed outside the connecting cylinder 5. After the electric telescopic rod 43 is installed, the telescopic end of the electric telescopic rod 43 can drive the connecting cylinder 5 to drive the second camera 51 to move horizontally. The fixed end of the electric telescopic rod 43 is fixed at the bottom of the circular plate 42. The connecting plate 45 is arranged in a U shape. The fixed end of the electric telescopic rod 43 is fixed to the inner side of the connecting plate 45. When the electric telescopic rod 43 is started to make the second camera 51 move horizontally, when the second camera 51 approaches the inner wall of the shaft, the cross bar 54 can play a role in protecting the part of the second camera 51 outside the connecting cylinder 5, preventing the part of the second camera 51 outside the connecting cylinder 5 from directly contacting or colliding with the inner wall of the shaft. When the second camera 51 hits the inner wall of the shaft due to staff operation errors or other situations, the cross bar 54 first contacts the inner wall of the shaft, and then makes the second camera 51 move towards the inside of the connecting cylinder 5 through the sliding block 53, compressing the telescopic plate 52 (the telescopic plate 52 is a very mature existing technology and will not be elaborated here again), so that the second camera 51 enters the connecting cylinder 5 and the second camera 51 will not collide with the inner wall of the shaft.
[0014] As Figure 1 and Figure 2As shown in the figure, one end of the connecting cylinder 5 away from the electric telescopic rod 43 is provided with an annular storage cavity 55 for storing fluorescent agent. A sponge block 56 with one end extending outside the storage cavity 55 is fixed in the storage cavity 55. A liquid injection pipe 57 communicating with the storage cavity 55 is fixed on the connecting cylinder 5. When the second camera 51 detects a fault in the lines or facilities in the shaft, the telescopic end of the electric telescopic rod 43 can be extended to move the connecting cylinder 5 towards the inner wall of the shaft. After the second camera 51 and the cross bar 54 both enter the connecting cylinder 5, the sponge block 56 contacts the inner wall of the shaft and is squeezed, so that the fluorescent agent adsorbed on the sponge block 56 adheres to the inner wall of the shaft, facilitating the staff to timely find the location of the problem when they enter the shaft for maintenance later; the staff can inject fluorescent agent into the storage cavity 55 through the liquid injection pipe 57, and the fluorescent agent is absorbed by the sponge block 56.
[0015] As Figure 1 and Figure 2 shown in the figure, a first lighting lamp 47 is fixed at the bottom of the connecting plate 45; a second lighting lamp 58 is provided on the connecting cylinder 5. The first lighting lamp 47 can supplement light to the shooting area of the first camera 46; the second lighting lamp 58 can supplement light to the shooting area of the second camera 51.
[0016] As Figure 1 shown in the figure, a second storage battery 48 is fixed on the lifting plate 4, a vertical rod 9 is fixed at the top of the round plate 42, and a sliding groove which is annular and slidably connected with the top end of the vertical rod 9 is provided at the bottom of the lifting plate 4. The second storage battery 48 can supply power to the driving motor 41, and the double-shaft motor 3 can adopt a servo double-shaft motor; the first storage battery 44 can supply power to the electric telescopic rod 43, the first camera 46, the first lighting lamp 47, the second camera 51 and the second lighting lamp 58.
[0017] As Figure 1 shown in the figure, one end of the winding rod 31 away from the double-shaft motor 3 is rotatably connected with a vertical plate 7 connected to the fixing plate 1. Two symmetrically arranged limiting rings 33 are fixed on the winding rod 31, and the connecting rope 32 is located between the two limiting rings 33; a connecting block 34 connected to the fixing plate 1 is fixed on the main body of the double-shaft motor 3. The vertical plate 7 can increase the stability of the winding rod 31 to facilitate better winding of the connecting rope 32, and the limiting rings 33 can effectively limit the connecting rope 32 wound on the winding rod 31; the connecting block 34 can fix the double-shaft motor 3 at the bottom of the fixing plate 1.
[0018] As Figure 1As shown, a handle 8 is fixed to the top of the fixed plate 1. Slots are provided on both sides of the fixed plate 1. On the opposite sides of the two support plates 2, insertion plates 21 are fixed respectively. The two insertion plates 21 are respectively slidably connected in the two slots on the fixed plate 1. A bolt 22 is threadedly connected to the fixed plate 1, and a set of screw holes adapted to the bolt 22 are provided on the insertion plate 21. The staff can move the fixed plate 1 through the handle 8, and according to the inner diameter of different shafts, after removing the two bolts 22, move the two support plates 2 away from or close to each other, so that after the insertion plate 21 slides in the slot on the fixed plate 1, the distance between the two support plates 2 can be adjusted, and then use the bolt 22 to fix the fixed plate 1 and the insertion plate 21 together, so that the fixed plate 1 can be located in the center of the shaft, avoiding the first camera 46 being too close to the inner wall of a certain place in the shaft.
[0019] As Figure 1 and Figure 2 shown, a connecting rod 6 is fixed to the connecting plate 45. The other end of the connecting rod 6 is fixed with a rubber ring 61. The second camera 51 is located inside the rubber ring 61. The rubber ring 61 is hollow and filled with a sponge column 62 inside. The rubber ring 61 can prevent the connecting cylinder 5 or the first camera 46 from hitting the inner wall of the shaft. When the connecting rope 32 shakes, the rubber ring 61 will collide with the inner wall of the shaft first. The sponge column 62 can effectively buffer the impact force and effectively protect the whole device.
[0020] During use, after placing the fixed plate 1 above the shaft opening, make the two support plates 2 support on the ground, and then start the double-shaft motor 3 to drive the two winding rods 31 to rotate, pay out the connecting rope 32, so that the lifting plate 4 moves downward to drive the first camera 46 into the shaft. Then, the first camera 46 can take pictures of the lines and facilities in the shaft and transmit the captured pictures to an external display screen in real time for the staff to view. When the staff finds a problem or a suspected problem through the pictures taken by the first camera 46, the drive motor 41 can be started to drive the circular plate 42 to rotate, so that the second camera 51 rotates accordingly and faces the part with the problem or the suspected problem. Then, start the electric telescopic rod 43 to drive the connecting cylinder 5 to move towards the problem area, so that the second camera 51 moves along and approaches the problem area, so that the staff can understand what problems have occurred and how to repair them, which is convenient for carrying the corresponding maintenance equipment into the shaft later. When there is a suspected problem, after the second camera 51 approaches, it is also convenient for the staff to check whether there is really a problem with the line or facility, so as to rule out or confirm the suspected problem. When the internal inspection of the shaft is completed, the double-shaft motor 3 can be driven to reverse the winding rod 31, take in the connecting rope 32, make the lifting plate 4 move upward, and move the first camera 46 out of the shaft to complete the inspection of the shaft.
[0021] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model rather than to limit them. Although the present utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present utility model can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present utility model, and they should all be covered within the scope of the claims of the present utility model.
Claims
1. An intelligent robot for shaft inspection, comprising a fixed plate (1), characterized in that: Support plates (2) are provided on both sides of the fixed plate (1); a lifting plate (4) is provided below the fixed plate (1); a driving motor (41) is fixed at the bottom of the lifting plate (4); a circular plate (42) is fixed on the rotating shaft of the driving motor (41); a connecting plate (45) is fixed at the bottom of the circular plate (42); a first camera (46) is fixed at the bottom of the connecting plate (45); a second camera (51) is provided on one side of the circular plate (42); an electric telescopic rod (43) for driving the second camera (51) to move horizontally is provided on the circular plate (42); a first battery (44) is embedded on the circular plate (42); a double-axis motor (3) connected to the fixed plate (1) is provided above the lifting plate (4); a winding rod (31) is fixed on the rotating shaft of the double-axis motor (3); a connecting rope (32) connected to the lifting plate (4) is wound on the winding rod (31).
2. The intelligent robot for shaft inspection according to claim 1, characterized in that: A connecting tube (5) is fixed to the telescopic end of the electric telescopic rod (43); a connecting seat of the second camera (51) is located in the connecting tube (5) and is fixed with a telescopic plate (52) fixed to the inner wall of the connecting tube (5); a sliding block (53) slidably connected to the inner wall of the connecting tube (5) is fixed to the connecting seat of the second camera (51); a cross bar (54) extending outside the connecting tube (5) is fixed to the sliding block (53); an end of the cross bar (54) outside the connecting tube (5) is located on a side of the second camera (51) away from the telescopic plate (52).
3. The intelligent robot for shaft inspection according to claim 2, characterized in that: The connecting tube (5) is provided with a storage cavity (55) in an annular shape and used for storing fluorescent agent at one end away from the electric telescopic rod (43), a sponge block (56) having one end extending outside the storage cavity (55) is fixed in the storage cavity (55), and a liquid injection tube (57) connected to the storage cavity (55) is fixed on the connecting tube (5).
4. The intelligent robot for shaft inspection according to claim 3, characterized in that: A first lighting lamp (47) is fixed to the bottom of the connecting plate (45); and a second lighting lamp (58) is provided on the connecting tube (5).
5. The intelligent robot for shaft inspection according to claim 1, characterized in that: A No. 2 storage battery (48) is fixed on the lifting plate (4), a vertical rod (9) is fixed on the top of the circular plate (42), and a ring-shaped sliding groove which is slidably connected to the top of the vertical rod (9) is provided at the bottom of the lifting plate (4).
6. The intelligent robot for shaft inspection according to claim 1, characterized in that: One end of the winding rod (31) away from the dual-axis motor (3) is rotatably connected to a vertical plate (7) connected to the fixed plate (1); two left-right symmetrical limiting rings (33) are fixed to the winding rod (31); a connecting rope (32) is located between the two limiting rings (33); and a connecting block (34) connected to the fixed plate (1) is fixed to the main body of the dual-axis motor (3).
7. The intelligent robot for shaft inspection according to claim 1, characterized in that: A handle (8) is fixed on the top of the fixing plate (1), and slots are provided on both sides of the fixing plate (1). An inserting plate (21) is fixed on opposite sides of the two supporting plates (2), and the two inserting plates (21) are respectively slidably connected in two slots on the fixing plate (1). Bolts (22) are threadedly connected on the fixing plate (1), and a group of screw holes matched with the bolts (22) are provided on the inserting plate (21).
8. The intelligent robot for shaft inspection according to claim 1, characterized in that: A connecting rod (6) is fixed on the connecting plate (45), a rubber ring (61) is fixed on the other end of the connecting rod (6), the second camera (51) is located on the inner side of the rubber ring (61), and the rubber ring (61) is hollow and filled with a sponge column (62).