Hanging mechanism of cable tunnel inspection robot

Abstract

The utility model discloses a hanging mechanism of a cable tunnel inspection robot, which belongs to the technical field of tunnel inspection robots and comprises a hanging plate, two shifting hanging mechanisms are arranged on the top surface of the hanging plate, two main hanging seats are fixedly connected to the top surface of the hanging plate, a first one-way screw rod is rotatably connected between the two main hanging seats, and a second one-way screw rod is rotatably connected between the first one-way screw rod and the second one-way screw rod. The outer side of the first one-way lead screw is sleeved with a main lifting frame in a threaded mode, and a first motor is fixedly installed on the outer side of one main lifting seat. In the utility model, the main lower pulley and the main upper pulley are driven to get close to each other or get away from each other by virtue of screw-thread fit among the first bidirectional screw rod, the main lower moving seat and the main upper moving seat, and when the main upper pulley is hung on a steel wire rope, the steel wire rope is clamped by virtue of the main lower pulley and the main upper pulley, so that the stability of the patrol robot hung on the steel wire rope is ensured; and the practicability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel inspection robots, and specifically to a hanging mechanism for a cable tunnel inspection robot. Background Technique

[0002] A cable tunnel refers to a corridor or tunnel-like structure used to accommodate a large number of cables laid on cable brackets. In addition to better protecting the cables, the cable tunnel also makes it convenient for people to inspect and repair the cables. In order to inspect the cables in the cable tunnel, inspection robots are installed in the tunnel.

[0003] After retrieval, the utility model patent with the publication number of CN213210797U discloses a hanging cable tunnel inspection robot, which can travel along the cable tunnel and reliably realize the inspection of the internal conditions of the cable tunnel; it includes a fixing component, a charging component and a host component; the fixing component includes a fixing rod, the top end of the fixing rod is fixedly installed on the top surface of the tunnel, and the bottom end of the fixing rod is fixedly provided with a steel wire rope extending along the tunnel; the charging component is fixedly installed at one end of the inspection opening of the tunnel; the charging component includes a hanging pipe, the bottom of the hanging pipe is a charging seat, and zero-line terminals and live-line terminals are symmetrically arranged on both sides of the surface of the charging seat facing the host component; the host component includes a host, and a zero-line charging board and a live-line charging board for charging the host component after contacting the zero-line terminal and the live-line terminal are arranged on the rear panel of the host; an infrared imaging camera and a real-scene video camera are arranged on the front panel of the host; LED shadowless lamps are also arranged at the four corners of the front panel of the host.

[0004] However, the above patent still has the following deficiencies: during the inspection process, the stability is poor when only hanging on the steel wire rope by U-shaped wheels. In addition, the inspection robot can be driven to move on the steel wire rope through a walking motor and U-shaped wheels, but there are multiple suspension ropes when the steel wire rope is erected in the tunnel, and it is not convenient for the U-shaped wheels to bypass the suspension ropes for movement, which affects the continuity of the inspection. Therefore, we propose a hanging mechanism for a cable tunnel inspection robot. Content of the Utility Model

[0005] Aiming at the problems existing in the prior art, the purpose of the utility model is to provide a hanging mechanism for a cable tunnel inspection robot.

[0006] To solve the above problems, the utility model adopts the following technical solutions:

[0007] A hanging mechanism for a cable tunnel inspection robot, comprising a hanging plate, wherein two displacement suspension mechanisms are arranged on the top surface of the hanging plate, two main hanging seats are fixedly connected to the top surface of the hanging plate, a first one-way lead screw is rotatably connected between the two main hanging seats, a main hanging frame is threadedly sleeved on the outer side of the first one-way lead screw, a first motor is fixedly installed on the outer side of one of the main hanging seats, the output shaft of the first motor is connected to the end of the first one-way lead screw, a first two-way lead screw is rotatably connected to the inner cavity of the main hanging frame, a second motor is fixedly installed on the top of the main hanging frame, the output shaft of the second motor is connected to the top end of the first two-way lead screw, a main upward moving seat is threadedly sleeved on the outer side of the top end of the first two-way lead screw, two main upper pulleys are rotatably connected to the side of the main upward moving seat, a main downward moving seat is threadedly sleeved on the outer side of the bottom end of the first two-way lead screw, two third motors are fixedly installed on one side of the main downward moving seat, the output shafts of the two third motors extend to the other side of the main downward moving seat and are fixedly sleeved with main lower pulleys, a main mounting seat is fixedly connected to the end face of the main hanging frame, and a first contact sensor is fixedly installed at the end of the main mounting seat.

[0008] As a preferred solution of the present invention, the displacement suspension mechanism includes two auxiliary hanging seats fixedly connected to the top surface of the hanging plate, a second one-way lead screw is rotatably connected between the two auxiliary hanging seats, two third sliding rods are fixedly sleeved between the two auxiliary hanging seats, a fourth motor is fixedly installed on the outer side of one of the auxiliary hanging seats, the output shaft of the fourth motor is connected to the end of the second one-way lead screw, an auxiliary hanging frame is threadedly sleeved on the outer side of the second one-way lead screw, the auxiliary hanging frame is movably sleeved with the third sliding rods, a second two-way lead screw is rotatably connected to the inner cavity of the auxiliary hanging frame, a fourth sliding rod is fixedly sleeved in the inner cavity of the auxiliary hanging frame, a fifth motor is fixedly installed on the top surface of the auxiliary hanging frame, the output shaft of the fifth motor is connected to the top end of the second two-way lead screw, an auxiliary upward moving seat is threadedly sleeved on the outer side of the top end of the second two-way lead screw, an auxiliary upper pulley is rotatably connected to the side of the auxiliary upward moving seat, an auxiliary downward moving seat is threadedly sleeved on the outer side of the bottom end of the second two-way lead screw, a sixth motor is fixedly installed on one side of the auxiliary downward moving seat, the output shaft of the sixth motor extends to the other side of the auxiliary downward moving seat and is fixedly sleeved with an auxiliary lower pulley, and the fourth sliding rod is respectively movably sleeved with the auxiliary upward moving seat and the auxiliary downward moving seat.

[0009] As a preferred solution of the present invention, an auxiliary mounting seat is fixedly connected to the end face of one of the auxiliary hanging frames, and a second contact sensor is fixedly installed at the end of the auxiliary mounting seat.

[0010] As a preferred solution of the present invention, a inspection robot main body is arranged at the bottom of the hanging plate, and a controller is arranged on the side of the inspection robot main body.

[0011] As a preferred embodiment of the present utility model, two second sliding rods are fixedly sleeved inside the main hanging frame, and the second sliding rods are respectively movably sleeved with the main upper moving seat and the main lower moving seat.

[0012] As a preferred embodiment of the present utility model, two first sliding rods are fixedly sleeved between the two main hanging seats, and the two first sliding rods are respectively movably sleeved with the main hanging frame.

[0013] Compared with the prior art, the advantages of the present utility model are as follows:

[0014] (1) In the present utility model, the threaded engagement between the first bidirectional lead screw and the main lower moving seat and the main upper moving seat drives the main lower pulley and the main upper pulley to approach or move away from each other. When the main upper pulley is hung on the steel wire rope, the steel wire rope is clamped by the main lower pulley and the main upper pulley, ensuring the stability of the inspection robot hanging on the steel wire rope and improving its practicability.

[0015] (2) In the present utility model, when the inspection robot encounters a suspension rope that suspends the steel wire rope, the inspection robot is temporarily hung by the auxiliary lower pulley and the auxiliary upper pulley at both ends of the top surface of the hanging plate, so that the main upper pulley and the main lower pulley move to the side of the steel wire rope. At the same time, the rotation of the auxiliary lower pulley enables the main upper pulley and the main lower pulley to move to the other side of the suspension rope, and the main upper pulley and the main lower pulley continue to clamp the steel wire rope to drive the inspection robot to move, ensuring that the inspection robot can move smoothly on the steel wire rope. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 2 is a schematic diagram of the structure of the main upper moving seat of the present utility model;

[0018] Figure 3 is a schematic diagram of the structure of the main hanging frame of the present utility model;

[0019] Figure 4 is a schematic diagram of the structure of the main lower moving seat of the present utility model.

[0020] Description of reference numerals in the figure: 1. Hanging plate; 2. Displacement suspension mechanism; 3. Main hanging seat; 4. First one-way lead screw; 5. First motor; 6. Main hanging frame; 7. First bidirectional lead screw; 8. Main lower moving seat; 9. Third motor; 10. Main lower pulley; 11. Main upper moving seat; 12. Main upper pulley; 13. Second motor; 14. Main mounting seat; 15. First contact sensor; 16. Auxiliary hanging seat; 17. Second one-way lead screw; 18. Fourth motor; 19. Auxiliary hanging frame; 20. Second bidirectional lead screw; 21. Fifth motor; 22. Auxiliary upper moving seat; 23. Auxiliary lower moving seat; 24. Sixth motor; 25. Auxiliary lower pulley; 26. Auxiliary mounting seat; 27. Second contact sensor; 28. Inspection robot main unit; 29. Controller; 30. First slide bar; 31. Second slide bar; 32. Third slide bar; 33. Fourth slide bar; 34. Auxiliary upper pulley. Detailed implementation mode

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0022] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "top / bottom end", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "provided with", "sheathed / connected", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0024] Embodiment:

[0025] Please refer to Figures 1-4, a hanging mechanism for a cable tunnel inspection robot, comprising a hanging plate 1. Two displacement suspension mechanisms 2 are arranged on the top surface of the hanging plate 1. Two main hanging seats 3 are fixedly connected to the top surface of the hanging plate 1. A first one-way lead screw 4 is rotatably connected between the two main hanging seats 3. A main hanging frame 6 is threadedly sleeved on the outer side of the first one-way lead screw 4. A first motor 5 is fixedly installed on the outer side of one main hanging seat 3. The output shaft of the first motor 5 is connected to the end of the first one-way lead screw 4. A first two-way lead screw 7 is rotatably connected to the inner cavity of the main hanging frame 6. A second motor 13 is fixedly installed on the top of the main hanging frame 6. The output shaft of the second motor 13 is connected to the top end of the first two-way lead screw 7. A main upward movement seat 11 is threadedly sleeved on the outer side of the top end of the first two-way lead screw 7. Two main upper pulleys 12 are rotatably connected to the side of the main upward movement seat 11. A main downward movement seat 8 is threadedly sleeved on the outer side of the bottom end of the first two-way lead screw 7. Two third motors 9 are fixedly installed on one side of the main downward movement seat 8. The output shafts of the two third motors 9 extend to the other side of the main downward movement seat 8 and are fixedly sleeved with main lower pulleys 10. A main mounting seat 14 is fixedly connected to the end face of the main hanging frame 6. A first contact sensor 15 is fixedly installed at the end of the main mounting seat 14.

[0026] In this embodiment, the two main upper pulleys 12 are directly above the two main lower pulleys 10.

[0027] Specifically, please refer to Figures 1 to 3 , the displacement suspension mechanism 2 includes two auxiliary hanging seats 16 fixedly connected to the top surface of the hanging plate 1. A second one-way lead screw 17 is rotatably connected between the two auxiliary hanging seats 16. Two third slide bars 32 are fixedly sleeved between the two auxiliary hanging seats 16. A fourth motor 18 is fixedly installed on the outer side of one auxiliary hanging seat 16. The output shaft of the fourth motor 18 is connected to the end of the second one-way lead screw 17. An auxiliary hanging frame 19 is threadedly sleeved on the outer side of the second one-way lead screw 17. The auxiliary hanging frame 19 is movably sleeved with the third slide bars 32. A second two-way lead screw 20 is rotatably connected to the inner cavity of the auxiliary hanging frame 19. A fourth slide bar 33 is fixedly sleeved in the inner cavity of the auxiliary hanging frame 19. A fifth motor 21 is fixedly installed on the top surface of the auxiliary hanging frame 19. The output shaft of the fifth motor 21 is connected to the top end of the second two-way lead screw 20. An auxiliary upward movement seat 22 is threadedly sleeved on the outer side of the top end of the second two-way lead screw 20. An auxiliary upper pulley 34 is rotatably connected to the side of the auxiliary upward movement seat 22. A second downward movement seat 23 is threadedly sleeved on the outer side of the bottom end of the second two-way lead screw 20. A sixth motor 24 is fixedly installed on one side of the second downward movement seat 23. The output shaft of the sixth motor 24 extends to the other side of the second downward movement seat 23 and is fixedly sleeved with an auxiliary lower pulley 25. The fourth slide bar 33 is movably sleeved with the auxiliary upward movement seat 22 and the second downward movement seat 23 respectively.

[0028] In this embodiment, the auxiliary suspension frame 19 is limited by the third slide bar 32, so that the auxiliary suspension frame 19 can only move along the axial direction of the second single-direction screw rod 17. In addition, the auxiliary upper moving seat 22 and the auxiliary lower moving seat 23 are limited by the fourth slide bar 33, so that the auxiliary upper moving seat 22 and the auxiliary lower moving seat 23 can only move along the axial direction of the second bidirectional screw rod 20. At the same time, the auxiliary lower pulley 25 is located directly below the auxiliary upper pulley 34.

[0029] Specifically, please refer to Figure 3 , an auxiliary mounting seat 26 is fixedly connected to the end face of an auxiliary suspension frame 19, and a second contact sensor 27 is fixedly installed at the end of the auxiliary mounting seat 26.

[0030] Specifically, please refer to Figure 1 and Figure 2 , a patrol robot host 28 is arranged at the bottom of the hanging plate 1, and a controller 29 is arranged on the side of the patrol robot host 28.

[0031] In this embodiment, various devices for patrolling are arranged on the patrol robot host 28, and the device is controlled by the controller 29.

[0032] Specifically, please refer to Figure 2 , two second slide bars 31 are fixedly sleeved in the inner cavity of the main suspension frame 6, and the second slide bars 31 are respectively movably sleeved with the main upper moving seat 11 and the main lower moving seat 8.

[0033] In this embodiment, the main upper moving seat 11 and the main lower moving seat 8 are limited by the second slide bars 31, so that the main upper moving seat 11 and the main lower moving seat 8 can only move along the axial direction of the first bidirectional screw rod 7.

[0034] Specifically, please refer to Figure 1 , two first slide bars 30 are fixedly sleeved between the two main suspension seats 3, and the two first slide bars 30 are respectively movably sleeved with the main suspension frame 6.

[0035] In this embodiment, the main suspension frame 6 is limited by the movable sleeve between the first slide bar 30 and the main suspension frame 6, so that the main suspension frame 6 can only move along the axial direction of the first single-direction screw rod 4.

[0036] Working principle: When in use, the main lower pulley 10 and the main upper pulley 12 are clamped on the steel wire rope. The third motor 9 is started to drive the main lower pulley 10 to rotate. The rotation of the main lower pulley 10 is used to move the inspection robot main body 28 in the tunnel. When the first contact sensor 15 contacts the suspension rope on the steel wire rope, first, two fourth motors 18 are started to drive two second one-way lead screws 17 to rotate. The movement of the auxiliary suspension frames 19 is driven through the threaded fit between the two second one-way lead screws 17 and the two auxiliary suspension frames 19, so that the auxiliary lower pulleys 25 and the auxiliary upper pulleys 34 on the sides of the two auxiliary suspension frames 19 are respectively moved to the lower and upper parts of the steel wire rope. At the same time, one auxiliary suspension frame 19 is located on one side of the suspension rope, and the other auxiliary suspension frame 19 is located on the other side of the suspension rope. Then, the fifth motor 21 is started to drive the second bidirectional lead screw 20 to rotate. The auxiliary upper moving seat 22 and the auxiliary lower moving seat 23 are driven to approach each other through the threaded fit between the second bidirectional lead screw 20 and the auxiliary upper moving seat 22 and the auxiliary lower moving seat 23, so that the auxiliary lower pulley 25 and the auxiliary upper pulley 34 are clamped outside the steel wire rope, and further, the hanging plate 1 and the inspection robot main body 28 are hung and supported. Then, the second motor 13 is started to drive the first bidirectional lead screw 7 to rotate. The main lower moving seat 8 and the main upper moving seat 11 are separated from each other through the threaded fit between the first bidirectional lead screw 7 and the main lower moving seat 8 and the main upper moving seat 11, so that the main lower pulley 10 and the main upper pulley 12 are separated from the steel wire rope. At this time, the first motor 5 is started to drive the first one-way lead screw 4 to rotate. The main suspension frame 6 is moved away from the side of the steel wire rope by using the threaded fit between the first one-way lead screw 4 and the main suspension frame 6. Finally, the sixth motor 24 is started to drive the auxiliary lower pulley 25 to rotate. The hanging plate 1 and the inspection robot main body 28 are driven to move by using the auxiliary lower pulley 25. When the second contact sensor 27 contacts the suspension rope, it means that the main suspension frame 6, the main lower pulley 10 and the main upper pulley 12 move to the other side of the suspension rope. At this time, the first motor 5 is started to drive the first one-way lead screw 4 to reverse, so that the main upper pulley 12 and the main lower pulley 10 on the side of the main suspension frame 6 are respectively moved to the upper and lower parts of the steel wire rope, and the second motor 13 is started to drive the first bidirectional lead screw 7 to reverse, so that the main lower moving seat 8 and the main upper moving seat 11 approach each other, and at the same time, the main upper pulley 12 and the main lower pulley 10 continue to be clamped outside the steel wire rope. In addition, the fifth motor 21 is started to drive the second bidirectional lead screw 20 to reverse, so that the auxiliary upper moving seat 22 and the auxiliary lower moving seat 23 are separated from each other, thereby releasing the clamping of the auxiliary lower pulley 25 and the auxiliary upper pulley 34 on the steel wire rope. At the same time, the fourth motor 18 is started to drive the second one-way lead screw 17 to reverse, thereby driving the auxiliary suspension frame 19, the auxiliary upper moving seat 22 and the auxiliary lower moving seat 23 to move to the side of the steel wire rope, and continuing to drive the inspection robot to move on the steel wire rope in the tunnel by using the rotation of the main lower pulley 10, and that's it.

[0037] As described above, it is only the preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution and its improved concept of the present utility model, makes equivalent substitutions or changes, and should be covered by the protection scope of the present utility model.

Claims

1. A hanging mechanism for a cable tunnel inspection robot, comprising a hanging plate (1), characterized in that: Two displacement suspension mechanisms (2) are provided on the top surface of the hanging plate (1). Two main hanging seats (3) are fixedly connected to the top surface of the hanging plate (1). A first one-way lead screw (4) is rotatably connected between the two main hanging seats (3). A main hanging frame (6) is threadedly sleeved on the outer side of the first one-way lead screw (4). A first motor (5) is fixedly installed on the outer side of one of the main hanging seats (3). The output shaft of the first motor (5) is connected to the end of the first one-way lead screw (4). A first two-way lead screw (7) is rotatably connected in the inner cavity of the main hanging frame (6). A second motor (13) is fixedly installed on the top of the main hanging frame (6). The output shaft of the second motor (13) is connected to the top end of the first two-way lead screw (7). A main upward moving seat (11) is threadedly sleeved on the outer side of the top end of the first two-way lead screw (7). Two main upper pulleys (12) are rotatably connected to the side of the main upward moving seat (11). A main downward moving seat (8) is threadedly sleeved on the outer side of the bottom end of the first two-way lead screw (7). Two third motors (9) are fixedly installed on one side of the main downward moving seat (8). The output shafts of the two third motors (9) extend to the other side of the main downward moving seat (8) and are fixedly sleeved with main lower pulleys (10). A main mounting seat (14) is fixedly connected to the end face of the main hanging frame (6). A first contact sensor (15) is fixedly installed at the end of the main mounting seat (14).

2. The hanging mechanism of a cable tunnel inspection robot according to claim 1, characterized in that: The displacement suspension mechanism (2) includes two auxiliary hanging seats (16) fixedly connected to the top surface of the hanging plate (1). A second one-way lead screw (17) is rotatably connected between the two auxiliary hanging seats (16). Two third slide bars (32) are fixedly sleeved between the two auxiliary hanging seats (16). A fourth motor (18) is fixedly installed on the outer side of one of the auxiliary hanging seats (16). The output shaft of the fourth motor (18) is connected to the end of the second one-way lead screw (17). An auxiliary hanging frame (19) is threadedly sleeved on the outer side of the second one-way lead screw (17). The auxiliary hanging frame (19) is movably sleeved with the third slide bars (32). A second two-way lead screw (20) is rotatably connected in the inner cavity of the auxiliary hanging frame (19). A fourth slide bar (33) is fixedly sleeved in the inner cavity of the auxiliary hanging frame (19). A fifth motor (21) is fixedly installed on the top surface of the auxiliary hanging frame (19). The output shaft of the fifth motor (21) is connected to the top end of the second two-way lead screw (20). An auxiliary upward moving seat (22) is threadedly sleeved on the outer side of the top end of the second two-way lead screw (20). An auxiliary upper pulley (34) is rotatably connected to the side of the auxiliary upward moving seat (22). An auxiliary downward moving seat (23) is threadedly sleeved on the outer side of the bottom end of the second two-way lead screw (20). A sixth motor (24) is fixedly installed on one side of the auxiliary downward moving seat (23). The output shaft of the sixth motor (24) extends to the other side of the auxiliary downward moving seat (23) and is fixedly sleeved with an auxiliary lower pulley (25). The fourth slide bar (33) is movably sleeved with the auxiliary upward moving seat (22) and the auxiliary downward moving seat (23) respectively.

3. The hanging mechanism of a cable tunnel inspection robot according to claim 2, characterized in that: One end face of the auxiliary suspension frame (19) is fixedly connected with an auxiliary mounting seat (26), and a second contact sensor (27) is fixedly installed at the end of the auxiliary mounting seat (26).

4. The hanging mechanism of a cable tunnel inspection robot according to claim 3, characterized in that: A patrol robot main unit (28) is arranged at the bottom of the hanging plate (1), and a controller (29) is arranged on the side of the patrol robot main unit (28).

5. The hanging mechanism of a cable tunnel inspection robot according to claim 1, characterized in that: Two second sliding rods (31) are fixedly sleeved in the inner cavity of the main suspension frame (6), and the second sliding rods (31) are respectively movably sleeved with a main upward moving seat (11) and a main downward moving seat (8).

6. The hanging mechanism of a cable tunnel inspection robot according to claim 1, characterized in that: Two first sliding rods (30) are fixedly sleeved between the two main suspension seats (3), and the two first sliding rods (30) are respectively movably sleeved with the main suspension frame (6).

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