Ceiling structure of cable channel inspection robot
By designing a ceiling-mounted structure with a ducted fan and annular air skirt on the cable channel inspection robot, the problem of insufficient adaptability of existing robots in cable channels is solved, achieving stable and low-cost cable channel inspection, and enhancing endurance and obstacle-crossing capabilities.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- XI AN JIAOTONG UNIV
- Filing Date
- 2024-01-16
- Publication Date
- 2026-05-01
AI Technical Summary
Existing cable channel inspection robots, such as tracked, wheeled, rail-mounted, and magnetic adsorption robots, are not adaptable enough to cable channels and cannot be widely promoted, especially in narrow and complex cable channel environments where they are difficult to inspect effectively.
Design a ceiling-mounted structure for a cable channel inspection robot. Utilize a ducted fan to provide lift, allowing the robot to adhere to the top of the cable channel. Combined with an annular air skirt to create a negative pressure zone, this achieves stable adhesion and movement, avoids direct contact with the bottom and side walls of the channel, reduces operating power, and increases battery life.
It enables stable inspection at the top of cable channels, reduces inspection costs, expands the scope of application, improves endurance, enhances obstacle-crossing ability, and is more adaptable to various cable channel environments.
Smart Images
Figure CN224184377U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of cable channel inspection technology, and in particular to a ceiling-mounted structure for a cable channel inspection robot. Background Technology
[0002] In my country's large and medium-sized cities, the demand for electricity is enormous, and the corresponding urban space occupied by power facilities is increasing daily. For reasons of urban aesthetics, transmission safety, and land use, the transmission lines in urban distribution networks are gradually shifting from traditional medium- and low-voltage overhead lines to a pattern primarily based on distribution cables, supplemented by overhead lines. Therefore, the application of cable channels is increasing, gradually replacing traditional overhead transmission lines and becoming an important direction for power system development. The proper use of cable channels is crucial for the safe and stable operation of cables. At the same time, cable channels represent one of the most representative and challenging areas for inspection and maintenance in the power system. The stable operation of power equipment and facilities hinges on the safety and stability of cables, making regular inspections of cable channels extremely important. Due to the narrow, long, and complex structure of cable channels, traditional manual inspections cannot meet maintenance needs; therefore, various inspection robots have been developed.
[0003] Currently, representative cable channel inspection robots include tracked and wheeled robots, as well as rail-guided and magnetically attached cable inspection robots. However, due to the narrowness of underground cable channels and the haphazard laying of many cables within them, tracked and wheeled robots are prone to running over and damaging cables while moving along the bottom, making them unsuitable for most cable channel environments. While rail-guided and magnetically attached cable inspection robots offer strong adaptability, their installation requires the placement of rails or magnets at the top of the cable channel, resulting in high overall installation costs and limiting their widespread application. Therefore, all of these types of cable channel inspection robots are only suitable for specific scenarios and cannot be universally adopted. Utility Model Content
[0004] This utility model proposes a ceiling-mounted structure for a cable channel inspection robot. This ceiling-mounted structure enables the inspection robot to be stably attached to the top of the cable channel without the need for guide rails or magnets. The overall inspection cost is low, the adaptability is strong, and the inspection range is wider, thus overcoming the shortcomings of the above-mentioned prior art.
[0005] The technical solution of this utility model is: a ceiling-mounted structure for a cable channel inspection robot, comprising:
[0006] The carrier plate has a traveling mechanism on top; the traveling mechanism is used to move the carrier plate at the top of the cable channel.
[0007] A ducted fan is fixedly connected vertically to the middle of the carrier plate; the ducted fan is used to provide lift to the carrier plate, so that the traveling mechanism fits against the top of the cable channel.
[0008] An annular air skirt is installed on the top of the carrier plate, and the traveling mechanism and the duct fan are located inside the annular air skirt; the annular air skirt is used to form a negative pressure zone with the top of the cable channel under the action of the duct fan.
[0009] In at least one embodiment of this disclosure, an electronic speed controller is connected to the ducted fan, a controller is provided on the carrier plate, and a pressure sensor is provided between the top of the carrier plate and the traveling mechanism. Both the electronic speed controller and the pressure sensor are signal-connected to the controller.
[0010] In at least one embodiment of this disclosure, three support plates are slidably connected to the top of the carrier plate, and the three support plates are evenly distributed around the circumference of the ducted fan. Three pressure sensors are provided, and the three pressure sensors are disposed on the top of the carrier plate and respectively located between the carrier plate and the three support plates. The walking mechanism includes two stepper motors and omnidirectional wheels, and the two stepper motors and omnidirectional wheels are respectively disposed on the three support plates. The two stepper motors have walking wheels on their rotating shafts, and the two stepper motors are signal-connected to the controller.
[0011] In at least one embodiment of this disclosure, the annular air skirt is made of rubber, and the cross-section of the annular air skirt is trapezoidal.
[0012] In at least one embodiment of this disclosure, the distance between the annular air skirt and the contact surface between the walking mechanism and the top of the cable channel is 1-2 mm.
[0013] In at least one embodiment of this disclosure, the top of the carrier plate is provided with an annular dovetail groove, and the bottom of the annular air skirt is provided with an annular dovetail locking block, which is locked in the annular dovetail groove.
[0014] In at least one embodiment of this disclosure, two batteries are further included. The two batteries are disposed at the bottom end of the carrier plate and are symmetrically distributed on the side of the ducted fan. The two batteries are connected in parallel. The two stepper motors, the ducted fan, the pressure sensor, and the controller are all electrically connected to the batteries.
[0015] In at least one embodiment of this disclosure, a sensing component is provided at the bottom of the carrier plate, and the sensing component is evenly distributed around the duct fan according to its weight; the sensing component is used to collect image and temperature information within the cable channel.
[0016] The beneficial effects of this utility model are:
[0017] This invention provides a ceiling-mounted structure for a cable channel inspection robot. Utilizing a ducted fan to generate lift, the robot can stably adhere to the top of the cable channel, eliminating the need for guide rails or magnets. This avoids the complex environment of the bottom and sides of the cable channel, allowing the robot to flexibly navigate through it. The design is cost-effective and highly adaptable. Furthermore, the combination of the annular air skirt and the ducted fan creates a negative pressure zone between the annular air skirt and the top of the cable channel. This pressure difference generates suction, further increasing the lift of the carrier plate and reducing the operating power of the ducted fan, significantly increasing range and expanding the robot's inspection area. The annular air skirt is not tightly attached to the top of the cable channel, preventing the relatively soft and airtight structure from directly contacting the ground, reducing the requirements for channel surface roughness and expanding the applicability of the ceiling-mounted structure. This non-contact design also maintains a certain obstacle-crossing capability, allowing the robot to overcome protrusions on the channel surface, making it suitable for a wider range of environments and more practical. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the main structure of this utility model;
[0019] Figure 2 This is a schematic diagram of the main sectional view of the present invention;
[0020] Figure 3 This is a detailed cross-sectional view of the main view A of this utility model.
[0021] Explanation of reference numerals in the attached figures:
[0022] 1. Carrier plate; 11. Walking mechanism; 111. Stepper motor; 112. Casters; 12. Dovetail groove; 13. Battery; 14. Support plate; 2. Ducted fan; 3. Annular air skirt; 31. Dovetail retainer; 4. Sensing components; 5. Pressure sensor. Detailed Implementation
[0023] The accompanying drawings in this disclosure are not drawn to scale, and the specific dimensions and quantities of each structure can be determined according to actual needs. The drawings described in this disclosure are only structural schematic diagrams.
[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the described embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0025] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar words used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "inner," "outer," "upper," "lower," "far," "near," "front," and "rear" are used only to indicate relative positional relationships; these relative positional relationships may change accordingly when the absolute position of the described object changes.
[0026] Currently, representative cable channel inspection robots include tracked and wheeled robots, as well as rail-mounted and magnetically attached cable inspection robots. However, due to the narrowness of underground cable channels and the haphazard laying of cables within them, tracked and wheeled robots are prone to running over and damaging cables while moving at the bottom, making them unsuitable for most cable channel environments. While rail-mounted and magnetically attached cable inspection robots are highly adaptable, they require the installation of rails or magnets at the top of the cable channel, resulting in high overall installation costs and limiting their widespread application. Therefore, all of these types of cable channel inspection robots are only suitable for specific scenarios and cannot be universally adopted. In light of this, we propose a ceiling-mounted structure for cable channel inspection robots.
[0027] Combination Figures 1 to 3 As shown, a ceiling-mounted structure for a cable channel inspection robot includes:
[0028] The carrier plate 1 has a traveling mechanism 11 on its top; the traveling mechanism 11 is used to move the carrier plate 1 on the top of the cable channel; the traveling mechanism 11 is used to move the carrier plate 1 forward, backward and turn according to the operation command; specifically, the carrier plate 1 is circular.
[0029] Duct fan 2 is fixedly connected to the middle of the carrier plate 1 from top to bottom; the duct fan 2 is used to provide lift to the carrier plate 1 so that the walking mechanism 11 fits against the top of the cable channel; the duct fan 2 is driven by a DC brushless motor. The brushless motor has the advantages of no spark, high power and small ripple, which can overcome the disadvantages of insufficient power density and excessive size of brushed motors.
[0030] An annular air skirt 3 is set on the top of the carrier plate 1, and the walking mechanism 11 and the duct fan 2 are both located inside the annular air skirt 3. The annular air skirt 3 is used to form a negative pressure zone with the top of the cable channel under the action of the duct fan 2, thereby generating an upward suction force on the carrier plate 1, reducing the operating power of the duct fan 2, saving energy, and increasing the range.
[0031] As an alternative embodiment, the duct fan 2 is connected to an electronic speed controller, the carrier plate 1 is equipped with a controller, and a pressure sensor 5 is provided between the top of the carrier plate 1 and the walking mechanism 11. The pressure sensor 5 is sheet-shaped, and both the electronic speed controller and the pressure sensor 5 are signal-connected to the controller. The controller can control the operating power of the duct fan 2 through the electronic speed controller based on the information fed back by the pressure sensor 5, so that the ceiling structure can be stably attached to the top of the tunnel. The duct fan 2 does not operate at excessive power, which can significantly increase the battery life.
[0032] As an alternative embodiment, three support plates 14 are slidably connected to the top of the carrier plate 1. The three support plates 14 are evenly distributed around the circumference of the ducted fan 2. Three pressure sensors 5 are provided, located on the top of the carrier plate 1 and between the carrier plate 1 and the three support plates 14. The walking mechanism 11 includes two stepper motors 111 and universal wheels 112. The two stepper motors 111 and universal wheels 112 are respectively mounted on the three support plates 14. The two stepper motors 111 are symmetrically arranged, and the walking wheels are mounted on the shafts of the two stepper motors 111. The two stepper motors 111 are signal-connected to the controller. The two stepper motors 111 are stepper motors with encoders. The encoders work in conjunction with the stepper motors to make the rotation angle of the wheels controllable while they are rotating continuously, so that the robot can move accurately and is easy to control. In addition, the encoder can transmit the rotation angle, enabling the robot's mainboard to receive the wheel rotation angle and automatically adjust the robot's rotation angle with negative feedback to avoid the rotation angle being too large or too small.
[0033] As an alternative embodiment, the top of the carrier plate 1 is provided with an upward sliding groove, and the bottom of the support plate 14 is provided with a sliding rod extending into the sliding groove. During the operation of this ceiling-mounted structure, the traveling wheels and omnidirectional wheels contact the top of the cable tunnel, and the traveling wheels and omnidirectional wheels push the support plate 14 to slide. The pressure sensor 5 can detect the pressure of the support plate 14, and further reflect the motion power of the duct fan 2. The sliding connection method of the support plate 14 is not unique, as long as it can ensure that the pressure sensor 5 can detect the fit between the traveling mechanism 11 and the top of the cable tunnel.
[0034] As an alternative embodiment, the annular air skirt 3 is made of rubber. The rubber annular air skirt 3 is lightweight, airtight, and can form a stable negative pressure zone inside. The cross-section of the annular air skirt 3 is trapezoidal. The trapezoidal design ensures that the annular air skirt 3 has sufficient stability and is relatively soft near the top of the tunnel, so as not to affect the obstacle-crossing function of the ceiling-mounted structure.
[0035] As an alternative embodiment, the annular air skirt 3 is 1-2 mm away from the contact surface between the walking mechanism 11 and the top of the cable channel. This 1-2 mm gap allows for gas flow. The annular air skirt structure does not directly contact the channel surface, ensuring that only the robot's wheels are in contact with the channel surface. This avoids direct contact between the relatively soft, airtight structure and the ground, reducing the requirements for channel surface roughness and expanding the applicability of the inspection robot. Simultaneously, this wheel-contact structure maintains a certain obstacle-crossing capability, enabling obstacle crossing over some protrusions on the channel surface. It has a wider range of applicable environments than the vacuum-adsorption wall-climbing vehicle.
[0036] As an alternative embodiment, the top of the carrier plate 1 is provided with an annular dovetail groove 12, and the bottom of the annular air skirt 3 is provided with an annular dovetail locking block 31. The dovetail locking block 31 is locked in the annular dovetail groove 12. The annular air skirt 3 is detachably connected, which facilitates the maintenance and replacement of the annular air skirt 3.
[0037] As an alternative embodiment, it also includes two batteries 13, which are disposed at the bottom of the carrier plate 1 and symmetrically distributed on the side of the ducted fan 2. The two batteries 13 are connected in parallel, and the two stepper motors 111, the ducted fan 2, the pressure sensor 5 and the controller are all electrically connected to the batteries 13.
[0038] As an alternative embodiment, the bottom end of the carrier plate 1 is provided with a sensing component 4, which is evenly arranged around the duct fan 2. The sensing component 4 is responsible for collecting data such as images and temperature inside the cable channel. The various sensing components 4 are evenly distributed around the duct fan 2 according to their weight, which improves the weight distribution of the carrier plate 1, makes the center closer to the center of the duct fan 2 that provides lift, improves the stability of the ceiling-mounted structure, and prevents it from tipping over and falling.
[0039] The working principle and usage method of this embodiment:
[0040] This utility model provides a ceiling-mounted structure for a cable tunnel inspection robot. During use, the duct fan is first activated, providing lift to the carrier plate. This allows the wheels and casters on the carrier plate to contact the top of the cable tunnel. Under the action of the duct fan, the annular air skirt forms a negative pressure zone with the top of the cable tunnel, generating an upward suction force on the carrier plate. With this suction force, the controller, based on pressure sensor data, reduces the duct fan's operating power via an electronic speed controller. This ensures the carrier plate is stably attached to the top of the cable tunnel with moderate suction force, significantly increasing its range. During operation, the controller uses an encoder to control a stepper motor, enabling the ceiling-mounted structure to move forward and turn on the top of the cable tunnel. Because the annular air skirt has a trapezoidal cross-section and a narrower top, it is more flexible and can fold and sweep over small obstacles, making the structure more versatile and practical.
[0041] The above embodiments are merely specific implementations of this utility model patent, used to illustrate the technical solution of this utility model patent, and not to limit it. The protection scope of this utility model patent is not limited thereto. Although this utility model patent has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the technical scope disclosed in this utility model. These modifications, changes, or substitutions do not cause the essence of the corresponding technical solution to deviate from the spirit and scope of the implementation technical solution of this utility model patent, and should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the protection scope of the claims.
Claims
1. A cable channel inspection robot ceiling structure, characterized in that, include: The carrier plate (1) has a walking mechanism (11) on top; the walking mechanism (11) is used to drive the carrier plate (1) to move on the top of the cable channel; A ducted fan (2) is fixedly connected to the middle of the carrier plate (1) from top to bottom; the ducted fan (2) is used to provide lift to the carrier plate (1) so that the walking mechanism (11) fits against the top of the cable channel; An annular air skirt (3) is set on the top of the carrier plate (1), and the walking mechanism (11) and the duct fan (2) are both located inside the annular air skirt (3); the annular air skirt (3) is used to form a negative pressure zone with the top of the cable channel under the action of the duct fan (2).
2. The cable channel inspection robot ceiling structure of claim 1, wherein, An electronic speed controller is connected to the ducted fan (2), a controller is provided on the carrier plate (1), and a pressure sensor (5) is provided between the top of the carrier plate (1) and the walking mechanism (11). The electronic speed controller and the pressure sensor (5) are both connected to the controller signal.
3. The cable channel inspection robot ceiling structure of claim 2, wherein, The top of the carrier plate (1) is slidably connected to three support plates (14), which are evenly distributed around the duct fan (2). There are three pressure sensors (5), which are located on the top of the carrier plate (1) and between the carrier plate (1) and the three support plates (14). The walking mechanism (11) includes two stepper motors (111) and universal wheels (112). The two stepper motors (111) and universal wheels (112) are respectively located on the three support plates (14). The two stepper motors (111) are equipped with walking wheels on their shafts. The two stepper motors (111) are connected to the controller signal.
4. The cable channel inspection robot ceiling structure of claim 1, wherein, The annular air skirt (3) is made of rubber, and the cross-section of the annular air skirt (3) is trapezoidal.
5. The cable channel inspection robot ceiling structure of claim 4, wherein, The distance between the annular air skirt (3) and the contact surface between the walking mechanism (11) and the top of the cable channel is 1-2 mm.
6. The cable channel inspection robot ceiling structure of claim 1, wherein, The top of the carrier plate (1) is provided with an annular dovetail groove (12), and the bottom of the annular air skirt (3) is provided with an annular dovetail locking block (31), which is locked in the annular dovetail groove (12).
7. The cable channel inspection robot ceiling structure of claim 3, wherein, It also includes two batteries (13), which are located at the bottom of the carrier plate (1) and are symmetrically distributed on the side of the ducted fan (2). The two batteries (13) are connected in parallel. The two stepper motors (111), the ducted fan (2), the pressure sensor (5) and the controller are all electrically connected to the batteries (13).
8. The ceiling-mounted structure for a cable channel inspection robot as described in claim 1, characterized in that, The bottom of the carrier plate (1) is provided with a sensing component (4), which is evenly arranged around the duct fan (2) according to its weight; the sensing component (4) is used to collect images and temperature information in the cable channel.