A cable detection ring clamp, detection mechanical arm and unmanned inspection vehicle

Abstract

The utility model relates to a kind of cable detection annular clamping jaw, detection mechanical arm and unmanned inspection vehicle, cable detection annular clamping jaw includes mounting seat, clamping assembly, circuit board and detection component, mounting seat has the installation structure for the mechanical arm body connection, clamping assembly includes two clamping parts connected on mounting seat, two clamping parts can be mutually close to form the clamping groove for cable to pass through and fixed, detection component includes two detection parts electrically connected with circuit board, two detection parts are respectively arranged in two clamping parts, two detection parts are electrically connected with the both ends of mounting seat, and in the both ends of two detection parts away from mounting seat, at least one detection part end portion can be from the free end of corresponding clamping part and contact with the end portion of another detection part to realize electrical connection.The utility model provides cable detection annular clamping jaw, detection mechanical arm and unmanned inspection vehicle solve the problem that existing cable detection device is difficult to detect the subtle breakage of cable.

Description

Technical Field

[0001] This utility model relates to the field of inspection equipment technology, and in particular to a cable inspection ring gripper, an inspection robotic arm, and an unmanned inspection vehicle. Background Technology

[0002] With the development of society and economy and the acceleration of industrialization, the complexity of cable channels has gradually increased. Cable channels have complex structures, such as tunnel boring machines, pipe jacking, and multi-layer supports, which cause cable laying circuits to intertwine and obstruct each other, thus forming hidden spaces.

[0003] Existing cable inspection devices generally use visual sensors to detect whether cables are damaged. However, due to the extremely poor lighting conditions in concealed spaces, coupled with the obstruction of various components, visual sensors have difficulty detecting minute grounding points of cable damage. Utility Model Content

[0004] The main purpose of this invention is to propose a cable inspection ring gripper, a detection robotic arm, and an unmanned inspection vehicle, which aims to solve the problem that existing cable inspection devices have difficulty detecting minute damage and grounding points in cables.

[0005] To achieve the above objectives, this utility model proposes a cable detection ring gripper, comprising a mounting base, a clamping assembly, a circuit board, and a detection assembly for detecting cable current values. The mounting base has a mounting structure for connecting to a robotic arm body. The clamping assembly includes two clamping portions connected to the mounting base, which can approach each other to form a clamping groove for the cable to pass through and be fixed. The detection assembly includes two detection portions electrically connected to the circuit board. The two detection portions are respectively disposed within the two clamping portions. The two ends of the two detection portions near the mounting base are electrically connected, and at least one end of the two ends of the two detection portions away from the mounting base can extend from the free end of the corresponding clamping portion and contact the end of the other detection portion to achieve electrical connection, so that the cable is placed within the annular detection ring formed by the two detection portions.

[0006] According to some embodiments of the present invention, a temperature sensor electrically connected to the circuit board is also included. The temperature sensor is disposed within the clamping portion, and the detection port of the temperature sensor is exposed from the inner wall of the clamping groove.

[0007] According to some embodiments of the present invention, the temperature sensor is provided in multiple forms, and the detection ports of the multiple temperature sensors are evenly distributed in the circumferential direction of the clamping groove.

[0008] According to some embodiments of the present invention, the two clamping parts are rotatably connected to the mounting base, and the cable detection annular gripper further includes a driving mechanism. Both clamping parts are driven and connected to the driving mechanism, and are driven to rotate synchronously by the driving mechanism. The rotation directions of the two clamping parts are opposite.

[0009] According to some embodiments of the present invention, a position detection mechanism for detecting the distance between the cable and the mounting base is also included, wherein both the position detection mechanism and the driving mechanism are electrically connected to the circuit board.

[0010] According to some embodiments of the present invention, the position detection mechanism is disposed on the mounting base. The position detection mechanism includes a detection rod, a photoelectric sensor, and a reset member for resetting the detection rod. The photoelectric sensor is electrically connected to the circuit board. The detection rod is mounted on the mounting base through the reset member. The detection rod has a first end that can abut against the cable. The detection rod also has a second end that can move to the detection area of ​​the photoelectric sensor, so that the detection rod can be driven by the cable to move to the detection area of ​​the photoelectric sensor.

[0011] According to some embodiments of the present invention, the clamping groove extends along the z-direction, the driving mechanism includes a driving assembly, a slide rod and two first transmission members, the slide rod extends along the x-direction, the slide rod is driven by the driving assembly to approach or move away from the clamping groove in the y-direction, one end of each of the two first transmission members is rotatably connected to both ends of the slide rod, and the other end is rotatably connected to the two clamping portions.

[0012] According to some embodiments of the present invention, the driving mechanism further includes a guide structure extending along the y-direction, the slide rod being movably disposed on the guide structure, and the driving assembly including a motor, a second transmission member and a third transmission member, one end of the second transmission member being rotatably connected to the middle of the slide rod and the other end being rotatably connected to the third transmission member, and the end of the third transmission member away from the second transmission member being fixedly connected to the drive shaft of the motor.

[0013] This utility model also provides a detection robotic arm, including a robotic arm body and a cable detection ring gripper as described in any of the above, wherein the end of the robotic arm body is rotatably connected to the mounting base of the cable detection ring gripper.

[0014] In addition, this utility model also provides an unmanned inspection vehicle, including a vehicle body, a lifting platform and the inspection robotic arm, wherein the lifting platform is mounted on the vehicle body and the inspection robotic arm is mounted on the lifting platform.

[0015] This utility model has at least the following beneficial effects:

[0016] In this invention, the two detection parts of the detection component are respectively located within the two clamping parts of the clamping component. When the two clamping parts approach each other to clamp the cable to be tested, the ends of the two detection parts contact each other to achieve electrical connection, so that the cable is within the annular detection circle formed by the two detection parts. The annular detection circle formed by the two detection parts of the detection component is actually a Rogowski coil. The Rogowski coil can detect the cable grounding current value and the current value at different positions of the cable. When there is a minor damage to the cable insulation layer, the ungrounded metal shielding layer may accidentally contact the ground, forming a "multi-point grounding" and creating a significant closed loop, causing the cable grounding current value to increase sharply. Therefore, when the detection component detects that the cable grounding current value exceeds the threshold, it indicates that there is a minor grounding point in the cable. At the same time, the detection component can detect the current at different positions of the cable and send it to the circuit board. By comparing and analyzing the real-time current data at different monitoring points, it can be determined which cable section the damage point occurs in, thus achieving the location of the minor grounding point of the cable damage. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the structure of a cable detection ring gripper provided in an embodiment of this utility model;

[0019] Figure 2 for Figure 1 Internal structure diagram of the cable detection ring gripper;

[0020] Figure 3 for Figure 2 The diagram shows the internal structure of the cable detection ring gripper after removing the detection components and motor.

[0021] Explanation of reference numerals in the attached figures:

[0022] 100-Cable detection ring gripper; 1-Mounting base; 11-Mounting structure; 2-Clamping assembly; 21-Clamping part; 3-Circuit board; 4-Detection assembly; 41-Detection part; 5-Temperature sensor; 6-Drive mechanism; 61-Drive assembly; 611-Motor; 612-Second transmission component; 613-Third transmission component; 62-Slide rod; 63-First transmission component; 64-Guide structure; 7-Position detection mechanism; 71-Detection rod; 72-Photoelectric sensor; 73-Reset component. Detailed Implementation

[0023] The technical solutions in the embodiments of this utility model are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0025] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0026] This utility model provides a cable inspection ring gripper, an inspection robotic arm, and an unmanned inspection vehicle. Figures 1 to 3 This invention provides a specific embodiment of a cable testing ring gripper.

[0027] like Figure 1 and Figure 2As shown, this utility model embodiment provides a cable detection ring gripper 100, including a mounting base 1, a clamping assembly 2, a circuit board 3, and a detection assembly 4 for detecting cable current values. The mounting base 1 has a mounting structure 11 for connecting to a robotic arm body. The clamping assembly 2 includes two clamping parts 21 connected to the mounting base 1. The two clamping parts 21 can approach each other to form a clamping groove for the cable to pass through and be fixed. The detection assembly 4 includes two detection parts 41 that can be electrically connected to the circuit board 3. The two detection parts 41 are respectively disposed in the two clamping parts 21. The two detection parts 41 are electrically connected at their two ends near the mounting base 1, and at least one end of the two detection parts 41 away from the mounting base 1 can extend from the free end of the corresponding clamping part 21 and contact the end of the other detection part 41 to achieve electrical connection, so that the cable is placed within the annular detection ring formed by the two detection parts 41.

[0028] In this invention, since the two detection parts 41 of the detection component 4 are respectively located within the two clamping parts 21 of the clamping component 2, when the two clamping parts 21 approach each other to clamp the cable to be tested, the ends of the two detection parts 41 contact each other to achieve electrical connection, so that the cable is within the annular detection circle formed by the two detection parts 41. The annular detection circle formed by the two detection parts 41 of the detection component 4 is actually a Rogowski coil. The Rogowski coil can detect the cable grounding current value and the current value at different positions of the cable. When there is a minor damage to the cable insulation layer, the ungrounded metal shielding layer will accidentally contact the ground, forming a "multi-point grounding", generating a significant closed loop, and the cable grounding current value will increase sharply. Therefore, when the detection component 4 detects that the cable grounding current value exceeds the threshold, it indicates that there is a minor grounding point in the cable. At the same time, the detection component 4 can detect the current at different positions of the cable and send it to the circuit board 3. By comparing and analyzing the real-time current data of different monitoring points, it can be determined which cable section the damage point occurs in, thus realizing the location of the minor grounding point of the cable damage.

[0029] To accurately locate the grounding point of even the smallest cable break, in some embodiments, such as Figure 2 and Figure 3 As shown, the cable detection ring gripper 100 also includes a temperature sensor 5 electrically connected to the circuit board 3. The temperature sensor 5 is disposed within the clamping part 21, and the detection port of the temperature sensor 5 is exposed from the inner wall of the clamping groove. With this configuration, the operating temperature value of the cable can be detected by the temperature sensor 5, which helps to determine the location of the grounding point of minor cable damage.

[0030] Preferably, in some embodiments, such as Figure 2 and Figure 3As shown, multiple temperature sensors 5 are provided, and the detection ports of the multiple temperature sensors 5 are evenly distributed in the circumferential direction of the clamping groove. This arrangement, with multiple evenly distributed temperature sensors 5, improves the accuracy of detecting the operating temperature values ​​of the cable at different locations, thereby improving the accuracy of locating the grounding point of minor damage to the cable.

[0031] The specific movement of the two clamping parts 21 is not limited, as long as the two clamping parts 21 can move close to each other to clamp the cable. For example, in some embodiments, such as... Figure 2 As shown, the two clamping parts 21 are rotatably connected to the mounting base 1. The cable detection annular gripper 100 also includes a drive mechanism 6. Both clamping parts 21 are driven and connected to the drive mechanism 6, and are synchronously rotated by the drive mechanism 6. The rotation directions of the two clamping parts 21 are opposite. With this configuration, the clamping parts 21 move by rotation, which has a smaller range of motion compared to translation, and is less likely to interfere with components near the cable during movement.

[0032] Since the cable is spaced evenly from all positions on the inner wall of the groove, the annular detection ring formed by the detection component 4 can uniformly surround the cable, ensuring that the current detection signal is not affected by positional deviations. This helps to accurately measure the cable grounding circulation current and the current values ​​in different sections, avoiding missed detections due to uneven spacing. Therefore, in some embodiments, such as... Figure 3 As shown, the cable detection ring gripper 100 also includes a position detection mechanism 7 for detecting the distance between the cable and the mounting base 1. Both the position detection mechanism 7 and the drive mechanism 6 are electrically connected to the circuit board 3. Since the inner diameter of the clamping groove formed when the clamping assembly 2 is closed and the inner diameter of the cable are known, when the distance between the cable and the mounting base 1 is equal to the difference between the clamping groove radius and the cable radius, the cable is coaxial with the clamping groove, and the distance between the cable and the inner wall of the clamping groove is consistent at all positions. When the position detection mechanism 7 detects that the distance between the cable and the mounting base 1 reaches a set distance, it sends a signal to the circuit board 3, causing the robotic arm body of the detection robot to stop moving. The circuit board 3 controls the drive mechanism 6 to drive the two clamping parts 21 to move closer together to clamp the cable.

[0033] The specific structure of the position detection mechanism 7 is not limited, as long as it ensures that the position detection mechanism 7 can detect the distance between the cable and the mounting base 1. For example, in some embodiments, such as... Figure 3As shown, the position detection mechanism 7 is mounted on the mounting base 1. The position detection mechanism 7 includes a detection rod 71, a photoelectric sensor 72, and a reset member 73 for resetting the detection rod 71. The photoelectric sensor 72 is electrically connected to the circuit board 3. The detection rod 71 is mounted on the mounting base 1 through the reset member 73. The detection rod 71 has a first end that can abut against the cable, and the detection rod 71 also has a second end that can move into the detection area of ​​the photoelectric sensor 72, so that the detection rod 71 can be driven by the cable to move into the detection area of ​​the photoelectric sensor 72. With this configuration, the robotic arm drives the cable detection ring gripper 100 to approach the cable, causing the mounting base 1 to gradually approach the cable. The cable abuts against the first end of the detection rod 71 and drives the detection rod 71 to move until the second end of the detection rod 71 moves into the detection area of ​​the photoelectric sensor 72. This indicates that the distance between the cable and the mounting base 1 has reached a set distance. The photoelectric sensor 72 sends a signal to the circuit board 3, and the robotic arm stops moving. The circuit board 3 controls the drive mechanism 6 to drive the two clamping parts 21 to approach each other to clamp the cable.

[0034] Specifically, the reset member 73 includes a spring and a reset part disposed on the mounting base 1. The reset part has a receiving cavity that can accommodate the spring. The spring is wound around the detection rod 71, and the detection rod 71 is connected to the reset part through the spring.

[0035] The specific structure of the driving mechanism 6 is not limited, as long as it ensures that the driving mechanism 6 can drive the two clamping parts 21 to rotate synchronously. For example, in some embodiments, such as... Figure 2 and Figure 3 As shown, the clamping groove extends along the z-direction. The driving mechanism 6 includes a driving assembly 61, a slide rod 62, and two first transmission members 63. The slide rod 62 extends along the x-direction and is driven by the driving assembly 61 to move closer to or away from the clamping groove in the y-direction. One end of each of the two first transmission members 63 is rotatably connected to both ends of the slide rod 62, and the other end is rotatably connected to the two clamping portions 21. With this configuration, when the slide rod 62 approaches the clamping groove, the two clamping portions 21 are driven closer together by the two first transmission members 63 to clamp the cable.

[0036] The specific structure of the driving component 61 is not limited, as long as the driving component 61 can drive the slide bar 62 to move in the y direction. For example, in some embodiments, such as... Figure 2 and Figure 3As shown, the drive mechanism 6 further includes a guide structure 64, which extends along the y-direction. The slide rod 62 is movably disposed on the guide structure 64. The drive assembly 61 includes a motor 611, a second transmission member 612, and a third transmission member 613. One end of the second transmission member 612 is rotatably connected to the middle of the slide rod 62, and the other end is rotatably connected to the third transmission member 613. The end of the third transmission member 613 away from the second transmission member 612 is fixedly connected to the drive shaft of the motor 611.

[0037] It should be noted that the drive component 61 can also be an electric push rod.

[0038] This utility model also provides a detection robotic arm, including a robotic arm body and the cable detection ring gripper 100, wherein the end of the robotic arm body is rotatably connected to the mounting base 1 of the cable detection ring gripper 100.

[0039] In addition, this utility model also provides an unmanned inspection vehicle, including a vehicle body, a lifting platform and the inspection robotic arm, wherein the lifting platform is mounted on the vehicle body and the inspection robotic arm is mounted on the lifting platform.

[0040] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A cable testing ring gripper, characterized in that, The device includes a mounting base, a clamping assembly, a circuit board, and a detection assembly for detecting cable current. The mounting base has a mounting structure for connecting to a robotic arm body. The clamping assembly includes two clamping portions connected to the mounting base, which can be brought close together to form a clamping groove for the cable to pass through and be fixed. The detection assembly includes two detection portions electrically connected to the circuit board. The two detection portions are respectively disposed within the two clamping portions. The two ends of the two detection portions near the mounting base are electrically connected, and at least one end of the two ends of the two detection portions away from the mounting base can extend from the free end of the corresponding clamping portion and contact the end of the other detection portion to achieve electrical connection, so that the cable is within the annular detection circle formed by the two detection portions.

2. The cable inspection ring gripper as described in claim 1, characterized in that, It also includes a temperature sensor electrically connected to the circuit board, the temperature sensor being disposed within the clamping portion, and the detection port of the temperature sensor being exposed from the inner wall of the clamping groove.

3. The cable inspection ring gripper as described in claim 2, characterized in that, The temperature sensor is provided in multiple locations, and the detection ports of the multiple temperature sensors are evenly distributed in the circumferential direction of the clamping groove.

4. The cable inspection ring gripper as described in claim 1, characterized in that, The two clamping parts are rotatably connected to the mounting base. The cable detection ring gripper also includes a drive mechanism. Both clamping parts are driven to rotate synchronously by the drive mechanism. The rotation directions of the two clamping parts are opposite.

5. The cable inspection ring gripper as described in claim 4, characterized in that, It also includes a position detection mechanism for detecting the distance between the cable and the mounting base, and both the position detection mechanism and the drive mechanism are electrically connected to the circuit board.

6. The cable inspection ring gripper as described in claim 5, characterized in that, The position detection mechanism is mounted on the mounting base. The position detection mechanism includes a detection rod, a photoelectric sensor, and a reset component for resetting the detection rod. The photoelectric sensor is electrically connected to the circuit board. The detection rod is mounted on the mounting base via the reset component. The detection rod has a first end that can abut against the cable, and a second end that can move into the detection area of ​​the photoelectric sensor, so that the detection rod can be driven by the cable to move into the detection area of ​​the photoelectric sensor.

7. The cable inspection ring gripper as described in claim 4, characterized in that, The clamping groove extends along the z-direction. The driving mechanism includes a driving assembly, a slide rod, and two first transmission members. The slide rod extends along the x-direction and is driven by the driving assembly to move closer to or further away from the clamping groove in the y-direction. One end of each of the two first transmission members is rotatably connected to both ends of the slide rod, and the other end is rotatably connected to the two clamping portions.

8. The cable inspection ring gripper as described in claim 7, characterized in that, The driving mechanism further includes a guide structure that extends along the y-direction. The slide rod is movably disposed on the guide structure. The driving assembly includes a motor, a second transmission member, and a third transmission member. One end of the second transmission member is rotatably connected to the middle of the slide rod, and the other end is rotatably connected to the third transmission member. The end of the third transmission member away from the second transmission member is fixedly connected to the drive shaft of the motor.

9. A robotic arm for detection, characterized in that, It includes a robotic arm body and a cable detection ring gripper as described in any one of claims 1 to 8, wherein the end of the robotic arm body is rotatably connected to the mounting base of the cable detection ring gripper.

10. An unmanned inspection vehicle, characterized in that, It includes a trolley body, a lifting platform, and a detection robotic arm as described in claim 9, wherein the lifting platform is disposed on the trolley body and the detection robotic arm is disposed on the lifting platform.

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