CN106892017A - A kind of bipacking-auger drives closed conduit walking robot - Google Patents

Abstract

The invention belongs to the technical field of environmental geotechnical engineering, and discloses a walking robot driven by a double auger, which includes: two augers arranged in parallel, a bearing plate, a driving structure and infrared camera equipment; the auger is rotatably fixed On the bearing plate; the driving structure is fixed on the bearing plate and connected to the auger transmission; the infrared camera device is fixed on the bearing plate. The invention provides a double auger-driven culvert walking robot, which improves the efficiency of culvert status exploration and rope threading operations, and simplifies operation difficulty.

Description

A double auger-driven culvert walking robot

technical field

The invention relates to the technical field of environmental geotechnical engineering, in particular to a double auger-driven culvert walking robot.

Background technique

The culvert is a "pipe-type" channel, with no water visible on the land surface, which has the advantages of reducing water evaporation and saving water transportation. However, due to the weak awareness of environmental protection among the residents, they often dump garbage from the checkpoints of some culverts, polluting the water sources in the culverts. In addition, fine sediment can easily enter the culvert, resulting in serious accumulation of silt and garbage at the bottom of the culvert. If the silt is not cleared in time, the water flow will be sluggish, and the advantage of saving water transportation will be significantly reduced.

In the dredging project of the culvert, it is necessary to obtain the detailed conditions of the silt, garbage and other sundries in the culvert, or to pass the steel wire rope through the section between the adjacent inspection ports of the culvert, but the construction is very difficult because the culvert is narrow, long and closed.

Contents of the invention

The invention provides a double auger-driven culvert walking robot, which solves the technical problems in the prior art that the condition detection and rope threading operation in the culvert are difficult and inefficient.

In order to solve the above-mentioned technical problems, the present invention provides a double auger-driven underdrain walking robot, which includes: two augers arranged in parallel, a bearing plate, a driving structure and infrared camera equipment;

The auger is rotatably fixed on the bearing plate;

The driving structure is fixed on the bearing plate and connected with the auger transmission;

The infrared camera device is fixed on the carrier board.

Further, the infrared camera device is connected to the monitoring terminal through a cable.

Further, there are two sets of driving structures, which respectively drive two augers correspondingly.

Further, the driving structure includes: a large bevel gear, a small bevel gear and a driving element;

The large bevel gear meshes with the auger;

The driving element is in transmission connection with the large bevel gear through the small bevel gear.

Further, the driving structure also includes: a remote control terminal;

The remote control terminal is connected with the driving element.

Further, the drive element includes: a geared motor;

The reduction motor is connected with the small bevel gear in transmission; the small bevel gear is meshed with the large bevel gear.

Further, the infrared camera device is an infrared camera.

Further, it also includes: a traction rope;

The traction rope is connected with the bearing plate.

Further, the traction rope is a steel wire rope.

One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

The double auger-driven underdrain walking robot provided in the embodiment of the present application is equipped with infrared camera equipment through two augers, drills in the underdrain, and takes pictures of the silt, garbage and other sundries in the underdrain, which is easy and efficient to operate; the auger Through the form of drilling, the forward and backward operations can be realized, which can fully adapt to the complex environment in the culvert, and can maintain good mobility for various silt and debris accumulation conditions, thereby realizing efficient shooting operations. At the same time, the double auger mode can maintain the driving ability under extreme conditions such as rollover, which further enhances the underground channel exploration capability; through the driving element and the transmission structure composed of large bevel gears and small bevel gears, the efficient drive of the auger is realized. Thereby improving transmission efficiency and reliability. By independently driving an auger through two sets of driving structures, different speed outputs can be achieved, so as to realize complex traveling actions such as turning and avoiding obstacles, thereby further improving the traveling ability in the culvert. The underdrain rope threading operation can be efficiently realized by setting the traction rope.

Description of drawings

Fig. 1 is a structural schematic diagram of a double auger-driven underdrain walking robot provided by the present invention.

detailed description

The embodiment of the present application provides a double auger-driven culvert walking robot, which solves the technical problems of difficulty and low efficiency in the prior art in culvert detection and rope threading operation; achieves the technical effect of simplifying operation and improving operation efficiency .

In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the embodiments of the present invention and the specific features in the embodiments are a detailed description of the technical solution of the application. Instead of limiting the technical solutions of the present application, the embodiments of the present application and the technical features in the embodiments can be combined with each other under the condition of no conflict.

Referring to FIG. 1 , a double auger-driven underdrain walking robot includes: two augers 1 arranged in parallel, a bearing plate 4 , a driving structure and an infrared camera device 6 .

The auger 1 is rotatably fixed on the bearing plate 4;

The driving structure is fixed on the bearing plate 4 and is connected to the auger 1 in transmission;

The infrared camera device is fixed on the carrier board 4 .

With the auger 1 as the traveling structure, it fully adapts to the complex environment where silt and sundries accumulate in the culvert, ensures efficient traveling, and thus improves exploration efficiency. Cooperate with infrared camera equipment to perform specific shooting in the culvert, so as to realize efficient and reliable exploration operations as a whole.

Preferably, the infrared camera equipment is connected to a monitoring terminal through the cable 7 to obtain real-time conditions in the culvert.

Furthermore, there are two sets of driving structures, which respectively drive two augers 1 correspondingly, so that various complex actions can be realized by individually controlling the output of the rotational speed, and good passability can be ensured.

Specifically, the driving structure includes: a large bevel gear 2 , a small bevel gear 3 and a driving element 5 .

The large bevel gear 2 meshes with the auger 1; the driving element 5 is connected to the large bevel gear 2 through the small bevel gear 3, and outputs stable and reliable power.

Preferably, the drive structure further includes: a remote control terminal; the remote control terminal is connected to the drive element 5 . Outside the culvert, cooperate with the monitoring terminal to realize remote control travel and culvert shooting, and enhance the adaptability to the culvert environment.

The driving element 5 includes: a geared motor; the geared motor is in transmission connection with the small bevel gear 3 ; the small bevel gear 3 is meshed with the large bevel gear 2 . Also can pass other driving parts according to actual needs.

The infrared camera device 6 is an infrared camera, which improves the shooting effect.

Further, the robot also includes: a traction rope 8; the traction rope 8 is connected to the bearing plate 4, thereby relying on the good passing performance of the auger to achieve the purpose of rope threading in the culvert; and, when the walking robot appears When the fault cannot advance, it can be forcibly dragged out of the underdrain by the traction rope 8.

Preferably, the traction rope is a steel wire rope to ensure structural strength.

One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

The double auger-driven underdrain walking robot provided in the embodiment of the present application is equipped with infrared camera equipment through two augers, drills in the underdrain, and takes pictures of the silt, garbage and other sundries in the underdrain. The operation is simple and efficient; the auger Through the form of drilling, the forward and backward operations can be realized, which can fully adapt to the complex environment in the culvert, and can maintain good mobility for various silt and debris accumulation conditions, so as to achieve efficient shooting operations. At the same time, the double auger mode can maintain the driving ability under extreme conditions such as rollover, which further enhances the underground channel exploration capability; through the driving element and the transmission structure composed of large bevel gears and small bevel gears, the efficient drive of the auger is realized. Thereby improving transmission efficiency and reliability. By independently driving an auger through two sets of driving structures, different speed outputs can be achieved, so as to realize complex traveling actions such as turning and avoiding obstacles, thereby further improving the traveling ability in the culvert. The underdrain rope threading operation can be efficiently realized by setting the traction rope.

Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention without limitation, although the present invention has been described in detail with reference to examples, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (9)

1. A double auger-driven underdrain walking robot is characterized in that, comprising: two auger, bearing plate, driving structure and infrared camera equipment that are arranged in parallel; The auger is rotatably fixed on the bearing plate; The driving structure is fixed on the bearing plate and connected with the auger transmission; The infrared camera device is fixed on the carrier board. 2. The double auger-driven culvert walking robot according to claim 1, characterized in that: said infrared camera device is connected to a monitoring terminal through a cable. 3. The double auger-driven underdrain walking robot according to claim 1, characterized in that: there are two sets of said driving structures, which drive two said augers respectively. 4. the double auger-driven underdrain walking robot as claimed in claim 1, is characterized in that, described driving structure comprises: large bevel gear, pinion bevel gear and driving element; The large bevel gear meshes with the auger; The driving element is in transmission connection with the large bevel gear through the small bevel gear. 5. The double auger-driven underdrain walking robot as claimed in claim 4, wherein the drive structure further comprises: a remote control terminal; The remote control terminal is connected with the driving element. 6. The double auger-driven underdrain walking robot as claimed in claim 5, wherein the driving element comprises: a geared motor; The reduction motor is connected with the small bevel gear in transmission; the small bevel gear is meshed with the large bevel gear. 7. The double auger-driven culvert walking robot according to claim 1, characterized in that: the infrared camera device is an infrared camera. 8. The double auger-driven underdrain walking robot according to any one of claims 1 to 7, further comprising: a traction rope; The traction rope is connected with the bearing plate. 9. The double auger-driven underdrain walking robot according to claim 8, characterized in that: the traction rope is a steel wire rope.