CN112009583B - A walking mechanism of an underwater inspection robot and a method of using the same - Google Patents
A walking mechanism of an underwater inspection robot and a method of using the same Download PDFInfo
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- CN112009583B CN112009583B CN202010922136.3A CN202010922136A CN112009583B CN 112009583 B CN112009583 B CN 112009583B CN 202010922136 A CN202010922136 A CN 202010922136A CN 112009583 B CN112009583 B CN 112009583B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 238000007689 inspection Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 71
- 230000009471 action Effects 0.000 claims description 15
- 230000000903 blocking effect Effects 0.000 claims description 7
- 230000007774 longterm Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000009412 basement excavation Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 4
- 239000007789 gas Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
本发明公开了一种水下巡检机器人的行走机构及其使用方法，包括底盘，所述底盘的两侧均对称转动连接有四个转动杆，且转动杆的一侧转动连接有导轮，位于一侧的四个导轮上传动连接有同一个履带，履带的外侧等间距固定安装有多个抓杆，底盘的顶部滑动连接有移动板，且底盘上对称滑动连接有两个移动架，两个移动架分别与对应的四个转动杆传动连接，移动板分别与两个移动架传动连接，底盘的顶部一侧固定安装有转动电机。本发明能够实现适应不同情况的电缆沟，都能够实现自由行走，并且能够根据需要对摄像机的高度进行调节、转向调节以及角度调节，以此能够使得摄像机在对电缆进行拍摄时，能够提高拍摄精度，因此具有良好的使用性能。
The invention discloses a walking mechanism of an underwater inspection robot and a method of using the same, comprising a chassis, two sides of the chassis are symmetrically rotatably connected with four rotating rods, and one side of the rotating rods is rotatably connected with a guide wheel, The four guide wheels on one side are connected to the same crawler, and the outside of the crawler is fixedly installed with multiple grab bars at equal intervals. The top of the chassis is slidably connected with a moving plate, and the chassis is symmetrically slidably connected with two moving frames. The two moving frames are respectively connected with the corresponding four rotating rods, the moving plates are respectively connected with the two moving frames, and a rotating motor is fixedly installed on the top side of the chassis. The invention can realize the cable trench that adapts to different situations, can realize free walking, and can adjust the height, steering and angle of the camera as required, so that the camera can improve the shooting accuracy when shooting the cable. , so it has good performance.
Description
Technical Field
The invention relates to the technical field of electric power inspection, in particular to a walking mechanism of an underwater inspection robot and a using method thereof.
Background
Cable trenches are an important part of the urban distribution network during power transmission, and are located below the ground for storing various power cables. The device plays a leading role in the power transmission process, and if a cable or a cable duct has an accident, the fault detection difficulty is high, and even the control equipment can be damaged. Fire or even explosion caused by cable trench failure can also have serious consequences. In addition, power failure caused by faults can affect industrial production and life of people, so that the method has very important significance for strengthening management and regular detection of the cable trench, and the most important dangerous factors in the cable trench are fire caused by aging of an insulating layer due to long-term temperature abnormality of a cable and harmful gas accumulation caused by long-term sealing of underground environment. For the detection of harmful gases, a robot carrying a gas detector is basically adopted to enter a cable trench for detection or the gas detector is directly arranged in the cable trench for a long time. After the detection method is researched, the structure of the robot trolley needs to be researched and analyzed, and a great deal of research is carried out in the mobile robot and related fields.
The prior walking mechanism of the robot has the following technical defects: 1. silt and water are easy to accumulate in the cable trench in long-term use, and the traveling mechanism of the current robot cannot realize height adjustment, so that the problem of movement resistance is easy to occur; 2. at present, the longitudinal height of a mounting device of a camera cannot be adjusted, so that the shot picture is not clear enough; 3. when the existing camera equipment is installed on a robot, the angle cannot be adjusted along with the trend of a cable trench, and the problem of shooting dead angles is easy to occur; therefore, in view of the above problems, the present technical solution provides a traveling mechanism of an underwater inspection robot and a method for using the same, which are used to solve the above problems.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a robot walking mechanism which can realize convenient walking and can realize height adjustment and angle adjustment of camera equipment and a using method thereof.
The invention provides a walking mechanism of an underwater inspection robot, which comprises a chassis, wherein two sides of the chassis are symmetrically and rotatably connected with four rotating rods, one side of each rotating rod is rotatably connected with a guide wheel, the four guide wheels positioned on one side are in transmission connection with the same crawler belt, a plurality of grabbing rods are fixedly arranged on the outer side of the crawler belt at equal intervals, the top of the chassis is in sliding connection with a moving plate, the chassis is symmetrically and slidably connected with two moving frames, the two moving frames are respectively in transmission connection with the corresponding four rotating rods, the moving plate is respectively in transmission connection with the two moving frames, one side of the top of the chassis is fixedly provided with a rotating motor, an output shaft of the rotating motor is in transmission connection with the moving plate, one side of the top of the chassis is in sliding connection with a double-shaft motor, the double-shaft motor is in transmission, the two driving wheels are respectively in transmission connection with the two tracks, limiting covers are fixedly arranged at four corners of the top of the chassis, limiting columns are connected in the limiting covers in a sliding mode, and the top ends of the four limiting columns respectively extend to the positions above the four limiting covers and are fixedly provided with the same supporting plate;
a fixed pipe is fixedly installed on one side of the chassis, two transmission racks are symmetrically and slidably connected in the fixed pipe, connecting plates are arranged on two sides of the fixed pipe, two ends of each transmission rack extend to two sides of the fixed pipe respectively and are rotatably connected with the two connecting plates respectively, a U-shaped frame is slidably connected on each connecting plate, two idler wheels are symmetrically and rotatably connected on the U-shaped frame, a connecting shaft is rotatably connected on the inner wall of the bottom of the fixed pipe, an adjusting gear is fixedly sleeved on the connecting shaft, the two transmission racks are located on two sides of the adjusting gear respectively and are meshed with the adjusting gear respectively, the top end of the connecting shaft extends to the upper side of the fixed pipe and is slidably connected with a guide cover, two limiting rods are symmetrically and fixedly installed on the inner wall of the top of the guide cover, the two limiting rods are slidably connected with the connecting shaft, and the guide, the top of the supporting plate is rotatably connected with a supporting plate, a camera is clamped at the top of the supporting plate, a linkage rod is fixedly mounted on one side of the guide cover, and the linkage rod is in transmission connection with the supporting plate.
One side symmetry fixed mounting that removes the frame has two-sided racks, and one side fixed mounting of dwang has adjusting gear, two-sided racks mesh with two adjusting gear that correspond respectively mutually, so two chutes that are the slope setting are seted up to the top symmetry of movable plate, and fixed mounting has the pin on the removal frame, and two pins extend to two chutes respectively and are connected with two chute transmissions respectively.
The utility model discloses a lifting plate, including movable plate, lifter, slide bar, slide sleeve, lifter, the top one side fixed mounting of movable plate has the down tube, and the sliding sleeve is equipped with the sliding sleeve on the down tube, one side and the lifter plate of sliding sleeve are connected, and double-shaft motor fixed mounting is at the top of lifter plate, and the top fixed mounting on chassis has four slide bars, and four slide bars all run through the lifter.
The top fixed mounting of movable plate has the connecting seat, and one side of connecting seat has seted up the thread groove, and thread groove female connection has the screw rod, the one end of screw rod extend to the outside of connecting seat and with the output shaft fixed connection who rotates the motor.
The equal sliding connection in both sides on chassis has two spacing pipes, and the intraductal symmetry sliding connection of spacing has two connecting rods, and the one end that two connecting rods kept away from each other extends to the top and the below of spacing pipe respectively and equal fixed mounting has the collar, and rotates in the collar and be connected with the back shaft, the outside of collar is extended to the one end of back shaft, and the back shaft runs through the guide pulley and is connected with the guide pulley rotation, it is equipped with solid fixed ring to rotate the cover on the back shaft, and the one end of dwang and one side fixed connection of solid fixed ring.
Fixed mounting has same mounting panel on four spacing covers, and top one side fixed mounting of mounting panel has the transmission ring that is the slope and sets up, the top sliding connection of mounting panel has the U template, and sliding connection has the bracing piece in the U template, the top of bracing piece extend to the top of U template and with the bottom sliding connection of backup pad, one side bottom of bracing piece is rotated and is connected with the supporting wheel, and one side of supporting wheel extend to in the transmission ring and be connected with the inner wall transmission of transmission ring, the top opposite side fixed mounting of mounting panel has adjusting motor, and fixed mounting has the lead screw on adjusting motor's the output shaft, threaded connection has the screw ring on the lead screw, and one side fixed connection of screw ring and U template.
One side fixed mounting of connecting plate has electric putter, and electric putter's output shaft run through the connecting plate and with one side fixed connection of U type frame, one side symmetry fixed mounting of U type frame has two stroke poles, and two stroke poles all run through the connecting plate and all with connecting plate sliding connection.
The top of backup pad is rotated and is connected with the pivot, and the top of pivot and the bottom fixed connection of layer board, fixed cover is equipped with the dead lever in the pivot, and one side symmetry of dead lever is rotated and is connected with two guide bars, and the one end of two guide bars all rotates with one side of gangbar to be connected.
The top of the supporting plate is symmetrically and slidably connected with two linkage plates, one side of each linkage plate, which is close to each other, is rotatably connected with a supporting rod, the two supporting rods are slidably sleeved with the same supporting tube, one side of the top of each supporting rod is fixedly provided with a clamping plate positioned in the supporting tube, the top of each supporting tube is fixedly provided with a placing plate, the top ends of the two clamping plates penetrate through the placing plate and extend to the upper part of the placing plate, the two clamping plates are clamped with a camera, the supporting tube is fixedly sleeved with a rotating gear, one side of the top of the supporting plate is fixedly provided with a push rod motor, the output shaft of the push rod motor is fixedly provided with a moving rack, the rotating gear is meshed with the moving rack, the top of the supporting plate is symmetrically and rotatably connected with two push rods, one side of each linkage plate, which is far away from, and the bottom end of the threaded column is rotatably connected with a fixed plate, the fixed plate is slidably connected with one side of the linkage plate, and the two push rods are respectively rotatably connected with one sides of the two linkage plates.
The use method of the walking mechanism comprises the following steps:
s1, placing the camera on the placing plate, then simultaneously rotating the two threaded columns to push the fixing plate to move downwards, enabling the push rod to rotate downwards, and pushing the two linkage plates to approach each other, and when the two linkage plates approach each other, driving the two clamping plates to approach each other through the two bearing rods until the camera is clamped by the two clamping plates;
s2, the device is placed in a cable trench, then a rotating motor can be started to drive a screw to rotate, the moving plate can be driven to move towards one side far away from the rotating motor at the moment, when the moving plate moves, two stop rods can slide along two chutes, so that two moving frames can move towards one side far away from each other, when the moving frames move, a double-sided rack can be pushed to move, at the moment, under the transmission action of two adjusting gears, the two rotating rods can rotate towards one side far away from each other, the distance between two guide wheels on the same side can be enlarged, at the moment, the distance between four guide wheels on the lower side and a chassis is gradually enlarged, and therefore the height of the chassis can be increased until the height of the chassis is higher than the water surface height of the cable trench;
s3, when the moving plate moves, the diagonal rods can be driven to move, and when the diagonal rods move, the sliding sleeve can move upwards along the diagonal rods, so that the height of the double-shaft motor can be increased, and the two driving wheels and the two crawler belts are always in a transmission connection state;
s4, starting the two electric push rods to drive the two U-shaped frames to be away from each other until the two rollers on the U-shaped frames contact with the inner wall of one side of the cable trench;
s5, starting the adjusting motor to drive the screw rod to rotate, enabling the U-shaped plate to move to one side of the adjusting motor under the action of the threaded ring, enabling the supporting wheel to roll upwards along the transmission ring, pushing the supporting rod to move upwards, pushing the supporting plate to move upwards, lifting the height of the camera at the moment, enabling the camera to be close to a cable in the cable trench, and enabling the camera to accurately and clearly shoot a cable picture;
s6, a double-shaft motor is started to drive two driving wheels to rotate, at the moment, two tracks can move in a same step, the device can move, a plurality of grabbing rods are arranged on the tracks, the grabbing rods are used for being in contact with the ground of a cable trench, the slipping phenomenon can be effectively reduced, meanwhile, the abrasion of the tracks can be reduced, the tracks can be used for a long time, rollers on two sides can roll along the inner wall of the cable trench, when the cable trench deflects, two U-shaped frames can rotate, two driving racks can move oppositely, when the driving racks move, an adjusting gear can be driven to rotate, when the adjusting gear rotates, a guide cover can be driven to rotate through a connecting shaft, at the moment, under the action of a linkage rod, two guide rods can move oppositely, and a fixed rod can rotate around a rotating shaft, the supporting plate can be driven to rotate, so that the direction of the camera can be adjusted, the camera can adjust the direction according to the excavation track of the cable trench, and the camera can shoot cables continuously and stably;
s7, the push rod motor is started to drive the movable rack to move, at the moment, the supporting tube can rotate under the transmission of the rotating gear, so that the camera can be driven to move upwards or downwards in an arc-shaped mode, the angle of the camera can be adjusted, the camera is located at the best shooting position, and the shooting precision is further improved.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
1. according to the invention, the camera is placed on the placing plate, then the two threaded columns can be simultaneously rotated to push the fixing plate to move downwards, at the moment, the push rod can be enabled to rotate downwards, so that the two linkage plates can be pushed to approach each other, and when the two linkage plates approach each other, the two clamping plates can be driven by the two bearing rods to approach each other until the camera is clamped by the two clamping plates;
2. according to the device, the device is placed in a cable trench, then a rotating motor can be started to drive a screw rod to rotate, the moving plate can be driven to move towards one side far away from the rotating motor, when the moving plate moves, two stop rods can slide along two inclined grooves, so that two moving frames can move towards one side far away from each other, when the moving frames move, a double-sided rack can be pushed to move, at the moment, under the transmission action of two adjusting gears, the two rotating rods can rotate towards one side far away from each other, the distance between two guide wheels on the same side can be enlarged, at the moment, the distance between four guide wheels on the lower side and a chassis is gradually enlarged, and therefore the height of the chassis can be realized until the height of the chassis is higher than the water surface height of the cable trench;
3. when the moving plate moves, the inclined rod can be driven to move, and when the inclined rod moves, the sliding sleeve can move upwards along the inclined rod, so that the height of the double-shaft motor can be increased, and the two driving wheels are always in transmission connection with the two tracks;
4. the two U-shaped frames are driven to be away from each other by starting the two electric push rods until the two rollers on the U-shaped frames are contacted with the inner wall of one side of the cable trench;
5. according to the invention, the screw rod is driven to rotate by starting the adjusting motor, at the moment, the U-shaped plate is moved to one side of the adjusting motor under the action of the threaded ring, at the moment, the supporting wheel can be enabled to roll upwards along the transmission ring, the supporting rod can be pushed to move upwards, the supporting plate is pushed to move upwards, at the moment, the height of the camera can be lifted, so that the camera is close to a cable positioned in the cable trench, and the camera can conveniently and accurately and clearly shoot a cable picture;
6. the invention drives the two driving wheels to rotate by starting the double-shaft motor, at the moment, the two tracks can move in a same step, the device can move, the plurality of grabbing rods are arranged on the tracks, the grabbing rods are contacted with the ground of the cable trench, the slipping phenomenon can be effectively reduced, meanwhile, the abrasion of the tracks can be reduced, the long-term use of the tracks is facilitated, the rollers on the two sides can roll along the inner wall of the cable trench, when the cable trench deflects, the two U-shaped frames can rotate, the two driving racks can move in opposite directions, and when the driving racks move, the adjusting gear can be driven to rotate, when the adjusting gear rotates, the guide cover can be driven to rotate by the connecting shaft, at the moment, the two guide rods can move in opposite directions under the action of the linkage rod, the fixing rod can rotate around the rotating shaft, and the supporting plate can be driven to rotate at the moment, so that the direction of the camera can be adjusted, the camera can adjust and turn according to the excavation track of the cable trench, and the camera can shoot cables continuously and stably;
7. according to the invention, the push rod motor is started to drive the movable rack to move, and at the moment, the supporting tube can be rotated under the transmission of the rotating gear, so that the camera can be driven to move upwards or downwards in an arc shape, the angle of the camera can be adjusted, the camera can be conveniently positioned at the best shooting position, and the shooting precision is further improved.
The invention can realize the cable trench which is suitable for different conditions, can realize free walking, and can adjust the height, the steering and the angle of the camera according to the requirement, thereby improving the shooting precision when the camera shoots the cable, and having good use performance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a schematic structural view of part A of FIG. 1 according to the present invention;
FIG. 3 is a schematic structural view of part B of FIG. 1 according to the present invention;
FIG. 4 is a top view of the connecting structure of the rotating motor and two moving frames of the present invention;
FIG. 5 is a rear view of the connecting structure of the limiting tube and two guide wheels of the present invention;
FIG. 6 is a three-dimensional view of the two rotating levers and double-sided rack attachment structure of the present invention;
FIG. 7 is a side view of a rotating motor and moving frame coupling structure of the present invention;
FIG. 8 is a rear view of the connecting structure of the adjusting motor and the U-shaped plate of the present invention;
FIG. 9 is a side view of the connecting structure of the moving plate and the dual-axis motor of the present invention;
FIG. 10 is a top view of the guide housing and fixing rod connecting structure of the present invention;
FIG. 11 is a top view of two drive rack and connecting shaft configurations of the present invention;
FIG. 12 is a schematic structural view of portion C of FIG. 11 according to the present invention;
FIG. 13 is a side view of the drive rack and connecting shaft arrangement of the present invention;
FIG. 14 is a front view of the guide housing and connecting shaft connection structure of the present invention;
FIG. 15 is a side view of two linkage plates and camera clip attachment configurations of the present invention.
In the figure: 1-chassis, 2-rotating rod, 3-guide wheel, 4-crawler belt, 5-grabbing rod, 6-limiting tube, 7-moving plate, 8-moving frame, 9-double rack, 10-limiting cover, 11-limiting column, 12-supporting plate, 13-adjusting motor, 14-lead screw, 15-U-shaped plate, 16-driving ring, 17-sliding rod, 18-lifting plate, 19-double-shaft motor, 20-driving wheel, 21-oblique rod, 22-gear, 23-supporting rod, 24-supporting wheel, 25-oblique groove, 26-rotating motor, 27-connecting seat, 28-supporting shaft, 29-fixing ring, 30-mounting ring, 31-connecting rod, 32-stop rod, 33-thread groove, 34-screw rod, 35-mounting plate, 36-threaded ring, 37-sliding sleeve, 38-fixed tube, 39-driving rack, 40-connecting shaft, 41-adjusting gear, 42-connecting plate, 43-U-shaped frame, 44-roller, 45-electric push rod, 46-guide cover, 47-limiting rod, 48-linkage rod, 49-guide rod, 50-rotating shaft, 51-fixed rod, 52-supporting plate, 53-linkage plate, 54-push rod motor, 55-supporting tube, 56-placing plate, 57-clamping plate, 58-camera, 59-rotating gear, 60-threaded plate, 61-threaded column, 62-fixing plate, 63-push rod, 64-moving rack and 65-supporting rod.
Detailed Description
To make the objects, aspects and advantages of the present invention clearer and more fully described below with reference to the following detailed description, it is to be understood that the terms "center", "vertical", "horizontal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations and positional relationships based on the drawings, and are used merely for convenience of describing and simplifying the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Example one
As shown in fig. 1-9, a walking mechanism of an underwater inspection robot comprises a chassis 1, wherein four rotating rods 2 are symmetrically and rotatably connected to two sides of the chassis 1, guide wheels 3 are rotatably connected to one side of each rotating rod 2, the same crawler 4 is rotatably connected to the four guide wheels 3 on one side, a plurality of grabbing rods 5 are fixedly installed on the outer side of the crawler 4 at equal intervals, a moving plate 7 is slidably connected to the top of the chassis 1, two moving frames 8 are symmetrically and slidably connected to the chassis 1, the two moving frames 8 are respectively in transmission connection with the four corresponding rotating rods 2, the moving plate 7 is respectively in transmission connection with the two moving frames 8, a rotating motor 26 is fixedly installed on one side of the top of the chassis 1, an output shaft of the rotating motor 26 is in transmission connection with the moving plate 7, a double-shaft moving plate motor 19 is slidably connected to one side of the top of the chassis 1, two output shafts of the double-shaft motor 19 are fixedly provided with driving wheels 20, the two driving wheels 20 are respectively in transmission connection with the two tracks 4, the four corners of the top of the chassis 1 are respectively fixedly provided with a limiting cover 10, the limiting covers 10 are in sliding connection with limiting columns 11, the top ends of the four limiting columns 11 respectively extend to the upper parts of the four limiting covers 10, and the same supporting plate 12 is fixedly arranged; dwang 2 is scalable pole, preferred hydraulic stem, through its length of controller control, makes track 4 is in suitable tensioning state all the time.
A fixed pipe 38 is fixedly installed on one side of the chassis 1, two transmission racks 39 are symmetrically and slidably connected in the fixed pipe 38, two connecting plates 42 are respectively arranged on two sides of the fixed pipe 38, two ends of each transmission rack 39 respectively extend to two sides of the fixed pipe 38 and are respectively and rotatably connected with the two connecting plates 42, a U-shaped frame 43 is slidably connected on each connecting plate 42, two rollers 44 are symmetrically and rotatably connected on each U-shaped frame 43, a connecting shaft 40 is rotatably connected on the inner wall of the bottom of the fixed pipe 38, an adjusting gear 41 is fixedly sleeved on each connecting shaft 40, the two transmission racks 39 are respectively positioned on two sides of the adjusting gear 41 and are respectively meshed with the adjusting gear 41, the top end of the connecting shaft 40 extends to the upper side of the fixed pipe 38 and is slidably connected with a guide cover 46, two limiting rods 47 are symmetrically and fixedly installed on the inner wall of the top of the guide cover 46, and, the guide cover 46 is rotatably connected with one side of the support plate 12, the top of the support plate 12 is rotatably connected with a support plate 52, a camera 58 is clamped at the top of the support plate 52, a linkage rod 48 is fixedly mounted on one side of the guide cover 46, and the linkage rod 48 is in transmission connection with the support plate 52.
In the invention, two double-sided racks 9 are symmetrically and fixedly installed on one side of the moving frame 8, a gear 22 is fixedly installed on one side of the rotating rod 2, and the double-sided racks 9 are respectively meshed with the two corresponding gears 22, so that two inclined grooves 25 which are obliquely arranged are symmetrically formed in the top of the moving plate 7, stop rods 32 are fixedly installed on the moving frame 8, and the two stop rods 32 respectively extend to the two inclined grooves 25 and are respectively in transmission connection with the two inclined grooves 25.
In the invention, an inclined rod 21 is fixedly installed on one side of the top of a moving plate 7, a sliding sleeve 37 is slidably sleeved on the inclined rod 21, one side of the sliding sleeve 37 is connected with a lifting plate 18, a double-shaft motor 19 is fixedly installed on the top of the lifting plate 18, four sliding rods 17 are fixedly installed on the top of a chassis 1, and the four sliding rods 17 penetrate through the lifting plate 18 and are slidably connected with the lifting plate 18.
In the invention, the connecting seat 27 is fixedly installed at the top of the moving plate 7, a thread groove 33 is formed in one side of the connecting seat 27, a screw 34 is connected in the thread groove 33 in a threaded manner, and one end of the screw 34 extends to the outer side of the connecting seat 27 and is fixedly connected with the output shaft of the rotating motor 26.
In the invention, two limiting tubes 6 are slidably connected to two sides of a chassis 1, two connecting rods 31 are slidably connected in the limiting tubes 6 symmetrically, the ends, far away from each other, of the two connecting rods 31 extend to the upper side and the lower side of the limiting tubes 6 respectively and are fixedly provided with mounting rings 30, a supporting shaft 28 is rotatably connected in the mounting rings 30, one end of the supporting shaft 28 extends to the outer side of the mounting rings 30, the supporting shaft 28 penetrates through a guide wheel 3 and is rotatably connected with the guide wheel 3, a fixing ring 29 is rotatably sleeved on the supporting shaft 28, and one end of a rotating rod 2 is fixedly connected with one side of the fixing ring 29.
According to the invention, the same mounting plate 35 is fixedly mounted on the four limiting covers 10, the driving ring 16 which is obliquely arranged is fixedly mounted on one side of the top of the mounting plate 35, the U-shaped plate 15 is slidably connected to the top of the mounting plate 35, the supporting rod 23 is slidably connected to the U-shaped plate 15, the top end of the supporting rod 23 extends to the upper side of the U-shaped plate 15 and is slidably connected with the bottom of the supporting plate 12, the supporting wheel 24 is rotatably connected to the bottom of one side of the supporting rod 23, one side of the supporting wheel 24 extends into the driving ring 16 and is in transmission connection with the inner wall of the driving ring 16, the adjusting motor 13 is fixedly mounted on the other side of the top of the mounting plate 35, the lead screw 14 is fixedly mounted on an output shaft of the adjusting motor 13, the threaded ring 36.
The use method of the walking mechanism comprises the following steps:
s1, the camera 58 is placed on the placing plate 56, then the two threaded columns 61 can be simultaneously rotated to push the fixing plate 62 to move downwards, the push rod 63 can be made to rotate downwards at the moment, the two linkage plates 53 can be pushed to approach each other, and when the two linkage plates 53 approach each other, the two clamping plates 57 can be driven to approach each other through the two bearing rods 65 until the camera 58 is clamped by the two clamping plates 57;
s2, the device is placed in a cable trench, and then the rotating motor 26 can be started to drive the screw 34 to rotate, at this time, the moving plate 7 can be driven to move to one side far away from the rotating motor 26, when the moving plate 7 moves, the two blocking rods 32 can slide along the two chutes 25, so that the two moving frames 8 can move to one side far away from each other, when the moving frame 8 moves, the double-sided rack 9 can be pushed to move, at this time, under the transmission action of the two gears 22, the two rotating rods 2 can rotate to one side far away from each other, so that the distance between the two guide wheels 3 located at the same side can be increased, and at this time, the distance between the four guide wheels 3 located below and the chassis 1 can be gradually increased, so that the height of the chassis 1 can be raised until the height of the chassis 1 is higher than the water level of the cable trench;
s3, when the moving plate 7 moves, the inclined rod 21 can be driven to move, and when the inclined rod 21 moves, the sliding sleeve 37 can move upwards along the inclined rod 21, so that the height of the double-shaft motor 19 can be raised, and the two driving wheels 20 are always in transmission connection with the two crawler belts 4;
s4, starting the two electric push rods 45 to drive the two U-shaped frames 43 to be away from each other until the two rollers 44 on the U-shaped frames 43 contact with the inner wall of one side of the cable trench;
s5, starting the adjusting motor 13 to drive the screw rod 14 to rotate, enabling the U-shaped plate 15 to move to one side of the adjusting motor 13 under the action of the threaded ring 36, enabling the supporting wheel 24 to roll upwards along the transmission ring 16, namely pushing the supporting rod 23 to move upwards, pushing the supporting plate 12 to move upwards, and lifting the height of the camera 58 to enable the camera 58 to be close to a cable in the cable trench, so that the camera 58 can shoot a cable picture accurately and clearly;
s6, starting the double-shaft motor 19 to drive the two driving wheels 20 to rotate, wherein the two tracks 4 move in a same step to realize the advancing of the device, and the plurality of grabbing bars 5 are arranged on the tracks 4, so that the grabbing bars 5 are in contact with the ground of the cable trench, the slipping phenomenon can be effectively reduced, meanwhile, the abrasion of the tracks 4 can be reduced, the long-term use of the tracks 4 is facilitated, the rollers 44 on the two sides can roll along the inner wall of the cable trench, when the cable trench deflects, the two U-shaped frames 43 can rotate, the two driving racks 39 can move in opposite directions, and when the driving racks 39 move, the adjusting gear 41 can be driven to rotate, when the adjusting gear 41 rotates, the guide cover 46 can be driven to rotate through the connecting shaft 40, at the moment, under the action of the linkage rod 48, the two guide rods 49 can move in opposite directions, the fixing rod 51 can rotate around the rotating shaft 50, and the supporting plate 52 can be driven to rotate at the moment, so that the direction of the camera 58 can be adjusted, the camera 58 can be adjusted to turn according to the excavation track of the cable trench, and the camera 58 can shoot the cable continuously and stably;
s7, the push rod motor 54 is started to drive the movable rack 64 to move, at the moment, the supporting tube 55 can rotate under the transmission of the rotating gear 59, so that the camera 58 can be driven to move upwards or downwards in an arc shape, the angle of the camera 58 can be adjusted, the camera 58 can be conveniently located at the best shooting position, and the shooting precision is further improved.
Example two
As shown in fig. 10 to 15, the present embodiment differs from the first embodiment in that: an electric push rod 45 is fixedly arranged on one side of the connecting plate 42, an output shaft of the electric push rod 45 penetrates through the connecting plate 42 and is fixedly connected with one side of the U-shaped frame 43, two stroke rods are symmetrically and fixedly arranged on one side of the U-shaped frame 43 and both penetrate through the connecting plate 42 and are in sliding connection with the connecting plate 42, a rotating shaft 50 is rotatably connected with the top of the supporting plate 12, the top end of the rotating shaft 50 is fixedly connected with the bottom of the supporting plate 52, a fixing rod 51 is fixedly sleeved on the rotating shaft 50, two guide rods 49 are rotatably connected with one side of the fixing rod 51 in a symmetrical mode, one ends of the two guide rods 49 are rotatably connected with one side of the linkage rod 48, two linkage plates 53 are slidably connected with the top of the supporting plate 52 in a symmetrical mode, a supporting rod 65 is rotatably connected with one side, which is close to each other, the two supporting rods 65 are slidably sleeved with the same supporting pipe 55, and, the top fixed mounting of stay tube 55 places board 56, and the top of two splint 57 all runs through and places board 56 and all extends to the top of placing board 56, two splint 57 all press from both sides the dress mutually with camera 58, the fixed cover is equipped with rotating gear 59 on the stay tube 55, top one side fixed mounting of layer board 52 has push rod motor 54, and push rod motor 54's output shaft fixed mounting has removal rack 64, rotating gear 59 meshes with removal rack 64 mutually, the top symmetry of layer board 52 rotates and is connected with two push rods 63, and the equal fixed mounting in one side that two ganged plates 53 kept away from each other has screw plate 60, threaded connection has screw post 61 on the screw plate 60, and the bottom of screw post 61 rotates and is connected with fixed plate 62, fixed plate 62 and one side sliding connection of ganged plate 53, and two push rods 63 rotate with one side of two ganged plates 53 respectively and be.
The working principle is as follows: according to the invention, the camera 58 is placed on the placing plate 56, then the two threaded columns 61 can be rotated simultaneously to push the fixing plate 62 to move downwards, at the moment, the push rod 63 can be rotated downwards to push the two linkage plates 53 to approach each other, when the two linkage plates 53 approach each other, the two clamping plates 57 can be driven by the two supporting rods 65 to approach each other until the camera 58 is clamped by the two clamping plates 57, the device is placed in a cable trench, then the rotating motor 26 can be started to drive the screw rod 34 to rotate, at the moment, the moving plate 7 can be driven to move to one side far away from the rotating motor 26, when the moving plate 7 moves, the two blocking rods 32 can slide along the two inclined grooves 25, so that the two moving frames 8 can move to one side far away from each other, when the moving frames 8 move, the double-sided rack 9 can be pushed to move, at this time, under the transmission action of the two gears 22, the two rotating rods 2 can be rotated towards the side away from each other, so that the distance between the two guide wheels 3 positioned on the same side can be increased, and at this time, the distance between the four guide wheels 3 positioned below and the chassis 1 is gradually increased, so that the height of the chassis 1 can be raised until the height of the chassis 1 is higher than the water level of the cable trench, when the moving plate 7 moves, the inclined rod 21 can be driven to move, when the inclined rod 21 moves, the sliding sleeve 37 can move upwards along the inclined rod 21, so that the height of the double-shaft motor 19 can be raised, so that the two driving wheels 20 are always in transmission connection with the two tracks 4, and by starting the two electric push rods 45, the two U-shaped frames 43 are driven to be away from each other until the two rollers 44 positioned on the U-shaped frames 43 are in contact with the inner wall of one, the adjusting motor 13 is started to drive the screw rod 14 to rotate, at the moment, under the action of the threaded ring 36, the U-shaped plate 15 is moved to one side of the adjusting motor 13, at the moment, the supporting wheel 24 can be upwards rolled along the transmission ring 16, the supporting rod 23 can be pushed to upwards move, the supporting plate 12 is pushed to upwards move, at the moment, the height of the camera 58 is lifted, the camera 58 is close to a cable in a cable duct, the camera 58 can conveniently and accurately and clearly shoot a cable picture, the two driving wheels 20 are driven to rotate by starting the double-shaft motor 19, at the moment, the two crawler belts 4 can simultaneously move in a stepping mode, the device can move, the plurality of grabbing rods 5 are arranged on the crawler belts 4, the grabbing rods 5 are in contact with the ground of the cable duct, the slipping phenomenon can be effectively reduced, meanwhile, the abrasion of the crawler belts 4 can be reduced, and the long-term, and the rollers 44 on both sides roll along the inner wall of the cable trench, when the cable trench is deflected, the two U-shaped frames 43 rotate, the two transmission racks 39 move in opposite directions, and the transmission racks 39 move to drive the adjusting gear 41 to rotate, when the adjusting gear 41 rotates, the connecting shaft 40 can drive the guide cover 46 to rotate, at the moment, under the action of the linkage rod 48, the two guide rods 49 move in opposite directions, so that the fixed rod 51 can rotate around the rotating shaft 50, at the moment, the supporting plate 52 can be driven to rotate, thereby realizing the direction adjustment of the camera 58, enabling the camera 58 to adjust the direction according to the excavation track of the cable trench, facilitating the camera 58 to shoot the cable continuously and stably, and by starting the push rod motor 54, the movable rack 64 is driven to rotate, at the moment, the supporting tube 55 can be rotated under the transmission of the rotating gear 59, so that the camera 58 can be driven to move upwards or downwards in an arc shape, the angle of the camera 58 can be adjusted, the camera 58 can be conveniently positioned at the optimal shooting position, and the shooting precision is further improved.
While the foregoing is directed to the preferred embodiment of the present invention, it is to be understood that the invention is not limited to the form disclosed herein, but is not to be construed as excluding other embodiments
In various other combinations, modifications, and environments, and can be made within the scope of the concepts described herein by the above teachings or by the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention.
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| CN113510372B (en) * | 2021-04-23 | 2023-04-28 | 泰山学院 | Laser welding device for multi-angle machining |
| CN114030538A (en) * | 2021-11-05 | 2022-02-11 | 深圳优地科技有限公司 | Balancing device, robot and self-balancing adjusting method |
| CN114190417A (en) * | 2021-12-06 | 2022-03-18 | 武汉轻工大学 | Dissect and draw and dig device |
| CN115009181B (en) * | 2022-05-27 | 2023-04-28 | 国网山东省电力公司滨州供电公司 | Rural energy development potential assessment system for renewable energy and method of use thereof |
| CN115218102B (en) * | 2022-07-20 | 2023-09-12 | 长春建筑学院 | Portable AR camera device of angle of adjustment of being convenient for |
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| US8469465B2 (en) * | 2011-04-29 | 2013-06-25 | Deere & Company | Bogie undercarriage design with rigidly mounted track roller |
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| US3820616A (en) * | 1972-02-03 | 1974-06-28 | American Hoist & Derrick Co | Crawler vehicle with dual extensible side frames |
| CN203661604U (en) * | 2014-01-04 | 2014-06-25 | 湖南润田农机装备科技股份有限公司 | Electric crawler type reed reaping machine |
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