CN109968320A - A kind of cantilever hanger rail type tunnel crusing robot - Google Patents
A kind of cantilever hanger rail type tunnel crusing robot Download PDFInfo
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- CN109968320A CN109968320A CN201811599010.6A CN201811599010A CN109968320A CN 109968320 A CN109968320 A CN 109968320A CN 201811599010 A CN201811599010 A CN 201811599010A CN 109968320 A CN109968320 A CN 109968320A
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- 238000001514 detection method Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 29
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- 238000010586 diagram Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0024—Wrist motors at rear part of the upper arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
The present invention provides a kind of cantilever hanger rail type tunnel crusing robots, including robot body, driving robot body mobile autonomous device and cantilever；Cantilever includes the first driving device of first connecting rod, connecting plate and driving first connecting rod movement；First driving device includes the first power take-off mechanism, first bearing and the first driving wheel；One end of connecting plate is fixed with robot body, and through-hole is offered on the other end, and first bearing is fixed in the through-hole of connecting plate；First driving wheel extends to form convex block towards first bearing, and convex block is extended into contradict in the inner ring of first bearing with wall surface and be fixed, and convex block is fixed on first connecting rod by fixing bolt；First power take-off mechanism is mounted on robot body, and power output end drives the rotation of the first driving wheel to drive the movement of first connecting rod, is provided with multi-modal sensor array on first connecting rod.The problem that crusing robot routing inspection efficiency is low in the prior art is able to solve using the technical program.
Description
Technical field
The present invention relates to crusing robot fields, and in particular to a kind of cantilever hanger rail type tunnel crusing robot.
Background technique
The underground electric transmission technology for not taking up an area space of planes has all obtained greatly in many countries, especially developed country
Development, if the power transmission of certain 85% or more state's National Capital Area is underground extra high voltage network.In recent years, with underground
The continuous development of power transmission technology, many cities have all built cable tunnel and have carried out transmission for extra-high voltage.That is city electricity
Cable tunnel be city electric power overhead enter ground, improve power operation safety, using a kind of important pattern of urban underground space, and
One important directions of future electrical energy facility development.But cable tunnel is in throughout the year that underground is moist, in perishable environment, is made
The safety problem for obtaining power circuit becomes a key technology.In order to guarantee the safety of power transmission, in addition to carrying out in tunnel
Waterproof, moisture-proof work, inspect periodically to the power circuit in tunnel is also essential, cable tunnel routine inspection mode base
This is manual inspection, but risk is big, low efficiency.
In view of the above-mentioned problems, partial cables tunnel applications on-line monitoring technique, but need pre-buried big quantity sensor, cost
Height, later maintenance heavy workload.With robot technology and detection machine man-based development, it can be used for cable tunnel or similar environments
Rail polling robot come into being, compared with traditional artificial inspection, rail polling robot have strong environmental adaptability,
Detection accuracy is high, the advantages of whole day inspection in 24 hours can be achieved, and carries out inspection using crusing robot and not only saves cost, but also
Detection efficiency is higher.
Crusing robot mainly has wheeled crusing robot and crawler type crusing robot, but cable tunnel space is long and narrow,
Blocked along journey, barrier is more, and exist it is a large amount of turn round, the case where climb and fall even vertically climbs.But existing electric power piping lane
Tunnel cable detects robot, and there is also following disadvantages:
(1) existing cable tunnel inspection robot can not adapt to tunnel wet environment very well, easily occur electric leakage, it is conductive,
Phenomena such as cable corrosion.
(2) structure of existing cable tunnel inspection robot is generally cumbersome, and polling rate is low, can not be in fast state
Lower carry out inspection, routing inspection efficiency are very low.
(3) existing cable tunnel inspection robot use tripod head type visual detection equipment, can not effectively solve it is complete from
The problems such as main inspection, multilayer cable holder are blocked and defect detects automatically, routing inspection efficiency and coverage rate are lower.
Summary of the invention
The main purpose of the present invention is to provide a kind of cantilever hanger rail type tunnel crusing robots, to solve in the prior art
The low problem of tunnel crusing robot routing inspection efficiency.
To achieve the goals above, the present invention provides a kind of cantilever hanger rail type tunnel crusing robot, in cable tunnel
Track along being provided with, the cantilever hanger rail type tunnel crusing robot is mobile along the line on that track, cantilever hanger rail type tunnel
Crusing robot includes: robot body, autonomous device and cantilever；The autonomous device suspension is in orbit,
Power supply unit, the driving device being electrically connected respectively with the power supply unit and communication device are installed on the robot body,
The driving device is connect to drive the autonomous device to move along track with the autonomous device；The cantilever packet
Include the first driving device of first connecting rod, connecting plate and driving first connecting rod movement；The first driving device includes first
Power take-off mechanism, first bearing and the first driving wheel；One end of the connecting plate is used to fix with the robot body,
Through-hole is offered on the other end, the first bearing is fixed in the through-hole of the connecting plate；First driving wheel is towards institute
It states first bearing and extends to form hollow round bump, the convex block is extended into the inner ring of the first bearing and contradicted admittedly with wall surface
Fixed, the convex block is fixed on the body of rod of the first connecting rod by fixing bolt；First power take-off mechanism is mounted on
On robot body, the power output end of first power take-off mechanism drives the first driving wheel rotation described to drive
The movement of first connecting rod is provided with the multi-modal sensor array for detection cable tunnel, the multimode on the first connecting rod
State sensor array is electrically connected with the communication device.
Further, the cantilever further includes second connecting rod and the second driving dress for driving second connecting rod to move
It sets, second driving device includes the second power take-off mechanism, shaft, transmission shaft, second bearing, 3rd bearing, the 4th axis
It holds, the second driving wheel and transmission mechanism；
The second bearing is arranged in the wheel bore of first driving wheel, and the shaft passes through the axis of the second bearing
Hole；And one end of the shaft extends into the first connecting rod, the shaft is connected by 3rd bearing and the first connecting rod
It connects, second driving wheel is arranged and is fixed on the other end of the shaft；One end of the transmission shaft and the second connecting rod
Fixed, the other end of the transmission shaft is connect by the fourth bearing with the first connecting rod, and the transmission shaft passes through described
Transmission mechanism is connect with the shaft；The multi-modal sensor array is provided on the second connecting rod；Second power is defeated
Mechanism is mounted on the robot body out, the power output end driving of second power take-off mechanism second driving
Wheel rotation is to drive the transmission mechanism transmission effect in the second connecting rod so that the second connecting rod is around the transmission shaft
Axis rotation.
Further, the transmission mechanism includes third driving wheel, the 4th driving wheel and built-in transmission belt, the third
Driving wheel is set in the shaft, and the 4th driving wheel is set on the transmission shaft, and the built-in transmission belt is connected to
Between the third driving wheel and the 4th driving wheel.
Further, the cantilever further includes the stretcher for being tensioned the built-in transmission belt.
Further, the cantilever further includes third connecting rod and third motor, and the motor stator of the third motor is fixed
On the second connecting rod, the end of the third connecting rod is connected with the rotor of the third motor, and the third connects
The multi-modal sensor array is provided on bar.
Further, the cantilever further includes motor fixing plate, and the third motor is fixed on the motor fixing plate,
The motor fixing plate is connect with the body of rod of the second connecting rod.
Further, first power take-off mechanism includes first motor, the first retarder and the first transmission belt, institute
It states the first retarder to be connected on the power output end of the first motor, first retarder passes through first transmission belt
It is connect with first driving wheel.
Further, second power take-off mechanism includes the second motor, the second retarder and the second transmission belt, institute
It states the second retarder to be connected on the power output end of second motor, second retarder passes through first transmission belt
It is connect with second driving wheel.
Further, the central axis of the shaft, the transmission shaft and the third motor opens up to be formed outward
String holes, signal wire are connect after the cable-through hole enters corresponding connecting rod inside with the multi-modal sensor array, electric wire warp
The cable-through hole is crossed to be electrically connected into corresponding connecting rod inside with the third motor.
Further, both ends are provided with the multi-modal sensor array on the third connecting rod.
Compared with prior art, the beneficial effects of the present invention are: cantilever hanger rail type tunnel crusing robot includes machine
Human body, autonomous device and cantilever；Cantilever is connect by connecting plate with robot body in the technical program, robot
Ontology is advanced by autonomous device with rail contact and along track, by first driving device to cantilever action, simultaneously
First output mechanism is mounted on robot body, so that cantilever lighting, cantilever normally can flexibly rotate multiple to adapt to
Miscellaneous to imprison stifled tunnel environment, multi-modal sensor array is as the rotation of cantilever is to cable tunnel progress multi-angle, high on cantilever
The detection of coverage rate, to improve the routing inspection efficiency of cable tunnel inspection robot.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.
In the accompanying drawings:
Fig. 1 is the overall structure diagram of cantilever hanger rail type tunnel crusing robot of the invention；
Fig. 2 is the schematic diagram of internal structure of cantilever hanger rail type tunnel crusing robot of the invention；
Fig. 3 is the part-structure sectional view of cantilever hanger rail type tunnel crusing robot of the invention；
Fig. 4 is the application schematic diagram of cantilever hanger rail type tunnel crusing robot of the invention；
Fig. 5 is the application schematic diagram of cantilever hanger rail type tunnel crusing robot of the invention.
Wherein, the above drawings include the following reference numerals:
10, robot body；20, autonomous device；21, idler wheel；22, supporing shell；31, first connecting rod；311,
One bearing；312, the first driving wheel；3131, first motor；3132, the first retarder；3133, the first transmission belt；32, second connects
Bar；321, second bearing；322,3rd bearing；323, shaft；324, transmission shaft；325, the second driving wheel；3261, third drives
Wheel；3262, the 4th driving wheel；3263, built-in transmission belt；3264, stretcher；3271, the second motor；3272, the second retarder；
3273, the second transmission belt；33, third connecting rod；331, motor fixing plate；40, multi-modal sensor array；50, cable-through hole；60, rail
Road.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Now, the illustrative embodiments according to the application are more fully described with reference to the accompanying drawings.Please refer to attached drawing 1- Fig. 4
Shown, a kind of cantilever hanger rail type tunnel crusing robot includes: robot body 10, autonomous device 20 and cantilever；From
Main mobile device 20 is hung in orbit, power supply unit (not shown go out) is equipped on robot body 10, respectively and for Denso
The driving device (not shown go out) and communication device (not shown out) of electrical connection are set, driving device is connect with autonomous device 20
To drive autonomous device 20 to advance along track；Cantilever includes that first connecting rod 31, connecting plate and driving first connecting rod 31 are transported
The first driving device of function；First driving device includes the first power take-off mechanism, first bearing 311 and the first driving wheel
312；One end of connecting plate is used to fix with robot body 10, offers through-hole, 311 company of being fixed on of first bearing on the other end
In the through-hole of fishplate bar；First driving wheel 312 extends to form hollow round bump towards first bearing 311, and convex block extends into first
It contradicts and fixes with wall surface in the inner ring of bearing 311, convex block is fixed on the body of rod of first connecting rod 31 by fixing bolt；First is dynamic
Power output mechanism is mounted on robot body 10, and the power output end of the first power take-off mechanism drives the first driving wheel 312
The movement to drive first connecting rod 31 is rotated, the multi-modal sensor array for detection cable tunnel is provided on first connecting rod 31
40, multi-modal sensor array 40 is electrically connected with communication device.
Cantilever is connect by connecting plate with robot body 10 in the present invention, and robot body 10 passes through autonomous device
20 advance with rail contact and along track, and by first driving device to cantilever action, while the first output mechanism is mounted on
On robot body 10, so that cantilever lighting, cantilever normally can be rotated flexibly to adapt to complicated deep and remote stifled tunnel environment,
Detection of the multi-modal sensor array 40 with the rotation of cantilever to cable tunnel progress high coverage rate on cantilever, to improve tunnel
The routing inspection efficiency of road crusing robot.
Cantilever further includes second connecting rod 32 and the second driving device for driving second connecting rod 32 to move, the second driving
Device include the second power take-off mechanism, shaft 323, transmission shaft 324, second bearing 321,3rd bearing 322, fourth bearing,
Second driving wheel 325 and transmission mechanism；Second bearing 321 is arranged in the wheel bore of the first driving wheel 312, and shaft 323 passes through
The axis hole of second bearing 321；And one end of shaft 323 extends into first connecting rod 31, shaft 323 by 3rd bearing 322 with
First connecting rod 31 connects, and the second driving wheel 325 is arranged and is fixed on the other end of shaft 323；One end of transmission shaft 324 and second
Connecting rod 32 is fixed, and the other end of transmission shaft 324 is connect by fourth bearing with first connecting rod 31, and transmission shaft 324 passes through driver
Structure is connect with shaft 323；Multi-modal sensor array 40 is provided on second connecting rod 32；Second power take-off mechanism is mounted on machine
On human body 10, the power output end of the second power take-off mechanism drives the second driving wheel 325 to rotate to drive transmission mechanism to pass
Movement is for second connecting rod 32 so that second connecting rod 32 is rotated around the axis of transmission shaft 324.
Further, transmission mechanism includes third driving wheel 3261, the 4th driving wheel 3262 and built-in transmission belt 3263,
Third driving wheel 3261 is set in shaft 323, and the 4th driving wheel 3262 is set on transmission shaft 324, built-in transmission belt 3263
It is connected between third driving wheel 3261 and the 4th driving wheel 3262.First connecting rod 31 is driven to rotate by first driving device,
Second driving device drives second connecting rod 32 to rotate relative to first connecting rod 31, and first connecting rod 31 and second connecting rod 32 is made to can be carried out phase
To independent movement, the flexibility for increasing cantilever into one, the further appropriate cable tunnel complexity of crusing robot energy is imprisoned stifled
Environment guarantees the coverage rate of inspection to carry out inspection work.
As shown in Fig. 2, cantilever further includes the stretcher 3264 for being tensioned built-in transmission belt 3263.Stretcher 3264 passes through
U-type groove form is tensioned built-in transmission belt 3263, suitable to keep built-in transmission belt 3263 that can possess in transmission process
When tensile force, to avoid drive belt slip, or built-in transmission belt 3263 is avoided to occur to jump tooth, de- tooth and showing for hauling out
As.
Cantilever further includes third connecting rod 33, and multi-modal sensor array 40 is provided on third connecting rod 33.Connect relative to first
Bar 31, second connecting rod 32, the third connecting rod 33 for being in end rotate required power minimum.In order to energy saving, selection third
Motor direct-drive third connecting rod 33 rotates.The motor stator of third motor is fixed on second connecting rod 32, third connecting rod 33
End is connected with the rotor of third motor.It is easy dampness close to the cable machinery of ground surface end in cable tunnel, and is difficult to
Detection, thus the both ends of third connecting rod 33 on be provided with multi-modal sensor array 40, to greatest extent realize crusing robot pair
The complete detection of cable tunnel.
Preferably, cantilever further includes the motor fixing plate 331 for fixing third motor, motor fixing plate 331 and second
The body of rod of connecting rod 32 connects, and the use of motor fixing plate 331 can quickly disassemble and install third motor.
Referring to Fig. 1, the height formed using the concatenated first connecting rod 31 of transmission mechanism, second connecting rod 32 and third connecting rod 33
The cantilever of draw ratio has three degree of freedom, and under the cooperation of cantilever and autonomous device 20, there are four crusing robot tools
Freedom degree, lateral moving freely freely fold with vertical, have substantially ensured the flexibility ratio of crusing robot, adapted to long and narrow
Stifled tunnel environment is imprisoned, fire resistant doorsets can be also passed through, improve the routing inspection efficiency of crusing robot.Meanwhile shaft 323 and axis
Hold, transmission shaft 324 and bearing with the use of the rigidity and load capacity that ensure that cantilever.When crusing robot inspection, hang
Arm is in and stretches or be freely rotated state, and the multimode sensor array on connecting rod detects cable machinery；It is anti-when needing to pass through
When vent, first driving device, the second driving device and third motor respectively drive three connecting rods and successively fold to reduce machine
The length of device people's cantilever, so as to pass through fire resistant doorsets.Series-mode frame, folding cantilever have adapted to long and narrow closure
Tunnel environment, solve that crusing robot is blocked by multilayer cable holder in the prior art and there are check frequencies cannot achieve
The problem of complete detection.
Preferably, the first power take-off mechanism includes first motor 3131, the first retarder 3132 and the first transmission belt
3133, the first retarder 3132 is connected on the power output end of first motor 3131, and the first retarder 3132 is passed by first
Dynamic band 3133 is connect with the first driving wheel 312.Second power take-off mechanism include the second motor 3271, the second retarder 3272 with
And second transmission belt 3273, the second retarder 3272 are connected on the power output end of the second motor 3271, the second retarder
3272 are connect by the first transmission belt 3133 with the second driving wheel 325.The folding of third connecting rod 33 and spread across third
The folding of motor direct-drive, first connecting rod 31, second connecting rod 32 is led to expansion by first motor 3131 and the second motor 3271
The effect for crossing transmission belt is driven.The use of retarder can reduce rotary inertia, can timely control the start-stop of transmission belt
With speed change.First motor 3131, the second motor 3271 and retarder are placed on robot body 10 by transmission belt, greatly
The quality for reducing cantilever of amplitude, and then the energy loss of motor is reduced, it ensure that crusing robot in movement of advancing still
It is able to maintain efficient detection；Meanwhile by guaranteeing cantilever and robot body to the use with certain flexible transmission belt
10 flexible connection, and then the lateral force that cantilever is subject to when crusing robot high speed is advanced can be resisted and keep homeostasis.
Referring to Fig. 3, the central axis of shaft 323, transmission shaft 324 and third motor extends outward to form cable-through hole 50,
And first connecting rod 31, second connecting rod 32 and third connecting rod 33 are the hollow stem with internal cavities.A part of signal wire warp
It is connect after crossing the entrance of cable-through hole 50 31 inside of first connecting rod of shaft 323 with the multi-modal sensor array 40 on first connecting rod 31；
Cable-through hole 50 of a part of signal wire Jing Guo shaft 323 enters inside first connecting rod 31, then passes through the cable-through hole of transmission shaft 324
It is connect behind the inside of 50 entrance second connecting rods 32 with the multi-modal sensor array 40 on second connecting rod 32；Remaining signal wire then passes through
The cable-through hole 50 for crossing shaft 323 enters inside first connecting rod 31, then enters second connecting rod by the cable-through hole 50 of transmission shaft 324
32 inside, eventually pass through third motor cable-through hole 50 enter third connecting rod 33 inside after with the multimode on third connecting rod 33
State sensor array 40 connects.Cable-through hole 50 of the electric wire by shaft 323 is electrically connected after entering 31 inside of first connecting rod with third motor
It connects.By cable be built in cable-through hole 50 effectively prevent cable leak outside for a long time in a humid environment be easy electric leakage corrosion phenomena such as
Generation, extend the service life of tunnel crusing robot.
Further, multi-modal sensor array 40 includes a variety of detection sensors, can also be as needed in first connecting rod
31, second connecting rod 32, install on side any one or more in third connecting rod 33 front camera, infrared sensor and
The detection devices such as thermal imaging system, as the rotation of cantilever is measured in real time.
Preferably, autonomous device 20 includes supporing shell 22 and four rolling 21, supporing shell 22 and robot sheet
Body 10 connects, and it is two groups that four rolling 21, which is divided to, and two groups of idler wheels 21 are symmetrical to be mounted in supporing shell 22.It is set on track 60
Two channels for the movement of two groups of idler wheels 21 are equipped with, referring to figure four, crusing robot is advanced by two groups of idler wheels 21 in track 60,
Cantilever carries out the real-time detection of multi-angle with the traveling movement of crusing robot to cable tunnel.Meanwhile cantilever hanger rail type tunnel
Road crusing robot can also add the cantilever of same structure design, e.g., the installation Article 2 cantilever at four A of figure, two
Cantilever, which is worked in coordination, carries out the double-deck detection of angle intersection, prevents missing inspection problem.
When cantilever hanger rail type tunnel crusing robot carries out inspection along track 60 in cable tunnel, cantilever is in can
Stretch opening or multi-angle rotation state, the multi-modal sensing battle array on first connecting rod 31, second connecting rod 32 and third connecting rod 33
Column 40 carry out multi-angle, high coverage rate detection to cable machinery, as shown in Figure 4；When crusing robot is during traveling
When needing through fire resistant doorsets or encountering barrier, rolled over upwards in turn on first connecting rod 31, second connecting rod 32 and third connecting rod 33
The folded length for reducing cantilever, can maximally reduce the longitudinal length of crusing robot, referring specifically to Fig. 5, to make to patrol
Inspection robot can pass through fire resistant doorsets or cut-through object continues inspection work, improve crusing robot traveling, inspection
Flexibility in journey, ensure that routing inspection efficiency to a certain extent.
The present invention is placed on machine by series-mode frame to cantilever, hollow deployment wire cable and by motor and retarder
The design of human body 10 significantly reduces the quality of cantilever, reduces energy output, so that crusing robot can adapt to
Long and narrow tunnel environment so that crusing robot can still provide for inspection in high-speed motion, while cable is carried out it is moisture-proof, can be with
Service life is lengthened, the coverage rate and routing inspection efficiency of crusing robot are improved.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of cantilever hanger rail type tunnel crusing robot, be provided in cable tunnel along track, the cantilever hanger rail type tunnel
Road crusing robot is mobile along the line on that track, which is characterized in that cantilever hanger rail type tunnel crusing robot includes: machine
Device human body (10), autonomous device (20) and cantilever；
Autonomous device (20) suspension in orbit, is equipped with power supply unit, difference on the robot body (10)
The driving device and communication device being electrically connected with the power supply unit, the driving device and the autonomous device (20) are even
It connects to drive the autonomous device (20) to move along track；
The cantilever includes the first driving device of first connecting rod (31), connecting plate and driving first connecting rod (31) movement；Institute
Stating first driving device includes the first power take-off mechanism, first bearing (311) and the first driving wheel (312)；The connection
One end of plate is used to fix with the robot body (10), and through-hole is offered on the other end, and the first bearing (311) is fixed
In the through-hole of the connecting plate；First driving wheel (312) extends to form hollow circle towards the first bearing (311)
Convex block, the convex block are extended into contradict in the inner ring of the first bearing (311) with wall surface and be fixed, and the convex block passes through fixed spiral shell
Bolt is fixed on the body of rod of the first connecting rod (31)；First power take-off mechanism is mounted on the robot body (10)
On, the power output end of first power take-off mechanism drives first driving wheel (312) to rotate to drive described first
The movement of connecting rod (31) is provided with the multi-modal sensor array (40) for detection cable tunnel on the first connecting rod (31),
The multi-modal sensor array (40) is electrically connected with the communication device.
2. a kind of cantilever hanger rail type tunnel according to claim 1 crusing robot, which is characterized in that the cantilever also wraps
Include second connecting rod (32) and the second driving device for driving the second connecting rod (32) to move, second driving device
Including the second power take-off mechanism, shaft (323), transmission shaft (324), second bearing (321), 3rd bearing (322), the 4th axis
It holds, the second driving wheel (325) and transmission mechanism；
The second bearing (321) is arranged in the wheel bore of first driving wheel (312), and the shaft (323) passes through described
The axis hole of second bearing (321)；And one end of the shaft (323) extends into the first connecting rod (31), the shaft
(323) it is connect by the 3rd bearing (322) with the first connecting rod (31), second driving wheel (325) is arranged and consolidates
It is scheduled on the other end of the shaft (323)；One end and the second connecting rod (32) of the transmission shaft (324) are fixed, the biography
The other end of moving axis (324) is connect by the fourth bearing with the first connecting rod (31), and the transmission shaft (324) passes through institute
Transmission mechanism is stated to connect with the shaft (323)；The multi-modal sensor array (40) is provided on the second connecting rod (32)；
Second power take-off mechanism is mounted on the robot body (10), the power output of second power take-off mechanism
End drive second driving wheel (325) rotation with drive the transmission mechanism transmission effect in the second connecting rod (32) so that
The second connecting rod (32) rotates around the axis of the transmission shaft (324).
3. a kind of cantilever hanger rail type tunnel according to claim 2 crusing robot, which is characterized in that the transmission mechanism
Including third driving wheel (3261), the 4th driving wheel (3262) and built-in transmission belt (3263), the third driving wheel
(3261) it is set on the shaft (323), the 4th driving wheel (3262) is set on the transmission shaft (324), described
Built-in transmission belt (3263) is connected between the third driving wheel (3261) and the 4th driving wheel (3262).
4. a kind of cantilever hanger rail type tunnel according to claim 3 crusing robot, which is characterized in that the cantilever also wraps
Include the stretcher (3264) for being tensioned the built-in transmission belt (3263).
5. according to a kind of described in any item cantilever hanger rail type tunnel crusing robots of claim 2 to 4, the cantilever further includes
Third connecting rod (33) and third motor, the motor stator of the third motor are fixed on the second connecting rod (32), and described
The end of three-link (33) is connected with the rotor of the third motor, is provided on the third connecting rod (33) described more
Modal sense array (40).
6. a kind of cantilever hanger rail type tunnel according to claim 5 crusing robot, which is characterized in that the cantilever also wraps
It includes motor fixing plate (331), the third motor is fixed on the motor fixing plate (331), the motor fixing plate (331)
It is connect with the body of rod of the second connecting rod (32).
7. a kind of cantilever hanger rail type tunnel according to claim 5 crusing robot, which is characterized in that first power
Output mechanism includes first motor (3131), the first retarder (3132) and the first transmission belt (3133), and described first slows down
Device (3132) is connected on the power output end of the first motor (3131), and first retarder (3132) passes through described the
One transmission belt (3133) is connect with first driving wheel (312).
8. a kind of cantilever hanger rail type tunnel according to claim 7 crusing robot, which is characterized in that second power
Output mechanism includes the second motor (3271), the second retarder (3272) and the second transmission belt (3273), and described second slows down
Device (3272) is connected on the power output end of second motor (3271), and second retarder (3272) passes through described the
One transmission belt (3133) is connect with second driving wheel (325).
9. a kind of cantilever hanger rail type tunnel according to claim 8 crusing robot, which is characterized in that the shaft
(323), the central axis of the transmission shaft (324) and the third motor opens up to form cable-through hole (50), signal wire outward
It is connect after the cable-through hole (50) enter corresponding connecting rod inside with the multi-modal sensor array (40), electric wire passes through institute
Cable-through hole (50) are stated to be electrically connected into corresponding connecting rod inside with the third motor.
10. a kind of cantilever hanger rail type tunnel according to claim 5 crusing robot, which is characterized in that the third connects
Both ends are provided with the multi-modal sensor array (40) on bar (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811599010.6A CN109968320A (en) | 2018-12-26 | 2018-12-26 | A kind of cantilever hanger rail type tunnel crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811599010.6A CN109968320A (en) | 2018-12-26 | 2018-12-26 | A kind of cantilever hanger rail type tunnel crusing robot |
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| CN109968320A true CN109968320A (en) | 2019-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811599010.6A Pending CN109968320A (en) | 2018-12-26 | 2018-12-26 | A kind of cantilever hanger rail type tunnel crusing robot |
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Cited By (1)
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| CN109986534A (en) * | 2019-03-27 | 2019-07-09 | 香港中文大学（深圳） | A kind of double cantilever hanger rail types tunnel crusing robot |
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