CN210115910U - Double-cantilever hanger rail type tunnel inspection robot - Google Patents
Double-cantilever hanger rail type tunnel inspection robot Download PDFInfo
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- CN210115910U CN210115910U CN201920398324.3U CN201920398324U CN210115910U CN 210115910 U CN210115910 U CN 210115910U CN 201920398324 U CN201920398324 U CN 201920398324U CN 210115910 U CN210115910 U CN 210115910U
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Abstract
The utility model belongs to the technical field of the automated inspection robot, especially, relate to a robot is patrolled and examined in double cantilever hanger rail formula tunnel. This robot is patrolled and examined along rail mounted to two cantilever hanger rail formula tunnels removes, and it includes: robot, autonomous mobile device, cantilever and cantilever drive arrangement, the tunnel in this application patrols and examines the robot, and its cantilever is including relative left cantilever and the right cantilever that sets up, compares the robot among the prior art, and the design of double suspension arm makes the cantilever of robot more reliable and more stable, is difficult to break down, makes patrolling and examining efficiency of patrolling and examining the robot higher, and life is longer to the efficiency of patrolling and examining of robot is patrolled and examined in cable tunnel has been improved.
Description
Technical Field
The utility model belongs to the technical field of the automated inspection robot, especially, relate to a robot is patrolled and examined in double cantilever hanger rail formula tunnel.
Background
Underground power transmission technology which does not occupy the ground space is greatly developed in many countries, especially developed countries, for example, more than 85% of power transmission in capital regions of a country is underground ultrahigh voltage transmission lines. In recent years, with the continuous development of underground power transmission technology, cable tunnels are built in many cities for the transmission of ultra-high voltage electricity. The urban cable tunnel is an important type of city power supply overhead ground, improves power operation safety and utilizes urban underground space, and is also an important direction for development of future power facilities. However, cable tunnels are in a wet, corrosive environment underground throughout the year, leaving the safety issues of the power lines to be solved. In order to ensure the safety of power transmission, except the waterproof and moistureproof work in the tunnel, the regular inspection of the power line in the tunnel is also indispensable, and the cable tunnel inspection mode is basically manual inspection, but the danger is large and the efficiency is low.
Aiming at the problems, part of cable tunnels are applied to an online monitoring technology, but a large number of sensors need to be embedded in advance, so that the cost is high, and the workload of later maintenance is large. Along with the development of robot technique and detection robot, the track that can be used to cable tunnel or similar environment patrols and examines robot and takes place at present, and is compared with traditional artifical patrolling and examining, and the track is patrolled and examined the robot and is had that environmental adaptation ability is strong, the detection precision is high, can realize the advantage that patrols and examines in 24 hours all day, adopts to patrol and examine the robot and patrol and examine not only save the cost, and detection efficiency is higher moreover.
The current inspection robot mainly comprises a wheel type inspection robot and a crawler type inspection robot, but a cable tunnel is long and narrow in space, is plugged along the way, has a large number of obstacles, and has the conditions of turning, climbing up and down slopes and even climbing vertically. To sum up, current power pipe gallery tunnel cable inspection robot still has following shortcoming:
(1) the existing cable tunnel inspection robot cannot adapt to a tunnel humid environment well, and phenomena such as electric leakage, electric conduction and cable corrosion easily occur.
(2) The structure of the existing cable tunnel inspection robot is generally heavy, inspection speed is low, inspection can not be carried out at a high speed, and inspection efficiency is very low.
(3) The existing cable tunnel inspection robot adopts cloud platform type visual detection equipment, the problems of full autonomous inspection, shielding of multiple layers of cable supports, automatic defect detection and the like cannot be effectively solved, and inspection efficiency and coverage rate are low.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a double-cantilever hanger rail formula tunnel patrols and examines robot is provided, the tunnel that aims at solving among the prior art patrols and examines the robot and patrol and examine inefficiency, the unstable problem of detection achievement.
In order to solve the technical problem, the utility model relates to a realize like this, a robot is patrolled and examined in double-cantilever hanger rail formula tunnel, uses with the track cooperation along the line that sets up, robot is patrolled and examined in double-cantilever hanger rail formula tunnel includes: the robot comprises a robot body, an autonomous moving device, a cantilever and a cantilever driving device, wherein the cantilever comprises a left cantilever and a right cantilever which are arranged in parallel, and the cantilever driving device comprises a first driving device and a second driving device;
the automatic moving device is arranged on the robot body and suspended on a track, a power supply device, a driving device and a communication device are mounted on the robot body, the driving device and the communication device are respectively electrically connected with the power supply device, the cantilever driving device is respectively electrically connected with the communication device and the power supply device, and the driving device is connected with the automatic moving device to drive the automatic moving device to move along the track; the left cantilever comprises a left connecting plate and a left first connecting rod, one end of the left connecting plate is fixed with the robot body, and the other end of the left connecting plate is rotatably connected with the first end of the left first connecting rod; the right cantilever comprises a right connecting plate and a right first connecting rod, one end of the right connecting plate is fixed with the robot body, and the other end of the right connecting plate is rotatably connected with the first end of the right first connecting rod;
the first driving device drives the left first connecting rod to move, the second driving device drives the right first connecting rod to move, and a multi-mode sensing array for detecting cables is arranged on each of the left first connecting rod and the right first connecting rod.
Further, the first driving device comprises a first power output mechanism, a first transmission belt, a left first bearing and a left first driving wheel; the left first bearing is fixed in the through hole of the left connecting plate; the left first driving wheel extends towards the left first bearing to form a hollow round left lug, the left lug extends into the inner ring of the left first bearing and is abutted and fixed with the wall surface of the inner ring of the left first bearing, and the left lug is fixedly connected with the first end of the left first connecting rod; the first power output mechanism is mounted on the robot body, a power output end of the first power output mechanism is connected with the left first driving wheel through the first transmission belt, and the first power output mechanism drives the left first driving wheel to rotate through the first transmission belt so as to drive the left first connecting rod to move;
the second driving device comprises a second power output mechanism, a second transmission belt, a right first bearing and a right first driving wheel; the right first bearing is fixed in the through hole of the right connecting plate; the right first driving wheel extends towards the right first bearing to form a hollow round right convex block, the right convex block extends into the inner ring of the right first bearing and is abutted and fixed with the wall surface of the inner ring of the right first bearing, and the right convex block is also fixedly connected with the first end of the right first connecting rod; the second power output mechanism is installed on the robot body, the power output end of the second power output mechanism is connected with the right first driving wheel through the second transmission belt, and the second power output mechanism drives the right first driving wheel to rotate through the second transmission belt so as to drive the right first connecting rod to move.
Furthermore, the left cantilever further comprises a left second connecting rod and a left first transmission assembly for driving the left second connecting rod to move, and the left first transmission assembly comprises a left first rotating shaft, a left second bearing, a left second driving wheel, a left third driving wheel and a left first transmission pull rope; the left first rotating shaft penetrates through a wheel hole of the left first driving wheel and rotates synchronously with the left first driving wheel, the left second driving wheel is fixedly sleeved on the left first rotating shaft and rotates synchronously with the left first rotating shaft, a through hole is formed in the second end of the left first connecting rod, the left second bearing is arranged in the through hole in the second end of the left first connecting rod, the left second rotating shaft penetrates through a shaft hole of the left second bearing, the left third driving wheel is fixedly sleeved on the left second rotating shaft and rotates synchronously with the left second rotating shaft, the left second rotating shaft is fixed with the first end of the left second connecting rod, and the left second driving wheel is connected with the left third driving wheel through the left first transmission pull rope;
the right cantilever further comprises a right second connecting rod and a right first transmission assembly for driving the right second connecting rod to move, and the right first transmission assembly comprises a right first rotating shaft, a right second bearing, a right second driving wheel, a right third driving wheel and a right first transmission pull rope; the right first rotating shaft penetrates through a wheel hole of the right first driving wheel and rotates synchronously with the right first driving wheel, the right second driving wheel is fixedly sleeved on the right first rotating shaft and rotates synchronously with the right first rotating shaft, a through hole is formed in the extending end of the right first connecting rod, the right second bearing is arranged in the through hole in the second end of the right first connecting rod, the right second rotating shaft penetrates through a shaft hole of the right second bearing, the right third driving wheel is fixedly sleeved on the right second rotating shaft and rotates synchronously with the right second rotating shaft, the right second rotating shaft is fixed with the first end of the right second connecting rod, the right second driving wheel is connected with the right third driving wheel through the right first transmission pull rope, and the left second connecting rod and the right second connecting rod move synchronously;
and a multi-mode sensing array for detecting the cable is arranged on the left second connecting rod and the right second connecting rod, and the multi-mode sensing array is electrically connected with the communication device.
Furthermore, the cantilever further comprises a third connecting rod, a third rotating shaft, a left second transmission assembly arranged on the left second connecting rod and a right second transmission assembly arranged on the right second connecting rod; wherein the content of the first and second substances,
the left second transmission assembly comprises a left third bearing, a left fourth driving wheel, a left fifth driving wheel and a left second transmission pull rope; the left fourth driving wheel is sleeved on the left second rotating shaft and rotates synchronously with the left second rotating shaft, a through hole is formed in the second end of the left second connecting rod, the left third bearing is arranged in the through hole in the second end of the left second connecting rod, the third rotating shaft penetrates through a shaft hole of the left third bearing, the left fifth driving wheel is fixedly sleeved on the third rotating shaft and rotates synchronously with the third rotating shaft, and the left fourth driving wheel and the left fifth driving wheel are connected through the left second transmission pull rope;
the right second transmission assembly comprises a right third bearing, a right fourth driving wheel, a right fifth driving wheel and a right second transmission pull rope; the right fourth driving wheel is sleeved on the right second rotating shaft and rotates synchronously with the right second rotating shaft, a through hole is formed in the second end of the right second connecting rod, the right third bearing is arranged in the through hole in the second end of the right second connecting rod, the third rotating shaft further penetrates through a shaft hole of the right third bearing, the right fifth driving wheel is fixedly sleeved on the third rotating shaft and rotates synchronously with the third rotating shaft, and the right fourth driving wheel is connected with the right fifth driving wheel through the right second transmission pull rope;
the connecting end of the third connecting rod is connected to the third rotating shaft and synchronously rotates with the third rotating shaft, the multimode sensing arrays are arranged at the two ends of the connecting end and the extending end of the third connecting rod, and the multimode sensing arrays are electrically connected with the communication device.
Furthermore, the robot body comprises a front carriage, a rear carriage and a buffer structure, wherein the front carriage and the rear carriage are connected through the buffer structure;
the cantilever and the cantilever driving device are both installed on the rear carriage, and the power supply device and the communication device are both installed on the front carriage.
Further, the first power output mechanism comprises a first motor and a first speed reducer, the first speed reducer is connected to the power output end of the first motor, and the first speed reducer is connected with the left first driving wheel through the first transmission belt;
the second power output mechanism comprises a second motor and a second speed reducer, the second speed reducer is connected to the power output end of the second motor, and the second speed reducer is connected with the right first driving wheel through a second transmission belt.
Furthermore, the cantilever adopts a hollow design, a line passing hole is formed in the cantilever, and a signal line enters the corresponding connecting rod through the line passing hole and then is connected with the multi-mode sensing array.
Further, the boom arm further includes a first tensioner for tensioning the first drive belt and a second tensioner for tensioning the second drive belt.
Furthermore, the cantilever is provided with a first obstacle avoidance sensor, and when the first obstacle avoidance sensor detects an obstacle, the first driving device and the second driving device drive the cantilever to be folded so as to avoid the obstacle.
Furthermore, a second obstacle avoidance sensor is arranged on the robot body, and when the second obstacle avoidance sensor detects an obstacle, the autonomous moving device brakes to stop the motion of the robot body, so that the robot body is prevented from colliding with the obstacle.
Compared with the prior art, the utility model, beneficial effect lies in: the utility model discloses a robot is patrolled and examined in two cantilever hanger rail formula tunnels, this robot is patrolled and examined in two cantilever hanger rail formula tunnels along track removal, it includes: robot, autonomous mobile device, cantilever and cantilever drive arrangement, the tunnel in this application patrols and examines the robot, and its cantilever is including relative left cantilever and the right cantilever that sets up, compares the robot among the prior art, and the design of double suspension arm makes the cantilever of robot more reliable and more stable, is difficult to break down, makes patrolling and examining efficiency of patrolling and examining the robot higher, and life is longer to the efficiency of patrolling and examining of robot is patrolled and examined in cable tunnel has been improved.
Drawings
Fig. 1 is a schematic structural view of a double-cantilever hanger rail type tunnel inspection robot provided by an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another angle;
FIG. 3 is a schematic view of the structure of FIG. 1 from yet another angle;
fig. 4 is a schematic structural diagram of a partial structure in the double-cantilever rail type tunnel inspection robot of fig. 1.
In the drawings, each reference numeral denotes: 1. a robot body; 11. a front compartment; 12. a rear compartment; 13. a buffer structure; 2. an autonomous mobile device; 31. a left connecting plate; 32. a left first link; 33. a left second link; 34. a third link; 35. a right connecting plate; 36. a right first link; 37. a right second link; 41. a first power take-off mechanism; 411. a first motor; 412. a first decelerator; 42. a first drive belt; 43. a left first bearing; 44. a left first drive wheel; 45. a left first rotating shaft; 46. a left second rotating shaft; 47. a left second bearing; 48. a left second drive wheel; 49. a left third drive wheel; 410. a left first drive rope; 5. a multi-modal sensing array.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Please refer to fig. 1 to 4, which are diagrams illustrating the embodiment of the present invention, which provides a dual-cantilever hanger rail type tunnel inspection robot, used in cooperation with the track along the line, wherein the dual-cantilever hanger rail type tunnel inspection robot comprises: robot 1, autonomic mobile device 2, cantilever and cantilever drive arrangement, the cantilever is including the left cantilever and the right cantilever that set up side by side, and cantilever drive arrangement includes first drive arrangement and second drive arrangement. The autonomous moving device 2 is arranged on the robot body 1 and hung on the track, a power supply device, a driving device and a communication device are arranged on the robot body 1, the driving device and the communication device are respectively and electrically connected with the power supply device, the cantilever driving device is respectively and electrically connected with the communication device and the power supply device, and the driving device is connected with the autonomous moving device 2 to drive the autonomous moving device 2 to move along the track.
The left cantilever includes left connecting plate 31 and left first connecting rod 32, and the one end of left connecting plate 31 is fixed with robot body 1, and the other end of left connecting plate 31 is rotationally connected with the first end of left first connecting rod 32. The right cantilever includes right connecting plate 35 and right first connecting rod 36, and the one end of right connecting plate 35 is fixed with robot body 1, and the other end of right connecting plate 35 is rotationally connected with the first end of right first connecting rod 36. The first driving device drives the left first connecting rod 32 to move, the second driving device drives the right first connecting rod 36 to move, and the multimode sensing arrays 5 for detecting cables are arranged on the left first connecting rod 32 and the right first connecting rod 36.
Specifically, the first driving device includes a first power output mechanism 41, a first belt 42, a left first bearing 43, and a left first drive wheel 44. The first power output mechanism 41 includes a first motor 411 and a first speed reducer 412, the first speed reducer 412 is connected to a power output end of the first motor 411, and the first speed reducer 412 is connected to the left first driving wheel 44 through the first transmission belt 42. The left first bearing 43 is fixed in the through hole of the left connecting plate 31; the left first driving wheel 44 extends towards the left first bearing 43 to form a hollow circular left convex block, the left convex block extends into the inner ring of the left first bearing 43 and is abutted and fixed with the wall surface of the inner ring of the left first bearing 43, and the left convex block is also fixedly connected with the first end of the left first connecting rod 32; the first power output mechanism 41 is installed on the robot body 1, a power output end of the first power output mechanism 41 is connected with the left first driving wheel 44 through the first transmission belt 42, and the first power output mechanism 41 drives the left first driving wheel 44 to rotate through the first transmission belt 42 so as to drive the left first connecting rod 32 to move.
The second driving device comprises a second power output mechanism, a second transmission belt, a right first bearing and a right first driving wheel. The second power output mechanism comprises a second motor and a second speed reducer, the second speed reducer is connected to the power output end of the second motor, and the second speed reducer is connected with the right first driving wheel through a second driving belt. The right first bearing is fixed in the through hole of the right connecting plate 35; the right first driving wheel extends towards the right first bearing to form a hollow circular right convex block, the right convex block extends into the inner ring of the right first bearing and is abutted and fixed with the wall surface of the inner ring of the right first bearing, and the right convex block is also fixedly connected with the first end of the right first connecting rod 36; the second power output mechanism is installed on the robot body 1, the power output end of the second power output mechanism is connected with the right first driving wheel through a second driving belt, and the second power output mechanism drives the right first driving wheel to rotate through the second driving belt so as to drive the right first connecting rod 36 to move. Further, a first tensioner for tensioning the first drive belt 42 and a second tensioner for tensioning the second drive belt are included. The first tensioner tightens the first belt 42 through the U-shaped groove to keep the first belt 42 with a proper tension during the transmission process, so as to avoid the slipping of the belt, or avoid the first belt 42 from jumping and being pulled out due to tooth slipping. In a similar way, the second tensioner tensions the second transmission belt through the U-shaped groove to keep the second transmission belt to have a proper tension in the transmission process, so that the transmission belt is prevented from slipping, or the second transmission belt is prevented from jumping and falling out due to tooth jumping and tooth stripping.
The left cantilever further comprises a left second connecting rod 33 and a left first transmission assembly for driving the left second connecting rod 33 to move, and the left first transmission assembly comprises a left first rotating shaft 45, a left second rotating shaft 46, a left second bearing 47, a left second driving wheel 48, a left third driving wheel 49 and a left first transmission pull rope 410; the left first rotating shaft 45 penetrates through a wheel hole of the left first driving wheel 44 and rotates synchronously with the left first driving wheel 44, the left second driving wheel 48 is fixedly sleeved on the left first rotating shaft 45 and rotates synchronously with the left first rotating shaft 45, a through hole is formed in the second end of the left first connecting rod 32, the left second bearing 47 is arranged in the through hole in the second end of the left first connecting rod 32, the left second rotating shaft 46 penetrates through a shaft hole of the left second bearing 47, the left third driving wheel 49 is fixedly sleeved on the left second rotating shaft 46 and rotates synchronously with the left second rotating shaft 46, the left second rotating shaft 46 is fixed with the first end of the left second connecting rod 33, and the left second driving wheel 48 is connected with the left third driving wheel 49 through the left first transmission pull rope 410.
The right cantilever further comprises a right second connecting rod 37 and a right first transmission assembly for driving the right second connecting rod 37 to move, and the right first transmission assembly comprises a right first rotating shaft, a right second bearing, a right second driving wheel, a right third driving wheel and a right first transmission pull rope; the right first rotating shaft penetrates through a wheel hole of the right first driving wheel and rotates synchronously with the right first driving wheel, the right second driving wheel is fixedly sleeved on the right first rotating shaft and rotates synchronously with the right first rotating shaft, a through hole is formed in the extending end of the right first connecting rod 36, the right second bearing is arranged in the through hole in the second end of the right first connecting rod 36, the right second rotating shaft penetrates through a shaft hole of the right second bearing, the right third driving wheel is fixedly sleeved on the right second rotating shaft and rotates synchronously with the right second rotating shaft, the right second rotating shaft is fixed with the first end of the right second connecting rod 37, the right second driving wheel is connected with the right third driving wheel through a right first transmission pull rope, and the left second connecting rod 33 and the right second connecting rod 37 move synchronously. The left second connecting rod 33 and the right second connecting rod 37 are provided with a multi-mode sensing array 5 for detecting cables, and the multi-mode sensing array 5 is electrically connected with the communication device.
The cantilever further comprises a third link 34, a third rotation shaft, a left second transmission assembly arranged on the left second link 33 and a right second transmission assembly arranged on the right second link 37. The left second transmission assembly comprises a left third bearing, a left fourth driving wheel, a left fifth driving wheel and a left second transmission pull rope; the left fourth driving wheel is sleeved on the left second rotating shaft 46 and rotates synchronously with the left second rotating shaft 46, a through hole is formed in the second end of the left second connecting rod 33, the left third bearing is arranged in the through hole in the second end of the left second connecting rod 33, the third rotating shaft penetrates through the shaft hole of the left third bearing, the left fifth driving wheel is fixedly sleeved on the third rotating shaft and rotates synchronously with the third rotating shaft, and the left fourth driving wheel is connected with the left fifth driving wheel through a left second transmission pull rope. The right second transmission assembly comprises a right third bearing, a right fourth driving wheel, a right fifth driving wheel and a right second transmission pull rope; the right fourth driving wheel is sleeved on the right second rotating shaft and rotates synchronously with the right second rotating shaft, a through hole is formed in the second end of the right second connecting rod 37, the right third bearing is arranged in the through hole in the second end of the right second connecting rod 37, the third rotating shaft penetrates through a shaft hole of the right third bearing, the right fifth driving wheel is fixedly sleeved on the third rotating shaft and rotates synchronously with the third rotating shaft, and the right fourth driving wheel is connected with the right fifth driving wheel through a right second transmission pull rope. The connecting end of the third link 34 is connected to the third rotation shaft and rotates synchronously with the third rotation shaft.
When the tunnel inspection robot is in a working state, the third connecting rod 34 is located at the bottommost part of the tunnel, and cable equipment at the bottom of the tunnel is easily affected with damp and difficult to detect, so that the multimode sensing arrays 5 are arranged at the two ends of the third connecting rod 34, and comprehensive detection of the tunnel cable by the inspection robot is realized to the maximum extent. Further, the multi-modal sensor array 5 includes a plurality of detection sensors, and detection devices such as a front camera, an infrared sensor, and a thermal imager may be mounted on one or more side surfaces of the left first link 32, the right first link 36, the left second link 33, the right second link 37, and the third link 34 as needed to perform real-time detection along with rotation of the cantilever.
The robot is patrolled and examined in tunnel in this application, its cantilever is including relative left cantilever and the right cantilever that sets up, compares the robot among the prior art, and the design of double suspension arm makes the cantilever of robot more reliable and more stable, is difficult to break down, makes patrolling and examining efficiency of patrolling and examining the robot higher, and life is longer to the efficiency of patrolling and examining of robot is patrolled and examined in cable tunnel has been improved. In the process of cantilever folding and folding, the folding directions of the left first link 32 and the left second link 33 are opposite, and the folding directions of the left second link 33 and the third link 34 are opposite.
The robot body 1 includes a front car 11, a rear car 12, and a buffer structure 13, and the front car 11 and the rear car 12 are connected by the buffer structure 13. The boom and the boom drive are mounted on the rear compartment 12, and the power supply and the communication device are mounted on the front compartment 11.
The cantilever adopts the fretwork design, has seted up the line hole of crossing in the cantilever, and the signal line is connected with multimode sensing array 5 after passing inside the line hole entering corresponding connecting rod. The cable is arranged in the wire passing hole, so that the phenomenon that the cable is easy to leak and corrode in a humid environment due to long-term leakage is effectively prevented, and the service life of the tunnel inspection robot is prolonged.
Specifically, be provided with the first sensor of keeping away the barrier on the cantilever, when the first sensor of keeping away the barrier detects the barrier, first drive arrangement and second drive arrangement drive the cantilever and pack up to avoid the barrier. The robot body 1 is provided with a second obstacle avoidance sensor, and when the second obstacle avoidance sensor detects an obstacle, the autonomous moving device 2 brakes to stop the movement of the robot body 1, so that the robot body 1 is prevented from colliding with the obstacle.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined in double-cantilever hanger rail formula tunnel, uses with the track along the line cooperation that sets up, its characterized in that, robot is patrolled and examined in double-cantilever hanger rail formula tunnel includes: the robot comprises a robot body (1), an autonomous moving device (2), a cantilever and a cantilever driving device, wherein the cantilever comprises a left cantilever and a right cantilever which are arranged in parallel, and the cantilever driving device comprises a first driving device and a second driving device;
the automatic moving device (2) is arranged on the robot body (1) and suspended on a track, a power supply device, a driving device and a communication device are mounted on the robot body (1), the driving device and the communication device are respectively electrically connected with the power supply device, the cantilever driving device is respectively electrically connected with the communication device and the power supply device, and the driving device is connected with the automatic moving device (2) to drive the automatic moving device (2) to move along the track; the left cantilever comprises a left connecting plate (31) and a left first connecting rod (32), one end of the left connecting plate (31) is fixed with the robot body (1), and the other end of the left connecting plate (31) is rotatably connected with the first end of the left first connecting rod (32); the right cantilever comprises a right connecting plate (35) and a right first connecting rod (36), one end of the right connecting plate (35) is fixed with the robot body (1), and the other end of the right connecting plate (35) is rotatably connected with the first end of the right first connecting rod (36);
the first driving device drives the left first connecting rod (32) to move, the second driving device drives the right first connecting rod (36) to move, and the left first connecting rod (32) and the right first connecting rod (36) are both provided with a multi-mode sensing array (5) for detecting cables.
2. The double boom hanger rail type tunnel inspection robot according to claim 1, wherein the first driving device includes a first power take-off mechanism (41), a first driving belt (42), a left first bearing (43), and a left first driving wheel (44); the left first bearing (43) is fixed in the through hole of the left connecting plate (31); the left first driving wheel (44) extends towards the left first bearing (43) to form a hollow circular left convex block, the left convex block extends into the inner ring of the left first bearing (43) and is abutted and fixed with the wall surface of the inner ring of the left first bearing (43), and the left convex block is also fixedly connected with the first end of the left first connecting rod (32); a first power output mechanism (41) is mounted on the robot body (1), a power output end of the first power output mechanism (41) is connected with the left first driving wheel (44) through the first transmission belt (42), and the first power output mechanism (41) drives the left first driving wheel (44) to rotate through the first transmission belt (42) so as to drive the left first connecting rod (32) to move;
the second driving device comprises a second power output mechanism, a second transmission belt, a right first bearing and a right first driving wheel; the right first bearing is fixed in a through hole of the right connecting plate (35); the right first driving wheel extends towards the right first bearing to form a hollow round right convex block, the right convex block extends into the inner ring of the right first bearing and is abutted and fixed with the wall surface of the inner ring of the right first bearing, and the right convex block is also fixedly connected with the first end of the right first connecting rod (36); the second power output mechanism is installed on the robot body (1), the power output end of the second power output mechanism is connected with the right first driving wheel through the second transmission belt, and the second power output mechanism drives the right first driving wheel to rotate through the second transmission belt so as to drive the right first connecting rod (36) to move.
3. The double-cantilever crane rail type tunnel inspection robot according to claim 2, wherein the left cantilever further comprises a left second connecting rod (33) and a left first transmission assembly for driving the left second connecting rod (33) to move, and the left first transmission assembly comprises a left first rotating shaft (45), a left second rotating shaft (46), a left second bearing (47), a left second driving wheel (48), a left third driving wheel (49) and a left first transmission pull rope (410); the left first rotating shaft (45) passes through the wheel hole of the left first driving wheel (44) and rotates synchronously with the left first driving wheel (44), the left second driving wheel (48) is fixedly sleeved on the left first rotating shaft (45) and rotates synchronously with the left first rotating shaft (45), the second end of the left first connecting rod (32) is provided with a through hole, the left second bearing (47) is arranged in the through hole at the second end of the left first connecting rod (32), the left second rotating shaft (46) passes through the shaft hole of the left second bearing (47), the left third driving wheel (49) is fixedly sleeved on the left second rotating shaft (46) and rotates synchronously with the left second rotating shaft (46), the left second rotating shaft (46) is fixed with the first end of the left second connecting rod (33), the left second driving wheel (48) is connected with the left third driving wheel (49) through the left first transmission pull rope (410);
the right cantilever further comprises a right second connecting rod (37) and a right first transmission assembly for driving the right second connecting rod (37) to move, and the right first transmission assembly comprises a right first rotating shaft, a right second bearing, a right second driving wheel, a right third driving wheel and a right first transmission pull rope; the right first rotating shaft passes through the wheel hole of the right first driving wheel and rotates synchronously with the right first driving wheel, the right second driving wheel is fixedly sleeved on the right first rotating shaft and rotates synchronously with the right first rotating shaft, the extending end of the right first connecting rod (36) is provided with a through hole, the right second bearing is arranged in the through hole at the second end of the right first connecting rod (36), the right second rotating shaft passes through the shaft hole of the right second bearing, the right third driving wheel is fixedly sleeved on the right second rotating shaft and rotates synchronously with the right second rotating shaft, the right second rotating shaft is fixed with the first end of the right second connecting rod (37), the right second driving wheel is connected with the right third driving wheel through the right first transmission pull rope, the left second connecting rod (33) and the right second connecting rod (37) move synchronously;
the left second connecting rod (33) and the right second connecting rod (37) are provided with a multi-mode sensing array (5) used for detecting cables, and the multi-mode sensing array (5) is electrically connected with the communication device.
4. The double boom rail tunnel inspection robot according to claim 3, wherein the boom further includes a third link (34), a third rotating shaft, a left second transmission assembly provided on the left second link (33), and a right second transmission assembly provided on the right second link (37); wherein the content of the first and second substances,
the left second transmission assembly comprises a left third bearing, a left fourth driving wheel, a left fifth driving wheel and a left second transmission pull rope; the left fourth driving wheel is sleeved on the left second rotating shaft (46) and rotates synchronously with the left second rotating shaft (46), a through hole is formed in the second end of the left second connecting rod (33), the left third bearing is arranged in the through hole in the second end of the left second connecting rod (33), the third rotating shaft penetrates through a shaft hole of the left third bearing, the left fifth driving wheel is fixedly sleeved on the third rotating shaft and rotates synchronously with the third rotating shaft, and the left fourth driving wheel is connected with the left fifth driving wheel through the left second transmission pull rope;
the right second transmission assembly comprises a right third bearing, a right fourth driving wheel, a right fifth driving wheel and a right second transmission pull rope; the right fourth driving wheel is sleeved on the right second rotating shaft and rotates synchronously with the right second rotating shaft, a through hole is formed in the second end of the right second connecting rod (37), the right third bearing is arranged in the through hole in the second end of the right second connecting rod (37), the third rotating shaft further penetrates through a shaft hole of the right third bearing, the right fifth driving wheel is fixedly sleeved on the third rotating shaft and rotates synchronously with the third rotating shaft, and the right fourth driving wheel is connected with the right fifth driving wheel through the right second transmission pull rope;
the connecting end of the third connecting rod (34) is connected to the third rotating shaft and synchronously rotates with the third rotating shaft, the connecting end and the extending end of the third connecting rod (34) are both provided with the multi-mode sensing array (5), and the multi-mode sensing array (5) is electrically connected with the communication device.
5. The double-cantilever crane rail type tunnel inspection robot according to claim 4, wherein the robot body (1) comprises a front carriage (11), a rear carriage (12) and a buffer structure (13), wherein the front carriage (11) and the rear carriage (12) are connected through the buffer structure (13);
the cantilever and the cantilever driving device are both arranged on the rear carriage (12), and the power supply device and the communication device are both arranged on the front carriage (11).
6. The double boom rail type tunnel inspection robot according to any one of claims 2 to 5, wherein the first power output mechanism (41) comprises a first motor (411) and a first speed reducer (412), the first speed reducer (412) is connected to a power output end of the first motor (411), and the first speed reducer (412) is connected with the left first driving wheel (44) through the first transmission belt (42);
the second power output mechanism comprises a second motor and a second speed reducer, the second speed reducer is connected to the power output end of the second motor, and the second speed reducer is connected with the right first driving wheel through a second transmission belt.
7. The double-cantilever hanger rail type tunnel inspection robot according to claim 6, wherein the cantilever is designed in a hollow manner, a line passing hole is formed in the cantilever, and a signal line enters the corresponding connecting rod through the line passing hole and then is connected with the multi-mode sensing array (5).
8. The dual boom hanger rail tunnel inspection robot according to claim 7, wherein the boom further includes a first tensioner for tensioning the first drive belt (42) and a second tensioner for tensioning the second drive belt.
9. The robot is patrolled and examined in double cantilever hanger rail formula tunnel of claim 8, characterized in that, be provided with first obstacle avoidance sensor on the cantilever, when first obstacle avoidance sensor detects the barrier, first drive arrangement and second drive arrangement drive the cantilever and pack up to avoid the barrier.
10. The double-cantilever crane rail type tunnel inspection robot according to claim 9, wherein a second obstacle avoidance sensor is arranged on the robot body (1), and when the second obstacle avoidance sensor detects an obstacle, the autonomous moving device (2) performs braking to stop the movement of the robot body (1) so as to avoid the collision of the robot body (1) with the obstacle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920398324.3U CN210115910U (en) | 2019-03-27 | 2019-03-27 | Double-cantilever hanger rail type tunnel inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920398324.3U CN210115910U (en) | 2019-03-27 | 2019-03-27 | Double-cantilever hanger rail type tunnel inspection robot |
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| CN210115910U true CN210115910U (en) | 2020-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920398324.3U Withdrawn - After Issue CN210115910U (en) | 2019-03-27 | 2019-03-27 | Double-cantilever hanger rail type tunnel inspection robot |
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| CN (1) | CN210115910U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN115674148A (en) * | 2022-11-11 | 2023-02-03 | 中国长江电力股份有限公司 | Climbing auxiliary device and method for realizing automatic butt joint of gallery inspection robot based on automatic locking mechanism |
-
2019
- 2019-03-27 CN CN201920398324.3U patent/CN210115910U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109986534B (en) * | 2019-03-27 | 2024-04-23 | 深圳市人工智能与机器人研究院 | Double-cantilever hanging rail type tunnel inspection robot |
| CN115674148A (en) * | 2022-11-11 | 2023-02-03 | 中国长江电力股份有限公司 | Climbing auxiliary device and method for realizing automatic butt joint of gallery inspection robot based on automatic locking mechanism |
| CN115674148B (en) * | 2022-11-11 | 2024-05-10 | 中国长江电力股份有限公司 | Climbing auxiliary device and method for realizing automatic butt joint of corridor inspection robot based on automatic locking mechanism |
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