CN109968337A - A kind of cantilever of hanger rail type tunnel crusing robot - Google Patents
A kind of cantilever of hanger rail type tunnel crusing robot Download PDFInfo
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- CN109968337A CN109968337A CN201811598601.1A CN201811598601A CN109968337A CN 109968337 A CN109968337 A CN 109968337A CN 201811598601 A CN201811598601 A CN 201811598601A CN 109968337 A CN109968337 A CN 109968337A
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- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 74
- 238000000034 method Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 29
- 230000009970 fire resistant effect Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
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- 244000273618 Sphenoclea zeylanica Species 0.000 description 1
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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
- B25J18/00—Arms
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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
- B25J9/10—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
Abstract
The present invention provides a kind of cantilevers of hanger rail type tunnel crusing robot, including first driving device, first connecting rod and connecting plate；First driving device includes the first power take-off mechanism, first bearing and the first driving wheel；One end of connecting plate offers through-hole, first bearing is fixed in the through-hole of connecting plate for fixing with robot body on the other end；First driving wheel extends to form hollow round bump 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 the body of rod of first connecting rod by fixing bolt；First power take-off mechanism is mounted on robot body, and the power output end of the first power take-off mechanism drives the rotation of the first driving wheel to be provided with the multi-modal sensor array for detection cable tunnel to drive first connecting rod to move, on first connecting rod.The low problem of the cantilever routing inspection efficiency that crusing robot in the prior art is able to solve using the technical program.
Description
Technical field
The present invention relates to cable tunnel inspection robot fields, and in particular to a kind of hanger rail type tunnel crusing robot hangs
Arm.
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
There is also following disadvantages for the cantilever of tunnel cable detection hanger rail type robot:
(1) existing cable tunnel inspection robot cantilever can not adapt to tunnel wet environment very well, electric leakage easily occur, lead
Phenomena such as electricity, cable corrosion.
(2) structure of existing cable tunnel inspection robot cantilever is generally cumbersome, and polling rate is low, can not be in high speed
Inspection is carried out under state, routing inspection efficiency is very low.
(3) existing cable tunnel inspection robot cantilever uses the visual detection equipment of tripod head type, can not effectively solve
The problems such as complete autonomous 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 cantilevers of hanger rail type tunnel crusing robot, to solve the prior art
The low problem of the cantilever routing inspection efficiency of middle tunnel crusing robot.
To achieve the goals above, the present invention provides a kind of cantilevers of hanger rail type tunnel crusing robot, comprising: first
Driving device, first connecting rod and connecting plate；The first driving device include the first power take-off mechanism, first bearing and
First driving wheel；One end of the connecting plate offers through-hole, the first axle for fixing with robot body on the other end
It holds and is fixed in the through-hole of the connecting plate；It is convex that first driving wheel towards the first bearing extends to form hollow circle
Block, the convex block are extended into contradict in the inner ring of the first bearing with wall surface and be fixed, and the convex block is fixed by fixing bolt
On the body of rod of the first connecting rod；First power take-off mechanism is mounted on robot body, and first power is defeated
The power output end of mechanism drives the first driving wheel rotation to drive the first connecting rod to move out, on the first connecting rod
It is provided with the multi-modal sensor array for detection cable tunnel.
Further, the cantilever of hanger rail type tunnel crusing robot further includes second connecting rod and described for driving
Second connecting rod movement the second driving device, second driving device include the second power take-off mechanism, shaft, transmission shaft,
Second bearing, 3rd bearing, fourth bearing, the second driving wheel and transmission mechanism；
The second bearing is arranged in the wheel bore of the first driving wheel, and the shaft passes through the axis hole of the second bearing；
And one end of the shaft extends into the first connecting rod, the shaft is connect by 3rd bearing with the first connecting rod,
Second driving wheel is arranged and is fixed on the other end of the shaft；One end of the transmission shaft is fixed with second connecting rod, institute
The other end for stating transmission shaft is connect by the fourth bearing with the first connecting rod, and the transmission shaft passes through the transmission mechanism
It is connect with the shaft；The multi-modal sensor array is provided on the second connecting rod；The second power take-off mechanism peace
On robot body, the power output end of second power take-off mechanism drives second driving wheel to rotate to drive
The transmission mechanism transmission effect is in the second connecting rod so that the second connecting rod is rotated around the axis of the transmission shaft.
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 of hanger rail type tunnel crusing robot further includes for being tensioned the built-in transmission belt
Stretcher.
Further, the cantilever of hanger rail type tunnel crusing robot further includes third connecting rod and third motor, described
The motor stator of third motor is fixed on the second connecting rod, the motor of the end of the third connecting rod and the third motor
Rotor is connected, and multi-modal sensor array is provided on the third connecting rod.
Further, the cantilever of hanger rail type tunnel crusing robot further includes motor fixing plate, the third motor
It is fixed on the motor fixing plate, the motor fixing plate is connect with the body of rod of the second connecting rod.
Further, the first power take-off mechanism includes first motor, the first retarder and the first transmission belt, and described
One speed reducer is connected on the power output end of the first motor, and first retarder passes through first transmission belt and institute
State the connection of the first driving wheel.
Further, the second power take-off mechanism includes the second motor, the second retarder and the second transmission belt, and described the
Two retarders are connected on the power output end of second motor, and second retarder passes through first transmission belt and institute
State the connection of the 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.
It compared with prior art, include the beneficial effects of the present invention are: the cantilever of hanger rail type tunnel crusing robot
One driving device, first connecting rod and connecting plate, first driving device include the first power take-off mechanism, first bearing and the
One driving wheel；One end of connecting plate offers through-hole, first bearing is fixed on company for fixing with robot body on the other end
In the through-hole of fishplate bar；First driving wheel extends to form hollow round bump towards first bearing, and convex block extends into first bearing
It contradicts and fixes with wall surface in inner ring, convex block is fixed on the body of rod of first connecting rod by fixing bolt；First power take-off mechanism
It is mounted on robot body, the power output end of the first power take-off mechanism drives the first driving wheel to rotate to drive the first company
The movement of bar is provided with the multi-modal sensor array for detection cable tunnel on first connecting rod.The present invention will drive the first company
First output mechanism of bar movement is placed on robot body, makes cantilever lighting, while being provided on first connecting rod more
Modal sense array, multi-modal sensor array can be to the cables or tunnel location shape of required detection with the rotation of first connecting rod
At multi-angle observation, the detection to cable tunnel high coverage rate is realized, when needing to pass through fire resistant doorsets, cantilever is rotated up reduction
The length of cantilever effectively raises the cantilever of hanger rail type tunnel crusing robot so that crusing robot passes through fire resistant doorsets
Routing inspection efficiency.
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 the cantilever of hanger rail type tunnel crusing robot of the invention；
Fig. 2 is the schematic diagram of internal structure of the cantilever of hanger rail type tunnel crusing robot of the invention；
Fig. 3 is the part-structure sectional view of the cantilever of hanger rail type tunnel crusing robot of the invention；
Fig. 4 is the application schematic diagram of the cantilever of hanger rail type tunnel crusing robot of the invention；
Fig. 5 is the application schematic diagram of the cantilever of hanger rail type tunnel crusing robot of the invention.
Wherein, the above drawings include the following reference numerals:
11, first connecting rod；12, second connecting rod；13, third connecting rod；20, multi-modal sensor array；31, first bearing；32,
Second bearing；33,3rd bearing；41, the first driving wheel；42, the second driving wheel；43, third driving wheel；44, the 4th driving wheel；
51, shaft；52, transmission shaft；61, first motor；62, the second motor；63, motor fixing plate；71, the first retarder；72, second
Retarder；81, the first transmission belt；82, the second transmission belt；83, built-in transmission belt；83a, stretcher；90, cable-through hole；100, machine
Device human body.
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. 3
It is shown, a kind of cantilever of hanger rail type tunnel crusing robot is provided in the present invention, comprising: first driving device, first connecting rod
11 and connecting plate；First driving device includes the first power take-off mechanism, first bearing 31 and the first driving wheel 41；Connection
One end of plate offers through-hole, first bearing 31 is fixed on the through-hole of connecting plate for fixing with robot body on the other end
It is interior；First driving wheel 41 extends to form round bump towards first bearing 31, convex block extend into the inner ring of first bearing 31 with
Wall surface, which contradicts, to be fixed, and convex block is fixed on the body of rod of first connecting rod 11 by fixing bolt；First power take-off mechanism is mounted on
On robot body, the power output end of the first power take-off mechanism drives the first driving wheel 41 to rotate to drive first connecting rod 11
Movement, the multi-modal sensor array 20 for detection cable tunnel is provided on first connecting rod 11.
The first output mechanism for driving first connecting rod 11 to move is placed on robot body by the present invention, makes cantilever lightweight
Change, while being provided with multi-modal sensor array 20 on first connecting rod 11, multi-modal sensor array 20 is with first connecting rod 11
It rotates and multi-angle observation is formed to the cable or tunnel location of required detection, realize the detection to cable tunnel high coverage rate, when
When needing to pass through fire resistant doorsets, cantilever is rotated up the length for shortening cantilever so that crusing robot passes through fire resistant doorsets, effectively
The cantilever for improving hanger rail type tunnel crusing robot routing inspection efficiency.
The cantilever of hanger rail type tunnel crusing robot further include second connecting rod 12 and for drive second connecting rod 12 move
The second driving device, the second driving device includes the second power take-off mechanism, shaft 51, transmission shaft 52, second bearing 32, the
Three bearings 33, fourth bearing, the second driving wheel 42 and transmission mechanism；The wheel of the first driving wheel 41 is arranged in second bearing 32
In hole, shaft 51 passes through the axis hole of second bearing 32；And one end of shaft 51 extends into first connecting rod 11, shaft 51 passes through the
Three bearings 33 are connect with first connecting rod 11, and the second driving wheel 42 is arranged and is fixed on the other end of shaft 51；The one of transmission shaft 52
End is fixed with second connecting rod 12, and the other end of transmission shaft 52 is connect by fourth bearing with first connecting rod 11, and transmission shaft 52 passes through
Transmission mechanism is connect with shaft 51；Multi-modal sensor array 20 is provided on second connecting rod 12；The installation of second power take-off mechanism
On robot body, the power output end of the second power take-off mechanism drives the second driving wheel 42 to rotate to drive transmission mechanism
Transmission effect is in second connecting rod 12 so that second connecting rod 12 is rotated around the axis of transmission shaft 52.
Further, transmission mechanism includes third driving wheel 43, the 4th driving wheel 44 and built-in transmission belt 83, and third is driven
Driving wheel 43 is set in shaft 51, and the 4th driving wheel 44 is set on transmission shaft 52, and built-in transmission belt 83 is connected to third driving
Between wheel 43 and the 4th driving wheel 44.First connecting rod 11 is driven to rotate by first driving device, the second driving device driving the
Two connecting rods 12 are rotated relative to first connecting rod 11, so that first connecting rod 11 and second connecting rod 12 is can be carried out relatively independent movement, into one
It walks appropriate cable tunnel complexity and imprisons stifled environment, guarantee the coverage rate of cantilever inspection, while the flexibility for increasing cantilever into one.
As shown in Fig. 2, the cantilever of hanger rail type tunnel crusing robot further includes the tensioning for being tensioned built-in transmission belt 83
Device 83a.Stretcher 83a is tensioned built-in transmission belt 83 by U-type groove form, to keep built-in transmission belt 83 being driven
Tensile force appropriate can be possessed in journey, to avoid drive belt slip, or built-in transmission belt 83 is avoided to occur to jump tooth, de- tooth
And the phenomenon that hauling out.
The cantilever of hanger rail type tunnel crusing robot further includes third connecting rod 13, and multi-modal biography is provided on third connecting rod 13
Feel array 20.Relative to first connecting rod 11, second connecting rod 12, the third connecting rod 13 for being in end rotates required power minimum.
In order to energy saving, selection third motor driven third connecting rod 13 is rotated.The motor stator of third motor is fixed on second connecting rod
On 12, the end of third connecting rod 13 is connected with the rotor of third motor.Cable in cable tunnel close to ground surface end is set
It is standby to be easy dampness, and be difficult to detect, thus the both ends of third connecting rod 13 on be provided with multi-modal sensor array 20, to greatest extent
Realize the complete detection to cable tunnel.
Preferably, the cantilever of hanger rail type tunnel crusing robot further includes the motor fixing plate for fixing third motor
63, motor fixing plate 63 is connect with the body of rod of second connecting rod 12, motor fixing plate 63 use can quickly to third motor into
Row disassembly and installation.
The high length-diameter ratio formed using the concatenated first connecting rod 11 of transmission mechanism, second connecting rod 12 and third connecting rod 13
Cantilever has three degree of freedom, i.e. the flexibility ratio of cantilever is higher, guarantees that crusing robot both can be carried out efficient detection, also can
Fire resistant doorsets are passed through, while ensure that the rigidity of cantilever, load capacity and being freely unfolded and folder function.Work as inspection machine
When people's inspection, connecting rod is in and stretches or be freely rotated state, and the multimode sensor array on connecting rod carries out multi-angle to cable machinery
Detection；When needing to pass through fire resistant doorsets, first driving device, the second driving device and third motor respectively drive three companies
Bar is successively folded to reduce the length of robot cantilever, so as to pass through fire resistant doorsets.It is series-mode frame, folding
Cantilever has adapted to the tunnel environment of long and narrow closure, and the cantilever for solving crusing robot in the prior art is hidden by multilayer cable holder
It keeps off and there are problems that check frequency and cannot achieve complete detection.
Preferably, the first power take-off mechanism includes first motor 61, the first retarder 71 and the first transmission belt 81, and
One speed reducer 71 is connected on the power output end of first motor 61, and the first retarder 71 is driven by the first transmission belt 81 and first
Driving wheel 41 connects.Second power take-off mechanism includes the second motor 62, the second retarder 72 and the second transmission belt 82, and second subtracts
Fast device 72 is connected on the power output end of the second motor 62, and the second retarder 72 passes through the first transmission belt 81 and the second driving wheel
42 connections.The folding of third connecting rod 13 and spread across third motor direct-drive, first connecting rod 11, second connecting rod 12
It folds and is driven by first motor 61 and the second motor 62 by the effect of transmission belt with expansion.The use of retarder can drop
Low rotor inertia can timely control the start-stop and speed change of transmission belt.By transmission belt by first motor 61, the second motor 62 with
And two retarders are placed on robot body, significantly reduce the quality of cantilever, and then reduce first motor 61, the
The energy loss of two motors 62 ensure that crusing robot cantilever in movement of advancing still is able to maintain efficient detection；Meanwhile
By guaranteeing the flexible connection of cantilever and robot body to the use with certain flexible transmission belt, and then machine can be resisted
The lateral force that cantilever is subject to when device people's high speed keeps homeostasis.
Referring to Fig. 3, the central axis of shaft 51, transmission shaft 52 and third motor extends outward to form cable-through hole 90, and
And first connecting rod 11, second connecting rod 12 and third connecting rod 13 are the hollow stem with internal cavities.A part of signal wire passes through
The cable-through hole 90 of shaft 51 is connect after entering 11 inside of first connecting rod with the multi-modal sensor array 20 on first connecting rod 11；One
Cable-through hole 90 of the sub-signal line Jing Guo shaft 51 enters inside first connecting rod 11, then enters by the cable-through hole 90 of transmission shaft 52
It is connect behind the inside of second connecting rod 12 with the multi-modal sensor array 20 on second connecting rod 12；Remaining signal wire then passes through shaft
51 cable-through hole 90 enters inside first connecting rod 11, then enters the interior of second connecting rod 12 by the cable-through hole 90 of transmission shaft 52
Portion, eventually pass through third motor cable-through hole 90 enter third connecting rod 13 inside after with the multi-modal sensing on third connecting rod 13
Array 20 connects.Cable-through hole 90 of the electric wire by shaft 51 is electrically connected after entering 11 inside of first connecting rod with third motor.By line
Cable be built in cable-through hole 90 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 cantilever.
Further, multi-modal sensor array 20 includes a variety of detection sensors, can also be as needed in first connecting rod
11, second connecting rod 12, install on side any one or more in third connecting rod 13 front camera, infrared sensor and
The detection devices such as thermal imaging system, as the movement of cantilever is measured in real time.
Fig. 4, Fig. 5 are the schematic diagrames that cantilever applies on robot body 100, and Fig. 4 is cantilever straight configuration, that is, work as inspection
When robot carries out inspection in cable tunnel, cantilever, which is in, can stretch opening or multi-angle rotation state, first connecting rod 11, the
Multi-modal sensor array 20 on two connecting rods 12 and third connecting rod 13 carries out multi-angle, high coverage rate inspection to cable machinery
It surveys；When crusing robot needs through fire resistant doorsets during traveling or encounters barrier, cantilever passes through first connecting rod 11, the
Two connecting rods 12 and third connecting rod 13 fold the length for reducing itself upwards in turn, and Fig. 5 is that cantilever is folded to reduce inspection machine
The longitudinal length of people to greatest extent, so that so that crusing robot is passed through fire resistant doorsets or cut-through object continues inspection
Work improves the flexibility during crusing robot traveling, inspection, ensure that routing inspection efficiency to a certain extent.
The present invention by the design of series-mode frame, hollow deployment wire cable and motor and retarder postposition to cantilever,
So that crusing robot can adapt to long and narrow tunnel environment, the quality of cantilever is significantly reduced, reduces energy output,
So that crusing robot remains to cantilever in high-speed motion and can still provide for inspection, while moisture-proof to cable progress, can lengthen makes
With the time limit, the coverage rate and routing inspection efficiency of crusing robot cantilever 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 of hanger rail type tunnel crusing robot characterized by comprising first driving device, first connecting rod
(11) and connecting plate；
The first driving device includes the first power take-off mechanism, first bearing (31) and the first driving wheel (41)；It is described
One end of connecting plate offers through-hole, the first bearing (31) is fixed on institute for fixing with robot body on the other end
It states in the through-hole of connecting plate；First driving wheel (41) extends to form hollow round bump towards the first bearing (31),
The convex block is extended into contradict in the inner ring of the first bearing (31) with wall surface and be fixed, and the convex block is fixed by fixing bolt
On the body of rod of the first connecting rod (11)；First power take-off mechanism is mounted on robot body, and described first is dynamic
The power output end of power output mechanism drives the first driving wheel (41) rotation to drive the first connecting rod (11) to move, institute
State the multi-modal sensor array (20) being provided on first connecting rod (11) for detection cable tunnel.
2. a kind of cantilever of hanger rail type tunnel crusing robot according to claim 1, which is characterized in that the hanger rail type
The cantilever of tunnel crusing robot further include second connecting rod (12) and for drive the second connecting rod (12) move second
Driving device, second driving device include the second power take-off mechanism, shaft (51), transmission shaft (52), second bearing
(32), 3rd bearing (33), fourth bearing, the second driving wheel (42) and transmission mechanism；
The second bearing (32) is arranged in the wheel bore of first driving wheel (41), and the shaft (51) passes through described second
The axis hole of bearing (32)；And one end of the shaft (51) extends into the first connecting rod (11), the shaft (51) passes through
The 3rd bearing (33) connect with the first connecting rod (11), and second driving wheel (42) is arranged and is fixed on the shaft
(51) the other end；One end of the transmission shaft (52) and the second connecting rod (12) are fixed, the transmission shaft (52) it is another
End connect by the fourth bearing with the first connecting rod (11), the transmission shaft (52) pass through the transmission mechanism with it is described
Shaft (51) connection；The multi-modal sensor array (20) is provided on the second connecting rod (12)；Second power output
Mechanism is mounted on robot body, and the power output end of second power take-off mechanism drives second driving wheel (42)
Rotation is to drive the transmission mechanism transmission effect in the second connecting rod (12) so that the second connecting rod (12) is around the biography
The axis of moving axis (52) rotates.
3. a kind of cantilever of hanger rail type tunnel crusing robot according to claim 2, which is characterized in that the driver
Structure includes third driving wheel (43), the 4th driving wheel (44) and built-in transmission belt (83), and the third driving wheel (43) is arranged
On the shaft (51), the 4th driving wheel (44) is set on the transmission shaft (52), the built-in transmission belt (83)
It is connected between the third driving wheel (43) and the 4th driving wheel (44).
4. a kind of cantilever of hanger rail type tunnel crusing robot according to claim 3, which is characterized in that the hanger rail type
The cantilever of tunnel crusing robot further includes the stretcher (83a) for being tensioned the built-in transmission belt (83).
5. according to a kind of cantilever of the described in any item hanger rail type tunnel crusing robots of claim 2 to 4, the hanger rail type tunnel
The cantilever of road crusing robot further includes third connecting rod (13) and third motor (73), the motor stator of the third motor (73)
It is fixed on the second connecting rod (12), the rotor phase of the end of the third connecting rod (13) and the third motor (73)
It connects, is provided with the multi-modal sensor array (20) on the third connecting rod (13).
6. a kind of cantilever of hanger rail type tunnel crusing robot according to claim 5, which is characterized in that the hanger rail type
The cantilever of tunnel crusing robot further includes motor fixing plate (63), and the third motor is fixed on the motor fixing plate (63)
On, the motor fixing plate (63) connect with the body of rod of the second connecting rod (12).
7. a kind of cantilever of hanger rail type tunnel crusing robot according to claim 5, which is characterized in that the first power is defeated
Mechanism includes first motor (61), the first retarder (71) and the first transmission belt (81) out, and first retarder (71) is even
Connect on the power output end of the first motor (61), first retarder (71) by first transmission belt (81) with
First driving wheel (41) connection.
8. a kind of cantilever of hanger rail type tunnel crusing robot according to claim 7, which is characterized in that the second power is defeated
Mechanism includes the second motor (62), the second retarder (72) and the second transmission belt (82) out, and second retarder (72) is even
Connect on the power output end of second motor (62), second retarder (72) by second transmission belt (82) with
Second driving wheel (42) connection.
9. a kind of cantilever of hanger rail type tunnel crusing robot according to claim 8, which is characterized in that the shaft
(51), the central axis of the transmission shaft (52) and the third motor opens up to be formed cable-through hole (90) outward, signal wire warp
It crosses after the cable-through hole (90) enter corresponding connecting rod inside and is connect with the multi-modal sensor array (20), described in electric wire process
Cable-through hole (90) enters inside corresponding connecting rod to be electrically connected with the third motor.
10. a kind of cantilever of hanger rail type tunnel crusing robot according to claim 5, which is characterized in that the third
Both ends are provided with the multi-modal sensor array (20) on connecting rod (13).
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