CN109986534B - Double-cantilever hanging rail type tunnel inspection robot - Google Patents
Double-cantilever hanging rail type tunnel inspection robot Download PDFInfo
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- CN109986534B CN109986534B CN201910237625.2A CN201910237625A CN109986534B CN 109986534 B CN109986534 B CN 109986534B CN 201910237625 A CN201910237625 A CN 201910237625A CN 109986534 B CN109986534 B CN 109986534B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The application belongs to the technical field of automatic detection robots, and particularly relates to a double-cantilever suspended-rail type tunnel inspection robot. This double cantilever hanging rail formula tunnel inspection robot moves along the track, and it includes: the tunnel inspection 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 oppositely arranged.
Description
Technical Field
The invention belongs to the technical field of automatic detection robots, and particularly relates to a double-cantilever suspended-rail type tunnel inspection robot.
Background
Underground power transmission technology without occupying floor space has been greatly developed in many countries, especially developed countries, for example, over 85% of power transmission in capital areas of a country is an underground ultra-high voltage transmission line. In recent years, with the continuous development of underground power transmission technology, cable tunnels are built in many cities for ultra-high voltage power transmission. That is, the urban cable tunnel is an important type of overhead power entering the ground, improving the operation safety of the power and utilizing the underground space of the city, and is also an important direction of the future power facility development. However, cable tunnels are in a humid, perishable environment under the ground throughout the year, so that the safety problem of the power line remains to be solved. In order to ensure the safety of power transmission, besides 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 has high risk and low efficiency.
Aiming at the problems, the on-line monitoring technology is applied to part of cable tunnels, but a large number of sensors are required to be embedded, the cost is high, and the later maintenance workload is large. Along with the development of robot technology and detection robot, the track inspection robot that can be used to cable tunnel or similar environment is grown, compares with traditional manual inspection, and the track inspection robot has that the adaptability to environment is strong, the detection precision is high, can realize 24 hours all day inspection's advantage, adopts inspection robot to patrol and examine not only the cost is saved, and detection efficiency is higher moreover.
The existing inspection robots mainly comprise wheel type inspection robots and crawler type inspection robots, but the cable tunnel is long and narrow in space, is plugged along the journey, has many obstacles, and has a large number of conditions of turning, ascending and descending slopes and even climbing vertically. In summary, the existing electric power pipe gallery tunnel cable detection robot has the following defects:
(1) The existing cable tunnel inspection robot cannot be well adapted to the moist environment of a tunnel, and phenomena such as electric leakage, electric conduction and cable corrosion are easy to occur.
(2) The structure of the existing cable tunnel inspection robot is generally heavy, the inspection speed is low, inspection cannot be performed in a high-speed state, and the inspection efficiency is very low.
(3) The existing cable tunnel inspection robot adopts a cradle head type visual detection device, so that the problems of full-automatic inspection, shielding of a multi-layer cable support, automatic defect detection and the like cannot be effectively solved, and the inspection efficiency and coverage rate are low.
Disclosure of Invention
The invention aims to solve the technical problems that a double-cantilever suspended track type tunnel inspection robot is low in inspection efficiency and unstable in detection work in the prior art.
In order to solve the technical problems, the invention is realized in such a way that a double-cantilever suspended-rail type tunnel inspection robot is matched with a set track along a line for use, and the double-cantilever suspended-rail type tunnel inspection robot comprises: 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 hung on a track, a power supply device, a driving device and a communication device are arranged on the robot body, 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 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 the left first connecting rod and the right first connecting rod are respectively provided with a multi-mode sensing array for detecting cables.
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 circular left protruding block, the left protruding block extends into the inner ring of the left first bearing and is in abutting fixation with the inner ring wall surface of the left first bearing, and the left protruding block is fixedly connected with the first end of the left first connecting rod; the first power output mechanism is arranged on the robot body, the 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 circular right protruding block, the right protruding block extends into the inner ring of the right first bearing and is in abutting fixation with the inner ring wall surface of the right first bearing, and the right protruding block is 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.
Further, the left cantilever also comprises a left second connecting rod and a left first transmission assembly for driving the left second connecting rod to move, wherein 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 the 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 the 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 fixedly sleeved 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 driving rope;
The right cantilever also comprises a right second connecting rod and a right first transmission assembly for driving the right second connecting rod to move, wherein 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 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, 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 at the second end of the right first connecting rod, the right second rotating shaft penetrates 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 fixedly sleeved 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 driving rope, and the left second connecting rod and the right second connecting rod synchronously move;
The left second connecting rod and the right second connecting rod are provided with a multi-mode sensing array for detecting cables, and the multi-mode sensing array is electrically connected with the communication device.
Further, the cantilever also 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 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 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 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 also penetrates through the 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 rotates synchronously 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.
Further, 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 hollowed-out design, a wire passing hole is formed in the cantilever, and a signal wire passes through the wire passing hole and enters the corresponding connecting rod to be connected with the multi-mode sensing array.
Further, the cantilever arm further comprises a first tensioner for tensioning the first drive belt and a second tensioner for tensioning the second drive belt.
Further, a first obstacle avoidance sensor is arranged on the cantilever, and when the first obstacle avoidance sensor detects an obstacle, the first driving device and the second driving device drive the cantilever to retract so as to avoid the obstacle.
Further, 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 movement of the robot body, so that the robot body is prevented from colliding with the obstacle.
Compared with the prior art, the application has the beneficial effects that: the application relates to a double-cantilever suspended-rail type tunnel inspection robot, which moves along a rail and comprises the following components: the tunnel inspection 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 oppositely arranged.
Drawings
Fig. 1 is a schematic structural diagram of a double-cantilever suspended-rail type tunnel inspection robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 at another angle;
FIG. 3 is a schematic view of the structure of FIG. 1 at a further angle;
fig. 4 is a schematic structural view of a partial structure in the double cantilever suspended 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 output mechanism; 411. a first motor; 412. a first decelerator; 42. a first 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 driving wheel; 49. a left third drive wheel; 410. a left first drive string; 5. a multi-modal sensing array.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Please refer to fig. 1 to 4, which are a double-cantilever suspended-rail type tunnel inspection robot provided in an embodiment of the present invention, and the double-cantilever suspended-rail type tunnel inspection robot is used in cooperation with a set track along a line, and 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 autonomous moving device 2 is arranged on the robot body 1 and hung on a 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 link 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 rotatably connected with the first end of left first link 32. The right cantilever includes right connecting plate 35 and right first link 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 link 36. The first driving device drives the left first link 32 to move, the second driving device drives the right first link 36 to move, and the left first link 32 and the right first link 36 are provided with the multi-mode sensing array 5 for detecting cables.
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 driving 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 protruding block, the left protruding block extends into the inner ring of the left first bearing 43 and is in contact with and fixed with the inner ring wall surface of the left first bearing 43, and the left protruding block is 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, the power output end of the first power output mechanism 41 is connected with the left first driving wheel 44 through a 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 transmission 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 protruding block, the right protruding block extends into the inner ring of the right first bearing and is in abutting fixation with the inner ring wall surface of the right first bearing, and the right protruding block is 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, and the power output end of the second power output mechanism is connected with the right first driving wheel through a 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. Further, a first tensioner for tensioning the first belt 42 and a second tensioner for tensioning the second belt are included. The first tensioner tensions the first belt 42 through the U-shaped groove to maintain the first belt 42 to have proper tension during the transmission process, thereby avoiding belt slip or the phenomenon of the first belt 42 being pulled out by tooth jump and tooth removal. Similarly, the second tensioner tensions the second driving belt through the U-shaped groove to keep the second driving belt to have proper tensioning force in the driving process, so that the driving belt is prevented from slipping, or the phenomenon that the second driving belt is dragged out due to tooth jumping and tooth releasing is avoided.
The left cantilever also comprises a left second connecting rod 33 and a left first transmission component for driving the left second connecting rod 33 to move, wherein the left first transmission component 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, and the left second driving wheel 48 is connected with the left third driving wheel 49 through the left first driving rope 410.
The right cantilever also comprises a right second connecting rod 37 and a right first transmission assembly for driving the right second connecting rod 37 to move, wherein 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 first right rotating shaft passes through the wheel hole of the first right driving wheel and synchronously rotates with the first right driving wheel, the second right driving wheel is fixedly sleeved on the first right rotating shaft and synchronously rotates with the first right rotating shaft, a through hole is formed in the extending end of the first right connecting rod 36, the second right bearing is arranged in the through hole at the second end of the first right connecting rod 36, the second right rotating shaft passes through the shaft hole of the second right bearing, the third right driving wheel is fixedly sleeved on the second right rotating shaft and synchronously rotates with the second right rotating shaft, the second right rotating shaft is fixed with the first end of the second right connecting rod 37, the second right driving wheel is connected with the third right driving wheel through the first right transmission pull rope, and the second left connecting rod 33 and the second right connecting rod 37 synchronously move. The left second link 33 and the right second link 37 are provided with a multi-modal sensing array 5 for detecting a cable, and the multi-modal sensing array 5 is electrically connected to the communication device.
The cantilever further comprises a third link 34, a third pivot, 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. 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, a 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 the 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 connecting rod 34 is connected to the third rotating shaft and rotates synchronously with the third rotating shaft.
When the tunnel inspection robot is in a working state, the third connecting rod 34 is positioned at the bottommost part of the tunnel, and the cable equipment at the bottom of the tunnel is easy to wet and difficult to detect, so that the multimode sensing arrays 5 are arranged at the two ends of the third connecting rod 34, and the comprehensive detection of the inspection robot on the cable tunnel is realized to the greatest extent. Further, the multi-mode sensor array 5 includes various detection sensors, and may further include detection devices such as a front camera, an infrared sensor, and a thermal imager mounted on one or more sides 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 required, and detect in real time along with rotation of the cantilever.
Compared with robots in the prior art, the cantilever of the robot is more stable and reliable due to the design of the double cantilevers, faults are not easy to occur, the inspection efficiency of the inspection robot is higher, the service life is longer, and therefore the inspection efficiency of the cable tunnel inspection robot is improved. In the folding and collapsing process of the cantilever, the folding direction of the left first connecting rod 32 and the folding direction of the left second connecting rod 33 are opposite, and the folding direction of the left second connecting rod 33 and the folding direction of the third connecting rod 34 are opposite.
The robot body 1 includes a front compartment 11, a rear compartment 12, and a buffer structure 13, and the front compartment 11 and the rear compartment 12 are connected by the buffer structure 13. The boom and the boom drive means are mounted on the rear compartment 12 and the power supply means and the communication means are mounted on the front compartment 11.
The cantilever adopts the fretwork design, has offered the via hole in the cantilever, and the signal line is connected with multimode sensing array 5 after the inside entering corresponding connecting rod of via hole. The cable is arranged in the wire through hole, so that the phenomena of easy electric leakage and corrosion and the like of the cable in a moist environment due to long-term leakage of the cable are effectively prevented, and the service life of the tunnel inspection robot is prolonged.
Specifically, a first obstacle avoidance sensor is arranged on the cantilever, and when the first obstacle avoidance sensor detects an obstacle, the first driving device and the second driving device drive the cantilever to retract so as to avoid the obstacle. Be provided with the second on the robot body 1 and keep away the barrier sensor, when the barrier sensor detected the obstacle, the autonomous mobile device 2 was stopped in order to stop the motion of robot body 1, avoided robot body 1 to collide with the obstacle.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. Double cantilever hanging rail formula tunnel inspection robot uses with the cooperation of the along-line track that sets up, its characterized in that, double cantilever hanging rail formula tunnel inspection robot 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 hung on a 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, 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 provided with a multi-mode sensing array (5) for detecting cables;
The first drive means comprises a left first drive wheel (44); 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, wherein 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 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), 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 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 fixedly connected 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 driving rope (410);
The second driving device comprises a right first driving wheel; the right cantilever also comprises a right second connecting rod (37) and a right first transmission assembly for driving the right second connecting rod (37) to move, wherein 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 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, 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 at the second end of the right first connecting rod (36), the right second rotating shaft penetrates 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, and the left second connecting rod (33) and the right second connecting rod (37) synchronously move;
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.
2. The double cantilever suspended track type tunnel inspection robot according to claim 1, wherein the first driving device comprises a first power output mechanism (41), a first transmission belt (42) and a left first bearing (43); 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 protruding block, the left protruding block extends into the inner ring of the left first bearing (43) and is in abutting fixation with the inner ring wall surface of the left first bearing (43), and the left protruding block is also fixedly connected with the first end of the left first connecting rod (32); the first power output mechanism (41) is arranged on the robot body (1), the power output end of the first power output mechanism (41) is connected with the left first driving wheel (44) through the first driving belt (42), and the first power output mechanism (41) drives the left first driving wheel (44) to rotate through the first driving 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 and a right first bearing; 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 circular right protruding block, the right protruding block extends into the inner ring of the right first bearing and is in abutting fixation with the inner ring wall surface of the right first bearing, and the right protruding block is fixedly connected with the first end of the right first connecting rod (36); the second power output mechanism is arranged 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 suspended track type tunnel inspection robot according to claim 1, wherein the cantilever further comprises a third connecting rod (34), a third rotating shaft, a left second transmission assembly arranged on the left second connecting rod (33) and a right second transmission assembly arranged on the right second connecting rod (37); wherein,
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 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 also penetrates through the 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 rotates synchronously with the third rotating shaft, the multimode sensing array (5) is arranged at both ends of the connecting end and the extending end of the third connecting rod (34), and the multimode sensing array (5) is electrically connected with the communication device.
4. A double cantilever suspended track type tunnel inspection robot according to claim 3, characterized in that the robot body (1) comprises a front carriage (11), a rear carriage (12) and a buffer structure (13), the front carriage (11) and the rear carriage (12) being connected by the buffer structure (13);
the cantilever and the cantilever driving device are both mounted on the rear carriage (12), and the power supply device and the communication device are both mounted on the front carriage (11).
5. The double cantilever suspended track type tunnel inspection robot according to claim 2, 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 driving 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.
6. The double-cantilever suspended track type tunnel inspection robot according to claim 5, wherein the cantilever is in a hollowed-out design, a wire passing hole is formed in the cantilever, and a signal wire enters the corresponding connecting rod through the wire passing hole and then is connected with the multi-mode sensing array (5).
7. The double cantilever suspended track tunnel inspection robot of claim 6, wherein the cantilever further comprises a first tensioner for tensioning the first drive belt (42) and a second tensioner for tensioning the second drive belt.
8. The double-cantilever suspended track type tunnel inspection robot according to claim 7, wherein a first obstacle avoidance sensor is arranged on the cantilever, and when the first obstacle avoidance sensor detects an obstacle, the first driving device and the second driving device drive the cantilever to retract so as to avoid the obstacle.
9. The double-cantilever suspended track type tunnel inspection robot according to claim 8, wherein a second obstacle avoidance sensor is arranged on the robot body (1), and when the obstacle is detected by the second obstacle avoidance sensor, the autonomous moving device (2) brakes to stop the movement of the robot body (1) so as to avoid collision of the robot body (1) with the obstacle.
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