CN111927465A - Shield tunnel inspection robot track and mounting device - Google Patents
Shield tunnel inspection robot track and mounting device Download PDFInfo
- Publication number
- CN111927465A CN111927465A CN202010618661.6A CN202010618661A CN111927465A CN 111927465 A CN111927465 A CN 111927465A CN 202010618661 A CN202010618661 A CN 202010618661A CN 111927465 A CN111927465 A CN 111927465A
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- CN
- China
- Prior art keywords
- track
- installation
- tunnel
- pendant
- hanging piece
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/08—Lining with building materials with preformed concrete slabs
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
Abstract
The invention discloses a shield tunnel inspection robot track and a mounting device, which belong to the technical field of tunnel construction and solve the technical problems that: difficult setting up in the shield tunnel of prior art patrols and examines the orbital condition of robot, it includes: the mounting hanger is detachably connected with the tunnel segment, one end, far away from the tunnel segment, of the mounting hanger is detachably connected with a track hanger, and one end, far away from the mounting hanger, of the track hanger is detachably connected with a track; the installation device and the track have low requirement on the inner space of the tunnel, are convenient to install, disassemble and transfer, adopt galvanized square tubes as the track, and the size of the track can be determined according to the motion structure of the robot, so that the installation device and the track are suitable for the installation and the use of the direct downward inspection robots for tunnels with different diameters.
Description
Technical Field
The invention belongs to the technical field of tunnel construction, and particularly belongs to a shield tunnel inspection robot track and a mounting device.
Background
The inspection robot is an artificial intelligence product for replacing or assisting workers to carry out all-weather and all-dimensional duty and monitoring, and is mainly applied to scenes such as power plants, machine rooms, pipelines and the like.
At present, inspection robots in tunnels are few, particularly in shield tunnels, the reason is that space in the shield tunnels is limited, except the space where a normal construction trolley passes, only the inspection robots can be installed on the walls of the shield tunnels, the walking paths of the inspection robots are fixed, and meanwhile, holes cannot be randomly punched in the shield tunnels, so that the installation of a track and the inspection robots is limited.
Disclosure of Invention
Aiming at the problem that the inspection robot track is not easy to be arranged in the shield tunnel in the prior art, the invention provides the inspection robot track for the shield tunnel and a mounting device, and the purpose is as follows: the shield tunnel inspection robot track and the installation device are convenient to install and easy to adjust.
The technical scheme adopted by the invention is as follows:
the utility model provides a shield tunnel patrols and examines robot track and installation device, includes: a installation pendant for can dismantle the connection with the tunnel segment, the one end that the tunnel segment was kept away from to the installation pendant can be dismantled and be connected with the track pendant, the one end that the installation pendant was kept away from to the track pendant can be dismantled and be connected with the track.
By adopting the scheme, the mounting device comprises the mounting hanging piece and the rail hanging piece, the two ends of the rail are connected through the rail hanging piece, the rail hanging piece is mounted and fixed on the mounting hanging piece, and the mounting hanging piece is fixed on the tunnel duct piece, so that the whole mounting device and the rail can be conveniently dismounted and adjusted, and the situation of punching in the shield tunnel is avoided; the installation device and the track have low requirement on the inner space of the tunnel, are convenient to install, disassemble and transfer, adopt galvanized square tubes as the track, can determine the size of the track according to the motion structure of the robot, and are suitable for the installation and use of the inspection robots under the conditions of tunnels with different diameters.
Preferably, a wireless charging module support is fixedly arranged on one side of the mounting hanging piece. By adopting the preferred scheme, the wireless charging module can directly wirelessly charge the inspection robot, so that the condition that the robot is taken down to be charged or a battery is replaced is avoided, and the condition that the robot is electrified on a rail under the high-humidity scene of the shield tunnel is also avoided.
Preferably, the end part of the pendant close to the track is provided with a beacon bracket. Adopt this preferred scheme, set up the beacon support and adopt the mode of encoder with the beacon to patrolling and examining the robot and carry out tunnel or track location.
Preferably, one end of the mounting hanger is provided with a U-shaped hanging ring, and the U-shaped hanging ring is connected with the tunnel pipe sheet through a pipe sheet bolt. Adopt this preferred scheme, the U type link that will install the pendant is buckled on the section of jurisdiction bolt, and tunnel section of jurisdiction installation face is laminated to one side of U type link, and section of jurisdiction bolt installation face is laminated to the opposite side, screws up the section of jurisdiction bolt, will install the pendant and fix to the section of jurisdiction on, has avoided needing to punch just can the orbital condition of installation in the tunnel inside, and the section of jurisdiction bolt need not be torn down, unscrews and loosens and can carry out the dismouting to the installation pendant for the dismouting of installation pendant is very convenient.
Preferably, the end part of the installation hanging piece close to the tunnel segment is provided with a hanging piece supporting surface, and the hanging piece supporting surface is matched with the tunnel segment. By adopting the preferred scheme, the pendant supporting surface is propped against the inner wall of the tunnel segment, and the friction between the pendant supporting surface and the tunnel segment is relied on to ensure that the mounting pendant of the inspection robot does not drop downwards under the stress when the robot operates on the track, so that the mounting pendant is ensured not to shake.
Preferably, a baffle is fixedly arranged at the end part, far away from the rail hanging piece, of the rail, and an anti-collision sponge is arranged on the side face of the baffle. Adopt this preferred scheme, set up the baffle at the track tip, have the anticollision sponge on the baffle, and then when preventing to patrol and examine that the robot moves the track tip, dash out the track, the anticollision sponge has buffering absorbing effect.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the mounting device comprises a mounting pendant and a track pendant, wherein two ends of the track are connected through the track pendant, the track pendant is mounted and fixed on the mounting pendant, and the mounting pendant is fixed on the tunnel duct piece, so that the whole mounting device and the track are convenient to mount, dismount and adjust, and the situation of punching in the shield tunnel is avoided; the installation device and the track have low requirement on the inner space of the tunnel, are convenient to install, disassemble and transfer, adopt galvanized square tubes as the track, can determine the size of the track according to the motion structure of the robot, and are suitable for the installation and use of the inspection robots under the conditions of tunnels with different diameters.
2. The wireless charging module can directly wirelessly charge the inspection robot, so that the condition that the robot is taken down to charge or a battery is replaced is avoided, and the condition that the on-rail electrification is adopted in a shield tunnel high-humidity scene is also avoided; setting a beacon bracket to position the inspection robot in a tunnel or track by adopting a coder and beacon mode; set up the baffle at the track tip, have the anticollision sponge on the baffle, and then when preventing to patrol and examine that the robot moves the track tip, rush out the track, the anticollision sponge has buffering absorbing effect.
3. According to the invention, the U-shaped hanging ring for installing the hanging piece is buckled on the segment bolt, one side of the U-shaped hanging ring is attached to the tunnel segment installation surface, the other side of the U-shaped hanging ring is attached to the segment bolt installation surface, the segment bolt is screwed, the installation hanging piece is fixed on the segment, the condition that the track can be installed only by punching in the tunnel is avoided, the segment bolt does not need to be dismounted, and the installation hanging piece can be dismounted by unscrewing, so that the dismounting of the installation hanging piece is very convenient; the pendant holding surface pushes up tunnel segment inner wall, relies on the friction between pendant holding surface and the tunnel segment to ensure that the installation pendant atress of patrolling and examining robot when the track operation does not drop downwards, guarantees that the installation pendant does not produce and rocks.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of: an assembly diagram of one embodiment of the present invention.
FIG. 2 is a diagram of: the invention discloses an assembly schematic diagram of a specific embodiment of a mounting hanger and a rail hanger.
FIG. 3 is a diagram of: a perspective view of one embodiment of the track of the present invention.
Reference numerals: 100-a tunnel segment; 200-track; 300-mounting a hanging piece; 400-rail hanging parts; 500-wireless charging module holder; 600-beacon mount; 700-a baffle; 3001-U-shaped suspension loop; 3002 pendant support surface.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
The present invention is described in detail below with reference to fig. 1-3.
The first embodiment is as follows:
the utility model provides a shield tunnel patrols and examines robot track and installation device, includes: a installation pendant 300 for can dismantle the connection with tunnel segment 100, the one end that installation pendant 300 kept away from tunnel segment 100 can be dismantled and is connected with track pendant 400, the one end that installation pendant 300 was kept away from to track pendant 400 can be dismantled and is connected with track 200.
One end of the mounting hanger 300 is provided with a U-shaped hanging ring 3001, and the U-shaped hanging ring 3001 is connected with the tunnel segment 100 through a segment bolt.
The end of the mounting hanger 300 close to the tunnel segment is provided with a hanger support surface 3002, and the hanger support surface 3002 is matched with the tunnel segment 100.
In the first embodiment, the track 200 is made of a galvanized square pipe, is corrosion-resistant and meets the use requirement in a shield high-humidity environment, the size of the square pipe is determined according to a designed movement mechanism of the robot, so that the contact area between the track and the movement mechanism is as large as possible, the movement stability of the inspection robot is improved, the length of the track 200 is designed to be an integral multiple of the length of a tunnel segment 100, and the specific length is determined by calculating the allowable deformation of the track 200 according to the weight of the inspection robot and the size of a square pipe; buckling a U-shaped hanging ring 3001 of the installation hanging piece 300 on a segment bolt at a segment bolt installation hole, attaching the installation hanging piece 300 to a segment bolt installation surface, jacking a hanging piece supporting surface 3002 to the inner wall of a tunnel segment 100, screwing a segment bolt, fixing the installation hanging piece 300 to the tunnel segment 100, connecting the other end of the installation hanging piece 300 with a track hanging piece 400 through a bolt, respectively arranging waist-shaped connecting holes on the installation hanging piece 300 and the track hanging piece 400, matching the track hanging piece 400 with the respective waist-shaped holes of the installation hanging piece 300 through bolts, wherein the waist-shaped connecting holes of the track hanging piece 400 can be adjusted up and down and rotate to a certain extent in the waist-shaped connecting holes of the installation hanging piece 300, so that the installation position of the track hanging piece 400 can; the two sides of the bottom of the rail hanger 400 are respectively provided with a connecting surface, the bottom of the connecting surface is provided with a plurality of connecting holes, the rail 200 is also provided with a plurality of connecting holes, the connecting holes of the rail 200 are matched with the connecting holes of the connecting surface through bolts, and the plurality of connecting holes are arranged to facilitate the adjustment of the mounting position of the rail 200;
the following examples are all preferably obtained on the basis of the first embodiment.
In another embodiment, a wireless charging module holder 500 is fixedly arranged on one side of the mounting hanger 300. Patrol and examine the robot and hang in the eminence, can not take off and charge or the battery takes off and change, also can not adopt the rail to be electrified in the high wet scene in tunnel, consequently patrol and examine the robot and adopt wireless charging, be provided with wireless battery charging outfit on the wireless module support 500 that charges, pass through bolted connection between wireless module support that charges and the installation pendant 300.
In another embodiment, the mounting pendant 300 is provided with a beacon bracket 600 near the end of the rail 200. Patrol and examine the robot and fix a position in the tunnel and adopt the scheme that the encoder adds the beacon, be provided with beacon equipment on the beacon support 600, pass through bolted connection between beacon support 600 and the installation pendant 300.
In another embodiment, a baffle 700 is fixedly arranged at the end of the rail 200 far away from the rail hanger 400, and an anti-collision sponge is arranged on the side surface of the baffle 700. Have crashproof sponge on baffle 700, prevent to patrol and examine that the robot moves track 200 tip and other protection facilities inefficacy and dash out track 200, track 200 tip baffle forms with the steel sheet welding, is fixed to track 200 below, and the paste in baffle 700 the place ahead has crashproof sponge.
The structure and the working principle of the wireless charging module holder 500, the wireless charging device, the beacon holder 600, the beacon device, etc. all belong to the prior art, and therefore, are not described in detail in this application.
The above-mentioned embodiments only express the specific embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for those skilled in the art, without departing from the technical idea of the present application, several changes and modifications can be made, which are all within the protection scope of the present application.
Claims (6)
1. The utility model provides a shield tunnel patrols and examines robot track and installation device which characterized in that includes: a installation pendant (300) for can dismantle the connection with tunnel segment (100), the one end that tunnel segment (100) was kept away from in installation pendant (300) can be dismantled and be connected with track pendant (400), the one end that installation pendant (300) was kept away from in track pendant (400) can be dismantled and be connected with track (200).
2. The shield tunnel inspection robot track and installation device according to claim 1, characterized in that: one side of the installation hanging piece (300) is fixedly provided with a wireless charging module support (500).
3. The shield tunnel inspection robot track and installation device according to claim 1, characterized in that: the end part of the mounting pendant (300) close to the track (200) is provided with a beacon bracket (600).
4. The shield tunnel inspection robot track and installation device according to claim 1, characterized in that: one end of the mounting hanger (300) is provided with a U-shaped hanging ring (3001), and the U-shaped hanging ring (3001) is connected with the tunnel segment (100) through a segment bolt.
5. The shield tunnel inspection robot track and installation device according to claim 1, characterized in that: the end part of the installation hanging piece (300) close to the tunnel segment is provided with a hanging piece supporting surface (3002), and the hanging piece supporting surface (3002) is matched with the tunnel segment (100).
6. The shield tunnel inspection robot track and installation device according to claim 1, characterized in that: the end, far away from the rail hanging piece (400), of the rail (200) is fixedly provided with a baffle (700), and the side face of the baffle (700) is provided with anti-collision sponge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010618661.6A CN111927465A (en) | 2020-06-30 | 2020-06-30 | Shield tunnel inspection robot track and mounting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010618661.6A CN111927465A (en) | 2020-06-30 | 2020-06-30 | Shield tunnel inspection robot track and mounting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111927465A true CN111927465A (en) | 2020-11-13 |
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ID=73316926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010618661.6A Pending CN111927465A (en) | 2020-06-30 | 2020-06-30 | Shield tunnel inspection robot track and mounting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111927465A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113090292A (en) * | 2021-04-09 | 2021-07-09 | 中铁工程服务有限公司 | Shield subway tunnel segment repair reinforcement intelligent complete equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106075772A (en) * | 2016-07-21 | 2016-11-09 | 国家电网公司 | Electric power tunnel intelligent inspection robot |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN109079798A (en) * | 2018-10-19 | 2018-12-25 | 北京市政建设集团有限责任公司 | A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery |
| CN109281711A (en) * | 2018-09-30 | 2019-01-29 | 中国安全生产科学研究院 | A kind of subterranean tunnel safety patrol inspection robot |
| CN110757432A (en) * | 2019-11-05 | 2020-02-07 | 北京海益同展信息科技有限公司 | Hanging structure, tunnel rail hanging robot and tunnel |
| CN110977928A (en) * | 2019-12-16 | 2020-04-10 | 北京海益同展信息科技有限公司 | Rail-mounted robot and inspection system |
-
2020
- 2020-06-30 CN CN202010618661.6A patent/CN111927465A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106075772A (en) * | 2016-07-21 | 2016-11-09 | 国家电网公司 | Electric power tunnel intelligent inspection robot |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN109281711A (en) * | 2018-09-30 | 2019-01-29 | 中国安全生产科学研究院 | A kind of subterranean tunnel safety patrol inspection robot |
| CN109079798A (en) * | 2018-10-19 | 2018-12-25 | 北京市政建设集团有限责任公司 | A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery |
| CN110757432A (en) * | 2019-11-05 | 2020-02-07 | 北京海益同展信息科技有限公司 | Hanging structure, tunnel rail hanging robot and tunnel |
| CN110977928A (en) * | 2019-12-16 | 2020-04-10 | 北京海益同展信息科技有限公司 | Rail-mounted robot and inspection system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113090292A (en) * | 2021-04-09 | 2021-07-09 | 中铁工程服务有限公司 | Shield subway tunnel segment repair reinforcement intelligent complete equipment |
| CN113090292B (en) * | 2021-04-09 | 2022-11-04 | 中铁工程服务有限公司 | Shield subway tunnel segment repair reinforcement intelligent complete equipment |
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| PB01 | Publication | ||
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Application publication date: 20201113 |
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| RJ01 | Rejection of invention patent application after publication |