CN117773977A - Rail-mounted tunnel inspection robot - Google Patents
Rail-mounted tunnel inspection robot Download PDFInfo
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- CN117773977A CN117773977A CN202410213741.1A CN202410213741A CN117773977A CN 117773977 A CN117773977 A CN 117773977A CN 202410213741 A CN202410213741 A CN 202410213741A CN 117773977 A CN117773977 A CN 117773977A
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- 238000007689 inspection Methods 0.000 title claims abstract description 116
- 238000001514 detection method Methods 0.000 claims abstract description 71
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 238000013016 damping Methods 0.000 claims description 37
- 239000000523 sample Substances 0.000 claims description 36
- 230000000087 stabilizing effect Effects 0.000 claims description 17
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 19
- 230000008569 process Effects 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 11
- 230000000694 effects Effects 0.000 description 9
- 239000003381 stabilizer Substances 0.000 description 9
- 230000009471 action Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Abstract
The invention relates to the field of inspection robots, in particular to a rail-hanging type tunnel inspection robot which comprises mounting plates, wherein a mounting arm is fixedly arranged at each of the left end and the right end of each mounting plate, the two mounting arms are bent in opposite directions and are fixedly provided with a travelling mounting mechanism at the opposite ends, the lower end of each mounting plate is fixedly provided with a reciprocating lifting ring, the interior of each reciprocating lifting ring is provided with an arc-shaped reciprocating lifting groove, a reciprocating rotary mechanism is arranged in each reciprocating lifting groove, the front end of each mounting plate is fixedly provided with an adoptive ring, an adoptive sliding groove corresponding to each reciprocating lifting groove is arranged in each adoptive ring, an adoptive sliding block driven by each reciprocating rotary mechanism is connected in each adoptive sliding groove in a sliding manner, and a detection ring is fixedly connected at the front end of each adoptive ring, so that the position of an observation instrument can change in real time, thereby enlarging the observation range, and inspection can be performed on a track hung by the robot.
Description
Technical Field
The invention relates to the field of inspection robots, in particular to a track-hanging type tunnel inspection robot.
Background
The rail-mounted track inspection is an inspection method carried out on a railway track, and the rail is inspected and evaluated by hanging a specially designed vehicle or equipment on the track, and the inspection method has the following advantages:
1. comprehensively: the rail hanging type track inspection can be used for comprehensively inspecting the whole track line, including the aspects of track geometric shape, track gauge, track surface flatness, track connection and the like.
2. Real-time performance: through the rail-mounted inspection, the state and the change of the rail can be monitored in real time, potential problems can be found and solved early, and the safe and reliable running of the rail is ensured.
3. High efficiency: the rail hanging type inspection device can greatly improve inspection efficiency, reduce labor and time cost, and reduce influence on train operation.
4. Accuracy: the inspection is performed through specially designed equipment, accurate data and evaluation results can be provided, and the judgment of the condition of the track and the maintenance work required are facilitated.
5. Safety: the rail-mounted inspection vehicle or equipment is specially designed for running on a rail, has corresponding safety protection measures, and provides safer inspection environment.
However, the position of the hanging detection device of the traditional hanging rail type inspection equipment is always fixed, so that two defects exist, namely, the observation range is smaller, and meanwhile, the rail hung by the inspection equipment cannot be inspected.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the track-hanging type tunnel inspection robot which can enable the position of an observation instrument to change in real time so as to enlarge the observation range and can inspect the track hung by the robot.
The invention provides a rail-mounted tunnel inspection robot which comprises mounting plates, wherein a mounting arm is fixedly arranged at the left end and the right end of each mounting plate, the two mounting arms are bent in opposite directions, travelling mounting mechanisms are fixedly arranged at the opposite ends of the mounting plates, a semicircular reciprocating lifting ring which surrounds the mounting plates is fixedly arranged at the lower ends of the mounting plates, an arc-shaped reciprocating lifting groove is formed in the reciprocating lifting ring, a reciprocating rotary mechanism is arranged in the reciprocating lifting groove, a reciprocating rotary motor is fixedly arranged at the upper end of each mounting plate, a belt wheel is fixedly arranged at the output end of each reciprocating rotary motor, the belt wheel drives the reciprocating rotary mechanism to operate through a belt, an adoptive ring is fixedly arranged at the front end of each mounting plate, adoptive sliding grooves corresponding to the reciprocating lifting grooves are formed in the adoptive ring, adoptive sliding blocks driven by the reciprocating rotary mechanisms are fixedly connected to the front ends of the adoptive ring, a detecting ring is arranged on the detecting ring, and the detecting ring is driven by the adoptive sliding blocks, and the lower end of the detecting ring is stably-oriented.
Preferably, the inspection detection mechanism comprises an inspection detection block, the inspection detection block is rotationally connected with the relay slide block, the upper end of the inspection detection block is rotationally connected with an inspection detection rod, the upper end of the inspection detection rod is fixedly connected with an inspection detection head, the lower end of the inspection detection rod stretches into the inspection detection block and is fixedly connected with a middle bevel gear, a turning bevel gear is meshed with the middle bevel gear, a transmission shaft is fixedly connected with the middle of the turning bevel gear, the transmission shaft penetrates through a turning gear which is fixedly connected with the front end of the inspection detection block, a through groove for the transmission shaft to move is formed in a detection ring, and a plurality of convex teeth for the turning gear to rotate are uniformly distributed on the detection ring in the circumferential direction.
Preferably, the inspection detecting rod is divided into a directional rod and a swinging rod, the directional rod is rotationally connected to the upper end of the inspection detecting block and fixedly connected with the middle bevel gear, the swinging rod is arranged at the upper end of the directional rod in a ball hinged mode, the inspection detecting head is fixedly arranged at the upper end of the swinging rod, a plurality of lower pulling spring rods are circumferentially distributed on the directional rod, a plurality of upper pulling spring rods corresponding to the lower pulling spring rods are circumferentially and uniformly distributed on the swinging rod, a pulling spring is arranged between the corresponding upper pulling spring rods and the corresponding lower pulling spring rods, and the upper end and the lower end of the pulling spring are fixedly connected with the upper pulling spring and the lower pulling spring rods respectively.
Preferably, the swing rod is provided with a probe protection mechanism, the probe protection mechanism comprises a protection sleeve, a vertical moving ring is slidingly connected to the protection sleeve along the vertical direction, an elastic protection rod is hinged to the upper end of the vertical moving ring, a plurality of elastic protection rods are uniformly distributed in the circumferential direction, the upper end of the protection sleeve is provided with a jacking plate corresponding to the elastic protection rod, an elastic rope installation part is fixedly connected to the upper end of the jacking plate on the protection sleeve, an elastic rope is fixedly installed on the elastic rope installation part, and the other end of the elastic rope is fixedly connected with the elastic protection rod.
Preferably, the damping mechanism is arranged in the inspection detection block, a smooth clamping groove is arranged on the outer side of the orientation rod, a damping sliding groove is formed in the inspection detection block corresponding to the smooth clamping groove, a damping sliding block is connected in the damping sliding groove in a sliding mode, the damping sliding block is clamped in the smooth clamping groove on the orientation rod in a sliding mode, a damping spring is fixedly connected between the damping sliding block and the tail end of the damping sliding groove, and the number of the damping sliding grooves is consistent with the number of teeth on the turning gear.
Preferably, the reciprocating rotary mechanism comprises reciprocating rotary rollers, one reciprocating rotary roller is rotatably connected to each of two tail ends of the reciprocating lifting groove, two reciprocating rotary rollers are connected through a reciprocating rotary belt, the reciprocating rotary belt is restrained on the upper side section and the lower side section of the reciprocating rotary rollers through a reciprocating rotary guide rail, a return guide groove is formed in the relay sliding block, a driving rod is fixedly connected to the reciprocating rotary belt, the driving rod is in sliding connection with the return guide groove, a driving wheel is rotatably connected with the reciprocating lifting ring in the reciprocating lifting groove, the driving wheel is in contact with the lower end of the reciprocating rotary belt, and the driving wheel penetrates through a belt wheel fixedly connected with the reciprocating lifting ring and is connected with a belt wheel on the reciprocating rotary motor through a belt.
Preferably, the directional stabilizing mechanism comprises a directional stabilizing guide rail, the directional stabilizing guide rail is fixedly hoisted at the lower end of the relay ring, a directional stabilizing slide block is connected in the directional stabilizing guide rail in a sliding manner, a directional fixing rod is fixedly arranged at the upper end of the stabilizing slide block, a directional sliding rod is connected at the upper end of the directional fixing rod in a sliding manner, and the upper end of the directional sliding rod is fixedly connected with the inspection detection block.
Preferably, the travelling mounting mechanism comprises a mounting plate, the mounting plate is of a double-layer plate structure, the double-layer plates of the mounting plate are fixedly connected, a front sliding groove and a rear sliding groove are formed in the travelling mounting plate along the front-rear direction, two front sliding blocks and two rear sliding blocks are connected in the front sliding groove and the rear sliding groove in a sliding manner, a poking and opening sliding groove plate is fixedly installed on the front sliding blocks and the rear sliding blocks, a poking and opening rod is rotationally connected to the mounting plate, one end of the poking and opening rod is in sliding connection with the poking and opening sliding groove plate, the other end of the poking and opening rod extends out of the mounting plate to be rotationally connected with a travelling roller, a poking and opening spring rod is fixedly connected between the two front sliding blocks and the rear sliding blocks, a synchronous toothed plate is fixedly connected to the two front sliding blocks and the two synchronous toothed plates and a synchronous gear is meshed between the two synchronous toothed plates.
The invention has the beneficial effects that:
(1) According to the invention, the belt wheel is driven to rotate by the reciprocating rotary motor, the belt wheel drives the reciprocating rotary mechanism to operate by the belt, the reciprocating rotary mechanism drives the relay sliding block to do swinging motion, and the relay sliding block drives the inspection detection mechanism to do reciprocating swinging motion in the left-right direction, so that more areas are detected, and meanwhile, the inspection detection mechanism can be always in a vertical state by the directional stabilizing mechanism, so that a good detection effect is ensured.
(2) According to the invention, the turning gear is driven to rotate by the convex teeth, so that the turning gear can do more than 180 degrees of rotary motion, and therefore, compared with the traditional track inspection device, the inspection device has the advantages that the inspection range is enlarged, and meanwhile, the inspection device can detect and inspect the positions of dead angles.
(3) According to the invention, the swinging rod swings relative to the orientation rod, when the obstacle is overcome, under the combined action of the pulling spring rods, the swinging rod and the inspection probe head can be restored to the vertical state again, and meanwhile, the probe protection mechanism is matched with the swinging rod, so that the obstacle can be more easily overcome by deflecting and swinging when the obstacle is met.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of another view of the general structure of the present invention;
FIG. 3 is a schematic view of a reciprocatory mechanism in accordance with the present invention;
FIG. 4 is a schematic view of a partial enlarged structure of the present invention at A in FIG. 3;
FIG. 5 is a schematic view of the installation position of the directional stabilizer structure of the present invention;
FIG. 6 is a schematic view of a partially enlarged structure of the present invention at B in FIG. 5;
FIG. 7 is a schematic view of a partially enlarged structure of the present invention at C in FIG. 5;
FIG. 8 is a schematic view of the mounting location of the damping structure of the present invention;
FIG. 9 is a schematic view of a partially enlarged structure of the present invention at D in FIG. 8;
FIG. 10 is a schematic view of a traveling mounting mechanism according to the present invention;
fig. 11 is a schematic view of a partially enlarged structure at E in fig. 10 according to the present invention.
In the figure:
1. mounting a mounting plate; 11. mounting an installation arm; 2. a travelling mounting mechanism; 21. a mounting plate; 211. a front-rear sliding groove; 22. a front and rear slider; 23. pulling out the sliding groove plate; 24. a pulling-out lever; 25. a travel roller; 26. pulling out the spring rod; 27. synchronizing toothed plates; 28. a synchronizing gear; 3. a reciprocating lifting ring; 31. a reciprocating hoisting groove; 4. a reciprocating rotary mechanism; 41. reciprocating rotary rollers; 42. a reciprocating rotary belt; 421. a drive rod; 43. a reciprocating rotary guide rail; 44. a driving wheel; 5. a reciprocating rotary motor; 6. an adoptive ring; 61. an adoptive chute; 62. an adoptive slide block; 621. a return channel; 7. a detection ring; 71. a pass through slot; 72. convex teeth; 73. a directional stabilizing mechanism; 731. a directional stable guide rail; 732. a directional stable slider; 733. a directional fixing rod; 734. a directional sliding rod; 8. a patrol detection mechanism; 81. inspection detection blocks; 811. damping sliding grooves; 82. inspection probe rod; 821. a directional rod; 8211. a smooth clamping groove; 822. a swinging rod; 823. pulling down the spring rod; 824. pulling up the spring rod; 825. pulling the spring; 83. inspection probe; 84. an intermediate bevel gear; 85. turning bevel gears; 851. a transmission shaft; 86. a change gear; 87. a damping mechanism; 871. damping sliding blocks; 872. a damping spring; 9. a probe protecting mechanism; 91. a protective sleeve; 92. a vertically movable ring; 93. an elastic guard bar; 94. jacking up the plate; 95. a spring rope mounting part; 96. an elastic rope.
Detailed Description
The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1 to 11, the invention provides a track-mounted tunnel inspection robot, which comprises a mounting plate 1, wherein a mounting arm 11 is fixedly mounted at each of the left and right ends of the mounting plate 1, two mounting arms 11 are bent in opposite directions and are fixedly provided with a travelling mounting mechanism 2 at opposite ends, a semicircular reciprocating lifting ring 3 surrounding the mounting plate 1 is fixedly mounted at the lower end of the mounting plate 1, an arc-shaped reciprocating lifting groove 31 is formed in the reciprocating lifting ring 3, a reciprocating rotary mechanism 4 is arranged in the reciprocating lifting groove 31, a reciprocating rotary motor 5 is fixedly mounted at the upper end of the mounting plate 1, a belt wheel is fixedly mounted at the output end of the reciprocating rotary motor 5, the belt wheel drives the reciprocating rotary mechanism 4 to operate, an adoptive ring 6 is fixedly mounted at the front end of the mounting plate 1, an adoptive chute 61 corresponding to the reciprocating lifting groove 31 is fixedly mounted in the adoptive ring 6, an adoptive ring 62 driven by the reciprocating rotary slider mechanism 4 is slidingly connected in the adoptive chute 61, and the detecting ring 7 is fixedly connected with the front end of the adoptive ring 7 driven by the reciprocating rotary slider mechanism 4, and the detecting mechanism 7 is fixedly connected with the detecting ring 7 at the front end of the adoptive ring 73.
In the process of using the inspection robot to inspect, the inspection robot is driven to advance through the traction of an external stay rope or through the contact of a motor driving roller and a track, in the process, the reciprocating rotary motor 5 drives the belt pulley to rotate, the belt pulley drives the reciprocating rotary mechanism 4 to operate through a belt, the reciprocating rotary mechanism 4 drives the relay slide block 62 to do swinging motion, and the relay slide block 62 drives the inspection detection mechanism 8 to do reciprocating swinging motion in the left-right direction, so that more areas are detected, and meanwhile, the inspection detection mechanism 8 can be always in a vertical state through the directional stabilizing mechanism 73, so that good detection effect is ensured.
As shown in fig. 1, fig. 5 and fig. 6, the inspection detection mechanism 8 includes an inspection detection block 81, the inspection detection block 81 is rotationally connected with the relay slider 62, the upper end of the inspection detection block 81 is rotationally connected with an inspection detection rod 82, the upper end of the inspection detection rod 82 is fixedly connected with an inspection detection head 83, the lower end of the inspection detection rod 82 extends into the inspection detection block 81 and is fixedly connected with a middle bevel gear 84, a turning bevel gear 85 is meshed with the middle bevel gear 84, a transmission shaft 851 is fixedly connected with the middle of the turning bevel gear 85, the transmission shaft 851 passes through the front end of the inspection detection block 81 and is fixedly connected with a turning gear 86, a through groove 71 for the transmission shaft 851 to move is formed in the detection ring 7, and a plurality of convex teeth 72 for the turning gear 86 to rotate are uniformly distributed on the circumference of the detection ring 7.
In the process that the relay slider 62 swings reciprocally, the relay slider 62 drives the inspection detection block 81 to synchronously move, the turning gear 86 rotates in the process of contacting with the convex teeth 72, the turning gear 86 drives the turning bevel gear 85 to rotate, the turning bevel gear 85 drives the middle bevel gear 84 to rotate, the middle bevel gear 84 drives the inspection detection rod 82 to rotate, the inspection detection rod 82 drives the inspection detection head 83 to rotate, the turning gear 86 can make more than 180 degrees of rotary movement by controlling the number of the convex teeth 72, so that the inspection detection head 83 detects the condition in a track, and compared with the traditional track inspection device, the detection range is enlarged, and meanwhile, the inspection can be performed on the positions of dead angles.
As shown in fig. 5, 6 and 7, the inspection probe rod 82 is divided into a directional rod 821 and a swinging rod 822, the directional rod 821 is rotatably connected to the upper end of the inspection probe block 81 and is fixedly connected with a middle bevel gear 84, the swinging rod 822 is arranged at the upper end of the directional rod 821 in a ball hinged manner, the inspection probe head 83 is fixedly arranged at the upper end of the swinging rod 822, a plurality of lower pulling spring rods 823 are fixedly arranged on the directional rod 821, a plurality of upper pulling spring rods 824 corresponding to the lower pulling spring rods 823 are circumferentially distributed on the swinging rod 822, a pulling spring 825 is arranged between the corresponding upper pulling spring rods 824 and lower pulling spring rods 823, and the upper end and the lower end of the pulling spring 825 are fixedly connected with the upper pulling spring 825 and the lower pulling spring rods 823 respectively.
In the process of inspection, it is possible that the inspection probe 83 and the inspection probe 82 may collide with an obstacle, so that the obstacle is better avoided to prevent hard collision from occurring, and damage to the device is caused, when the inspection probe 83 and the swing lever 822 encounter an obstacle, the swing lever 822 swings relative to the orientation lever 821, and when the obstacle is overcome, the swing lever 822 and the inspection probe 83 are restored to the vertical state under the combined action of the respective pulling springs 825.
As shown in fig. 7, the swing rod 822 is provided with a probe protection mechanism 9, the probe protection mechanism 9 includes a protection sleeve 91, a vertical moving ring 92 is slidably connected on the protection sleeve 91 along a vertical direction, an elastic protection rod 93 is hinged to an upper end of the vertical moving ring 92, a plurality of elastic protection rods 93 are uniformly distributed in a circumferential direction, an ejection plate 94 is arranged at an upper end of the protection sleeve 91 corresponding to the elastic protection rods 93, an elastic rope mounting portion 95 is fixedly connected to an upper end of the ejection plate 94 on the protection sleeve 91, an elastic rope 96 is fixedly mounted on the elastic rope mounting portion 95, and the other end of the elastic rope 96 is fixedly connected with the elastic protection rod 93.
Can carry out further protection to inspection probe 83 through probe protection mechanism 9, in the in-process of enabling probe protection mechanism 9, upwards move vertical movable ring 92, vertical movable ring 92 drives elastic protection pole 93 and upwards move, and with vertical movable ring 92 fixed mounting on protective sheath 91 through the bolt, under the effect of top gas board, elastic protection pole 93 can expand all around, elastic protection pole 93 can push up on jack-up board 94 under the pulling effect of elastic rope 96, when elastic protection pole 93 meets the barrier, can play the effect of automatic blocking, protective sheath 91 can produce the pivoted effect simultaneously, under the combined action of swinging with swinging rod 822 can carry out the wobbling, can cross the barrier more easily.
As shown in fig. 6, 8 and 9, the inspection detecting block 81 is provided with a damping mechanism 87, a smooth clamping groove 8211 is provided on the outer side of the directional rod 821, damping sliding grooves 811 are provided on the inspection detecting block 81 corresponding to the smooth clamping groove 8211, damping sliding blocks 871 are slidably connected in the damping sliding grooves 811, the damping sliding blocks 871 are slidably clamped in the smooth clamping grooves 8211 on the directional rod 821, damping springs 872 are fixedly connected between the damping sliding blocks 871 and the tail ends of the damping sliding grooves 811, and the number of the damping sliding grooves 811 is consistent with the number of teeth on the turning gear 86.
In order to prevent the turning gear 86 from being turned excessively during the process of driving the turning gear 86 by the convex tooth 72, so that the inspection probe 83 is disabled, resistance is generated between the damping sliding block 871 and the smooth clamping groove 8211 on the directional rod 821 by the damping spring 872, so that the directional rod 821 cannot be easily turned, and the number of the damping sliding grooves 811 is consistent with the number of teeth on the turning gear 86, so that the same damping sliding block 871 can be clamped into the next damping sliding groove 811 each time during the process of driving the turning gear 86 by the convex tooth 72.
As shown in fig. 1, 2, 3 and 4, the reciprocating rotary mechanism 4 includes a reciprocating rotary roller 41, the reciprocating rotary roller 41 is rotatably connected with one at each end of the reciprocating lifting groove 31, two reciprocating rotary rollers 41 are connected through a reciprocating rotary belt 42, the reciprocating rotary belt 42 is restrained by a reciprocating rotary guide rail 43 at the upper side section and the lower side section of the reciprocating rotary roller 41, a return groove 621 is formed on the relay slider 62, a driving rod 421 is fixedly connected to the reciprocating rotary belt 42, the driving rod 421 is slidably connected with the return groove 621, a driving wheel 44 is rotatably connected with the reciprocating lifting ring 3 in the reciprocating lifting groove 31, the driving wheel 44 is in contact with the lower end of the reciprocating rotary belt 42, and the driving wheel 44 passes through the reciprocating lifting ring 3 to be fixedly connected with a belt wheel and is connected with the belt wheel on the reciprocating rotary motor 5 through the belt.
In the operation process of the reciprocating rotary mechanism 4, the belt wheel on the reciprocating rotary motor 5 drives the driving wheel 44 to rotate through the belt, the driving wheel 44 drives the reciprocating rotary belt 42 to move, and the driving rod 421 on the reciprocating rotary belt 42 is in sliding connection with the guide slot 621, so that the relay slider 62 makes reciprocating swing motion.
As shown in fig. 1 and 5, the directional stabilizer 73 includes a directional stabilizer rail 731, the directional stabilizer rail 731 is fixedly suspended at the lower end of the relay ring 6, a directional stabilizer slider 732 is slidably connected in the directional stabilizer rail 731, an directional fixing rod 733 is fixedly mounted at the upper end of the stabilizer slider, an directional sliding rod 734 is slidably connected at the upper end of the directional fixing rod 733, and the upper end of the directional sliding rod 734 is fixedly connected with the inspection block 81.
In order to keep the inspection probe 83 in a horizontal state all the time, the inspection probe block 81 is oriented and restrained by the orientation stabilizer slider 732 which slides horizontally in the orientation stabilizer rail 731 all the time and the orientation fixing lever 733 and the orientation sliding lever 734.
As shown in fig. 1, 10 and 11, the travelling mounting mechanism 2 includes a travelling mounting plate 21, the mounting plate 21 is of a double-layer plate structure, and is fixedly connected between the double-layer plates of the mounting plate 21, a front-back sliding groove 211 is formed in the travelling mounting plate 21 along the front-back direction, two front-back sliding blocks 22 are slidably connected in the front-back sliding groove 211, a pulling-out sliding groove plate 23 is fixedly mounted on the front-back sliding blocks 22, a pulling-out rod 24 is rotatably connected to the mounting plate 21, one end of the pulling-out rod 24 is slidably connected with the pulling-out sliding groove plate 23, a travelling roller 25 is rotatably connected to the other end of the pulling-out rod 24, a pulling-out spring rod 26 is fixedly connected between the two front-back sliding blocks 22, a synchronizing toothed plate 27 is fixedly connected to each of the two front-back sliding blocks 22, a synchronizing gear 28 is jointly meshed between the two synchronizing toothed plates 27, and the synchronizing gear 28 is rotatably connected with the travelling mounting plate 21.
In the process of travelling along the guide rail through the mounting mechanism, the pulling-out spring rod 26 pushes the two front and rear sliding blocks 22 to move in the front and rear directions, the front and rear sliding blocks 22 drive the pulling-out rod 24 to be in an open state through the pulling-out groove plate 23, so that the travelling roller 25 is driven to abut against the upper side wall and the lower side wall of the guide rail, meanwhile, through the mechanism, in the travelling roller 25 travelling process, even if sundries exist in the guide rail, the travelling roller 25 can correspondingly shrink, so that sundries can be better passed through, and meanwhile, the synchronous gear 28 and the synchronous rack are mutually meshed to enable the two front and rear sliding blocks 22 to be in a synchronous motion state, so that the travelling roller 25 can be better clamped in the guide rail.
The working principle of the invention is that in the process of using the inspection robot to carry out inspection, the inspection robot is driven to travel by being pulled by an external stay rope or being contacted with a track by a motor driving roller, in the process, a reciprocating rotary motor 5 drives a belt pulley to rotate, the belt pulley drives a reciprocating rotary mechanism 4 to operate by a belt, the reciprocating rotary mechanism 4 drives a relay slide block 62 to do swinging motion, the relay slide block 62 drives an inspection detection mechanism 8 to do swinging motion in a left-right direction, in the process of the reciprocating swing of the relay slide block 62, the relay slide block 62 drives the inspection detection block 81 to do synchronous motion, a turning gear 86 rotates in the process of contacting with a convex tooth 72, the turning gear 86 returns to drive a turning bevel gear 85 to rotate, the turning bevel gear 85 drives an intermediate bevel gear 84 to rotate, the intermediate bevel gear 84 drives the inspection rod 82 to rotate, the inspection probe 82 drives the inspection probe 83 to rotate, the turning gear 86 can make more than 180 degrees of rotation by controlling the number of the convex teeth 72, so that the inspection probe 83 detects the condition in the track, compared with the traditional track inspection device, the detection range is expanded, the detection inspection can be performed on the positions of dead angles, the inspection probe 8 can be always in a vertical state through the directional stabilizing mechanism 73, so as to ensure good detection effect, in the inspection process, the inspection probe 83 and the inspection probe 82 are likely to touch obstacles, in order to better avoid the obstacles, the device is prevented from being damaged due to hard collision, when the inspection probe 83 and the swing probe 822 meet the obstacles, the swing lever 822 swings relative to the directional lever 821, under the combined action of each pulling spring 825, the swinging rod 822 and the inspection probe 83 can be restored to the vertical state again, the inspection probe 83 can be further protected through the probe protection mechanism 9, the vertical moving ring 92 is moved upwards in the process of starting the probe protection mechanism 9, the vertical moving ring 92 drives the elastic protection rod 93 to move upwards, the vertical moving ring 92 is fixedly arranged on the protection sleeve 91 through bolts, under the action of the air jacking plate, the elastic protection rod 93 can expand to the periphery, under the pulling action of the elastic rope 96, the elastic protection rod 93 can be jacked on the jacking plate 94, when the elastic protection rod 93 meets an obstacle, the automatic blocking effect can be achieved, meanwhile, the protection sleeve 91 can generate a rotating effect, and under the combined action of swinging with the swinging rod 822, the obstacle can be more easily overcome.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (8)
1. The utility model provides a string rail formula tunnel inspection robot, includes mounting panel (1), its characterized in that: the left end and the right end of the mounting plate (1) are respectively and fixedly provided with a mounting arm (11), the two mounting arms (11) are bent in opposite directions and are fixedly provided with a travelling mounting mechanism (2) at the opposite ends, and the lower end of the mounting plate (1) is fixedly provided with a semicircular reciprocating lifting ring (3) surrounding the mounting plate (1);
an arc-shaped reciprocating lifting groove (31) is formed in the reciprocating lifting ring (3), a reciprocating rotary mechanism (4) is arranged in the reciprocating lifting groove (31), a reciprocating rotary motor (5) is fixedly arranged at the upper end of the mounting plate (1), a belt wheel is fixedly arranged at the output end of the reciprocating rotary motor (5), the belt wheel drives the reciprocating rotary mechanism (4) to operate through a belt, and an adoptive ring (6) is fixedly arranged at the front end of the mounting plate (1);
an adoptive sliding groove (61) corresponding to the reciprocating lifting groove (31) is formed in the adoptive ring (6), an adoptive sliding block (62) driven by the reciprocating rotary mechanism (4) is connected to the adoptive sliding groove (61) in a sliding mode, a detection ring (7) is fixedly connected to the front end of the adoptive ring (6), a patrol detection mechanism (8) driven by the adoptive sliding block (62) is arranged on the detection ring (7), and a directional stabilizing mechanism (73) is lifted at the lower end of the detection ring (7).
2. The track-mounted tunnel inspection robot of claim 1, wherein: the utility model provides a patrol and examine detection mechanism (8) including patrol and examine detection piece (81), patrol and examine detection piece (81) with adoptive slider (62) rotate and be connected, the upper end that patrol and examine detection piece (81) rotates and is connected with patrol and examine detection pole (82), the upper end fixedly connected with that patrol and examine detection pole (82) examine detection head (83), the lower extreme that patrol and examine detection pole (82) stretches into the inside of patrol and examine detection piece (81) and fixedly connected with middle bevel gear (84), meshing has diversion bevel gear (85) on middle bevel gear (84), the middle fixedly connected with transmission shaft (851) of diversion bevel gear (85), transmission shaft (851) pass the front end fixedly connected with diversion gear (86) that patrol and examine detection piece (81), set up on detection ring (7) and supply transmission shaft (851) to remove through groove (71), a plurality of diversion gear (86) pivoted dogteeth (72) have evenly been laid to circumference on detection ring (7).
3. The track-mounted tunnel inspection robot of claim 2, wherein: the inspection detection rod (82) is divided into a directional rod (821) and a swinging rod (822), the directional rod (821) is rotationally connected to the upper end of the inspection detection block (81) and is fixedly connected with a middle bevel gear (84), the swinging rod (822) is arranged at the upper end of the directional rod (821) in a ball hinged mode, an inspection detection head (83) is fixedly arranged at the upper end of the swinging rod (822), a plurality of lower pulling spring rods (823) are fixedly arranged on the directional rod (821), a plurality of upper pulling spring rods (824) corresponding to the lower pulling spring rods (823) are circumferentially distributed on the swinging rod (822) uniformly, and pulling springs (825) are arranged between the corresponding upper pulling spring rods (824) and the corresponding lower pulling spring rods (823), and the upper ends and the lower ends of the pulling springs (825) are fixedly connected with the upper pulling springs (825) and the lower pulling spring rods (823) respectively.
4. A track-mounted tunnel inspection robot according to claim 3, wherein: be provided with probe protection machanism (9) on swinging rod (822), probe protection machanism (9) are including protective sheath (91), along vertical direction sliding connection on protective sheath (91) have vertical removal ring (92), the upper end of vertical removal ring (92) articulates there is elastic protection pole (93), just elastic protection pole (93) circumference evenly distributed has a plurality ofly, elastic protection pole (93) are provided with jack-up board (94) corresponding to the upper end of protective sheath (91), upper end fixedly connected with bullet rope installation department (95) at jack-up board (94) on protective sheath (91), elastic rope (96) are fixed mounting on bullet rope installation department (95), the other end and elastic protection pole (93) fixed connection of elastic rope (96).
5. The track-mounted tunnel inspection robot of claim 4, wherein: damping mechanism (87) are arranged in the inspection detection block (81), smooth clamping grooves (8211) are formed in the outer side of the directional rod (821), damping sliding grooves (811) are formed in the inspection detection block (81) corresponding to the smooth clamping grooves (8211), damping sliding blocks (871) are connected in the damping sliding grooves (811) in a sliding mode, the damping sliding blocks (871) are clamped in the smooth clamping grooves (8211) in the directional rod (821) in a sliding mode, damping springs (872) are fixedly connected between the damping sliding blocks (871) and the tail ends of the damping sliding grooves (811), and the number of the damping sliding grooves (811) is consistent with the number of teeth on the turning gear (86).
6. The track-mounted tunnel inspection robot of claim 5, wherein: the reciprocating rotary mechanism (4) comprises reciprocating rotary rollers (41), the two ends of each reciprocating rotary roller (41) are respectively connected with one reciprocating rotary roller (41) in a rotating mode, the two reciprocating rotary rollers (41) are connected through a reciprocating rotary belt (42), the upper side section and the lower side section of each reciprocating rotary roller (41) are restrained through a reciprocating rotary guide rail (43), a return guide groove (621) is formed in each relay slider (62), a driving rod (421) is fixedly connected to each reciprocating rotary belt (42), each driving rod (421) is connected with each return guide groove (621) in a sliding mode, a driving wheel (44) is further connected with each reciprocating lifting ring (3) in the reciprocating lifting groove (31) in a rotating mode, each driving wheel (44) is in contact with the lower end of each reciprocating rotary belt (42), and each driving wheel (44) penetrates through each reciprocating lifting ring (3) to be fixedly connected with a belt wheel and is connected with each belt wheel of the corresponding reciprocating rotary motor (5) through a belt.
7. The track-mounted tunnel inspection robot of claim 6, wherein: the directional stabilizing mechanism (73) comprises a directional stabilizing guide rail (731), the directional stabilizing guide rail (731) is fixedly hoisted at the lower end of the relay ring (6), a directional stabilizing slide block (732) is slidably connected in the directional stabilizing guide rail (731), a directional fixing rod (733) is fixedly arranged at the upper end of the stabilizing slide block, a directional sliding rod (734) is slidably connected at the upper end of the directional fixing rod (733), and the upper end of the directional sliding rod (734) is fixedly connected with the inspection detection block (81).
8. The track-mounted tunnel inspection robot of claim 1, wherein: the travelling mounting mechanism (2) comprises a mounting plate (21), the mounting plate (21) is of a double-layer plate structure, the double-layer plates of the mounting plate (21) are fixedly connected, a front sliding groove (211) is formed in the travelling mounting plate (21) along the front and rear direction, two front and rear sliding blocks (22) are connected in the front and rear sliding groove (211) in a sliding manner, a poking sliding groove plate (23) is fixedly mounted on the front and rear sliding blocks (22), a poking rod (24) is rotationally connected to the mounting plate (21), one end of the poking rod (24) is rotationally connected with the poking sliding groove plate (23), the other end of the poking rod (24) extends out of the mounting plate (21) to be rotationally connected with a travelling roller (25), a poking spring rod (26) is fixedly connected between the two front and rear sliding blocks (22), a synchronous toothed plate (27) is fixedly connected to each of the two front and rear sliding blocks (22), a synchronous gear (28) is meshed between the two synchronous plates (27), and the synchronous gear (28) is rotationally connected with the mounting plate (21).
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| CN202410213741.1A CN117773977B (en) | 2024-02-27 | 2024-02-27 | Rail-mounted tunnel inspection robot |
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| CN202410213741.1A CN117773977B (en) | 2024-02-27 | 2024-02-27 | Rail-mounted tunnel inspection robot |
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| CN117773977B CN117773977B (en) | 2024-04-26 |
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| JP2019118875A (en) * | 2018-01-04 | 2019-07-22 | 首都高速道路株式会社 | Painting device and painting method |
| CN111770318A (en) * | 2020-07-28 | 2020-10-13 | 合肥小步智能科技有限公司 | Steady curved device of crossing of inspection robot |
| CN114310930A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Hang rail formula and patrol and examine robot |
| CN114310932A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Positioning device for rail-hanging type inspection robot |
| DE202023103646U1 (en) * | 2022-12-14 | 2023-07-19 | Beifang Weijiamao Coal Power Co., Ltd | Inspection robot for a coal transport system |
| CN116642635A (en) * | 2022-02-15 | 2023-08-25 | 北京广监云科技有限公司 | Detector for monitoring toxic gas |
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2024
- 2024-02-27 CN CN202410213741.1A patent/CN117773977B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019118875A (en) * | 2018-01-04 | 2019-07-22 | 首都高速道路株式会社 | Painting device and painting method |
| CN111770318A (en) * | 2020-07-28 | 2020-10-13 | 合肥小步智能科技有限公司 | Steady curved device of crossing of inspection robot |
| CN114310930A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Hang rail formula and patrol and examine robot |
| CN114310932A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Positioning device for rail-hanging type inspection robot |
| CN116642635A (en) * | 2022-02-15 | 2023-08-25 | 北京广监云科技有限公司 | Detector for monitoring toxic gas |
| DE202023103646U1 (en) * | 2022-12-14 | 2023-07-19 | Beifang Weijiamao Coal Power Co., Ltd | Inspection robot for a coal transport system |
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| CN117773977B (en) | 2024-04-26 |
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