CN210121849U

CN210121849U - Tunnel inspection robot

Info

Publication number: CN210121849U
Application number: CN201821881872.3U
Authority: CN
Inventors: 马孝林; 孙昊; 刘孝鹏
Original assignee: Shandong Dalai Intelligent Technology Co Ltd; Shandong Lepwell Automation Technology Co Ltd; Shandong Industrial Technology Research Institute of ZJU
Current assignee: Shandong Dalai Intelligent Technology Co Ltd; Shandong Lepwell Automation Technology Co Ltd; Shandong Industrial Technology Research Institute of ZJU
Priority date: 2018-11-15
Filing date: 2018-11-15
Publication date: 2020-03-03
Anticipated expiration: 2028-11-15

Abstract

The utility model discloses a robot is patrolled and examined in tunnel, including installing track, leaky wave cable and the robot in the tunnel, the track is hollow steel pipe, and the leaky wave cable is located inside the steel pipe, and the robot is equipped with determine module, and determine module includes cloud platform, laser scanner and visible light camera. The utility model adopts leaky-wave cable communication, and a plurality of relay stations are not needed to be arranged when the tunnel is long; can detect tunnel structure appearance, cable outward appearance etc. through the detecting element who carries, effectively avoid the unexpected accidents such as the structure that probably appears sinks in the tunnel, collapses.

Description

Tunnel inspection robot

Technical Field

The utility model relates to a special type robot field, more specifically the saying so, it relates to a tunnel inspection robot.

Background

At present, the domestic tunnel robot is already applied to part of comprehensive pipe galleries and cable tunnels.

The tunnel is generally constructed underground, and a communication environment cannot be established through a ground wireless communication base station, so that a dedicated communication system must be introduced for the tunnel. In addition, radio signals are more rapidly attenuated in tunnels than in open places, and signal relay stations are also important for building communication environments. If the wireless communication system is not improved, finally, in order to construct the wireless communication environment of the inspection robot in the tunnel, a wireless communication relay station with an antenna must be constructed every 100 m. The tunnel inspection robot greatly improves the engineering quantity and the construction cost of the tunnel inspection robot, and each relay station is bound to have an independent power supply from the aspect of safety, so that the relay stations are introduced too much, and a larger burden is bound to be caused for the operation safety work in the tunnel.

In addition, the sinking and deformation of the tunnel body are also important contents for detection. Although the underground pipeline tunnel is developed in China relatively mature, long underground tunnel lines are extremely easy to damage, for example, rolling of heavy-duty automobiles, earthquakes, water and soil loss and the like can cause cracks or even collapse at the upper part of the tunnel, and serious influence is caused on urban traffic, communication and power supply. Therefore, real-time monitoring of the structural safety of the cable tunnel is very necessary. However, none of the current tunnel inspection robots has this function.

Disclosure of Invention

The utility model aims at providing a tunnel inspection robot, which adopts leaky-wave cable communication and does not need to arrange a plurality of relay stations when the tunnel is long; can detect tunnel structure appearance, cable outward appearance etc. through the detecting element who carries, effectively avoid the unexpected accidents such as the structure that probably appears sinks in the tunnel, collapses.

The utility model provides a technical scheme that its technical problem adopted is: a tunnel inspection robot comprises a track, a leaky wave cable, a robot body, a wireless access end, an optical fiber and a background, wherein the track is arranged in a tunnel, the leaky wave cable is positioned inside the steel pipe, a plurality of through holes for transmitting signals of the leaky wave cable are formed at equal intervals below the track, the robot body is provided with a detection assembly, the detection assembly comprises a holder, a laser scanner and a visible light camera, the robot body comprises a motion platform, the holder is fixed on the motion platform, the visible light camera and the laser scanner are respectively fixed with two ends of the holder, the motion platform is provided with a wireless client, a control system, a communication system and a wireless access end, and the wireless client is respectively connected with the control system and the communication system; one end of the wireless access end is connected with the leaky wave cable, the wireless access end transmits signals to the wireless client through the leaky wave cable, and the other end of the wireless access end is connected with the background through the optical fiber.

The utility model has the advantages that:

(1) the utility model discloses a leaky wave cable carries out the communication, and the communication is reliable, need arrange the drawback of a plurality of relay points when avoiding the tunnel longer.

(2) The utility model discloses can detect the structural deformation in tunnel, wriggling change, effectively avoid the structure that probably appears in the tunnel accident such as sink, collapse.

(3) The utility model discloses robot orbit adopts low-cost steel pipe to replace costly aluminum alloy, effectively reduces the tunnel and detects the cost.

(4) The utility model discloses a wheeled actuating mechanism of magnetism adsorption, magnetism adsorption wheel can rely on great magnetic force to adsorb in the steel pipe below, effectively reduces the volume of robot.

(5) The utility model discloses a dropproof mechanism have the dropproof and act as the robot from the function of driving wheel, reduce the occupation space of robot, reduce cost.

Drawings

Fig. 1 is a schematic view of the ceiling-mounted mounting structure of the present invention.

Fig. 2 is a top view of the present invention.

Fig. 3 is a schematic structural diagram of the robot of the present invention.

Fig. 4 is a schematic structural view of the driving wheel assembly of the present invention.

Fig. 5 is a schematic structural view of the belt transmission assembly of the present invention.

Fig. 6 is a schematic view of the installation of the driving wheel assembly on the robot according to the present invention.

Fig. 7 shows the structure of the anti-falling assembly of the present invention.

Fig. 8 is a schematic view of the installation of the anti-falling component on the robot.

Fig. 9 is a schematic view of a rail ceiling type installation structure with leaky wave cables in embodiment 2.

Fig. 10 is a schematic view of the overall structure of embodiment 2.

Fig. 11 is a schematic structural view of a driving wheel assembly of embodiment 2.

The labels in the figure are: 101. a hanger; 102. a transverse support; 103. a track; 2. a drive mechanism; 3. a fall protection mechanism; 4. a motion platform; 5. a steering shaft; 201. a magnetic adsorption wheel; 202. a motor; 203. a transmission assembly; 204. a first bracket; 205. a second bracket; 206. a third support; 207. a drive shaft; 2031. a belt; 2032. a tension wheel; 2033. a driven pulley; 2034. A driving pulley; 301. a grip tab 301; 302. a fourth bracket; 303. a clasping wheel; 104. A through hole; 6. a leaky wave cable; 601. a wireless access terminal; 701. a wireless client; 702. a control system; 703. a communication system; 704. a holder; 705. a laser scanner; 706. a visible light camera; 8. a background; 9. an optical fiber.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the following detailed description.

The track may be mounted in a side-mounted or suspended manner, as will now be described by way of example.

As shown in fig. 9-11, a tunnel inspection robot comprises a track 103 and a robot body, wherein the track 103 is installed on a tunnel, the track 103 is provided with a leaky wave cable 6, the robot body is provided with a detection assembly, and the detection assembly comprises a holder 704, a laser scanner 705 and a visible light camera 706. As a specific embodiment, the robot body comprises a driving mechanism 2, a fall prevention mechanism 3 and a moving platform 4.

In this embodiment, the tunnel is provided with a hanger 101, the hanger 101 is fixed on a wall in the tunnel, and the hanger 101 is fixedly connected with a transverse bracket 103. The top end face of the rail 103 is a plane, the top end face is provided with a threaded hole, and the transverse support 103 is fixed to the top end face and can be fixedly connected through screws. Specifically, the rail 103 includes two steel pipes symmetrically disposed. The traditional rail adopts an aluminum alloy rail hanging type driving technology, and although aluminum alloy has the advantages of light weight, rust prevention and the like, the price is relatively high; for the cable tunnel with the length of more than ten kilometers, the track cost accounts for a very large proportion; and at present, the cable tunnel inspection robot mostly adopts a traditional I-shaped track, and the track with a larger sectional area will inevitably occupy a larger tunnel space. The utility model adopts the hollow steel pipe track, has high strength, low cost and light weight, and effectively reduces the detection cost of the tunnel; the track in the form of the steel pipe can reduce the occupied tunnel space, and is beneficial to the operation of the robot. Further, in order to prevent the surface of the steel pipe from rusting, chrome is plated on the surface of the steel pipe. The track that adopts in this embodiment is hollow steel pipe, and leaky wave cable 6 is located hollow steel pipe, has saved leaky wave cable 6's wiring space, has avoided simultaneously arranging leaky wave cable 6 outside to the wearing and tearing of cable and destruction.

The tunnel inspection robot comprises a moving platform, wherein a wireless client 701, a control system 702 and a communication system 703 are installed on the moving platform, the wireless client 701 is connected with the control system 702 and the communication system 703 respectively, one end of a wireless access end 601 is connected with a leaky wave cable 6, and the other end of the wireless access end 601 is connected with a background 8 through an optical fiber 9. The wireless client 701 is used for receiving signals transmitted by the leaky wave cable 6. Furthermore, in order to allow the signal of the leaky wave cable 6 to leak out, a plurality of through holes 104 are formed at equal intervals below the track, and a plurality of uniformly arranged wireless fields are formed to communicate with the robot. The shape of the through hole 104 is not limited, and specifically, the through hole 104 is a circular hole. The leaky wave cable 6 can radiate a regular signal region around a designated area of the cable, which ensures a stable and reliable communication link between the wireless client 701 and the wireless access terminal 601 and provides a certain cyclic access to data. The specific signal transmission mode is as follows: on one hand, the background 8 transmits the instruction signal to the wireless access terminal 601 through the optical fiber 9, the wireless access terminal 601 transmits the signal to the wireless client 701 through the leaky wave cable 6, and the wireless client 701 transmits the signal to the control system 702 and the communication system 703 to communicate and control the robot. On the other hand, the wireless client 701 transmits the monitoring information to the background 8 through the leaky-wave cable 6, the wireless access terminal 601 and the optical fiber 9.

The tunnel is generally constructed underground, and a communication environment cannot be established through a ground wireless communication base station, so that a dedicated communication system must be introduced for the tunnel. In addition, radio signals are more rapidly attenuated in tunnels than in open places, and signal relay stations are also important for building communication environments. At present, a wireless communication relay station with an antenna is required to be built every 100m when a wireless communication environment of the inspection robot in the tunnel is built, so that the engineering quantity and the construction cost of the tunnel inspection robot are greatly improved, and in the aspect of safety, each relay station is inevitably provided with an independent power supply, and the relay stations are excessively introduced, so that a greater burden is caused to the operation safety work in the tunnel. Therefore, the leaky-wave cable 6 communication mode is adopted, the communication is reliable, and the defect that a plurality of relay points need to be arranged when the tunnel is long is overcome.

Detection assembly

As a specific implementation mode, a detection assembly, a fire extinguishing bomb, a temperature and humidity detector and a smoke sensor are mounted below the moving platform. In this embodiment, a temperature and humidity sensor of HTU21 is used to detect environmental information such as indoor temperature and humidity.

In this embodiment, a smoke sensor of model JTY-GD-S836 is used to detect smoking, fire, etc. that may occur in a tunnel.

The detection component comprises a visible light camera 706, a laser scanner 705 and a pan-tilt 704, the pan-tilt 704 is fixed on the moving platform 4, and the visible light camera 706 and the laser scanner 705 are respectively fixed with two ends of the pan-tilt 704. Visible light camera 706 is used for detecting and intelligently identifying cable appearance, foreign matters and meter readings in the tunnel, and laser scanner 705 is used for detecting settlement and creep change of the tunnel structure, so that accidents such as structure subsidence and collapse which may occur in the tunnel can be effectively avoided.

Driving mechanism

The driving mechanism 2 is rotatably connected with the motion platform through a steering shaft 5. The driving mechanism 2 comprises a magnetic attraction wheel 201, a transmission shaft 207 and a transmission assembly 203, wherein the magnetic attraction wheel 201 slides along the track 103, and the transmission assembly 203 drives the magnetic attraction wheel 201 to rotate through the transmission shaft 207. Magnetism adsorbs wheel 201 can rely on great magnetic force to adsorb in the steel pipe below, makes magnetism adsorb wheel 201 tightly laminate the track, reduces the space between magnetism adsorb wheel 201 and the track 103 to effectively reduce the volume of robot. Specifically, the magnetic attraction wheel 201 has a groove that engages with the rail 103, and the magnetic attraction wheel 201 moves along the rail 103. Specifically, the track 103, i.e., the semicircle of the steel pipe, is located in the groove.

The transmission assembly 203 may be one of a chain transmission, a belt transmission and a gear transmission, and in this embodiment, the transmission assembly 203 is a belt transmission assembly including a belt 2031, a driving pulley 2034 and a driven pulley 2033. Specifically, the driving mechanism 2 includes a first bracket 204, a second bracket 205, a third bracket 206 and a motor 202, the motor 202 and the transmission assembly 203 are fixed on the third bracket 206, an output shaft of the motor is connected with the driving pulley 2034 through a flat key, and the driving pulley 2034 and the driven pulley 2033 are driven through a belt 2031; magnetic adsorption wheel 201 symmetry is equipped with 2 that the structure is the same, and transmission shaft 207 one end is fixed with second support 205 through the bearing, and the other end passes two magnetic adsorption wheels 201, third support 206, driven pulleys 2033 in proper order, and the transmission shaft passes through the bearing and is fixed with second support 205. That is, one end of the magnetic attraction wheel 201 is fixedly connected with the driven pulley 2033 in the belt transmission assembly, and the other end is supported on the second bracket 205 through a bearing; two magnetic attraction wheels 201 are fixed to a drive shaft 207. The two magnetic-attraction wheels 201 are arranged in parallel. The motor output shaft drives the driving pulley 2034 to rotate, the driving pulley 2034 and the driven pulley 2033 transfer motion through the belt 2031, the driven pulley 2033 drives the transmission shaft 207 to rotate, and thus the two magnetic adsorption wheels 202 rotate. The second bracket 205 and the third bracket 206 are both fixed to the first bracket 204, the steering shaft 5 is fixed to the first bracket 204 by a bearing, and the steering shaft 5 can rotate. The tunnel path is tortuous, so that the moving platform can turn to adapt to the running path of the tunnel.

Further, in order to prevent the belt from loosening during the movement of the robot to cause slipping, idle rotation of the pulleys, and the like, the transmission assembly 203 includes a tension pulley 2032, and the tension pulley 2032 is disposed on one side of the belt 2031. The tension pulley 2032, the driving pulley 2034, and the driven pulley 2033 are mounted on the third bracket 206.

Anti-falling mechanism

The anti-falling mechanism 3 is rotationally connected with the moving platform through a steering shaft 5. The anti-falling mechanism 3 comprises a fourth support 302 and a clasping wheel 303, the clasping wheel 303 comprises 2 clasping sheets 301 with the same structure, the two clasping sheets 301 are fixed on the fourth support 302 through screws, and the fourth support 302 is sleeved on the steering shaft 5 through a bearing. Specifically, each clasping piece 301 is matched with the semi-circle of the steel pipe, and the two clasping pieces 301 surround the steel pipe. Specifically, the clasping piece 301 is made of a linear bearing or wear-resistant plastic with a lubricating function, so that the service life of the clasping wheel 303 can be prolonged. The linear bearing can convert sliding friction into rolling friction, and the friction force between the holding sheet 301 and the rail is reduced. By adopting the anti-falling mechanism 3, the anti-falling mechanism not only has the function of preventing the robot from falling, but also has the function of serving as a driven wheel of the robot.

In this embodiment, actuating mechanism 2 is as the action wheel, and anti-falling mechanism 3 is as from the driving wheel, and actuating mechanism 2 and anti-falling mechanism 3 set up around.

The embodiments described in this specification are merely illustrative of implementations of the inventive concepts, and the scope of the invention should not be considered limited to the specific forms set forth in the embodiments, but rather the scope of the invention is intended to include equivalent technical means as would be understood by those skilled in the art from the inventive concepts.

Claims

1. The utility model provides a robot is patrolled and examined in tunnel which characterized in that: the robot comprises a track, a leaky wave cable, a robot body, a wireless access end, an optical fiber and a background, wherein the track is arranged in a tunnel and is a hollow steel pipe, the leaky wave cable is positioned in the steel pipe, a plurality of through holes for transmitting signals of the leaky wave cable are formed in the lower part of the track at equal intervals, the robot body is provided with a detection assembly, the detection assembly comprises a holder, a laser scanner and a visible light camera, the robot body comprises a motion platform, the holder is fixed on the motion platform, the visible light camera and the laser scanner are respectively fixed with the two ends of the holder, the motion platform is provided with a wireless client, a control system and a communication system, and the wireless client is respectively connected with the control system and the communication system; one end of the wireless access end is connected with the leaky wave cable, the wireless access end transmits signals to the wireless client through the leaky wave cable, and the other end of the wireless access end is connected with the background through the optical fiber.