CN210554811U

CN210554811U - Double-groove rail type tunnel inspection robot

Info

Publication number: CN210554811U
Application number: CN201921386791.0U
Authority: CN
Inventors: 宋涛; 王兴; 王守江; 王海利; 刘广扩; 李福存
Original assignee: Shanghai Rouke Intelligent Technology Co Ltd
Current assignee: Shanghai Rouke Intelligent Technology Co Ltd
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2020-05-19
Anticipated expiration: 2029-08-26

Abstract

The utility model relates to the technical field of tunnel inspection robots, in particular to a double-groove track type tunnel inspection robot, which comprises a robot body, a driving mechanism, a guide mechanism, a steering connection mechanism and a groove type guide rail mechanism, wherein the robot body is a frame for bearing the whole track inspection robot and consists of a middle substrate, a front driving substrate and a rear driving substrate; the driving mechanisms are provided with two sets which are respectively arranged on the front driving substrate and the rear driving substrate; the guide mechanisms are fixed on two sides of the front driving substrate and the rear driving substrate; the groove-shaped guide rail mechanism is a guide rail with two grooves and notches which are oppositely arranged. The utility model has the advantages that: the structure of the utility model can increase the rising height of the cradle head arranged on the robot, and increase the inspection range of the robot; compared with a single rail, the double rail brings better stability, so that the robot is more stable and reliable in work transportation; the double-groove type track has fewer size characteristics and small processing difficulty.

Description

Double-groove rail type tunnel inspection robot

Technical Field

The utility model relates to a robot technical field is patrolled and examined in tunnel, a double flute type rail mounted tunnel patrols and examines robot of special design.

Background

At present, the robot that patrols and examines in tunnel mostly is the monorail type, and the robot body hangs on the track, and the cloud platform can go up and down on the body. The robot body of this kind of mode is located the track below, and the body has occupied vertical space, and when the cloud platform rose to the highest, the vertical distance of cloud platform distance between the track was very big, and the cloud platform rise height is restricted seriously to but lead to the cloud platform to patrol and examine the scope less.

And when the robot moves on the single rail, the stability is poor, the shape of the single rail type rail is relatively complex, and the processing difficulty is high.

Therefore, there is an urgent need for a device that can replace the conventional single-rail inspection robot to solve the above problems.

Disclosure of Invention

The utility model discloses a compensate among the prior art cloud platform too big with orbital vertical distance, lead to patrolling and examining the limited not enough of height, provide a two cell type rail mounted's tunnel robot in cloud platform liftable and the main part of sinking.

The utility model discloses a realize through following technical scheme:

the utility model provides a robot is patrolled and examined in double flute type rail mounted tunnel, includes robot body, actuating mechanism, guiding mechanism, turns to coupling mechanism and cell type guide rail mechanism, its characterized in that:

the robot body is a frame for bearing the whole track inspection robot and consists of a middle substrate, a front driving substrate and a rear driving substrate; two ends of the middle substrate are respectively movably connected with the front driving substrate and the rear driving substrate through a steering connecting mechanism;

the driving mechanism is provided with two sets of driving motors which are respectively arranged on the front driving base plate and the rear driving base plate, the driving motor is used as a power source of the driving mechanism, the driving motors are in transmission connection with a speed reducer, the speed reducer is in transmission connection with a motor belt pulley, the motor belt pulley is in synchronous transmission connection with a driven belt pulley through a synchronous belt, the driven belt pulley is fixedly connected with a driving main shaft, two ends of the driving main shaft are arranged in bearing seats, the bearing seats are respectively fixed on the front driving base plate and two sides of the rear driving base plate, and the tail ends;

the guide mechanisms are fixed on two sides of the front driving substrate and the rear driving substrate;

the groove-shaped guide rail mechanism is a guide rail with two grooves and notches which are oppositely arranged.

Further, for better realization the utility model discloses, guiding mechanism includes leading wheel support and leading wheel, and leading wheel support fixed mounting drives the both sides of base plate and back drive base plate in the front, and the leading wheel passes through the leading wheel axle to be installed on the leading wheel support.

Further, for better realization the utility model discloses, the leading wheel nestification is in the guide rail groove notch of cell type guide rail mechanism.

Further, for better realization the utility model discloses, turn to coupling mechanism by thrust bearing frame, push away from bearing and round pin axle and constitute, turn to coupling mechanism with middle base plate respectively with preceding drive base plate with back drive base plate articulated together.

Further, for better realization the utility model discloses, the drive rubber tyer is the rubber material, and the wheel surface is equipped with anti-skidding line.

The utility model has the advantages that: the structure of the utility model can increase the rising height of the cradle head arranged on the robot, and increase the inspection range of the robot; compared with a single rail, the double rail brings better stability, so that the robot is more stable and reliable in work transportation; the double-groove type track has fewer size characteristics and small processing difficulty.

Drawings

Fig. 1 is a schematic view of a three-dimensional structure of the double-groove track type tunnel inspection robot of the present invention;

fig. 2 is a schematic view of the overlooking structure of the double-groove track type tunnel inspection robot of the utility model;

fig. 3 is a schematic view of the overhead structure of the double-groove track type tunnel inspection robot of the present invention;

fig. 4 is a schematic structural view of the driving mechanism of the double-groove track type tunnel inspection robot of the present invention;

fig. 5 is a schematic structural view of the guiding mechanism of the double-groove track type tunnel inspection robot of the present invention;

3 fig. 3 6 3 is 3 a 3 sectional 3 view 3 of 3 the 3 double 3- 3 groove 3 track 3 type 3 tunnel 3 inspection 3 robot 3 in 3 the 3 direction 3 from 3 a 3 to 3 a 3 in 3 fig. 3 3 3. 3

In the figure, 1, a robot body, 101, an intermediate substrate, 102, a front driving substrate, 103, a rear driving substrate, 2, a driving mechanism, 201, a driving motor, 202, a speed reducer, 203, a motor pulley, 204, a driven pulley, 205, a synchronous belt, 206, a driving main shaft, 207, a bearing seat, 208, a driving rubber wheel, 3, a guiding mechanism, 301, a guiding wheel bracket, 302, a guiding wheel shaft, 303, a guiding wheel, 4, a steering connecting mechanism, 401, a thrust bearing seat, 402, a thrust bearing, 403, a pin shaft, 5 and a groove-shaped guide rail mechanism.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which the product of the present invention is usually placed in when in use, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. They may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Fig. 1-6 show a specific embodiment of the present invention, which is a double-groove track type tunnel robot, comprising a robot body mechanism, a front and back driving mechanism, a guiding mechanism, a steering connecting mechanism and a groove-shaped guide rail mechanism.

The robot body mechanism is shown in figures 1-2 and consists of a middle base plate and a front and back driving base plate. Is a frame that carries the entire orbital robot. The body mechanism is fixed with a front and back driving mechanism, a guide mechanism and a lifting cradle head. Most of the structure of the body is positioned above the bottommost surface of the track.

The driving mechanism is shown in figure 4 and comprises a driving motor, a motor belt pulley, a synchronous belt, a driven belt pulley, a driving bearing seat, a driving rubber wheel and a driving main shaft. The front and rear driving mechanisms are respectively fixed on the front and rear driving substrates and provide walking power for the robot.

The guide mechanism is shown in figure 5 and comprises a guide wheel, a guide wheel shaft and a guide wheel bracket. The front and the rear driving substrates are fixed to ensure that the robot travels in the double-groove type guide rail.

The steering connecting mechanism is shown in figure 6 and comprises a thrust bearing, a pin shaft and a reasoning bearing seat. Is installed between the intermediate substrate and the front and rear driving substrates. As the flexible connection of the body mechanism, the body can freely pass through the turning fillet guide rail.

The working principle and the process of the invention are as follows: the double-groove type track is fixed on a track support, and the track support is fixed on the tunnel; a guide wheel of the robot is in contact with the inner side surface of the groove-shaped track; the driving wheel bears the whole weight of the robot, is pressed on the inner bottom surface of the groove-shaped guide rail under the action of gravity, and is driven by the motor to run, so that the robot moves forwards or backwards along the guide rail. Because most of the structure of the robot body is positioned above the bottommost surface of the track, the holder can be lifted to a height close to the track, and the inspection range is enlarged.

Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.

Claims

1. The utility model provides a robot is patrolled and examined in double flute type rail mounted tunnel, includes robot body (1), actuating mechanism (2), guiding mechanism (3), turns to coupling mechanism (4) and cell type guide rail mechanism (5), its characterized in that:

the robot body (1) is a frame for bearing the whole track inspection robot and consists of a middle substrate (101), a front driving substrate (102) and a rear driving substrate (103); two ends of the middle substrate (101) are respectively movably connected with the front driving substrate (102) and the rear driving substrate (103) through a steering connection mechanism (4);

the driving mechanism (2) is provided with two sets of driving mechanisms which are respectively arranged on the front driving base plate (102) and the rear driving base plate (103), the power source of the driving mechanism (2) is a driving motor (201), the driving motor (201) is in transmission connection with a speed reducer (202), the speed reducer (202) is in transmission connection with a motor belt pulley (203), the motor belt pulley (203) is in synchronous transmission connection with a driven belt pulley (204) through a synchronous belt (205), the driven belt pulley (204) is fixedly connected with a driving main shaft (206), two ends of the driving main shaft (206) are arranged in a bearing seat (207), and the tail ends of two ends of the driving main shaft (206) are provided with driving;

the guide mechanism (3) is fixed on two sides of the front drive substrate (102) and the rear drive substrate (103);

the groove-shaped guide rail mechanism (5) is a guide rail with two opposite groove notches.

2. The double-groove track type tunnel inspection robot according to claim 1, characterized in that: the guide mechanism (3) comprises a guide wheel support (301) and a guide wheel (303), the guide wheel support (301) is fixedly arranged on two sides of the front drive base plate (102) and the rear drive base plate (103), and the guide wheel (303) is arranged on the guide wheel support (301) through a guide wheel shaft (302).

3. The double-groove track type tunnel inspection robot according to claim 2, characterized in that: the guide wheel (303) is nested in a groove opening of a guide rail groove of the groove-shaped guide rail mechanism (5).

4. The double-groove track type tunnel inspection robot according to claim 1, characterized in that: the steering connecting mechanism (4) consists of a thrust bearing seat (401), a push-off bearing (402) and a pin shaft, and the middle substrate (101) is hinged with the front driving substrate (102) and the rear driving substrate (103) respectively by the steering connecting mechanism (4).

5. The double-groove track type tunnel inspection robot according to claim 1, characterized in that: the driving rubber wheel (208) is made of rubber, and anti-skid lines are arranged on the surface of the wheel.