CN213083143U

CN213083143U - Shield construction tunnel inspection robot

Info

Publication number: CN213083143U
Application number: CN202021251241.0U
Authority: CN
Inventors: 段文军; 何海波; 谭江; 冯赟杰; 何博; 刘绥美; 陈可; 张兴
Original assignee: China Railway Engineering Service Co Ltd
Current assignee: China Railway Engineering Service Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-04-30
Anticipated expiration: 2030-06-30

Abstract

The utility model discloses a shield constructs construction tunnel and patrols and examines robot belongs to tunnel construction technical field, and the technical problem of solution is: adopt artifical the patrolling and examining to realize detecting, detection range not in place among the shield construction among the prior art, workman's safety can not obtain the problem of control, and it includes: the driving mechanism is detachably connected with the body, one side of the body is provided with an environment detection module, the bottom of the body is provided with a cloud deck, and the cloud deck is provided with an industrial camera; the utility model discloses a cloud platform, industry camera and the environmental detection module that carry on can carry out real time monitoring and unusual discernment to tunnel internal environment, pedestrian etc. have avoided artifical tour, have reduced the intensity of labour who patrols and examines the workman, realize that the tunnel does not have dead angle control and unusual discernment, reduce the risk of shield tunnel construction.

Description

Shield construction tunnel inspection robot

Technical Field

The utility model belongs to the technical field of the tunnel construction, specifically belong to a shield constructs construction tunnel and patrols and examines robot.

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 a tunnel are few, the tunnel inner space of shield construction is limited, a slag conveying trolley passage and a pedestrian passage are arranged below the tunnel, inspection work in the shield tunnel mainly adopts manual inspection, the construction time of the shield tunnel is long, construction is not performed in daytime, manual inspection cannot be performed in real time, a plurality of areas are shielded when the slag conveying trolley travels, shielded areas cannot be observed when manual inspection is performed, the safety of inspection personnel can not be monitored, and therefore the tunnel inspection robot for shield construction is necessary to be designed.

SUMMERY OF THE UTILITY MODEL

Adopt the manual work to patrol and examine among the shield structure construction to realize detecting, detection range not in place, the problem that workman's safety can not obtain the control, the utility model provides a shield structure construction tunnel patrols and examines robot, its aim at: the inspection robot for the shield construction tunnel carries out all-dimensional dead-angle-free monitoring and abnormal recognition on the conditions in the tunnel, and guarantees the safety of tunnel construction.

The utility model adopts the technical scheme as follows:

the utility model provides a robot is patrolled and examined in shield construction tunnel, includes: the driving mechanism is detachably connected with the body, an environment detection module is arranged on one side of the body, a holder is arranged at the bottom of the body, and an industrial camera is arranged on the holder;

the driving mechanism comprises a main driving wheel, a driven wheel, a side guide wheel and a lower guide wheel, the main driving wheel and the driven wheel are arranged at the top of the track, the side guide wheel is arranged on the side face of the track, the lower guide wheel is arranged at the bottom of the track, one side of the main driving wheel is connected with a power device, the power device is fixedly arranged on the body, the driven wheel is fixedly connected with the body through a driven wheel seat, the side guide wheel is fixedly connected with the body through a side guide wheel seat, the lower guide wheel is fixedly connected with the body through a lower guide wheel seat, and an ultrasonic sensor and an anti-collision strip are arranged on the body.

By adopting the scheme, the track is arranged in the tunnel, the driving mechanism can drive the body to reciprocate on the track, the body is provided with the environment detection module and the cradle head, the cradle head is provided with the industrial camera, the environment, pedestrians and the like in the tunnel can be monitored in real time through the carried cradle head, the industrial camera and the environment detection module, abnormal identification and alarm are given to workers without safety caps, reflective vests, tramway foreign matters and the like, manual inspection is avoided, the labor intensity of inspection workers is reduced, dead-angle-free monitoring and abnormal identification of the tunnel are realized, and the risk of shield tunnel construction is reduced; the main driving wheel is driven by a power device to drive the auxiliary driving wheel to roll on the top of the track in a reciprocating manner, the side guide wheel rolls on the side surface of the track for guiding, and the lower guide wheel is arranged at the bottom of the track to ensure that the inspection robot body has certain climbing capacity; the ultrasonic sensor can detect whether there is the barrier in body the place ahead, and when detecting the barrier, the body is fed back to the ultrasonic sensor, and the body reduces actuating mechanism's speed, prevents the vibrations that the collision strip and the barrier contact reduced the body and received.

Preferably, the bottom rigid coupling side guide wheel mounting bracket of side guide wheel, be provided with the axle between side guide wheel mounting bracket and the side guide wheel seat, epaxial cover is equipped with the pressure spring, pass through the fix with screw between axle and the side guide wheel seat. Adopt this preferred scheme, side guide wheel and the cooperation of track side spout, side guide wheel middle part is provided with the pivot, the pivot passes through the bearing with side guide wheel and is connected, the tip of pivot is fixed on side guide wheel mounting bracket, be provided with the axle between side guide wheel mounting bracket side and the side guide wheel seat, epaxial cover is equipped with the pressure spring, it is fixed with side guide wheel seat with the axle through screwing up the screw, can pass through adjusting screw's moment like this, the pressure of control pressure spring, make the pressure spring can compress side guide wheel on the track, it is convenient for take out side guide wheel from the track to unscrew the screw.

Preferably, the power device comprises a speed reducer and a motor for providing power to the speed reducer, one side of the main driving wheel is rotatably connected with the speed reducer, and the speed reducer is fixedly connected with the body through a speed reducer fixing seat. Adopt this preferred scheme, power device includes speed reducer and motor, and the motor is rotatory, and the speed reducer is with motor speed change, transmits to the main drive wheel and drives the body and move on the track, through the computer control of body, realizes that the positive and negative rotation of motor can guarantee to patrol and examine the reciprocal tour of robot body in the tunnel in the unit interval.

Preferably, one side of the body is provided with a start button, an emergency stop button and a key switch. Adopt this preferred scheme, set up start button, scram button and key switch, be convenient for open to patrolling and examining the robot and stop the operation.

Preferably, the body is provided with an RFID and a photoelectric sensor, and the track is provided with a beacon support. By adopting the preferred scheme, the corresponding beacon bracket is arranged on the track, and the positioning of the inspection robot in the tunnel can be realized through the RFID and the photoelectric sensor.

Preferably, the body is provided with a handle, and the handle is detachably connected with the body. Adopt this preferred scheme, the handle is convenient transports the robot body of patrolling and examining.

Preferably, the body is provided with an alarm lamp and a display screen. By adopting the preferred scheme, the alarm lamp flickers and beeps when the inspection robot breaks down, and the information such as the working state, the electric quantity and the like of the inspection robot can be known by observing the display screen.

Preferably, still include the anticollision casing, actuating mechanism and body setting are in the anticollision casing, be provided with the debugging mouth on the anticollision casing. Adopt this preferred scheme, set up the anticollision casing and avoid patrolling and examining robot bump and cause the harm, set up the debugging mouth on the anticollision casing, need not to dismantle the anticollision casing and can carry out the mode work to the body.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:

1. the utility model discloses the track sets up in the tunnel, actuating mechanism can drive the body and be reciprocating motion on the track, be provided with environment detection module and cloud platform on the body, be provided with the industry camera on the cloud platform, cloud platform through carrying on, industry camera and environment detection module can be to the tunnel internal environment, pedestrian's etc. carry out real time monitoring, to the workman not taking the safety helmet, reflection of light undershirt, abnormal recognition such as tram track foreign matter reports an emergency and asks for help or increased vigilance, manual tour has been avoided, the intensity of labour who patrols and examines the workman has been reduced, realize that the tunnel does not have dead angle control and abnormal recognition, reduce the risk that.

2. The utility model discloses use main drive wheel, from drive wheel, side leading wheel and lower leading wheel to cooperate jointly, guarantee to patrol and examine the stationarity of robot reciprocating motion on the track, main drive wheel passes through power device drive, drives from the drive wheel and rolls at the top of track reciprocating together, and side leading wheel rolls in the side of track and leads, and lower leading wheel sets up in the bottom of track and makes to patrol and examine the robot body and have certain climbing ability; the power device comprises a speed reducer and a motor, the motor rotates, the speed reducer changes the rotating speed of the motor and transmits the rotating speed to the main driving wheel to drive the body to move on the track, and the forward and reverse rotation of the motor can be realized in unit time under the control of the computer of the body, so that the inspection robot body can be ensured to perform reciprocating inspection in the tunnel.

3. The utility model discloses well ultrasonic inductor can detect whether there is the barrier in the body the place ahead, when detecting the barrier, ultrasonic inductor feeds back to the body, and the body reduces actuating mechanism's speed, and the collision strip reduces the vibrations that the body received with the barrier contact; a start button, an emergency stop button and a key switch are arranged, so that the inspection robot can be started and stopped conveniently; the corresponding beacon support is arranged on the track, and the routing inspection robot can be positioned in the tunnel through the RFID and the photoelectric sensor; the handle is convenient for transferring the inspection robot body; when the inspection robot breaks down, the alarm lamp flickers and gives out beep sound, and the information of the inspection robot such as the working state, the electric quantity and the like can be known by observing the display screen; set up the anticollision casing and avoid patrolling and examining robot bump and cause the harm, set up the debugging mouth on the anticollision casing, need not to dismantle the anticollision casing and can carry out the mode work to the body.

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: the utility model discloses a concrete implementation's in the tunnel assembly schematic diagram.

FIG. 2 is a diagram of: the utility model discloses a schematic diagram is looked sideways at to a concrete implementation's front.

FIG. 3 is a diagram of: the utility model discloses a schematic diagram is looked sideways at to embodiment's back.

FIG. 4 is a diagram of: the utility model discloses an actuating mechanism and orbital embodiment's assembly schematic diagram

Reference numerals: 110-a drive mechanism; 120-debugging port; 130-a body; 140-a pan-tilt; 150-an industrial camera; 160-environment detection module; 1102-main drive; 1106-driven wheel; 1108-side guide wheels; 1112-a lower guide wheel; 1107-driven wheel seat; 1109-side guide wheel seat; 1113-lower guide wheel seat; 1110-side guide wheel mount; 1104-a speed reducer; 1105-a motor; 1103-a reducer fixing seat; 1005-an ultrasonic sensor; 1004-collision avoidance bar; 1006-start button; 1007-emergency stop button; 1011-key switch; 1116-RFID; 1115-a photosensor; 1002-a handle; 1008-alarm lights; 1009-display screen; 1010-mode port; 1110-side guide wheel mount; 1111-compression spring.

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 will be described in detail with reference to fig. 1 to 4.

The utility model provides a robot is patrolled and examined in shield construction tunnel, includes: the driving mechanism 110 and the body 130 are used for being connected with the track in a sliding mode, the driving mechanism 110 is detachably connected with the body 130, an environment detection module 160 is arranged on one side of the body 130, a holder 140 is arranged at the bottom of the body 130, and an industrial camera 150 is arranged on the holder 140.

In the above solution, the driving mechanism is slidably connected to the rail, the bottom of the driving mechanism is detachably connected to the main body 130 through a connecting member, one side of the connecting member is connected to the bottom of the driving mechanism through a bolt, the other side of the connecting member is also connected to the main body 130 through a bolt, a processor and a transmitter are arranged in the main body 130 for receiving and processing data transmitted from the device on the main body 130, the bottom of the main body 130 is provided with the pan/tilt 140, the pan/tilt 140 is an electric pan/tilt capable of automatically rotating horizontally by 360 degrees and automatically rotating by pitching plus or minus 90 degrees, the pan/tilt 140 is provided with the industrial camera, the industrial camera 150 includes a high definition camera and an infrared camera, the industrial camera 150 can manually adjust the front and back or pitching angle, so as to realize the constant monitoring and shooting of the corresponding fixed angle, the rear side of the main body 130 is provided with the environment detecting module, the system comprises a temperature and humidity sensor, an anemometer, a noise sensor, a smoke sensor, a PM10 sensor, a PM2.5 sensor, a methane sensor, a CO sensor and the like, wherein a plurality of environment sensors are arranged on a circuit board and fixedly arranged on a body 130, and can monitor the environment, pedestrians and the like in the tunnel in real time through a carried cradle head 140, an industrial camera 150 and an environment detection module 160, and can identify and alarm the abnormality of workers without safety caps, reflective vests, tramway foreign matters and the like; the leading flank of body 130 still is provided with wireless charging module, and it is higher to patrol and examine the robot mounted position, and inconvenient taking off or change the battery and charge, it is more convenient to adopt wireless charging, is provided with the wireless module transmitter that charges that corresponds on the track mounting device, when patrolling and examining the robot electric quantity not enough, patrols and examines the robot and just can move the track department of charging, and wireless module transmitter signals that charges begins to charge to patrolling and examining the robot.

The driving mechanism 110 comprises a main driving wheel 1102, a slave driving wheel 1106, a side guide wheel 1108 and a lower guide wheel 1112, the main driving wheel 110 and the slave driving wheel 1106 are arranged at the top of the track, the side guide wheel 1108 is arranged at the side of the track, the lower guide wheel 1112 is arranged at the bottom of the track, one side of the main driving wheel 1102 is connected with a power device, the power device is fixedly arranged on the body 130, the slave driving wheel 1106 is fixedly connected with the body 130 through a driven wheel seat 1107, the side guide wheel 1108 is fixedly connected with the body 130 through a side guide wheel seat 1109, and the lower guide wheel 1112 is fixedly connected with the body 130 through a lower guide wheel seat 1113.

The bottom rigid coupling side guide wheel mounting bracket 1110 of side guide wheel 1108, be provided with the axle between side guide wheel mounting bracket 1110 and side guide wheel seat 1109, the epaxial cover of pressure spring 1111 that is equipped with, pass through the fix with screw between axle and the side guide wheel seat 1109.

The power device comprises a speed reducer 1104 and a motor 1105 for providing power for the speed reducer 1104, one side of the main driving wheel 1102 is rotatably connected with the speed reducer 1104, and the speed reducer 1104 is fixedly connected with the body 130 through a speed reducer fixing seat 1103.

The main driving wheel 110, the auxiliary driving wheel 1102 and the side guide wheel 1108 are symmetrically arranged at two sides of the body 130 and are respectively matched with the top and the side of the track, the lower guide wheel 1112 is arranged at the bottom of the track, the lower guide wheel 1112 is arranged on the lower guide wheel seat 1113 through a lower guide wheel shaft, the lower guide wheel seat 1113 is fixed on the body 130, the main driving wheel 110 is controlled by a motor 1105 and a speed reducer 1104, the main driving wheel 110 is fixed on the body 130 through a speed reducer fixing seat 1103, the auxiliary driving wheel 1102 is fixed on the body 130 through a driven wheel seat 1107, the side guide wheel 1108 is matched with a track side sliding chute, a rotating shaft is arranged in the middle part 1108 of the side guide wheel, the rotating shaft is connected with the side guide wheel 1108 through a bearing, the end part of the rotating shaft is fixed on the side guide wheel mounting rack 1110, a shaft is arranged between the side of the side guide wheel mounting rack 1110 and the side guide wheel seat 1109, a pressure spring 1111, therefore, the pressure of the pressure spring 1111 can be controlled by adjusting the torque of the screw, so that the side guide wheel 1108 can be pressed on the rail by the pressure spring 1111, and the screw can be unscrewed to conveniently take the side guide wheel 1108 out of the rail.

The body 130 is provided with an ultrasonic sensor 1005 and an anti-collision strip 1004. The ultrasonic sensor 1005 can detect whether an obstacle exists in front of the body 130, when the obstacle is detected, the ultrasonic sensor 1005 feeds back to the body 130, the body 130 reduces the speed of the driving mechanism, and the anti-collision strip 1004 contacts with the obstacle to reduce the vibration received by the body 130.

A start button 1006, an emergency stop button 1007 and a key switch 1011 are arranged on one side of the body 130. A start button 1006, an emergency stop button 1007 and a key switch 1011 are arranged, so that the inspection robot can be started and stopped conveniently.

The body 130 is provided with an RFID1116 and a photoelectric sensor 1115, and the rail is provided with a beacon bracket. The corresponding beacon support is arranged on the track, and the positioning of the inspection robot in the tunnel can be realized through the RFID1116 and the photoelectric sensor 1115.

The body 130 is provided with a handle 1002, and the handle 1002 is detachably connected with the body 130. Handles 1002 are arranged at the front and the rear of the inspection robot body, so that the inspection robot can conveniently move up and down the track, and the handles 1002 and the body 130 are connected through bolts and can be quickly disassembled; the body 130 is provided with antennas, and the antennas are arranged on two sides of the handle 1002.

The body 130 is provided with an alarm lamp 1008 and a display screen 1009. When the inspection robot has a fault, the alarm lamp 1008 flashes and beeps; can know through display screen 1009 patrol and examine robot's work electric quantity, operating condition or fault information, still install the work pilot lamp on the body 130, the work pilot lamp can change the colour, and the colour of different work pilot lamps represents different operating condition.

The anti-collision device further comprises an anti-collision shell 120, wherein the driving mechanism 110 and the body 130 are arranged in the anti-collision shell 120, and a debugging port 1010 is arranged on the anti-collision shell 120. Anticollision casing 120 is used for the protection to patrol and examine the robot, has corresponding equipment breach on the anticollision casing 120, and the installation and the use of the environmental detector 160 and other equipment of being convenient for are provided with on the anticollision casing 120 and transfer the formula mouth 1010, can make things convenient for relevant debugging work when not dismantling protective housing.

The cradle head 140, the industrial camera 150, the environment detection module 160, various sensors, and the automatic control principle among the devices, which are related in the present application, all belong to the prior art, and therefore, they are not specifically described in the present 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

1. The utility model provides a robot is patrolled and examined in shield construction tunnel which characterized in that includes: the device comprises a driving mechanism (110) and a body (130) which are connected with a track in a sliding mode, wherein the driving mechanism (110) is detachably connected with the body (130), an environment detection module (160) is arranged on one side of the body (130), a cloud deck (140) is arranged at the bottom of the body (130), and an industrial camera (150) is arranged on the cloud deck (140);

the driving mechanism (110) comprises a main driving wheel (1102), a slave driving wheel (1106), a side guide wheel (1108) and a lower guide wheel (1112), the main driving wheel (1102) and the auxiliary driving wheel (1106) are arranged on the top of the track, the side guide wheels (1108) are arranged on the side of the track, the lower guide wheel (1112) is arranged at the bottom of the track, one side of the main driving wheel (1102) is connected with a power device, the power device is fixedly arranged on the body (130), the driven wheel (1106) is fixedly connected with the body (130) through a driven wheel seat (1107), the side guide wheel (1108) is fixedly connected with the body (130) through a side guide wheel seat (1109), the lower guide wheel (1112) is fixedly connected with the body (130) through a lower guide wheel seat (1113), an ultrasonic sensor (1005) and an anti-collision strip (1004) are arranged on the body (130).

2. The shield construction tunnel inspection robot according to claim 1, characterized in that: the bottom rigid coupling side guide wheel mounting bracket (1110) of side guide wheel (1108), be provided with the axle between side guide wheel mounting bracket (1110) and side guide wheel seat (1109), epaxial cover is equipped with pressure spring (1111), pass through the fix with screw between axle and side guide wheel seat (1109).

3. The shield construction tunnel inspection robot according to claim 1, characterized in that: the power device comprises a speed reducer (1104) and a motor (1105) used for providing power for the speed reducer (1104), one side of the main driving wheel (1102) is rotatably connected with the speed reducer (1104), and the speed reducer (1104) is fixedly connected with the body (130) through a speed reducer fixing seat (1103).

4. The shield construction tunnel inspection robot according to claim 1, characterized in that: one side of the body (130) is provided with a starting button (1006), an emergency stop button (1007) and a key switch (1011).

5. The shield construction tunnel inspection robot according to claim 1, characterized in that: the body (130) is provided with an RFID (1116) and a photoelectric sensor (1115), and the rail is provided with a beacon bracket.

6. The shield construction tunnel inspection robot according to claim 1, characterized in that: the body (130) is provided with a handle (1002), and the handle (1002) is detachably connected with the body (130).

7. The shield construction tunnel inspection robot according to claim 1, characterized in that: the body (130) is provided with an alarm lamp (1008) and a display screen (1009).

8. The shield construction tunnel inspection robot according to claim 1, characterized in that: the anti-collision device is characterized by further comprising an anti-collision shell (120), wherein the driving mechanism (110) and the body (130) are arranged in the anti-collision shell (120), and a debugging port (1010) is formed in the anti-collision shell (120).