CN217915299U

CN217915299U - Tunnel robot

Info

Publication number: CN217915299U
Application number: CN202221917449.0U
Authority: CN
Inventors: 李玉宝; 乔学军; 项九常; 朱跃成; 倪善江
Original assignee: Shandong Jinyu Information Technology Group Co Ltd
Current assignee: Shandong Jinyu Information Technology Group Co Ltd
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2022-11-29
Anticipated expiration: 2032-07-22

Abstract

The application discloses a tunnel robot, which comprises a charging seat and a body, wherein the charging seat is connected with a tunnel wall, and the body comprises a control assembly, a walking mechanism, a containing box and a detection assembly; the containing box is arranged at the upper part of the travelling mechanism, and the travelling mechanism is used for bearing the containing box and driving the containing box to move; still including placing the arm, place the arm and be connected with running gear, hold the incasement and put the tripod and be connected with the awl section of thick bamboo mark of warning line, place the arm and can take out tripod and awl section of thick bamboo mark from holding the incasement and place on the lane in the tunnel. The tunnel robot in this application can go out automatically when the circumstances such as accident take place in the tunnel and accomplish warning device's such as tripod, awl section of thick bamboo mark laying, can avoid the manual work to lay apart the distance deviation that probably appears etc. simultaneously to reduce the risk of manual work laying.

Description

Tunnel robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a tunnel robot.

Background

Tunnels are engineered structures buried in the ground, a form of human use of underground space. The tunnel can be divided into a traffic tunnel, a hydraulic tunnel, a municipal tunnel, a mine tunnel and a military tunnel. After great tunnel emergence accident, can adopt the rescue car to get into wherein and rescue, but the arrival time of waiting for the rescue car is longer, the emergence of accident is often along with the explosion on fire etc. so the very first time to on-the-spot investigation and alert just more important, can know the accident condition the very first time, the rescue personnel just need step into wherein, the implementation rescue that can not be quick, also can not be clear know tunnel secondary damage and have the risk, the development of rescue just can not be fine implementation, will delay rescue greatly, cause harm to personnel's life.

In addition, at the in-process that the accident appears or maintain the tunnel at maintainer and need set up warning device in order to guarantee to wait that rescue personnel's safety and maintainer's construction safety in the tunnel, lay warning device among the prior art usually the manual work, but there is the secondary injury risk in the tunnel when the accident appears, and the manual work is laid and also is easy because personnel are tired out lazily to appear and lay the distance and not enough or security protection deviation scheduling problem.

It will thus be seen that numerous drawbacks of the prior art have yet to be further improved and improved.

SUMMERY OF THE UTILITY MODEL

The utility model provides a tunnel robot to solve above-mentioned technical problem's at least one technical problem.

The utility model discloses the technical scheme who adopts does:

the utility model provides a tunnel robot, which comprises a charging seat and a body, wherein the charging seat is connected with the tunnel wall, and the body comprises a control assembly, a walking mechanism, a containing box and a detection assembly; the accommodating box is arranged at the upper part of the travelling mechanism, and the travelling mechanism is used for bearing the accommodating box and driving the accommodating box to move; still including placing the arm, place the arm with running gear is connected, the tripod and be connected with the awl section of thick bamboo mark of warning line have been put to the containing box, it can with to place the arm the tripod and the awl section of thick bamboo mark is followed take out and place on the lane in the tunnel in the containing box.

As a preferred embodiment of the present application, the traveling mechanism includes a chassis, and the accommodating box and the placing robot arm are disposed on an upper portion of the chassis.

As a preferred embodiment of the present application, a rotating base is arranged at the lower part of the placing mechanical arm, the rotating base is connected with the chassis, and the placing mechanical arm can rotate around a vertical axis relative to the chassis under the driving of the rotating base; the robot arm placing device is characterized in that an installation part is arranged at the front working end of the robot arm, the installation part is connected with a hand grip, and the hand grip can move along the vertical direction relatively to the installation part.

As a preferred embodiment of the present application, the accommodating case further has a sliding door; the sliding doors are arranged in a group, and the group of sliding doors is arranged on one side of the accommodating box; or, there are two sets of sliding doors, and the sliding doors are oppositely arranged on two sides of the accommodating box.

As a preferred embodiment of the present application, the lower portion of the chassis further includes a cleaning assembly, and the cleaning assembly includes a cleaning member disposed at a front end of the bottom of the chassis in the moving direction and a collection box disposed at a middle section of the bottom of the chassis in the moving direction.

As a preferred embodiment of the present application, the rear end of the chassis and the side walls of the chassis are further provided with a plurality of contour lamps along the moving direction.

As a preferred embodiment of this application, control assembly includes the box and sets up the controller in the box is inside, the lateral part of box still is provided with operating panel and information display screen.

As a preferred embodiment of the present application, the detection assembly is disposed on the upper portion of the box body, and includes a protection cover and a high-definition camera disposed inside the protection cover, and an observation window corresponding to the high-definition camera is disposed on a side portion of the protection cover; the upper part of the protective cover is also provided with an environment monitoring part, and the environment monitoring part is provided with a temperature-smoke sensor; and the protective cover can rotate relative to the box body.

As a preferred embodiment of the present application, the controller is electrically connected to the high-definition camera, the temperature-smoke sensor, the traveling mechanism, the placing mechanical arm, the sliding door, and the sweeping assembly respectively; the high-definition camera, the temperature-smoke sensor, the travelling mechanism, the placing mechanical arm, the sliding door and the cleaning assembly are controlled in a linkage mode through the controller; the controller can also be electrically connected to a monitoring system within the tunnel.

Since the technical scheme is used, the utility model discloses the beneficial effect who gains does:

1. as an preferred embodiment of this application, tunnel robot in this application can take place accident in the tunnel or go out automatically and accomplish warning device's such as tripod, awl section of thick bamboo mark laying when maintainer maintains the circumstances such as the tunnel is inside, reduces the artifical risk of laying and can avoid the artifical emergence of laying because the laying distance that personnel are tired out lazy probably appears is not enough or laying the circumstances such as deviation of laying simultaneously.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:

fig. 1 is a schematic structural view of a tunnel robot.

Wherein, the first and the second end of the pipe are connected with each other,

1 chassis, 11 road wheels and 12 outline lamps;

21, rotating a base, 22 placing a mechanical arm, 23 driving a cylinder, 24 installing a part and 25 grabbing hands;

31 sweeping part, 32 collecting box;

4 containment box, 41 sliding door;

the device comprises a box body 51, an information display screen 52, an operation panel 53, a protective cover 54, an observation window 55, an environment monitoring part 56 and a temperature-smoke sensor 57.

Detailed Description

In order to more clearly explain the overall concept of the present application, the following detailed description is given by way of example in conjunction with the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

In addition, in the description of the present invention, it should be understood that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; the connection can be mechanical connection, electrical connection or communication; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, a first feature "on" or "under" a second feature may be directly contacting the second feature or the first and second features may be indirectly contacting the second feature through intervening media. In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

As shown in fig. 1, the utility model provides a tunnel robot, which comprises a charging seat and a body connected with the tunnel wall, wherein the body comprises a control component, a walking mechanism, a containing box 4 and a detection component; the containing box 4 is arranged at the upper part of the travelling mechanism, and the travelling mechanism is used for bearing the containing box 4 and driving the containing box 4 to move; still including placing arm 22, place arm 22 and be connected with running gear, put tripod (not shown in the figure) and be connected with the awl section of thick bamboo mark (not shown in the figure) of warning line in holding case 4, place arm 22 and can take out tripod and awl section of thick bamboo mark from holding case 4 and place on the lane in the tunnel.

The tunnel robot in this application can take place the accident in the tunnel or go out automatically when maintainer maintains the circumstances such as the tunnel inside and accomplish warning device's such as tripod, awl section of thick bamboo mark laying, reduces the artifical risk of laying and can avoid the artifical emergence of laying because the laying distance that personnel are tired out lazy probably appear is not enough or laying the circumstances such as deviation simultaneously.

Further, referring to fig. 1, the traveling mechanism includes a chassis 1, traveling wheels 11 are further disposed on the lower portion of the chassis 1, the accommodating box 4 and the placing mechanical arm 22 are disposed on the upper portion of the chassis 1, a rotating base 21 is disposed on the lower portion of the placing mechanical arm 22, the rotating base 21 is connected with the chassis 1, and the placing mechanical arm 22 can be driven by the rotating base 21 to rotate around a vertical axis relative to the chassis 1; the placing mechanical arm 22 is composed of a plurality of sections of swing arms, the plurality of sections of swing arms are driven by a driving cylinder 23, a mounting portion 24 is arranged at the front end of the placing mechanical arm 22, the mounting portion 24 is connected with a hand grip 25, and the hand grip 25 can move relative to the mounting portion 24 in the vertical direction. Rotating base 21 is driven by rotating electrical machines (not shown in the figure), and rotating base 21's setting can conveniently place the laying that arm 22 realized the multi-angle to can make and place arm 22 and can place tripod, awl section of thick bamboo mark etc. in the inconvenient position of laying of manual work, and then can promote the adaptive capacity to environment of whole device.

As a preferred embodiment of the present application, referring to fig. 1, the housing box 4 further has a slide door 41; the sliding doors 41 are provided in a set, and the set of sliding doors 41 is provided on one side of the accommodating box 4; alternatively, there are two sets of the sliding doors 41, and the sliding doors 41 are oppositely disposed on both sides of the accommodating box 4. The arrangement of the sliding door 41 further improves the convenience of taking and placing objects such as a tripod and a cone label from the containing box 4 by the mechanical arm 22, and improves the placing efficiency. The sliding door 41 may be driven by a motor or an electric cylinder (not shown) or an air cylinder (not shown), which is not specifically limited in this application.

In one example, as shown with continued reference to fig. 1, the lower part of the chassis 1 further comprises a sweeping assembly, the sweeping assembly comprises a sweeping piece 31 arranged at the front end of the bottom of the chassis 1 along the moving direction and a collecting box 32 arranged at the middle section of the bottom of the chassis 1 along the moving direction; in the direction of movement, the rear end of the chassis 1 and the side walls of the chassis 1 are also provided with a plurality of contour lights 12.

Further, referring to fig. 1, the control assembly includes a box 51 and a controller (not shown in the figure) disposed inside the box 51, and an operation panel 53 and an information display 52 are further disposed on a side of the box 51; the detection assembly is arranged at the upper part of the box body 51 and comprises a protective cover 54 and a high-definition camera arranged inside the protective cover 54, and an observation window 55 corresponding to the high-definition camera (not shown in the figure) is arranged at the side part of the protective cover 54; an environment monitoring part 56 is further arranged on the upper part of the protective cover 54, and a temperature-smoke sensor 57 is arranged on the environment monitoring part; and protective cover 54 can rotate relative to case 51. The controller is respectively and electrically connected with the high-definition camera, the temperature-smoke sensor 57, the travelling mechanism, the placing mechanical arm 22, the sliding door 41 and the cleaning assembly; the high-definition camera, the temperature-smoke sensor 57, the travelling mechanism, the placing mechanical arm 22, the sliding door 41 and the cleaning component are controlled in a linkage manner through a controller; the controller can also be electrically connected to a monitoring system within the tunnel.

Thereby monitored control system in the controller connection tunnel can in time master the condition in the tunnel in order to make things convenient for the tunnel robot in this application to in time go out to move, and high definition digtal camera cooperation controller can help the peripheral condition of tunnel robot monitoring discernment and lane line in this application, guarantees the safety of tunnel robot removal in-process. And the setting of operating panel 53 and information display screen 52 promotes man-machine interaction performance, makes things convenient for manual operation for the work such as transportation, warning, rescue are accomplished to the relevant personnel of cooperation that the tunnel robot in this application can be better.

The utility model can be realized by adopting or using the prior art for reference in places which are not mentioned in the specification.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A tunnel robot is characterized by comprising a charging seat and a body, wherein the charging seat is connected with a tunnel wall, and the body comprises a control assembly, a walking mechanism, an accommodating box and a detection assembly; the accommodating box is arranged at the upper part of the travelling mechanism, and the travelling mechanism is used for bearing the accommodating box and driving the accommodating box to move;

still including placing the arm, place the arm with running gear is connected, the tripod and be connected with the awl section of thick bamboo mark of warning line have been put to the containing box, it can with to place the arm the tripod and the awl section of thick bamboo mark is followed take out and place on the lane in the tunnel in the containing box.

2. The tunnel robot of claim 1, wherein the traveling mechanism comprises a chassis, and the housing box and the placing robot arm are disposed on an upper portion of the chassis.

3. The tunnel robot of claim 2, wherein the lower part of the placing mechanical arm is provided with a rotating base, the rotating base is connected with the chassis, and the placing mechanical arm can rotate around a vertical axis relative to the chassis under the driving of the rotating base; the robot arm placing device is characterized in that an installation part is arranged at the front working end of the robot arm, the installation part is connected with a hand grip, and the hand grip can move along the vertical direction relatively to the installation part.

4. The tunnel robot of claim 3, wherein the housing box further has a sliding door; the sliding doors are arranged in a group, and the group of sliding doors is arranged on one side of the accommodating box; or, there are two sets of sliding doors, and the sliding doors are oppositely arranged on two sides of the accommodating box.

5. The tunnel robot of claim 4, wherein the lower part of the chassis further comprises a sweeping assembly including a sweeping member disposed at a front end of the bottom of the chassis in the moving direction and a collecting box disposed at a middle bottom of the chassis in the moving direction.

6. The tunnel robot of claim 5, wherein the rear end of the chassis and the side walls of the chassis are further provided with a plurality of outline marker lights in the moving direction.

7. The tunnel robot of claim 5, wherein the control assembly comprises a box body and a controller arranged inside the box body, and an operation panel and an information display screen are further arranged on the side part of the box body.

8. The tunnel robot of claim 7, wherein the detection assembly is arranged at the upper part of the box body and comprises a protective cover and a high-definition camera arranged inside the protective cover, and the side part of the protective cover is provided with an observation window corresponding to the high-definition camera; the upper part of the protective cover is also provided with an environment monitoring part, and the environment monitoring part is provided with a temperature-smoke sensor; and the protective cover can rotate relative to the box body.

9. The tunnel robot of claim 8, wherein the controller is electrically connected to the high-definition camera, the temperature-smoke sensor, the walking mechanism, the placement robot arm, and the sliding door, the sweeping assembly, respectively; the high-definition camera, the temperature-smoke sensor, the travelling mechanism, the placing mechanical arm, the sliding door and the cleaning assembly are controlled in a linkage mode through the controller; the controller can also be electrically connected to a monitoring system within the tunnel.