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Tunnel inspection robot

A technology for inspection robots and tunnels, applied in railway car body parts, cable installation devices, electrical components, etc., can solve the problems of a large proportion of rail costs, no anti-fall device, and limited tunnel space, and achieve weight reduction. , The effect of reducing detection cost and simple structure

Pending Publication Date: 2019-03-22
SHANDONG IND TECH RES INST OF ZHEJIANG UNIV +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] (1) Aluminum alloy hanging rail drive technology is adopted. Although aluminum alloy has the advantages of light weight and anti-rust, the price is relatively high; for cable tunnels with a length of more than ten kilometers, the track cost accounts for a very large proportion; therefore, it is urgently needed A low-cost track system
[0004] (2) At present, most inspection robots for cable tunnels use traditional I-shaped tracks. At present, the height of the tracks on the market is above 80mm. The space of the tunnel itself is limited, and the track with a larger cross-sectional area will inevitably occupy a larger tunnel space.
[0005] (3) At present, most of the cable tunnel robots do not have anti-drop devices. If the existing robots are equipped with anti-drop devices, the volume will be further increased, thus occupying a large tunnel space

Method used

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Examples

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Effect test

Embodiment 1

[0036] Such as Figure 1-8 As shown, the installation method of the track can be side-mounted or ceiling-mounted, and the ceiling-mounted type is used as an example to illustrate.

[0037] The tunnel inspection robot includes a track 103 and a moving platform 4 installed in the tunnel. The track 103 is a hollow steel pipe. A driving mechanism 2 and an anti-drop mechanism 3 are arranged between the track 103 and the moving platform 4. The driving mechanism 2 is used as the active Wheel, the anti-fall mechanism 3 is used as a driven wheel, the driving mechanism 2 includes a magnetic adsorption wheel 201 that slides along the track 103, and the anti-fall mechanism 34 includes a tight wheel 303 that hugs the track. The track 103 includes two steel pipes arranged symmetrically, specifically, the steel pipes are circular.

[0038] The tunnel is provided with a hanger 101 , the hanger 101 is fixed on the wall in the tunnel, and the hanger 101 is fixedly connected with a transverse s...

Embodiment 2

[0051] The difference between this embodiment and Embodiment 1 is that a leaky wave cable 6 is installed inside the track in this embodiment. The track used in this embodiment is a hollow steel pipe, and the leaky wave cable 6 is located in the hollow steel pipe, which saves the wiring space of the leaky wave cable 6 and avoids wear and damage to the cable when the wave leaky cable 6 is arranged outside.

[0052] Such as Figure 9-11 As shown, the tunnel inspection robot includes a leaky wave cable 6, the leaky wave cable 6 is installed inside the track, and the motion platform is equipped with a wireless client 701, a control system 702 and a communication system 703, and the wireless client 701 communicates with the control system 702 respectively. It is connected with the communication system 703 , one end of the wireless access terminal 601 is connected with the leaky wave cable 6 , and the other end of the wireless access terminal 601 is connected with the background 8 th...

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Abstract

The invention discloses a tunnel inspection robot. The robot includes a rail and a motion platform which are installed on a tunnel. The rail is a hollow steel tube. A driving mechanism and an anti-drop mechanism are arranged between the rail and the motion platform. The driving mechanism includes a magnetic adsorption wheel sliding along the rail, and the anti-drop mechanism includes a gripping wheel holding the rail. Low-cost steel tubes replace high-cost aluminum alloy in the robot's motion rail, the rail is light, and the tunnel detection cost is effectively reduced. The driving mechanism with the magnetic adsorption wheel is adopted, the magnetic adsorption wheel can be attracted on the lower portion of the steel tubes through relatively large larger magnetic force, and thus the size of the robot is reduced. The adopted anti-drop mechanism has the anti-drop function and can serve as a driven wheel component of the robot. The size is reduced, the structure is simple, and the installation is convenient.

Description

technical field [0001] The invention relates to the field of special robots, more specifically, it relates to tunnel inspection robots. Background technique [0002] At present, inspection robots such as comprehensive pipe corridors and cable tunnels in China have made a certain degree of progress. Although the appearance of robots from different manufacturers is different, the core content such as driving methods and communication methods are basically the same, but there are the following problems: [0003] (1) Aluminum alloy hanging rail drive technology is adopted. Although aluminum alloy has the advantages of light weight and anti-rust, the price is relatively high; for cable tunnels with a length of more than ten kilometers, the track cost accounts for a very large proportion; therefore, it is urgently needed A low cost track system. [0004] (2) At present, most inspection robots for cable tunnels use traditional I-shaped tracks. At present, the track heights on the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B61B13/00B61F9/00H02G1/00
CPCH02G1/00B61B13/00B61F9/00
Inventor 刘永成孙昊马孝林王明瑞
Owner SHANDONG IND TECH RES INST OF ZHEJIANG UNIV
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