Long-distance tunnel wall-climbing transport robot

Abstract

The application belongs to the technical field of tunnel construction, and particularly relates to a long-distance tunnel wall-climbing transport robot. The robot comprises a platform, the upper and lower end faces of the platform are respectively provided with first rotating shafts and second rotating shafts, the first rotating shafts are peripherally connected with first driving wheels, the second rotating shafts are peripherally connected with second driving wheels, and the first driving wheels and the second driving wheels are peripherally connected with a caterpillar belt in a transmission mode. Suction cups are connected with the caterpillar belt through ball hinges to realize the reversing of the robot. Inside the robot, a plurality of vacuum pumps, vacuum motors and vacuum air pipes matched with the suction cups are arranged, a vacuum pressure detection device is arranged in each suction cup, the device can detect whether the inner cavity of a single suction cup reaches a specified negative pressure state, and data is fed back to a controller, the working state of each suction cup is independently controlled by the controller to realize the climbing of the robot, and the robot can realize mobile gas detection, temperature and humidity alarm, remote camera patrol and alternating current charging power supply mode.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel construction, and in particular relates to a long-distance tunnel wall-climbing transport robot. Background Art

[0002] As the country's infrastructure construction strength continues to strengthen, tunnel construction has gradually developed towards long distances and deep burial depths. The problems of material transportation during tunnel excavation and safety inspections after later forming have gradually become prominent. From shield machine tunnel construction to later forming, cable laying, temperature and humidity testing, harmful gas testing, and tunnel permeability inspection will be carried out. Relying solely on manual cable hanging and mobile inspection equipment is gradually unable to meet the needs of tunnel construction. Manual inspection and discrete inspection and line patrol equipment not only have high labor and material costs, but the data archiving of the inspection equipment can only be done by manual import, and even data loss may occur, which cannot guarantee the retrieval and research work of later engineering data. Specifically, the problems existing in the existing technology are as follows:

[0003] During tunnel boring machines (TBMs) excavation, high-voltage cables are automatically laid. Hanging cables over long distances wastes manpower, and live cables can pose a risk to people.

[0004] During long-distance tunnel excavation, there is a problem of transporting small parts and materials in a hurry. Relying on manpower to return and transport them is time-consuming and labor-intensive, delaying equipment excavation.

[0005] After the tunnel is formed, there are problems such as harmful gases, subsidence, and local water seepage in the tunnel. Tunnel inspection is a key and difficult issue. Manual inspection is not only costly, but also prone to omissions and incomplete data collection, which lacks data support for subsequent scientific research.

[0006] Therefore, it is very necessary to invent a long-distance tunnel wall-climbing transport robot. Summary of the Invention

[0007] In order to solve the above technical problems, the present invention provides a long-distance tunnel wall-climbing transport robot, including a platform, wherein the upper and lower end surfaces of the platform are respectively provided with a first rotating shaft and a second rotating shaft, wherein the periphery of the first rotating shaft is connected to a first driving wheel, the periphery of the second rotating shaft is connected to a second driving wheel, and the periphery of the first driving wheel and the second driving wheel are connected by a crawler transmission, the first rotating shaft is driven by a reduction motor, and the reduction motor is arranged inside the platform, a plurality of suction cups are provided on the outer side of the crawler, and the bottom of the suction cup is sealed along the circumferential direction with a sealing strip; a balancing mechanism is provided on the upper end surface of the platform, and a balancing sensor is provided in the balancing mechanism.

[0008] Furthermore, the balancing mechanism includes a support body, the bottom of which is arranged on the upper end surface of the platform, and fork frames are provided at both ends of the support body. A pressure plate is provided in the fork frame through the swing of the frame rod, and a compression spring is provided between the inner side surface of the pressure plate and the support body. A first contact portion is provided at the lower end of the pressure plate, and a second contact portion is provided on the side surface of the support body, and the second contact portion is provided corresponding to the first contact portion.

[0009] Furthermore, the support body is provided with an accommodating cavity, the balance sensor is provided in the accommodating cavity, the balance sensor is connected to the first contact portion via a signal line, and the balance sensor is connected to the second contact portion via a signal line.

[0010] Furthermore, a T-shaped sliding groove is provided on the inner side surface of the pressure plate, a baffle is slidably provided in the T-shaped sliding groove, and a bolt is provided on the outer side of the baffle.

[0011] Furthermore, the suction cup is connected to the track through a ball joint to realize the reversal of the robot; inside the robot, there are multiple vacuum pumps, vacuum motors and vacuum air pipes matching the suction cup, and the vacuum air pipes pass through the ball joint and are connected to the vacuum holes at the bottom of the suction cup; a vacuum pressure detection device is installed inside each suction cup, which can detect whether the inner cavity of a single suction cup reaches the specified negative pressure state, and feed back the data to the controller, which then decides whether the vacuum pump should pump air or deflate the suction cup based on the detection data.

[0012] Furthermore, the platform is respectively provided with detection sensors for mobile gas detection, temperature and humidity alarm, and camera remote patrol.

[0013] Furthermore, the power supply system of the robot adopts an AC charging power supply mode.

[0014] Furthermore, the robot platform carries a wireless communication module, which adopts 4GLTE wireless communication technology. The system can achieve all-round 4G private network coverage above and below the well. The communication module cooperates with the mining wireless communication system base station arranged in the tunnel to realize wireless data transmission; the camera module, gas detector, and material tray components are installed on the platform to realize wireless network communication function, perform data transmission in the tunnel, and realize unmanned operation in dangerous scenarios.

[0015] Furthermore, a mechanical arm for hanging cables is provided above the platform to solve the inconvenience of manually hanging cables.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The arrangement of the first contact portion and the second contact portion of the present invention is such that when the platform tilts its route, for example, when the front end of the platform tilts downward or upward, the first contact portion and the second contact portion separate or collide due to the principle of gravity. Therefore, the platform is restored to a horizontal state through signal sensing and transmission, and control by the balance sensor.

[0018] 2. The baffle of the present invention is set up so that when not in use, the baffle slides down along the T-shaped slide groove and is fixed by bolts, thereby preventing the first contact portion from contacting the second contact portion.

[0019] 3. The suction cups of the present invention are connected to the crawler tracks via omnidirectional ball joints, enabling the robot to change direction through the rotation of the ball joints. Inside the robot, multiple vacuum pumps, vacuum motors, and vacuum air pipes are integrated with the suction cups. The vacuum air pipes extend through the ball joints 13 and connect to vacuum holes at the bottom of the suction cups. The vacuum pumps, driven by the vacuum motors, inflate or exhaust air through the vacuum air pipes. A controller independently controls the operating state of each suction cup, enabling the robot to crawl.

[0020] 4. The robot of the present invention can realize mobile gas detection, temperature and humidity alarm, remote patrol with camera, and AC charging power supply mode. The robot does not need to drag cables, can move more flexibly, and can observe the fault point at close range. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 3D schematic diagram of the robot of the present invention;

[0022] Figure 2 It is a schematic structural diagram of the support body of the present invention;

[0023] Figure 3 is a schematic structural diagram of the second contact portion of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the reduction motor of the present invention;

[0025] Figure 5 yes Figure 2 Enlarged view of point A in the middle;

[0026] Figure 6 yes Figure 3 Enlarged view of point C in the middle;

[0027] Figure 7 yes Figure 5 Enlarged view of point B in the middle;

[0028] Figure 8 is a top view of the robot of the present invention;

[0029] Figure 9It is a connection diagram of the suction cup of the present invention.

[0030] In the picture:

[0031] 1-Platform, 2-First rotating shaft, 3-Second rotating shaft, 4-First driving wheel, 5-Second driving wheel, 6-Track, 7-Suction cup, 8-Balancing mechanism, 80-Balancing sensor, 81-Support body, 811-Fork frame, 812-Frame rod, 813-Pressure plate, 814-First contact part, 815-Second contact part, 816-T-type slide, 817-Baffle, 818-Bolt, 819-Compression spring, 9-Reduction motor; 10. Robotic arm; 11. Vacuum pump; 12. Vacuum air pipe; 13. Ball joint. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings:

[0033] Example:

[0034] As attached Figure 1 To the attached Figure 9 shown

[0035] The present invention provides a long-distance tunnel wall-climbing transport robot, comprising a platform 1. The upper and lower end surfaces of the platform 1 are respectively provided with a first rotating shaft 2 and a second rotating shaft 3, wherein the outer periphery of the first rotating shaft 2 is connected to a first drive wheel 4, the outer periphery of the second rotating shaft 3 is connected to a second drive wheel 5, and the outer peripheries of the first drive wheel 4 and the second drive wheel 5 are connected by a crawler 6. The first rotating shaft 2 is driven by a reduction motor 9, which is arranged inside the platform 1. The outer side surface of the crawler 6 is provided with a plurality of suction cups 7. The upper end surface of the platform 1 is provided with a balancing mechanism 8, and the balancing mechanism 8 is provided with a balance sensor 80. First, the platform 1 is adsorbed on the wall by the suction cups 7, the reduction motor 9 is started and drives the first drive wheel 4 to rotate, and then the crawler 6 is driven by the first drive wheel. By flipping the crawler 6, the suction cups 7 are used to alternately adsorb and detach from the wall, thereby realizing the robot's walking along the wall.

[0036] The balancing mechanism 8 includes a support body 81, the bottom of which is located on the upper end surface of the platform 1. A fork frame 811 is provided at each end of the support body 81. A pressure plate 813 is provided within the fork frame 811, which is swung by a frame rod 812. A compression spring 819 is provided between the inner side of the pressure plate 813 and the support body 81. A first contact portion 814 is provided at the lower end of the pressure plate 813. A second contact portion 815 is provided on the side of the support body 81, and the second contact portion 815 is arranged corresponding to the first contact portion 814. When the platform 1 tilts in its path, such as when the front end of the platform 1 tilts downward or upward, the first contact portion 814 and the second contact portion 815 separate or collide with each other due to the principle of gravity. Therefore, through the induction and transmission of signals and the control of the balance sensor 80, the platform 1 is restored to a horizontal state.

[0037] The balance sensor 80 is connected to the first contact portion 814 via a signal line, and the balance sensor 80 is also connected to the second contact portion 815 via a signal line. When the first contact portion 814 and the second contact portion 815 are separated, the robot is in normal operation, that is, in a horizontal direction of travel. When the first contact portion 814 and the second contact portion 815 contact each other, the signal from the balance sensor 80 is used to control the rotation speed of the two reduction motors 9, thereby adjusting the travel direction of the platform 1.

[0038] The support body 81 is provided with an accommodating cavity inside, and the balance sensor 80 is arranged in the accommodating cavity, which is conducive to saving space.

[0039] The inner side of the pressure plate 813 is provided with a T-shaped slot 816, within which a baffle 817 slides. Bolts 818 are provided on the outer side of the baffle 817. When not in use, the baffle 817 slides down the T-shaped slot 816 and is secured by bolts 818, thereby preventing the first contact portion 814 from contacting the second contact portion 815.

[0040] Preferably, the bottom of the suction cup is sealed with a sealing strip along the circumference to ensure the adsorption effect. The suction cup is connected to the crawler 6 through a ball joint 13 that can be turned in all directions, so that the robot can be reversed by rotating the ball joint 13; multiple vacuum pumps 11, vacuum motors and vacuum air pipes 12 are provided inside the robot to match the suction cup. The vacuum air pipe 12 passes through the ball joint 13 and is connected to the vacuum hole at the bottom of the suction cup, so that when the suction cup contacts the wall, the vacuum pump can inflate or exhaust the suction cup through the vacuum air pipe 12 under the action of the vacuum motor; and a vacuum pressure detection device is installed inside each suction cup, which can detect whether the inner cavity of a single suction cup reaches the specified negative pressure state and feed back the data to the controller, which then determines whether the vacuum pump inflates or deflates the suction cup based on the detection data. When the robot crawls, the suction cups at the front, middle, and rear of the robot inflate and deflate at different times, requiring coordination. To achieve continuous alternating suction and robot crawling during this continuous inflation and deflation process, this application utilizes a controller to independently control the operating state of each suction cup. Specifically, how the controller controls the suction of different suction cups to achieve robot crawling is a well-established technique used in existing negative pressure wall-climbing robots and will not be elaborated upon here.

[0041] Preferably, detection sensors for mobile gas detection, temperature and humidity alarm, and camera remote patrol are arranged on the platform, and the data are transmitted to the controller.

[0042] Preferably, the power supply system of the robot adopts an AC charging power supply mode and DC energy storage. The DC power is converted into AC power to enable the robot to walk. The robot does not need to drag cables, and can walk more flexibly, and can observe the fault point at close range.

[0043] Preferably, the robot platform carries a wireless communication module, which adopts 4GLTE wireless communication technology. The system can achieve all-round 4G private network coverage above and below the well. The communication module cooperates with the mining wireless communication system base station arranged in the tunnel to realize wireless data transmission; a camera module, a gas detector, and a material tray component (not shown in the figure) are installed on the platform to realize wireless network communication function, perform data transmission in the tunnel, and realize unmanned operation in dangerous scenarios.

[0044] Preferably, a mechanical arm 10 for hanging cables is provided above the platform to solve the inconvenience of manually hanging cables.

[0045] In addition, the selection of electronic components and circuit assembly involved in the present invention are all well-known technologies in the field. Those skilled in the art can purchase them according to actual needs and assemble the circuits according to the product instructions, which will not be described in detail here.

[0046] Utilizing the technical solution described in the present invention, or those skilled in the art designing similar technical solutions inspired by the technical solution of the present invention to achieve the above technical effects, all fall within the scope of protection of the present invention.

Claims

1. A long-distance tunnel wall-climbing transport robot, comprising a platform (1), characterized in that: The upper and lower end surfaces of the platform (1) are respectively provided with a first rotating shaft (2) and a second rotating shaft (3), wherein the periphery of the first rotating shaft (2) is connected to a first driving wheel (4), and the periphery of the second rotating shaft (3) is connected to a second driving wheel (5), and the peripheries of the first driving wheel (4) and the second driving wheel (5) are connected by a crawler belt (6). The first rotating shaft (2) is driven by a reduction motor (9), and the reduction motor (9) is arranged inside the platform (1). The outer side surface of the crawler belt (6) is provided with a plurality of suction cups (7), and the bottom of the suction cup (7) is sealed along the circumferential direction with a sealing strip; the upper end surface of the platform (1) is provided with a balancing mechanism (8), and the balancing mechanism (8) is provided with a balancing sensor (80); The balancing mechanism (8) includes a support body (81), the bottom of the support body (81) is arranged on the upper end surface of the platform (1), a fork frame (811) is provided at both ends of the support body (81), a pressure plate (813) is provided in the fork frame (811) and is swung by a frame rod (812), a compression spring (819) is provided between the inner side surface of the pressure plate (813) and the support body (81), a first contact portion (814) is provided at the lower end of the pressure plate (813), and a second contact portion (815) is provided on the side surface of the support body (81), and the second contact portion (815) is provided corresponding to the first contact portion (814); The support body (81) is provided with an accommodating cavity inside, and the balance sensor (80) is provided in the accommodating cavity; the balance sensor (80) is connected to the first contact portion (814) via a signal line, and the balance sensor (80) is connected to the second contact portion (815) via a signal line; The inner side of the pressure plate (813) is provided with a T-shaped sliding groove (816), a baffle (817) is slidably provided in the T-shaped sliding groove (816), and a bolt (818) is provided on the outer side of the baffle (817); The power supply system of the robot adopts an AC charging power supply mode.

2. The long-distance tunnel wall-climbing transport robot according to claim 1, characterized in that: The suction cup is connected to the crawler (6) through a ball joint (13) to realize the reversal of the robot; inside the robot, there are multiple vacuum pumps (11), vacuum motors and vacuum air pipes (12) matched with the suction cup (7), and the vacuum air pipes (12) pass through the ball joint (13) and are connected to the vacuum holes at the bottom of the suction cup; a vacuum pressure detection device is installed inside each suction cup (7), which can detect whether the inner cavity of a single suction cup reaches a specified negative pressure state and feed back the data to the controller, and the controller then determines whether the vacuum pump evacuates or deflates the suction cup based on the detection data.

3. The long-distance tunnel wall-climbing transport robot according to claim 1, characterized in that: Detection sensors for mobile gas detection, temperature and humidity alarm, and camera remote patrol are arranged on the platform.

4. The long-distance tunnel wall-climbing transport robot according to claim 1, characterized in that: The robot platform carries a wireless communication module that uses 4GLTE wireless communication technology. The system can achieve all-round 4G private network coverage both above and below the well. The communication module cooperates with the mining wireless communication system base station arranged in the tunnel to realize wireless data transmission.

5. The long-distance tunnel wall-climbing transport robot according to claim 1, characterized in that: Install the camera module, gas detector, and material tray components on the platform.

6. The long-distance tunnel wall-climbing transport robot according to claim 1, characterized in that: There is a mechanical arm above the platform for hanging cables.

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