Bridge type tunnel inspection robot

Abstract

The application relates to the technical field of tunnel inspection, and discloses a bridge type tunnel inspection robot, which comprises an inspection robot body arranged on the lower side of a track, a control assembly and a wireless receiving module, the top center of the inspection robot body is provided with a walking driving wheel along the bottom surface of the track, and both sides of the top surface of the inspection robot body are provided with support wheel groups; the support wheel groups are rotationally connected with the inspection robot body through rotating shafts, the inspection robot body is internally provided with a rotating positioning mechanism for driving the rotating shafts to rotate to a preset angle and positioning; the inspection robot body is internally provided with a storage battery, the top surfaces of both ends of the inspection robot body are provided with connecting assemblies, the inspection robot body is internally provided with a winding mechanism, the lower end of each connecting assembly is provided with a tensile wire which is connected with the winding mechanism and electrically connected with the storage battery, and the connecting assembly is configured to be connected with the track after being powered on and separated from the track after being powered off. The application has the beneficial effects of convenient maintenance and safety.

Description

Technical Field

[0001] This invention relates to the field of tunnel inspection technology, and in particular to a bridge-type tunnel inspection robot. Background Technology

[0002] my country's highway transportation is highly developed, but traffic is also quite congested. Many highway sections pass through tunnels, where road conditions are complex. In cases of water accumulation, fires, or other emergencies, it's difficult to visually assess the tunnel's condition. Currently, tunnel inspection is a fundamental and crucial guarantee for tunnel safety. However, the large number of tunnels, their long lengths, strong enclosure, and poor communication present significant challenges to manual inspection and maintenance. This is especially true in situations like fires, smoke, toxic gases, or water accumulation, where manual entry into the tunnel is extremely difficult.

[0003] Given the above, it is essential to use inspection robots to inspect tunnels. Currently, by setting tracks on the top or sides of the tunnel, the inspection robots are mounted on these tracks and move along them, making their movement more flexible. However, this creates new problems: the inspection robots require regular maintenance, which necessitates removing them from the tracks. For some highway tunnels with a height of 5-8 meters, ladders are needed for climbing to remove the robots from the tracks, and they must be reinstalled after maintenance. Due to the dim lighting inside the tunnels, heavy traffic below, and the great height of the tunnels, climbing to these heights presents significant difficulties and safety hazards. Summary of the Invention

[0004] In order to solve the above-mentioned problems in the prior art, the present invention provides a bridge-type tunnel inspection robot. This inspection robot can automatically separate from the track and descend to the ground during inspection and maintenance, and can automatically rise back to the track and reconnect to the track after maintenance, which greatly improves the convenience of maintenance.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A bridge-type tunnel inspection robot includes an inspection robot body set under the track, a control assembly set inside the inspection robot body, and a wireless receiving module connected to the control assembly. The top center of the inspection robot body is provided with an active wheel that travels along the bottom surface of the track, and several sets of support wheels that travel along the top surface of the support rails on both sides of the track are provided on both sides of the top surface of the inspection robot body. The support wheel assembly is rotatably connected to the inspection robot body via a rotating shaft. The inspection robot body is equipped with a rotary positioning mechanism for driving the rotating shaft to rotate to a preset angle and positioning it. The inspection robot body is equipped with a battery. Both ends of the top surface of the inspection robot body are equipped with connecting components. The inspection robot body is equipped with a winding mechanism. The lower end of the connecting component is equipped with a tensile wire that is connected to the winding mechanism and electrically connected to the battery. The connecting component is configured to connect to the track when energized and separate from the track when de-energized. When the inspection robot is working normally, the winding mechanism winds up the tensile wire. When the inspection robot needs maintenance, the connecting component is powered on and connected to the track. The rotary positioning mechanism drives the support wheel group to rotate at a preset angle and then disengages from the support rail. After that, the winding mechanism releases the tensile wire, causing the inspection robot to descend to the ground.

[0006] When the inspection robot needs maintenance, the maintenance personnel move the maintenance platform to the underside of the inspection robot; the robot's movements are controlled via the wireless receiving module: the connecting component connects to the track, the support wheel assembly separates from the track, the winding mechanism releases the tensile wire, and the inspection robot body descends onto the inspection platform for maintenance. After maintenance, the winding mechanism winds up the tensile wire, the inspection robot body rises to the track, the rotation positioning mechanism rotates the support wheel assembly by an angle and then resets it, the support wheel assembly rests on the support rail, the connecting component separates from the track, and the connection between the inspection robot body and the track is completed.

[0007] Preferably, the rotary positioning mechanism includes a connecting arm fixed to the lower end of the rotating shaft, a drive arm that drives the connecting arm to rotate around the rotating shaft, a screw that drives the drive arm to move linearly, and a motor that drives the screw to rotate. The drive arm is connected to the inspection robot body through a sliding seat, and two coaxially distributed threaded sleeves are fixed on the drive arm. The screw passes through the threaded sleeves to form a threaded connection.

[0008] Preferably, the bottom surface of the connecting arm is provided with an elongated slot, and the driving arm is provided with a pin that extends into the elongated slot; each driving arm drives two sets of connecting arms to deflect.

[0009] Preferably, the support wheel assembly includes a wheel seat fixed to the upper end of the rotating shaft and a support wheel rotatably connected to the wheel seat. The axis of the support wheel is parallel to the bottom surface of the track. When the support wheel moves normally along the support rail, the axis of the support wheel is perpendicular to the track. When the inspection robot body is separated from the track, the rotation positioning mechanism drives the support wheel assembly to rotate by a preset angle, and then the axis of the support wheel is parallel to the track.

[0010] Preferably, the top surface of the support rail is an inclined surface with a higher inner end and a lower outer end, and the circumferential surface of the support wheel is configured as a conical surface adapted to the inclined surface; a limiting wheel is provided on one side of the wheel seat to travel along the outer side of the support surface.

[0011] Preferably, the connecting component is configured as an electromagnet, and a section of track corresponding to the maintenance position is configured as a ferromagnet. A separation channel is provided on the top surface of the inspection robot body corresponding to the electromagnet, and a guide seat is provided around the separation channel. A chamfer is provided between the top surface and the inner side of the guide seat, and the lower end of the electromagnet is provided with guide slopes around its perimeter to facilitate smooth insertion into the guide seat. When maintenance is required, the inspection robot body moves to the track position corresponding to the maintenance position. After the electromagnet is energized, it magnetically attracts to the track. After the winding mechanism releases the tensile wire, the electromagnet separates from the inspection robot body from the separation channel.

[0012] Preferably, the winding mechanism includes a winding shaft and a winding wheel fixed on the winding shaft. The motor is a dual-head motor, with one end of the motor connected to the screw via a front electronic clutch and the other end of the motor connected to the output shaft via a rear electronic clutch. The output shaft and the winding shaft transmit power through gears. An electromagnet limit seat is provided on the upper side of the winding wheel, and the tensile wire passes through the electromagnet limit seat and is wound on the winding wheel.

[0013] Preferably, the winding shaft is also provided with a winding wheel, on which a cable is wound. One end of the cable is fixed to the winding wheel, and the other end of the cable passes through the electromagnet limit seat and is connected to the electromagnet.

[0014] Preferably, the track is provided with a charging area, and wireless charging modules are provided on both sides of the charging area. The wireless charging modules are connected to the track through fixed brackets. There are two sets of batteries, which are located on both sides of the middle of the inspection robot body. When the inspection robot body moves to the charging area, it charges the batteries through the wireless charging modules.

[0015] Preferably, the bottom surface of the track is equipped with a number of RFID tags at preset intervals, and the top surface of the inspection robot is equipped with an RFID reader for reading and writing RFID tag information.

[0016] Therefore, the present invention has the advantages of being easy to maintain and safe. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of one structure of the present invention.

[0018] Figure 2 for Figure 1 Front view Figure 3 for Figure 1 Top view.

[0019] Figure 4 for Figure 1 The right view.

[0020] Figure 5 This is a schematic diagram of the inspection robot body.

[0021] Figure 6 for Figure 5 Exploded view.

[0022] Figure 7 This is a schematic diagram of the internal structure of the inspection robot.

[0023] Figure 8 This is a schematic diagram of the rotary positioning mechanism and the winding mechanism.

[0024] Figure 9 for Figure 8 Another perspective view.

[0025] Figure 10 This is a schematic diagram showing the winding mechanism in the released state after the connecting component is connected to the track.

[0026] Figure 11 for Figure 10 Top view.

[0027] In the diagram: 1. Inspection robot body, 100. Separation channel, 101. Guide seat, 2. Control assembly, 20. Wireless receiver module, 3. Drive wheel, 4. Support wheel assembly, 40. Wheel seat, 41. Support wheel, 42. Limit wheel, 5. Rotary positioning mechanism, 6. Connecting arm, 60. Long slot, 600. Drive arm, 61. Pin, 610. Screw, 62. Motor, 63. Sliding seat, 64. Screw sleeve, 65. Front electronic clutch, 66. Battery, 7. Connecting assembly, 8. Winding mechanism, 9. Winding shaft, 90. Winding wheel, 91. Rear electronic clutch, 92. Output shaft, 93. Gear, 94. Electromagnet limit seat, 95. Winding wheel, 96. Cable, 97. Tensile wire, 10. Track, 11. Mounting bracket, 111. Support rail, 110. Wireless charging module, 12. Fixed bracket, 13. RFID tag, 14. RFID reader / writer, 15. Detailed Implementation

[0028] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of this invention.

[0029] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0030] like Figures 1-7 The illustrated bridge-type tunnel inspection robot includes an inspection robot body 1 mounted under a track 11, a control assembly 2 housed within the inspection robot body 1, and a wireless receiving module 20 connected to the control assembly. The top center of the inspection robot body 1 has a drive wheel 3 that travels along the bottom surface of the track. Several sets of support wheel assemblies 4 are located on both sides of the top surface of the inspection robot body, traveling along the top surface of support rails 110 on both sides of the track. The support rails are formed by extending outwards from both sides of the bottom surface of the track and are part of the track. The support wheel assemblies 4 are rotatably connected to the inspection robot body 1 via a rotating shaft 5. The inspection robot body contains a rotary positioning machine for rotating the rotating shaft to a preset angle and positioning it. The inspection robot body 1 has a battery 7 inside and connecting components 8 on the top surfaces of both ends. A winding mechanism 9 is also located inside the robot body. The lower end of each connecting component has a tensile wire 10 that is connected to the winding mechanism and electrically connected to the battery. The connecting components 8 are configured to connect to the track when powered on and separate from the track when powered off. When the inspection robot body is working normally, the winding mechanism winds up the tensile wire. When the inspection robot body needs maintenance, the connecting components are powered on and connected to the track. The rotation positioning mechanism drives the support wheel assembly to rotate at a preset angle and then disengages from the support rail. Afterward, the winding mechanism releases the tensile wire, causing the inspection robot body to descend to the ground.

[0031] The track 11 is equipped with a charging area, and wireless charging modules 12 are installed on both sides of the charging area. The wireless charging modules are connected to the track through a fixed bracket 13. There are two sets of batteries 7, which are located on both sides of the middle of the inspection robot body. When the inspection robot body needs to be charged, the inspection robot body moves to the charging area and charges the batteries through the wireless charging modules. Several RFID tags 14 are installed on the bottom surface of the track 11 at preset intervals. The top surface of the inspection robot is equipped with an RFID reader 15 for reading and writing RFID tag information. The RFID tags 14 can be used to record the position of the track, such as the position of the charging area, the position of the maintenance area, and other information.

[0032] like Figure 8 and Figure 9As shown, the rotary positioning mechanism 6 includes a connecting arm 60 fixed to the lower end of the rotating shaft, a drive arm 61 that drives the connecting arm to rotate around the rotating shaft, a screw 62 that drives the drive arm to move linearly, and a motor 63 that drives the screw to rotate. The drive arm is connected to the inspection robot body through a sliding seat 64. Two coaxially distributed threaded sleeves 65 are fixed on the drive arm, and the screw passes through the threaded sleeves to form a threaded connection. The bottom surface of the connecting arm 60 is provided with a long slot 600, and the drive arm 61 is provided with a pin 610 that extends into the long slot. Each drive arm drives two sets of connecting arms to deflect. There is a gap between the pin and the two sides of the long slot, so that when the track turns, the support wheel seat can make a slight offset around the rotating shaft to adapt to the turning of the track. The motor 63 is a double-headed motor, and one end of the double-headed motor is connected to the screw through a front electronic clutch 66.

[0033] The support wheel assembly 4 includes a wheel seat 40 fixed to the upper end of the rotating shaft and a support wheel 41 rotatably connected to the wheel seat. The axis of the support wheel 41 is parallel to the bottom surface of the track 11. When the support wheel travels normally along the support rail, the axis of the support wheel is perpendicular to the track. When the inspection robot body is separated from the track, the rotation positioning mechanism drives the support wheel assembly to rotate by a preset angle, after which the axis of the support wheel is parallel to the track. Figure 11 As shown.

[0034] The top surface of the support rail 110 is an inclined surface with a higher inner end and a lower outer end, and the circumferential surface of the support wheel 41 is configured as a conical surface that matches the inclined surface; a limiting wheel 42 is provided on one side of the wheel seat that travels along the outer side of the support surface.

[0035] like Figure 6 and Figure 8 As shown, the connecting component 8 is configured as an electromagnet, and the section of track corresponding to the maintenance position is configured as a ferromagnet. In this embodiment, the maintenance position and the charging area are located on the same track. The top surface of the inspection robot body 1 is provided with a separation channel 100 corresponding to the electromagnet. A guide seat 101 is provided around the separation channel. A chamfer is provided between the top surface and the inner side of the guide seat. The lower end of the electromagnet is provided with guide slopes around its perimeter to facilitate smooth insertion into the guide seat. When maintenance is required, the inspection robot body moves to the track position corresponding to the maintenance position. After the electromagnet is energized, it magnetically attracts to the track. After the winding mechanism 9 releases the tensile wire, the electromagnet separates from the inspection robot body from the separation channel.

[0036] like Figure 8 and Figure 10As shown, the winding mechanism 9 includes a winding shaft 90 and a winding wheel 91 fixed on the winding shaft. The other end of the motor 63 is connected to the output shaft 93 via a rear electronic clutch 92. Power is transmitted between the output shaft and the winding shaft via a gear 94. An electromagnet limit seat 95 is provided on the upper side of the winding wheel 91. The tensile wire 10 passes through the electromagnet limit seat and is wound onto the winding wheel. A winding wheel 96 is also provided on the winding shaft 90. A cable 97 is wound on the cable. One end of the cable is fixed to the winding wheel, and the other end of the cable passes through the electromagnet limit seat and is connected to the electromagnet. In this embodiment, four electromagnets are used. Two electromagnets are set at each end of the inspection robot. When the electromagnets are energized, they are magnetically attracted to the bottom of the support rails on both sides of the track, resulting in better overall stability.

[0037] Depending on actual needs, the inspection robot body can be equipped with radar speed measurement module, indicator light module, voice dialogue module, camera module, etc. These modules are all general modules used by tunnel inspection robots, so the specific structure and principle of each module will not be elaborated in this application.

[0038] Referring to the accompanying drawings, the principle of the present invention is as follows: Figure 1 As shown, track 11 is installed on the top or side of the tunnel via mounting bracket 111 in a bridge-like manner. The inspection robot is powered by a battery. When the battery is low, the robot moves to the charging area and charges the battery via a wireless charging module. When maintenance is required, the robot moves to the maintenance position on the track. The maintenance personnel move the maintenance platform directly below the robot, energize the connecting component (electromagnet), and magnetically attract it to the support rail on the track. Then, the motor drives the screw to rotate, causing the support wheel to... Figure 8 The state shown rotates to Figure 9 and Figure 10 As shown, in the final state, the motor drives the winding mechanism to release the tensile wire and cable, and the inspection robot descends to the maintenance platform for inspection and maintenance; after inspection and maintenance, the winding mechanism winds up the tensile wire and cable, and the inspection robot rises to the track, with the support wheels moving from... Figure 9 State rotated to Figure 8 When the robot is connected to the support rail, the electromagnet is de-energized, and the inspection robot body is then normally connected to and used on the rail.

[0039] In the description of this invention, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solutions of this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting this invention.

[0040] Although specific embodiments of the invention have been described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications can be conceived without departing from the spirit and scope of the invention.

Claims

1. A bridge-type tunnel inspection robot, characterized in that, The system includes an inspection robot body located on the underside of the track, a control assembly located inside the inspection robot body, and a wireless receiving module connected to the control assembly. The top center of the inspection robot body is provided with an active wheel that travels along the bottom surface of the track, and several sets of support wheels that travel along the top surfaces of the support rails on both sides of the track are provided on both sides of the top surface of the inspection robot body. The support wheel assembly is rotatably connected to the inspection robot body via a rotating shaft. The inspection robot body is equipped with a rotary positioning mechanism for driving the rotating shaft to rotate to a preset angle and positioning it. The inspection robot body is equipped with a battery. Both ends of the top surface of the inspection robot body are equipped with connecting components. The inspection robot body is equipped with a winding mechanism. The lower end of the connecting component is equipped with a tensile wire that is connected to the winding mechanism and electrically connected to the battery. The connecting component is configured to connect to the track when energized and separate from the track when de-energized. When the inspection robot is working normally, the winding mechanism will wind up the tensile wire; When the inspection robot body needs maintenance, the connecting component is powered on and connected to the track. The rotary positioning mechanism drives the support wheel group to rotate at a preset angle and then disengages from the support rail. After that, the winding mechanism releases the tensile wire, causing the inspection robot body to descend to the ground position. The rotary positioning mechanism includes a connecting arm fixed to the lower end of the rotating shaft, a drive arm that drives the connecting arm to rotate around the rotating shaft, a screw that drives the drive arm to move linearly, and a motor that drives the screw to rotate. The drive arm is connected to the inspection robot body through a sliding seat. Two coaxially distributed screw sleeves are fixed on the drive arm, and the screw passes through the screw sleeves to form a threaded connection. The support wheel assembly includes a wheel seat fixed to the upper end of the rotating shaft and a support wheel rotatably connected to the wheel seat. The axis of the support wheel is parallel to the bottom surface of the track. When the support wheel moves normally along the support rail, the axis of the support wheel is perpendicular to the track. When the inspection robot body is separated from the track, the rotation positioning mechanism drives the support wheel assembly to rotate by a preset angle, and then the axis of the support wheel is parallel to the track. The connecting component is configured as an electromagnet, and a section of track corresponding to the maintenance position is configured as a ferromagnet. A separation channel is provided on the top surface of the inspection robot body corresponding to the electromagnet. A guide seat is provided around the separation channel. A chamfer is provided between the top surface and the inner side of the guide seat. The lower end of the electromagnet is provided with guide slopes around its perimeter to facilitate smooth insertion into the guide seat. When maintenance is required, the inspection robot body moves to the track position corresponding to the maintenance position. After the electromagnet is energized, it magnetically attracts to the track. After the winding mechanism releases the tensile wire, the electromagnet separates from the inspection robot body from the separation channel. The winding mechanism includes a winding shaft and a winding wheel fixed on the winding shaft. The motor is a dual-head motor. One end of the motor is connected to the screw through a front electronic clutch, and the other end of the motor is connected to the output shaft through a rear electronic clutch. The output shaft and the winding shaft transmit power through gears. An electromagnet limit seat is provided on the upper side of the winding wheel. The tensile wire passes through the electromagnet limit seat and is wound on the winding wheel.

2. The bridge-type tunnel inspection robot according to claim 1, characterized in that, The bottom surface of the connecting arm is provided with a long slot, and the driving arm is provided with a pin that extends into the long slot; each driving arm drives two sets of connecting arms to deflect.

3. The bridge-type tunnel inspection robot according to claim 1, characterized in that, The top surface of the support rail is an inclined surface with a higher inner end and a lower outer end, and the circumferential surface of the support wheel is configured as a conical surface adapted to the inclined surface; a limiting wheel is provided on one side of the wheel seat to travel along the outer side of the support surface.

4. The bridge-type tunnel inspection robot according to claim 1, characterized in that, The winding shaft is also equipped with a winding wheel, on which a cable is wound. One end of the cable is fixed to the winding wheel, and the other end of the cable passes through the electromagnet limit seat and is connected to the electromagnet.

5. The bridge-type tunnel inspection robot according to claim 1, characterized in that, The track is equipped with a charging area, and wireless charging modules are installed on both sides of the charging area. The wireless charging modules are connected to the track through fixed brackets. There are two sets of batteries, which are located on both sides of the middle of the inspection robot body. When the inspection robot body moves to the charging area, it charges the batteries through the wireless charging modules.

6. A bridge-type tunnel inspection robot according to claim 1 or 5, characterized in that, The bottom surface of the track is equipped with several RFID tags at preset intervals, and the top surface of the inspection robot is equipped with an RFID reader for reading and writing RFID tag information.

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