Flexible integrated bridge for tunnel robots

Abstract

The present application relates to the technical fields of tunnel bridge technology, and discloses a flexible integrated bridge for tunnel robot, comprising a plurality of bridge bodies, the first and last ends of each bridge body are connected to form a bridge, and a plurality of mounting racks, the lower end of the mounting rack is connected with the bridge body, the upper end of the mounting rack is connected with the inner wall of the tunnel, and at least two mounting supports are arranged on each bridge body; the top of the bridge body extends upwards to form a front baffle and a rear baffle on both sides, a wiring channel is formed between the front baffle and the rear baffle, and the lower end of the bridge body extends to form a robot track for the tunnel robot to walk; a flexible connecting assembly is arranged at the joint of adjacent bridge bodies, and the wiring channels on the adjacent bridge bodies are connected through a flexible connecting sleeve. The present application has the beneficial effects of high integration, convenient construction and stable walking of the tunnel robot.

Description

Technical Field

[0001] This invention relates to the field of tunnel cable tray technology, and in particular to a flexible integrated cable tray for tunnel robots. Background Technology

[0002] In highway tunnel management, to improve tunnel monitoring performance and with the continuous maturation of robotics and AI technologies, the application of tunnel robots in daily tunnel management is increasingly needed, solving many operational and maintenance challenges. Currently, tunnel robots require separately installed tracks for movement, making it impossible to utilize existing cable trays, resulting in high costs. The cost of tracks has become a major obstacle to the widespread application of tunnel robots. Moreover, some long tunnels are often curved, requiring segmented installation and connection of cable trays. During connection, gaps exist between adjacent cable trays, causing vibrations to easily occur when the tunnel robot passes over the overlapping sections, thus affecting the stability of the tunnel robot's movement. Summary of the Invention

[0003] In order to solve the above-mentioned problems in the prior art, the present invention provides a flexible integrated cable tray for tunnel robots that integrates cable trays and tunnel robot tracks together and ensures stable movement of tunnel robots.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A flexible integrated cable tray for tunnel robots, including

[0006] Several sections of cable tray body, each section joined end to end to form a cable tray; and

[0007] Several mounting brackets are provided, the lower end of which is connected to the cable tray body and the upper end of which is connected to the tunnel inner wall. At least two mounting brackets are provided on each section of the cable tray body.

[0008] The top two sides of the cable tray body extend upward to form a front baffle and a rear baffle, respectively, and a wiring channel is formed between the front baffle and the rear baffle. The lower end of the cable tray body extends to form a robot track for the tunnel robot to walk on. A flexible docking component is provided at the docking point of adjacent cable tray bodies, and the wiring channels on adjacent cable tray bodies are connected by a flexible connecting sleeve.

[0009] In this structure, the wiring channel and the robot track are integrated together. Cables and other equipment are laid directly in the wiring channel, while the tunnel robot walks on the robot track. At the same time, the two sections of the cable tray are connected by a flexible docking component, which allows the tunnel robot to pass through the connection point stably, making the tunnel robot's movement more stable.

[0010] Preferably, the cable tray body is configured as a profile with a rectangular frame structure in cross-section, and the robot track has an inverted T-shaped cross-section. The upper end of the robot track is connected to the cable tray body to form an integrated structure. Using a profile structure makes processing and manufacturing more convenient.

[0011] Preferably, the cable tray body is provided with several mounting holes that extend through both sides, and the lower end of the mounting bracket passes through the mounting holes laterally and is connected to the cable tray body by bolts.

[0012] Preferably, the wiring channel is equipped with a partition that divides the wiring channel into a front wiring trough and a rear wiring trough. A terminal block is connected in parallel to the cable in the front wiring trough. The front side of the cable tray body has an equipment mounting slot, and the top of the wiring channel has a cover plate. The equipment mounting slot is used to mount other electromechanical equipment required for the tunnel, and the terminal block directly powers the electromechanical equipment.

[0013] Preferably, the mounting bracket includes a horizontal support, a vertical support, and a connecting pipe. The horizontal support is L-shaped, and the upper end of the horizontal support is connected to the lower end of the vertical support through the connecting pipe.

[0014] Preferably, the connecting tube is a rectangular tube, and the upper end of the horizontal support is inserted into the connecting tube. The horizontal support has a through-hole that is wider at the front and narrower at the rear. The front end of the connecting tube has a front clearance through-hole that matches the front end of the connecting tube, and the rear end of the connecting tube has a rear clearance through-hole that matches the rear end of the connecting tube. A U-shaped seat is fixedly installed on the rear side of the connecting tube corresponding to the rear end of the connecting tube. A connecting block is installed in the connecting tube. The connecting block is inserted into the connecting tube through the front clearance through-hole and extends out through the rear clearance through-hole. A fastening bolt is installed on the U-shaped seat. The fastening bolt passes through the U-shaped seat and is threaded to the rear end of the connecting seat. The front end of the connecting block extends out of the front clearance through-hole. The horizontal support is inserted into the connecting tube and limited by the connecting block, making installation and disassembly very convenient.

[0015] Preferably, the cross-section of the insertion hole is a rectangular structure that decreases in size from front to back; the insertion block is made of spring steel, and the front end of the insertion block has a cavity extending into the insertion block. The bottom of the cavity extends beyond the rear side of the connecting pipe, and the two sides of the cavity are connected to the side walls of the insertion block, so that the upper side of the insertion block forms an upper support plate, and the lower side of the insertion block forms a lower support plate. When the insertion block is connected to the fastening bolt, the upper side of the upper support plate elastically abuts against the upper inner wall of the insertion hole, and the lower side of the upper support plate elastically abuts against the lower inner wall of the insertion hole. The upper and lower support plates have a certain degree of elasticity while ensuring sufficient support strength; this gives the bridge frame good shock absorption performance, reduces the impact of vibration during the tunnel robot's movement, and ensures a stable and reliable connection between the mounting frame and the tunnel wall.

[0016] Preferably, the connecting pipe has vertical slots on both its front and rear sides, and the upper ends of the horizontal support have limiting members that extend into the slots. The limiting members, positioned within the vertical slots, accommodate deformation caused by elastic vibrations; moreover, even if the connector fails, the cable tray body will not fall, thus providing safety protection.

[0017] Preferably, the front end of the upper support piece extends upward to form an upper stop bar, and the front end of the lower support piece extends downward to form a lower stop bar. The upper and lower stop bars serve to prevent detachment, making the overall structure more stable.

[0018] Preferably, the vertical support includes a lower support and an upper support. The lower support has a rectangular cross-section, and its left and right sides have several sets of vertically distributed adjustment holes. The left and right sides of the connecting pipe have connection holes corresponding to the adjustment holes. The upper end of the connecting pipe is fitted into the lower support and connected by bolts. The lower height of the mounting bracket can be adjusted by changing the connection position of the connection holes and the adjustment holes.

[0019] Preferably, a connecting plate is fixed to the upper end of the upper support. The upper support is a circular tube structure, and an mounting plate for connecting to the tunnel wall is fixed to the upper end of the upper support. A flange is fixed to the lower end of the upper support. Several arc-shaped holes are evenly distributed around the circumference of the connecting plate. A guide sleeve is fixed to the upper end of the connecting plate. After the guide sleeve extends into the upper support, the flange is connected to the arc-shaped holes by bolts and nuts. The angle of the mounting frame can be finely adjusted by connecting the flange to the arc-shaped holes on the disc.

[0020] Preferably, the flexible docking assembly includes a female seat and a male seat, wherein the outer side of the female seat and the outer end of the male seat extend to form a plug-in portion that is adapted to the cross-section of the cable tray body and can be inserted into the end of the cable tray body.

[0021] The inner top surface of the female seat is provided with a cylindrical blind hole, and the side wall of the cylindrical blind hole is connected to the outside through a guide groove. The inner end of the male seat is provided with a connecting post that is adapted to the cylindrical blind hole. The side of the connecting post is connected to the male seat as a whole through a connecting strip. The width of the connecting strip is smaller than the width of the guide groove. The inner ends of the male seat are provided with inclined clearance slopes on both sides, so that when the connecting post is connected to the cylindrical blind hole, the male seat and the female seat can rotate around the axis of the connecting post within a preset angle range.

[0022] Flexible compensation blocks are provided between the two clearance ramps of the male seat and the end face of the female seat, so that the docking points of adjacent robot tracks can be stably transitioned through the flexible compensation blocks.

[0023] The female connector is inserted into the end of the cable tray body, and the male connector is inserted into the end of the other cable tray body. Then, the connecting post on the male connector is inserted into the cylindrical blind hole in the female connector. The male and female connectors can rotate within a certain angle range to adapt to the curvature of the tunnel. When deformed, the flexible compensation block is squeezed to make there no gap between the male and female connectors, so that the tunnel robot can stably pass through the connection of the two sections of the cable tray body, making the tunnel robot walk more stably.

[0024] Preferably, the inner center of the female seat protrudes outward to form vertically distributed arc-shaped ridges. The cylindrical blind hole is coaxially disposed on the arc-shaped ridges and communicates with the outer side of the arc-shaped ridges through the guide groove. The inner end of the male seat has an arc-shaped groove that matches the arc-shaped ridges, and the connecting strip is connected to the bottom surface of the arc-shaped groove. When the connecting post is inserted into the blind hole from top to bottom, a clearance fit is formed between the arc-shaped ridges and the arc-shaped groove. The fit between the arc-shaped ridges and the arc-shaped groove, and the fit between the connecting post and the cylindrical blind hole, makes the connection between the male and female seats more stable, compact, and less prone to loosening.

[0025] Preferably, the lower end of the arc-shaped convex strip is provided with a notch, and the bottom surface of the notch is provided with a countersunk hole that communicates with the cylindrical blind hole. A flexible connecting block is provided between the lower ends of the two flexible compensation blocks. The flexible connecting block and the flexible compensation block are an integral structure. The shape of the flexible connecting block is adapted to the notch. The top surface of the flexible connecting block is provided with a positioning post adapted to the countersunk hole. A connecting through hole is provided in the flexible connecting block, which is coaxially distributed with the countersunk hole. A long bolt is provided in the connecting through hole. The long bolt passes through the connecting through hole and the countersunk hole in sequence and then connects to the bottom surface of the connecting post. The male seat, female seat, and flexible connecting block are connected together by the long bolt, making the connection of the three more stable. Moreover, the long bolt also serves as a vertical (axial) limiter, making the joint of the two adjacent bridge body sections more flush, thereby facilitating the stable passage of the tunnel robot.

[0026] Therefore, this invention integrates the robot track and wiring channel on the cable tray, which can meet the wiring needs while also being used for tunnel robot movement, resulting in a compact and stable overall structure. Adjacent cable tray bodies are connected by flexible docking components, making the movement of the tunnel robot more stable. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of one structure of the present invention.

[0028] Figure 2 for Figure 1 Diagram showing the middle cover plate in open position.

[0029] Figure 3 This is a schematic diagram showing the connection between a section of the cable tray body and two mounting brackets.

[0030] Figure 4 for Figure 3 Side view.

[0031] Figure 5 This is a structural diagram of the mounting bracket.

[0032] Figure 6 This is an exploded view of the mounting bracket.

[0033] Figure 7 This is a side sectional view of the mounting bracket.

[0034] Figure 8 This is an exploded view of the junction of the two cable tray sections.

[0035] Figure 9 This is a schematic diagram of the flexible docking assembly.

[0036] Figure 10 for Figure 9 A sectional view.

[0037] Figure 11 This is a schematic diagram showing the male and female seats in their separated state.

[0038] Figure 12 This is a schematic diagram showing the separation of the female seat and the flexible compensation block.

[0039] Figure 13 for Figure 11 Another perspective view. Detailed Implementation

[0040] 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.

[0041] 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.

[0042] like Figures 1-8The diagram shows a flexible integrated cable tray for a tunnel robot, comprising several cable tray body segments 1, each segment joined end-to-end to form a cable tray; and several mounting brackets 2, the lower end of which is connected to the cable tray body 1, and the upper end of which is connected to the tunnel wall. Each cable tray body segment is equipped with at least two mounting brackets. The top two sides of the cable tray body 1 extend upward to form a front baffle 100 and a rear baffle 101, respectively. A wiring channel 102 is formed between the front baffle and the rear baffle. A partition 103 is provided in the wiring channel, dividing the wiring channel into a front wiring groove and a rear wiring groove. A terminal block 104 is connected in parallel to the cable in the front wiring groove. An equipment mounting groove 105 is provided on the front side of the cable tray body, and a cover plate 106 is provided on the top of the wiring channel. The rear side of the cover plate is rotatably connected to the upper end of the rear baffle.

[0043] The lower end of the cable tray body 1 extends to form a robot track 10 for the tunnel robot to move along; flexible docking components 3 are provided at the joints of adjacent cable tray bodies, and the wiring channels on adjacent cable tray bodies 1 are connected by flexible connecting sleeves 4. The cable tray body 1 is configured as a profile, with a rectangular frame structure in cross-section, and the robot track has an inverted T-shaped cross-section. The upper end of the robot track is connected to the cable tray body to form an integrated structure. The cable tray body 1 has several mounting holes 107 that penetrate both sides, and the lower end of the mounting bracket 2 passes laterally through the mounting holes and is connected to the cable tray body by bolts.

[0044] like Figures 5-7 As shown, the mounting bracket 2 includes a horizontal support 20, a vertical support 21, and a connecting pipe 22. The horizontal support is L-shaped, and the upper end of the horizontal support is connected to the lower end of the vertical support through the connecting pipe. The connecting pipe 22 is a rectangular tube, and the upper end of the horizontal support is inserted into the connecting pipe. The horizontal support 20 has a through-hole 200 that is larger at the front and smaller at the back. The front end of the connecting pipe 22 has a front clearance through-hole 220 that matches the front end of the through-hole, and the rear end of the connecting pipe has a rear clearance through-hole 221 that matches the rear end of the through-hole. A U-shaped seat 222 is fixedly provided on the rear side of the connecting pipe corresponding to the rear end of the through-hole. A plug-in block 23 is provided in the through-hole. The plug-in block is inserted into the through-hole from the front clearance through-hole and extends out from the rear clearance through-hole. A fastening bolt 24 is provided on the U-shaped seat. The fastening bolt 24 passes through the U-shaped seat and is threaded to the rear end of the plug-in seat. The front end of the plug-in block extends out of the front clearance through-hole.

[0045] The cross-section of the insertion hole 200 is a rectangular structure that decreases in size from front to back. The insertion block 23 is made of spring steel. The front end of the insertion block 23 has a recess 230 that extends into the insertion block. The bottom of the recess extends beyond the rear side of the connecting tube. The two sides of the recess 230 are connected to the side walls of the insertion block, so that the upper side of the insertion block 23 forms an upper support plate 231, and the lower side of the insertion block forms a lower support plate 232. The front end of the upper support plate extends upward to form an upper stop bar 233, and the front end of the lower support plate extends downward to form a lower stop bar 234. When the insertion block is connected to the fastening bolt, the upper side of the upper support plate elastically abuts against the upper inner wall of the insertion hole, and the lower side of the upper support plate elastically abuts against the lower inner wall of the insertion hole. The front and rear sides of the connecting tube 22 are provided with vertical slots 223, and the upper ends of the horizontal support are provided with limiting members 25 that extend into the slot holes.

[0046] The vertical support 21 includes a lower support 210 and an upper support 211. The lower support has a rectangular cross-section. Several sets of vertically distributed adjustment through holes 212 are pre-set on the left and right sides of the lower support. The left and right sides of the connecting pipe are provided with connecting holes 213 corresponding to the adjustment through holes. The upper end of the connecting pipe is fitted into the lower support and then connected by bolts. A connecting plate 214 is fixed at the upper end of the lower support 211. The upper support has a circular tube structure. An installation plate 215 for connecting with the inner wall of the tunnel is fixed at the upper end of the upper support. A flange 216 is fixed at the lower end of the upper support. Several arc-shaped holes 217 are evenly distributed around the circumference of the connecting plate. A guide sleeve 218 is fixed at the upper end of the connecting plate. After the guide sleeve extends into the upper support, the flange and the arc-shaped holes are connected by bolts and nuts.

[0047] like Figures 8-13 As shown, the flexible docking assembly 3 includes a female seat 30 and a male seat 31. The outer sides of both the female and male seats extend to form insertion portions 32 that are adapted to the cross-section of the bridge frame body and can be inserted into the end of the bridge frame body. The upper part of the insertion portion is inserted into the bridge frame body, and the lower part is inserted into the robot track. The inner top surface of the female seat 30 is provided with a cylindrical blind hole 300. The sidewall of the cylindrical blind hole communicates with the outer side through a guide groove 301. The inner end of the male seat 31 is provided with a connecting portion adapted to the cylindrical blind hole. The connecting post 310 is connected to the male seat by a connecting strip 311. The width of the connecting strip is less than the width of the guide groove. The inner ends of the male seat 31 are provided with inclined clearance slopes 312, so that when the connecting post is connected to the cylindrical blind hole, the male seat and the female seat can rotate around the axis of the connecting post within a preset angle range. Flexible compensation blocks 33 are provided between the two clearance slopes of the male seat and the end face of the female seat, so that the docking points of adjacent robot tracks are stably transitioned by the flexible compensation blocks.

[0048] The inner center of the female seat 30 protrudes outward to form a vertically distributed arc-shaped protrusion 302. The cylindrical blind hole 300 is coaxially arranged on the arc-shaped protrusion and passes through the guide groove to the outer side of the arc-shaped protrusion. The inner end of the male seat 31 is provided with an arc-shaped groove 313 that matches the arc-shaped protrusion. The connecting strip is connected to the bottom surface of the arc-shaped groove. When the connecting post is inserted into the blind hole from top to bottom, a clearance fit is formed between the arc-shaped protrusion and the arc-shaped groove.

[0049] The lower end of the arc-shaped protrusion 302 is provided with a notch 303. The bottom surface of the notch is provided with a countersunk hole that communicates with the cylindrical blind hole. A flexible connecting block 330 is provided between the lower ends of the two flexible compensation blocks 33. The flexible connecting block and the flexible compensation block are an integral structure and are both made of silicone material. The shape of the flexible connecting block is adapted to the notch. The top surface of the flexible connecting block is provided with a positioning post 331 that is adapted to the countersunk hole. The flexible connecting block is provided with a connecting through hole 332 that is coaxially distributed with the countersunk hole. A long bolt 34 is provided in the connecting through hole. The long bolt passes through the connecting through hole and the countersunk hole in sequence and then connects to the bottom surface of the connecting post.

[0050] The male and female connectors are inserted into the two sections of the cable tray body, respectively. The lower ends of both the male and female connectors protrude from the cable tray body and are flush with the top surface of the robot track on the cable tray body. The gap between the male and female connectors is filled by flexible compensation blocks. Simultaneously, the male and female connectors and the flexible connecting blocks (flexible compensation blocks) are connected together by long bolts. On one hand, after the flexible docking components dock with the robot track, they are flush with the support surface of the robot track, eliminating height differences when the tunnel robot passes through, resulting in more stable movement. On the other hand, filling the gap between the two sections of the cable tray body makes the entire cable tray body more compactly connected and facilitates construction and installation. Furthermore, the plug-in blocks on the mounting frame are designed with an elastic structure, enabling quick and stable connection between the cross support and the connecting pipe, while also maintaining a certain degree of shock absorption in the mounting frame. Therefore, the entire cable tray is convenient to construct and install, can be used for wiring and stable movement of tunnel robots, and provides quick power connection for tunnel electromechanical equipment, exhibiting a high degree of overall integration.

[0051] 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.

[0052] 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 flexible integrated bridge for tunnel robots, characterized in that, Comprising a plurality of bridge bodies, each bridge body being connected end to end to form a bridge; and a plurality of mounting racks, the lower end of the mounting rack being connected to the bridge body, the upper end of the mounting rack being connected to the inner wall of the tunnel, at least two mounting racks being arranged on each bridge body; wherein the top of the bridge body extends upward to form a front baffle and a rear baffle on both sides, a wiring channel is formed between the front baffle and the rear baffle, and a robot track for the tunnel robot to walk on is formed at the lower end of the bridge body; a flexible joint assembly is arranged at the joint of adjacent bridge bodies, and the wiring channels on adjacent bridge bodies are connected by a flexible joint sleeve; the flexible joint assembly comprises a female seat and a male seat, the outer side of the female seat and the outer end of the male seat extend to form an insertion part which is adapted to the cross section of the bridge body and can be inserted into the end of the bridge body; a cylindrical blind hole is arranged on the inner end top surface of the female seat, the side wall of the cylindrical blind hole is connected to the outer side through a guide groove, the inner end of the male seat is provided with a connecting column which is adapted to the cylindrical blind hole, and the side surface of the connecting column is connected to the male seat through a connecting strip; the width of the connecting strip is smaller than the width of the guide groove, and the inner end of the male seat is provided with inclined avoidance inclined surfaces on both sides, so that when the connecting column is connected to the cylindrical blind hole, the male seat and the female seat can rotate within a preset angle range around the axis of the connecting column; flexible compensation blocks are arranged between the two avoidance inclined surfaces of the male seat and the end surface of the female seat, so that the joint of adjacent robot tracks is stably transitioned through the flexible compensation blocks; the inner end center of the female seat is protruded outward to form a vertically distributed arc convex strip, the cylindrical blind hole is coaxially arranged on the arc convex strip and connected to the outer side of the arc convex strip through the guide groove; the inner end of the male seat is provided with an arc concave groove which is adapted to the arc convex strip, and the connecting strip is connected to the bottom surface of the arc concave groove; when the connecting column is inserted into the blind hole from top to bottom, a gap is formed between the arc convex strip and the arc concave groove; the lower end of the arc convex strip is provided with a notch groove, the bottom surface of the notch groove is provided with a counterbore which is connected to the cylindrical blind hole, and a flexible connecting block is arranged between the lower ends of the two flexible compensation blocks, the flexible connecting block and the flexible compensation blocks are of an integrated structure, the shape of the flexible connecting block is adapted to the notch groove, the top surface of the flexible connecting block is provided with a positioning column which is adapted to the counterbore, a connecting through hole which is coaxially distributed with the counterbore is arranged in the flexible connecting block, a long bolt is arranged in the connecting through hole, and the long bolt is connected to the bottom surface of the connecting column after passing through the connecting through hole and the counterbore in sequence.

2. The flexible integrated bridge for tunnel robots according to claim 1, characterized in that the bridge body is configured as a profile, the cross section of the bridge body is a rectangular frame structure, and the cross section of the robot track is an inverted T-shaped structure, the upper end of the robot track is connected to the bridge body to form an integrated structure.

3. The flexible integrated bridge for tunnel robots according to claim 2, characterized in that, a plurality of mounting holes are arranged on the bridge body, the lower end of the mounting rack passes through the mounting hole transversely and is connected to the bridge body through a bolt.

4. The flexible integrated bridge of claim 1, wherein, a partition is arranged in the wiring channel, the partition divides the wiring channel into a front wiring groove and a rear wiring groove, and a cable is arranged in the front wiring groove and is provided with a terminal block in parallel; a device mounting groove is arranged on the front side of the bridge body, and a cover plate is arranged on the top of the wiring channel.

5. The flexible integrated bridge for tunnel robot according to claim 1 or 2 or 3 or 4, characterized in that, The mounting bracket includes a horizontal support, a vertical support, and a connecting pipe. The horizontal support is L-shaped, and the upper end of the horizontal support is connected to the lower end of the vertical support through the connecting pipe.

6. The flexible integrated bridge of claim 5, wherein, The connecting tube is a rectangular square tube, and the upper end of the horizontal support is inserted into the connecting tube. The horizontal support is provided with a through-hole that is larger at the front and smaller at the back. The front end of the connecting tube is provided with a front clearance through-hole that matches the front end of the insertion hole, and the rear end of the connecting tube is provided with a rear clearance hole that matches the rear end of the insertion hole. A U-shaped seat is fixedly provided on the rear side of the connecting tube corresponding to the rear end of the insertion hole. An insertion block is provided in the insertion hole. The insertion block is inserted into the insertion hole from the front clearance through-hole and extends out from the rear clearance hole. A fastening bolt is provided on the U-shaped seat. The fastening bolt passes through the U-shaped seat and is threaded to the rear end of the insertion seat. The front end of the insertion block extends out of the front clearance through-hole.

7. The flexible integrated bridge of claim 6, wherein, The cross-section of the insertion hole is a rectangular structure that decreases in size from front to back; The plug-in block is made of spring steel. The front end of the plug-in block has a cavity that extends into the plug-in block. The bottom of the cavity extends beyond the rear side of the connecting pipe. The two sides of the cavity are connected to the side wall of the plug-in block, so that the upper side of the plug-in block forms an upper support plate and the lower side of the plug-in block forms a lower support plate. When the plug-in block is connected to the fastening bolt, the upper side of the upper support plate elastically abuts against the upper inner wall of the plug hole, and the lower side of the lower support plate elastically abuts against the lower inner wall of the plug hole.

8. The flexible integrated bridge of claim 7, wherein, The front and rear sides of the connecting pipe are provided with vertical slots, and the upper ends of the horizontal support are provided with limiting members that extend into the vertical slots.

9. The flexible integrated bridge of claim 7, wherein, The front end of the upper support piece extends upward to form an upper stop bar, and the front end of the lower support piece extends downward to form a lower stop bar.

10. The flexible integrated bridge of claim 5, wherein, The vertical support includes a lower support and an upper support. The lower support has a rectangular cross-section. Several sets of vertically distributed adjustment through holes are pre-set on the left and right sides of the lower support. The left and right sides of the connecting pipe are provided with connecting holes corresponding to the adjustment through holes. The upper end of the connecting pipe is fitted into the lower support and then connected by bolts.

11. The flexible integrated bridge for tunnel robots according to claim 10, characterized in that The upper end of the lower support is fixed with a connecting plate. The upper support is a circular tube structure. The upper end of the upper support is fixed with an installation plate for connecting with the inner wall of the tunnel. The lower end of the upper support is fixed with a flange. The connecting plate has several arc-shaped holes evenly distributed around its circumference. The upper end of the connecting plate is fixed with a guide sleeve. After the guide sleeve extends into the upper support, the flange and the arc-shaped holes are connected by bolts and nuts.

Images