Tunnel inspection robot

Abstract

The application provides a tunnel inspection robot, which comprises a base provided with a walking piece, a lifting assembly comprising a lifting plate located above the base and a lifting driving part, the lifting driving part being arranged on the base and being drivingly connected with the lifting plate to drive the lifting plate to lift relative to the base, an extension piece having a fixed end and a moving end arranged opposite to each other in the transverse direction, the fixed end of the extension piece being fixedly connected with the lifting plate, and the moving end of the extension piece being movable relative to the fixed end in the transverse direction, and a detection piece arranged on the moving end. Through the technical scheme provided in the application, the problem that the inspection robot in the related art is not easy to pass through a narrow tunnel can be solved.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and more specifically, to a tunnel inspection robot. Background Technology

[0002] The inspection robot uses a mobile robot as its carrier, a visible light camera, an infrared thermal imager, and other detection instruments as its payload system, and a multi-field information fusion system (machine vision, electromagnetic field, GPS, GIS) as its navigation system for autonomous movement and inspection. An embedded computer serves as the hardware and software development platform for the control system. The inspection robot possesses functions such as obstacle detection, recognition, and localization; autonomous operation planning; autonomous obstacle crossing; autonomous inspection of power transmission lines and their corridors; automatic storage and remote wireless transmission of inspection images and data; remote wireless monitoring and control from the ground; real-time online power replenishment; and back-end inspection operation management, analysis, and diagnosis.

[0003] In my country, most cables are laid in cable tunnels, characterized by long distances, complex terrain, intricate networks, damp conditions, diverse cable types, and the frequent presence of various toxic and flammable gases. The unique environment of cable tunnels makes traditional manual inspections inefficient and poses a threat to personal safety. Since the vast majority of fires are caused by cable joints overheating and breaking down during prolonged operation, leading to short circuits and fires that spread, preventing fires at cable joints is of paramount importance in overall cable fire prevention.

[0004] In related technologies, many tunnels and cable trenches are very narrow, making manual inspection difficult. Furthermore, tunnels may contain complex structures such as intersections and branching paths, requiring a significant investment of time and effort for manual inspection. Additionally, due to the disordered placement of cables, existing inspection robots may be unable to move forward normally during the inspection process due to size limitations. Summary of the Invention

[0005] This invention provides a tunnel inspection robot to solve the problem that inspection robots in related technologies cannot easily pass through narrow tunnels.

[0006] This invention provides a tunnel inspection robot, comprising: a base with a walking component; a lifting assembly including a lifting plate and a lifting drive unit located above the base, the lifting drive unit being disposed on the base and drivingly connected to the lifting plate to drive the lifting plate to rise and fall relative to the base; an extension having a fixed end and a movable end disposed laterally opposite each other, the fixed end of the extension being fixedly connected to the lifting plate, and the movable end of the extension being movable relative to the fixed end laterally; and a detection component disposed on the movable end.

[0007] Furthermore, the lifting drive unit includes: a rotating cylinder rotatably mounted on a base about its vertical axis, with a vertically arranged spiral groove on the side wall of the rotating cylinder; a lifting column passing through the rotating cylinder, with its upper end fixedly connected to a lifting plate; a sliding block fixedly connected to the lifting column, the sliding block extending into the spiral groove and capable of sliding along the extension direction of the spiral groove; and a rotation drive member drivingly connected to the rotating cylinder to drive the rotating cylinder to rotate.

[0008] Furthermore, the rotary drive unit includes a telescopic push rod, a rack, and a first gear. The telescopic push rod is driven to connect with the rack to drive the rack to slide laterally on the base. The first gear is disposed on the rotating cylinder and meshes with the rack. And / or, the lifting drive unit includes multiple rotating cylinders and multiple lifting columns arranged in a one-to-one correspondence. The multiple rotating cylinders are respectively arranged at multiple corners of the base. The first gear is disposed on one of the rotating cylinders. Adjacent rotating cylinders are connected by belt drive.

[0009] Furthermore, the extension includes a connecting rod assembly and a push rod assembly extending laterally, the hinge axis of the connecting rod assembly extending laterally, the hinge axis of the push rod assembly extending vertically, the first end of the connecting rod assembly and the first end of the push rod assembly being connected to the lifting plate, and the second end of the connecting rod assembly and the second end of the push rod assembly being connected to the detection element.

[0010] Furthermore, the extension also includes a fixing plate, a first fixing member, a second fixing member, a third fixing member, a first fixing post, a second fixing post, and a third fixing post; the linkage assembly includes a first connecting rod, a second connecting rod, and a third connecting rod; the push rod assembly includes a push rod, a first connecting rod, and a second connecting rod; the bottom end of the fixing plate is fixedly connected to the upper end face of the lifting plate; one side of the fixing plate is fixedly connected to the first fixing member; the two sides of the first fixing member are respectively fixedly connected to the first fixing post; one end of the first fixing post is rotatably connected to the first connecting rod; the end of the first connecting rod away from the first fixing post is rotatably connected to the second connecting rod; the third... One end of the connecting rod is rotatably connected to the second connecting rod, and the other end of the third connecting rod is rotatably connected to the second fixed post. The end of the second fixed post away from the third connecting rod is fixedly connected to the second fixing member. The upper end face of the first fixing member is rotatably connected to the push rod. The middle part of the push rod is rotatably connected to the upper end face of the first fixing member. One end of the push rod is rotatably connected to the first connecting rod. The end of the first connecting rod away from the push rod is rotatably connected to the second connecting rod. The end of the second connecting rod away from the first connecting rod is rotatably connected to the upper end face of the second fixing member. The first connecting rod is rotatably connected to the third fixing member. The second connecting rod is rotatably connected to the third fixed post.

[0011] Furthermore, the testing component includes: a bracket, fixedly connected to the movable end of the extension; a sliding assembly, including a sliding drive and a slider, the slider being slidably disposed on the bracket, the sliding drive being drivenly connected to the slider to drive the slider to slide; and a clamping component, rotatably disposed on the bracket, the slider being drivenly connected to the clamping component to drive the clamping component to rotate.

[0012] Furthermore, the detection component also includes a semi-circular rail, a connecting rod, a fourth fixing component, a rotating component, a sector gear, and a second gear. The semi-circular rail is rotatably mounted on the bracket. The slider is rotatably connected to the connecting rod. One end of the connecting rod is fixedly connected to the rotating shaft of the semi-circular rail. One side of the connecting rod is rotatably connected to the fourth fixing component. The second gear is rotatably connected to one side of the fourth fixing component. The side wall of the fourth fixing component is rotatably connected to the rotating component. The sector gear is rotatably connected to the rotating component and meshes with the second gear. The clamping component is fixedly connected to the rotating shaft of the second gear. An auxiliary ball is provided at the lower end of the rotating component. A cam structure extending circumferentially along the lower edge of the semi-circular rail is provided. The auxiliary ball abuts against the cam structure. When the semi-circular rail rotates, the cam structure drives the rotating component to rotate through the auxiliary ball.

[0013] Furthermore, the connecting rod includes a first connecting rod and a second connecting rod, which are located on both sides of the semicircular rail. One end of the first connecting rod and one end of the second connecting rod are rotatably connected to the slider, and the other ends of the first connecting rod and the other ends of the second connecting rod are fixedly connected to the rotating shaft of the semicircular rail. One side of the second connecting rod is rotatably connected to the fourth fixing member. The detection member also includes a spring, a rotating rod, and a third connecting rod. The rotating rod is sleeved on the rotating shaft of the sector gear, and an auxiliary ball is set at the lower end of the rotating rod. The third connecting rod is rotatably connected to the end of the first connecting rod near the rotating shaft of the semicircular rail. One end of the spring is fixedly connected to one end of the third connecting rod, and the other end of the spring is fixedly connected to one end of the rotating rod.

[0014] Furthermore, the detection component also includes a temperature sensor, a supplementary light source, a distance sensor, and a smoke sensor. The bottom end of the temperature sensor is fixedly connected to the upper end face of the slider. The supplementary light source, the distance sensor, and the smoke sensor are all located on the upper end face of the slider. A camera is provided on one side of the clamping component. And / or, two buffer bars are provided on the bracket, with the two buffer bars located at opposite ends of the slider's movement direction.

[0015] Furthermore, the tunnel inspection robot includes two extension components and two detection components. The two extension components are respectively set on both sides of the lifting plate, and each extension component is equipped with a detection component.

[0016] According to the technical solution of this invention, the tunnel inspection robot includes a base, a lifting assembly, an extension component, and a detection component. The tunnel inspection robot moves within the tunnel via a walking component on the base. When encountering a tunnel with a low height during inspection, the lifting drive of the lifting assembly drives the lifting plate downwards, causing the extension component and detection component on the lifting plate to move downwards as well, thus allowing the tunnel inspection robot to pass smoothly through the low-height tunnel. When encountering a tunnel with a narrow width during inspection, the moving end of the extension component is moved towards the fixed end, thereby reducing the width of the tunnel inspection robot, allowing it to pass smoothly through the narrow tunnel. With the above structure, the lifting drive of the lifting assembly drives the lifting plate to rise and fall, thereby causing the extension component and detection component to rise and fall. The movement of the moving end of the extension component relative to the fixed end changes the width of the tunnel inspection robot, preventing the tunnel inspection robot from being unable to move normally due to size limitations during inspection. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0018] Figure 1 A schematic diagram of the structure of a tunnel inspection robot provided according to an embodiment of the present invention is shown;

[0019] Figure 2 This diagram shows a tunnel inspection robot provided according to an embodiment of the present invention without the extension and detection components.

[0020] Figure 3 A schematic diagram of the structure of an extension of a tunnel inspection robot provided according to an embodiment of the present invention is shown;

[0021] Figure 4 A schematic diagram of the structure of the detection component of the tunnel inspection robot provided according to an embodiment of the present invention is shown;

[0022] Figure 5 A schematic diagram of the detection component of a tunnel inspection robot provided according to an embodiment of the present invention is shown from another perspective.

[0023] Figure 6 This diagram illustrates the structure of the inspection component of the tunnel inspection robot provided according to an embodiment of the present invention from another perspective.

[0024] The above figures include the following reference numerals:

[0025] 1. Walking component; 2. Base; 4. First gear; 5. Rack; 6. Telescopic push rod; 7. Lifting plate;

[0026] 3. Lifting drive unit; 30. Rotary drum; 31. Lifting column; 32. Sliding block; 300. Spiral chute;

[0027] 8. Extension component; 80. Fixing plate; 81. First fixing component; 82. First fixing post; 83. First connecting rod; 84. Second connecting rod; 85. Third connecting rod; 86. Second fixing post; 87. Second fixing component; 88. Push rod; 89. First linkage rod; 810. Second linkage rod; 811. Third fixing component; 812. Third fixing post; 813. Third electric telescopic rod;

[0028] 9. Detection component; 90. Connecting frame; 91. Semicircular rail; 92. Mounting frame; 93. Slider; 94. Second electric telescopic rod; 95. First connecting rod; 96. Second connecting rod; 97. Fourth fixing component; 98. Second gear; 980. Sector gear; 99. Clamping component; 910. Rotating rod; 911. Auxiliary ball; 912. Third connecting rod; 913. Spring; 914. Temperature sensor; 915. Fill light; 916. Distance sensor; 917. Smoke sensor; 918. Camera; 919. Rotating component; 920. Buffer rod. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] like Figures 1 to 6 As shown, this embodiment of the invention provides a tunnel inspection robot, which includes a base 2, a lifting assembly, an extension 8, and a detection component 9. The base 2 is equipped with a walking component 1. The lifting assembly includes a lifting plate 7 located above the base 2 and a lifting drive unit 3. The lifting drive unit 3 is mounted on the base 2 and is drivenly connected to the lifting plate 7 to drive the lifting plate 7 to rise and fall relative to the base 2. The extension 8 has a fixed end and a movable end arranged laterally opposite each other. The fixed end of the extension 8 is fixedly connected to the lifting plate 7, and the movable end of the extension 8 can move laterally relative to the fixed end. The detection component 9 is mounted on the movable end.

[0031] The tunnel inspection robot provided in this embodiment moves within the tunnel via the walking component 1 on the base 2. When encountering a tunnel with a low height during inspection, the lifting drive 3 of the lifting assembly drives the lifting plate 7 downwards, causing the extension component 8 and the detection component 9 on the lifting plate 7 to also move downwards, allowing the tunnel inspection robot to pass smoothly through the low-height tunnel. When encountering a tunnel with a narrow width during inspection, the moving end of the extension component 8 is moved towards the fixed end, thereby reducing the width of the tunnel inspection robot and allowing it to pass smoothly through the narrow tunnel. With the above structure, the lifting drive 3 of the lifting assembly drives the lifting plate 7 to rise and fall, which in turn drives the extension component 8 and the detection component 9 to rise and fall. By moving the moving end of the extension component 8 relative to the fixed end, the width of the tunnel inspection robot is changed, preventing the tunnel inspection robot from being unable to move normally due to size limitations during inspection.

[0032] In this embodiment, the tunnel inspection robot is an automatic inspection robot for cable construction tunnels.

[0033] In this embodiment, the walking component 1 is disposed on the lower end face of the base 2, and the walking component 1 is a double-track moving component.

[0034] The lifting drive unit 3 includes a rotating cylinder 30, a lifting column 31, a sliding block 32, and a rotary drive component. The rotating cylinder 30 is rotatably mounted on the base 2 about its vertical axis, and a vertically oriented spiral groove 300 is provided on the side wall of the rotating cylinder 30. The lifting column 31 passes through the rotating cylinder 30, and its upper end is fixedly connected to the lifting plate 7. The sliding block 32 is fixedly connected to the lifting column 31, extends into the spiral groove 300, and can slide along the extending direction of the spiral groove 300. The rotary drive component is driven to rotate the rotating cylinder 30. Specifically, the rotary drive component includes a telescopic push rod 6, a rack 5, and a first gear 4. The telescopic push rod 6 is driven to slide the rack 5 laterally on the base 2, and the first gear 4 is mounted on the rotating cylinder 30 and meshes with the rack 5.

[0035] By setting up a lifting assembly, during maintenance, since the cables are placed at different heights in the tunnel, the distance sensor 916 is used to measure the distance between the cable and the detection component 9. If the detection component 9 is lower than the cable height, the telescopic push rod 6 extends and pushes the rack 5 to move in its extension direction. Since the rack 5 is meshed with the first gear 4, it drives the first gear 4 to rotate, which in turn drives the rotating drum 30 to rotate. While the rotating drum 30 is rotating, it drives the sliding block 32 to rise, thereby causing the lifting column 31 to move away from the base 2. This allows the detection component 9 to detect the cable, avoiding the detection results being affected by the distance.

[0036] In this embodiment, the lifting drive unit 3 includes multiple rotating drums 30 and multiple lifting columns 31 arranged in a one-to-one correspondence. The multiple rotating drums 30 are respectively arranged at multiple corners of the base 2. The first gear 4 is set on one of the rotating drums 30. Adjacent rotating drums 30 are connected by belt drive to maintain the stability of the structure and make them move together, so as to avoid the lifting plate 7 tilting due to time lag, which would cause the detection piece 9 to fall and cause economic loss.

[0037] In this embodiment, the telescopic push rod 6 is a first electric telescopic rod. The bottom end of the rotating drum 30 is fixedly connected to the upper end face of the first gear 4.

[0038] The extension 8 includes a connecting rod assembly and a push rod assembly that extend laterally. The hinge axis of the connecting rod assembly extends laterally, and the hinge axis of the push rod assembly extends vertically. The first end of the connecting rod assembly and the first end of the push rod assembly are both connected to the lifting plate 7, and the second end of the connecting rod assembly and the second end of the push rod assembly are both connected to the detection element 9, so that the detection element 9 can be smoothly pushed by the extension 8.

[0039] Specifically, the extension 8 also includes a fixing plate 80, a first fixing member 81, a second fixing member 87, a third fixing member 811, a first fixing post 82, a second fixing post 86, and a third fixing post 812; the linkage assembly includes a first connecting rod 83, a second connecting rod 84, and a third connecting rod 85; and the push rod assembly includes a push rod 88, a first connecting rod 89, and a second connecting rod 810. The bottom end of the fixing plate 80 is fixedly connected to the upper end face of the lifting plate 7. One side of the fixing plate 80 is fixedly connected to the first fixing member 81. First fixing posts 82 are fixedly connected to both sides of the first fixing member 81. One end of the first fixing post 82 is rotatably connected to the first connecting rod 83. The end of the first connecting rod 83 away from the first fixing post 82 is rotatably connected to the second connecting rod 84. One end of the third connecting rod 85 is rotatably connected to the second connecting rod 84. The other end of the third connecting rod 85 is rotatably connected to the second fixing post 86. The end of the second fixing post 86 away from the third connecting rod 85 is fixedly connected to the second fixing member 87. The upper end face of 81 is rotatably connected to push rod 88, the middle part of push rod 88 is rotatably connected to the upper end face of first fixing member 81, one end of push rod 88 is rotatably connected to first connecting rod 89, the end of first connecting rod 89 away from push rod 88 is rotatably connected to second connecting rod 810, the end of second connecting rod 810 away from first connecting rod 89 is rotatably connected to the upper end face of second fixing member 87, first connecting rod 89 is rotatably connected to third fixing member 811, second connecting rod 84 is rotatably connected to third fixing post 812, and the end of third fixing post 812 away from second connecting rod 84 is fixedly connected to third fixing member 811.

[0040] In this embodiment, the placement of the cable within the tunnel may be misaligned, or the tunnel space may be too small. Furthermore, improper placement of the detection component 9 may hinder the movement of the traveling component 1 into the tunnel. When the detection component 9 is positioned far from the fixed plate 80, the third electric telescopic rod 813 shortens, causing the push rod 88 to rotate. This pulls the first connecting rod 89 towards the push rod 88, further causing the second fixed component 87 to move in the same direction. Simultaneously, the push rod 88 moves, causing the first connecting rod 83, the second connecting rod 84, and the third connecting rod 85 to move towards the push rod 88, achieving a retraction effect. This allows the traveling component 1 to smoothly enter the tunnel for cable inspection.

[0041] The detection component 9 includes a bracket, a sliding assembly, and a clamping component 99. The bracket is fixedly connected to the movable end of the extension component 8. The sliding assembly includes a sliding drive and a slider 93. The slider 93 is slidably mounted on the bracket. The sliding drive is driven to the slider 93 to drive the slider 93 to slide. The clamping component 99 is rotatably mounted on the bracket. The slider 93 is driven to the clamping component 99 to drive the clamping component 99 to rotate. Specifically, the detection component 9 also includes a semi-circular rail 91, a connecting rod, a fourth fixing component 97, a rotating component 919, a sector gear 980, and a second gear 98. The semi-circular rail 91 is rotatably mounted on the bracket. The slider 93 is rotatably connected to the connecting rod. One end of the connecting rod is fixedly connected to the rotating shaft of the semi-circular rail 91. One side of the connecting rod is rotatably connected to the fourth fixing component 97. The second gear 98 is rotatably connected to one side of the fourth fixing component 97. The side wall of the fourth fixing component 97 is rotatably connected to the rotating component 919. The sector gear 980 is rotatably connected to the rotating component 919 and meshes with the second gear 98. The clamping component 99 is fixedly connected to the rotating shaft of the second gear 98. An auxiliary ball 911 is provided at the lower end of the rotating component 919. A cam structure extending circumferentially is provided along the lower edge of the semi-circular rail 91. The auxiliary ball 911 abuts against the cam structure. When the semi-circular rail 91 rotates, the cam structure drives the rotating component 919 to rotate through the auxiliary ball 911.

[0042] In this embodiment, the connecting rod includes a first connecting rod 95 and a second connecting rod 96. The first connecting rod 95 and the second connecting rod 96 are respectively located on both sides of the semicircular rail 91. One end of the first connecting rod 95 and one end of the second connecting rod 96 are rotatably connected to the slider 93. The other end of the first connecting rod 95 and the other end of the second connecting rod 96 are fixedly connected to the rotating shaft of the semicircular rail 91. One side of the second connecting rod 96 is rotatably connected to the fourth fixing member 97. The detection member 9 also includes a spring 913, a rotating rod 910, and a third connecting rod 912. The rotating rod 910 is sleeved on the rotating shaft of the sector gear 980. An auxiliary ball 911 is disposed at the lower end of the rotating rod 910. The third connecting rod 912 is rotatably connected to one end of the first connecting rod 95 near the rotating shaft of the semicircular rail 91. One end of the spring 913 is fixedly connected to one end of the third connecting rod 912, and the other end of the spring 913 is fixedly connected to one end of the rotating rod 910.

[0043] In addition, the detection component 9 also includes a temperature sensor 914, a supplementary light 915, a distance sensor 916, and a smoke sensor 917. The bottom end of the temperature sensor 914 is fixedly connected to the upper end face of the slider 93. The supplementary light 915, the distance sensor 916, and the smoke sensor 917 are all located on the upper end face of the slider 93. A camera 918 is provided on one side of the clamping component 99. Two buffer bars 920 are provided on the bracket, and the two buffer bars 920 are located at opposite ends of the slider 93 in the direction of movement.

[0044] Inside the tunnel, long-term operation of cables may lead to aging of the cable sheath, oxidation of connectors, and increased circuit resistance, causing the cable terminals to overheat and potentially ignite. When a cable catches fire, the air temperature inside the tunnel rises, and smoke is present in the air. At this point, temperature sensor 914 and smoke sensor 917 will send an early warning to the backend control module. Since the base of the flame is the ignition point, the fire extinguishing agent should be sprayed onto the combustible material by aiming the nozzle at the base, thus better blocking oxygen and interrupting the combustion reaction, thereby extinguishing the fire. The second electric telescopic rod 94 extends and pushes the slider 93 to move in the direction of its extension. During the movement of the slider 93, it drives the first connecting rod 95 and the second connecting rod 96 to rotate, thereby causing the auxiliary ball 911 to move along the cam on the semi-circular track 91, which in turn drives the sector gear 980 to rotate. The sector gear 980 is meshed with the second gear 98, which in turn drives the second gear 98 to rotate, further driving the clamping member 99 to rotate, so that the fire extinguishing bomb clamped on the clamping member 99 is aligned with the root of the fire, thereby achieving the effect of extinguishing the fire.

[0045] It should be noted that the rotation of the first connecting rod 95 simultaneously drives the rotation of the third connecting rod 912. The third connecting rod 912 is connected to the rotating rod 910 via a spring 913, thereby limiting the movement trajectory of the auxiliary ball 911 and preventing its position from shifting, which would affect the normal operation of the device. If the fire height is too high or the distance from the traveling member 1 is too far, the lifting drive unit 3 and the extension member 8 can move in coordination with the detection member 9. To prevent the slider 93 from sliding too fast and falling or colliding with the mounting bracket 92, thus affecting its service life, a buffer rod 920 is provided to cushion it.

[0046] Furthermore, due to the harsh environment and dim lighting inside the tunnel, a supplementary light device 915 is needed to provide supplementary lighting. Also, since a camera 918 is needed to film the cable construction inside the tunnel, the clamping part 99 is rotated, and the camera 918 is connected to one side of the clamping part 99, thereby driving the camera 918 to change its angle, thus achieving filming from different angles and preventing inadequate fire extinguishing, flame reignition, and thus causing personal injury or economic loss.

[0047] In this embodiment, the bracket includes a connecting frame 90 and a mounting frame 92, with the connecting frame 90 having a U-shaped structure. One side of the connecting frame 90 is fixedly connected to one side of the third connecting rod 85, which is away from the second fixing member 87. A semi-circular rail 91 is rotatably connected to the opposite surface of the connecting frame 90 to the second fixing member 87. The mounting frame 92 is fixedly connected to the upper end surface of the connecting frame 90, and a slider 93 is slidably connected to the upper end surface of the mounting frame 92. A second electric telescopic rod 94 is fixedly connected to one side of the slider 93, and a first connecting rod 95 is rotatably connected to the same side of the slider 93 connected to the second electric telescopic rod 94. One end of the first connecting rod 95 is fixedly connected to the rotating shaft of the semi-circular rail 91. A second connecting rod 96 is rotatably connected to the side of the connecting frame 90 away from the second fixing member 87. One end of the second connecting rod 96 is fixedly connected to the rotating shaft of the semi-circular rail 91. A fourth fixing member 97 is rotatably connected to one side of the second connecting rod 96. A second gear 98 is rotatably connected to one side of the fourth fixing member 97. A rotating member 919 is rotatably connected to the side wall of the fourth fixing member 97. The second gear 98 meshes with a sector gear 980, and the sector gear 980 is rotatably connected to the rotating member 919. A clamping member 99 is fixedly connected to one end of the rotating shaft of the second gear 98. A rotating rod 910 is sleeved on the rotating shaft of the sector gear 980, and an auxiliary ball 911 is sleeved on the rotating rod 910. Buffer bars 920 are provided on both opposite sides of the mounting frame 92. A third electric telescopic rod 813 is provided on the upper surface of the fixing plate 80. One end of the third electric telescopic rod 813 is fixedly connected to one end of the push rod 88, and the push rod 88 is L-shaped.

[0048] In this embodiment, the tunnel inspection robot includes two extensions 8 and two detection components 9. The two extensions 8 are respectively arranged on both sides of the lifting plate 7, and each extension 8 is provided with a detection component 9.

[0049] Another embodiment of the present invention provides an automatic inspection and early warning system for cable construction tunnels, including an on-board control module and a back-end control module. The on-board control module includes a walking component 1, a base 2, a lifting drive unit 3, a first gear 4, a rack 5, a telescopic push rod 6, a lifting plate 7, an extension component 8, and a detection component 9. The back-end control module is connected to the on-board control module via wireless communication. The on-board control module sends the collected information to the back-end control module. The on-board control module receives and executes commands from the back-end control module. The back-end control module processes the collected information sent by the on-board control module and sends commands to the on-board control system.

[0050] The apparatus provided by the embodiments has the following beneficial effects:

[0051] (1) By using the extension part reasonably, the third electric telescopic rod is shortened and then the push rod is rotated, which in turn pulls the first linkage rod to move in the direction of its push rod, and further drives the third fixed part to move in the same direction; and at the same time as the push rod moves, it drives the first linkage, the second linkage and the third linkage to move in the direction of its push rod, thereby achieving the effect of retraction, so that the traveling part can smoothly enter the tunnel and then inspect the cable.

[0052] (2) By applying the lifting drive unit, the first electric telescopic rod extends and pushes the rack to move in the direction of its extension. Since the rack is meshed with the first gear, it drives the first gear to rotate, which in turn drives the rotating drum to rotate. While the rotating drum is rotating, it drives the sliding block to rise, thereby causing the lifting column to move away from the base, so that the detection component can detect the cable and avoid affecting the detection results due to the distance being too far.

[0053] (3) By using the detection component properly, the second electric telescopic rod extends and pushes the slider to move in the direction of its extension. During the movement of the slider, the first connecting rod and the second connecting rod rotate, which in turn causes the auxiliary ball to move along the cam structure on the semi-circular track, which in turn causes the sector gear to rotate. The sector gear and the second gear are meshed, which in turn causes the second gear to rotate, which further causes the clamping component to rotate, so that the fire extinguishing bomb clamped on the clamping component is aligned with the root of the fire, thereby achieving the effect of extinguishing the fire.

[0054] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0055] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0056] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0057] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0058] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0059] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A tunnel inspection robot, characterized in that, The tunnel inspection robot includes: The base (2) is equipped with a walking component (1); The lifting assembly includes a lifting plate (7) located above the base (2) and a lifting drive unit (3). The lifting drive unit (3) is disposed on the base (2) and is drivenly connected to the lifting plate (7) to drive the lifting plate (7) to lift relative to the base (2). The extension (8) has a fixed end and a movable end arranged opposite to each other in the lateral direction. The fixed end of the extension (8) is fixedly connected to the lifting plate (7), and the movable end of the extension (8) can move relative to the fixed end in the lateral direction. The detection component (9) is mounted on the mobile terminal; The extension (8) includes a connecting rod assembly and a push rod assembly that extend laterally. The hinge axis of the connecting rod assembly extends laterally, and the hinge axis of the push rod assembly extends vertically. The first end of the connecting rod assembly and the first end of the push rod assembly are both connected to the lifting plate (7), and the second end of the connecting rod assembly and the second end of the push rod assembly are both connected to the detection element (9). The extension (8) further includes a fixing plate (80), a first fixing member (81), a second fixing member (87), a third fixing member (811), a first fixing post (82), a second fixing post (86), and a third fixing post (812). The linkage assembly includes a first link (83), a second link (84), and a third link (85). The push rod assembly includes a push rod (88), a first connecting rod (89), and a second connecting rod (810). The bottom end of the fixing plate (80) is fixedly connected to the upper end face of the lifting plate (7). One side of the fixing plate (80) is fixedly connected to the first fixing member (81). The first fixing member (81) is fixedly connected to the first fixing column (82) on both sides. One end of the first fixing column (82) is rotatably connected to the first connecting rod (83). The end of the first connecting rod (83) away from the first fixing column (82) is rotatably connected to the second connecting rod (84). One end of the third connecting rod (85) is rotatably connected to the second connecting rod (84). The other end of the third connecting rod (85) is rotatably connected to the second fixing column (86). The end of the second fixing column (86) away from the third connecting rod (85) is connected to the... The second fixing member (87) is fixedly connected, the upper end face of the first fixing member (81) is rotatably connected to the push rod (88), the middle part of the push rod (88) is rotatably connected to the upper end face of the first fixing member (81), one end of the push rod (88) is rotatably connected to the first connecting rod (89), the end of the first connecting rod (89) away from the push rod (88) is rotatably connected to the second connecting rod (810), the end of the second connecting rod (810) away from the first connecting rod (89) is rotatably connected to the upper end face of the second fixing member (87), the first connecting rod (89) is rotatably connected to the third fixing member (811), and the second connecting rod (84) is rotatably connected to the third fixing column (812). The detection component (9) includes a bracket, a sliding assembly, and a clamping component (99). The bracket is fixedly connected to the movable end of the extension component (8). The sliding assembly includes a sliding drive and a slider (93). The slider (93) is slidably disposed on the bracket. The sliding drive is drivenly connected to the slider (93) to drive the slider (93) to slide. The clamping component (99) is rotatably disposed on the bracket. The slider (93) is drivenly connected to the clamping component (99) to drive the clamping component (99) to rotate. The detection component (9) further includes a semi-circular rail (91), a connecting rod, a fourth fixing component (97), a rotating component (919), a sector gear (980), and a second gear (98). The semi-circular rail (91) is rotatably mounted on the bracket. The slider (93) is rotatably connected to the connecting rod. One end of the connecting rod is fixedly connected to the rotating shaft of the semi-circular rail (91). One side of the connecting rod is rotatably connected to the fourth fixing component (97). The second gear (98) is rotatably connected to one side of the fourth fixing component (97). The sidewall of the fourth fixing component (97) is connected to the rotating component (919). The rotating part (919) is rotatably connected, the sector gear (980) is rotatably connected to the rotating part (919) and meshes with the second gear (98), the clamping part (99) is fixedly connected to the rotating shaft of the second gear (98), the lower end of the rotating part (919) is provided with an auxiliary ball (911), the lower edge of the semicircular rail (91) is provided with a cam structure extending circumferentially thereon, the auxiliary ball (911) abuts against the cam structure, when the semicircular rail (91) rotates, the cam structure drives the rotating part (919) to rotate through the auxiliary ball (911).

2. The tunnel inspection robot according to claim 1, characterized in that, The lifting drive unit (3) includes: A rotating cylinder (30) is rotatably mounted on the base (2) about its vertical axis, and a spiral groove (300) is provided on the side wall of the rotating cylinder (30) along the vertical direction. A lifting column (31) is inserted inside the rotating drum (30), and the upper end of the lifting column (31) is fixedly connected to the lifting plate (7); The sliding block (32) is fixedly connected to the lifting column (31). The sliding block (32) extends into the spiral groove (300) and can slide along the extension direction of the spiral groove (300). A rotary drive is connected to the rotating drum (30) to drive the rotating drum (30) to rotate.

3. The tunnel inspection robot according to claim 2, characterized in that, The rotary drive includes a telescopic push rod (6), a rack (5), and a first gear (4). The telescopic push rod (6) is driven to connect with the rack (5) to drive the rack (5) to slide laterally on the base (2). The first gear (4) is disposed on the rotating cylinder (30) and meshes with the rack (5); and / or, The lifting drive unit (3) includes a plurality of rotating drums (30) and a plurality of lifting columns (31) arranged in a one-to-one correspondence. The plurality of rotating drums (30) are respectively arranged at a plurality of corners of the base (2). The first gear (4) is set on one of the rotating drums (30). Adjacent rotating drums (30) are connected by belt drive.

4. The tunnel inspection robot according to claim 1, characterized in that, The connecting rod includes a first connecting rod (95) and a second connecting rod (96). The first connecting rod (95) and the second connecting rod (96) are located on both sides of the semicircular rail (91). One end of the first connecting rod (95) and one end of the second connecting rod (96) are rotatably connected to the slider (93). The other end of the first connecting rod (95) and the other end of the second connecting rod (96) are fixedly connected to the rotating shaft of the semicircular rail (91). One side of the second connecting rod (96) is rotatably connected to the fourth fixing member (97). The detection component (9) also includes a spring (913), a rotating rod (910), and a third connecting rod (912). The rotating rod (910) is sleeved on the rotating shaft of the sector gear (980). The auxiliary ball (911) is located at the lower end of the rotating rod (910). The third connecting rod (912) is rotatably connected to one end of the first connecting rod (95) near the rotating shaft of the semicircular rail (91). One end of the spring (913) is fixedly connected to one end of the third connecting rod (912), and the other end of the spring (913) is fixedly connected to one end of the rotating rod (910).

5. The tunnel inspection robot according to claim 1, characterized in that, The detection component (9) further includes a temperature sensor (914), a supplementary light source (915), a distance sensor (916), and a smoke sensor (917). The bottom end of the temperature sensor (914) is fixedly connected to the upper surface of the slider (93). The supplementary light source (915), the distance sensor (916), and the smoke sensor (917) are all disposed on the upper surface of the slider (93). A camera (918) is disposed on one side of the clamping component (99); and / or, The bracket is provided with two buffer bars (920), which are located at opposite ends of the moving direction of the slider (93).

6. The tunnel inspection robot according to any one of claims 1 to 3, characterized in that, The tunnel inspection robot includes two extensions (8) and two detection components (9). The two extensions (8) are respectively arranged on both sides of the lifting plate (7), and each extension (8) is provided with a detection component (9).

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