Intelligent robot for tunnel inspection

Abstract

The invention relates to the field of tunnel inspection devices, and discloses an intelligent robot for tunnel inspection, comprising a mobile box internally connected with a functional mechanism; the moving mechanism is connected with the moving box, and the moving mechanism is connected with the functional mechanism; the external mechanism is connected to the top of the moving box and connected with the functional mechanism, the device can better adapt to different terrains, it is guaranteed that inspection work is stably carried out, meanwhile, the device is matched with the mounting plate to mount different devices, the device adapts to different inspection work, the overall use cost is reduced, labor input can be reduced, and the working efficiency is improved. And meanwhile, the device can enter a certain complex position, so that the danger is reduced, and the operation is ensured.

Description

Technical Field

[0001] The invention relates to the field of tunnel inspection devices, and in particular to an intelligent robot used for tunnel inspection. Background Art

[0002] Tunnels are engineering structures buried in the ground, and are a form of human use of underground space. Tunnels can be divided into traffic tunnels, hydraulic tunnels, municipal tunnels, mining tunnels, military tunnels, etc. In the early stage of tunnel construction and subsequent use, it is necessary to regularly inspect the tunnel and the facilities inside the tunnel to promptly discover possible problems and resolve the corresponding risks, so as to ensure the long-term use of the tunnel and the safety of internal equipment and personnel.

[0003] Most of the existing inspections are carried out by staff with special equipment to conduct regular or periodic inspections in the tunnel, which is time-consuming overall and inconvenient for personnel to enter some small spaces, making it difficult to implement inspections at all locations. Summary of the invention

[0004] In order to solve the technical problem of inconvenient inspection, the present invention provides an intelligent robot for tunnel inspection.

[0005] The present invention is implemented by the following technical scheme: an intelligent robot for tunnel inspection, comprising: a mobile box, which is internally connected with a functional mechanism; a mobile mechanism, which is connected to the mobile box, and the mobile mechanism is connected to the functional mechanism; an external mechanism, which is connected to the top of the mobile box, and the external mechanism is connected to the functional mechanism.

[0006] As a further improvement of the above scheme, the functional mechanism includes: an air pump, which is fixedly connected to the mobile box, the output end of the air pump is connected to a filter box, and one side of the filter box is connected to a ventilation pipe connected to the mobile mechanism; a motor, which is fixedly connected to the mobile box, the output end of the motor is transmission-connected to a transmission fixedly connected to the mobile box, and the output end of the transmission is transmission-connected to a transmission shaft connected to an external mechanism; a plurality of signal devices are provided, the signal devices are fixedly connected in the mobile box, and one side of the signal devices is provided with a battery fixedly connected to the mobile box; an electric slide rail, which is fixedly connected in the mobile box, and the moving end of the electric slide rail is fixedly connected to a counterweight block.

[0007] As a further improvement of the above solution, a plurality of pneumatic rods are fixedly connected to one side of the moving box, the moving ends of the pneumatic rods are fixedly connected to electromagnets, and a maintenance door is provided on one side of the moving box.

[0008] As a further improvement of the above scheme, the external mechanism includes: a robotic arm, one end of which is fixedly connected to the transmission shaft, the robotic arm is rotatably connected to the mobile box, and one end of the robotic arm is connected to a mounting plate; a telescopic rod, which is fixedly connected to the mobile box, the mobile end of the telescopic rod is fixedly connected to an expansion plate, the top of the expansion plate is connected to a plurality of contact balls, and the bottom of the expansion plate is fixedly connected to a plurality of cameras; a storage box, which is fixedly connected to the mobile box, the bottom of the storage box is fixedly connected to the battery, and one side of the storage box is connected to a detector.

[0009] As a further improvement of the above scheme, the mobile mechanism includes: an AGV trolley, which is fixedly connected to the bottom of the mobile box, the execution end of the AGV trolley is connected to a linkage frame, the linkage frame is rotatably connected to a rotating wheel, the outer side of the rotating wheel is sleeved with a moving belt, symmetrical rotating wheels are arranged in the moving belt, and an air guide pipe is connected between two air guide cylinders; a follower belt, which is sleeved on the outer side of the moving belt, the follower belt is provided with a recessed groove, a plurality of adsorption nozzles connected to the follower belt are arranged in the recessed groove, the bottom of the adsorption nozzle is connected to a focusing strip fixedly connected to the moving belt, and the bottom of the focusing strip is connected to an extraction pipe connected to the moving belt; a conducting pipe, which is connected to one end of the ventilation pipe, and the middle of the conducting pipe is rotatably sleeved with a series pipe connected to the air guide cylinder; a telescopic pipe, one end of which is connected to the moving belt, and the other end is connected to the air guide pipe.

[0010] As a further improvement of the above solution, a detector is connected to the bottom of the concentration bar, an air duct is connected between the adsorption nozzle and the concentration bar, and a self-adhesive sticker is attached to the outer side of the adsorption nozzle.

[0011] As a further improvement of the above solution, a pressure sensor is arranged on the contact ball, a plurality of mounting holes are arranged on the mounting plate, and a Hall element is arranged on one side of the detector.

[0012] As a further improvement of the above solution, the top of the moving box is rotatably connected to a rotating ring, and the telescopic rod is fixedly connected to the rotating ring.

[0013] As a further improvement of the above solution, a plurality of indicator lights are provided on the mobile box, and a plurality of speakers are fixedly connected inside the mobile box.

[0014] As a further improvement of the above solution, one side of the mobile box is connected to multiple interfaces, and one side of the interface is connected to the battery through wires.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. Through the cooperation of functional mechanisms and mobile mechanisms, and the assistance of external mechanisms, the whole can be moved in a more complex environment, and can be moved on steep slopes and partially inclined walls, so that it can better adapt to different terrains and ensure the stability of inspection work. At the same time, it cooperates with the installation of different devices on the mounting plate to adapt to different inspection work and reduce the overall cost of use.

[0017] 2. Through the mutual cooperation between multiple devices, different program inputs can be carried out to adapt to different work needs. And through the mutual cooperation between multiple devices, the manual input can be reduced and the labor intensity can be reduced. At the same time, it can enter certain complex positions, reduce danger and ensure the progress of work. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front structural diagram of the present invention;

[0019] Figure 2 It is a bottom view structural diagram of the present invention;

[0020] Figure 3 It is a functional organization structure diagram;

[0021] Figure 4 It is the local structural diagram of the moving mechanism;

[0022] Figure 5 It is a partial front view schematic diagram of the moving mechanism;

[0023] Figure 6 It is the local structure diagram of the follower belt;

[0024] Figure 7 This is a partial left-side sectional view of the follower belt.

[0025] Description of main symbols:

[0026] 01. Mobile box; 02. AGV trolley; 03. Moving belt; 04. Telescopic rod; 05. Contact ball; 06. Expansion plate; 07. Camera; 09. Robotic arm; 11. Mounting plate; 12. Pneumatic rod; 13. Series pipe; 14. Conducting pipe; 15. Rotating wheel; 16. Air cylinder; 17. Transmission shaft; 18. Transmission; 19. Annunciator; 20. Motor; 21. Electric slide rail; 22. Interface; 23. Counterweight; 26. Battery; 27. Air pump; 28. Filter box; 29. ​​Depression groove; 30. Follow-up belt; 31. Telescopic tube; 33. Adsorption nozzle; 34. Extraction tube; 35. Concentration strip; 36. Detector; 37. Detector; 38. Storage box; 39. Linkage frame. DETAILED DESCRIPTION

[0027] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0028] Example:

[0029] Please combine Figure 1-7 ,

[0030] An intelligent robot for tunnel inspection, comprising:

[0031] The mobile box 01 has a functional mechanism connected therein. The mobile box 01 defines the connection of the functional mechanism so that the functional mechanism can be stably located at a corresponding position, and defines the connection of the mobile mechanism and the external mechanism.

[0032] The moving mechanism is connected to the moving box 01, and the moving mechanism is connected to the functional mechanism, and the moving mechanism moves stably to achieve the position change of the whole device;

[0033] The external mechanism is connected to the top of the mobile box 01. The external mechanism is connected to the functional mechanism. The external mechanism is convenient for connecting different inspection execution devices to meet different inspection needs.

[0034] Functional agencies include:

[0035] The air pump 27 is fixedly connected to the mobile box 01. The output end of the air pump 27 is connected to the filter box 28. One side of the filter box 28 is connected to a ventilation pipe connected to the mobile mechanism. The air pump 27 sucks air, and the filter box 28 filters the gas. The suction of the air pump 27 makes the filter box 28 produce a vacuum, thereby allowing the external gas to flow through the pipeline;

[0036] The motor 20 is fixedly connected to the moving box 01. The output end of the motor 20 is connected to the transmission 18 fixedly connected to the moving box 01. The output end of the transmission 18 is connected to the transmission shaft 17 connected to the external mechanism. The motor 20 provides power, and then the transmission 18 changes speed, so that the transmission shaft 17 rotates to realize power transmission.

[0037] The signal device 19 is provided with a plurality of signal devices 19, which are fixedly connected to the mobile box 01. A battery 26 fixedly connected to the mobile box 01 is provided on one side of the signal device 19. The signal device 19 performs signal and processing to ensure data transmission;

[0038] The electric slide rail 21 is fixedly connected in the moving box 01. The moving end of the electric slide rail 21 is fixedly connected with a counterweight block 23. The moving end of the electric slide rail 21 drives the counterweight block 23 to shift the internal center of gravity and achieve fine adjustment of the position.

[0039] A plurality of pneumatic rods 12 are fixedly connected to one side of the mobile box 01, and an electromagnet is fixedly connected to the movable end of the pneumatic rod 12. A maintenance door is provided on one side of the mobile box 01. The pneumatic rods 12 are extended to move the electromagnet, and the electromagnet is adsorbed on the edge to further ensure the stability of the overall device.

[0040] External agencies include:

[0041] The mechanical arm 09 has one end fixedly connected to the transmission shaft 17, and the mechanical arm 09 is rotatably connected to the mobile box 01. One end of the mechanical arm 09 is connected to the mounting plate 11. The mechanical arm 09 can move in different directions, driving the mounting plate 11 to shift to different positions. The mounting plate 11 is installed with an inspection execution device as needed to perform specific inspection and monitoring. According to the different devices installed on the mounting plate 11, inspections with different methods and functions can be realized;

[0042] The telescopic rod 04 is fixedly connected to the mobile box 01. The mobile end of the telescopic rod 04 is fixedly connected to an expansion plate 06. The top of the expansion plate 06 is connected to a plurality of contact balls 05. The bottom of the expansion plate 06 is fixedly connected to a plurality of cameras 07. The telescopic rod 04 is extended to drive the expansion plate 06 to move. The contact balls 05 and the external wall or other shells limit the device, thereby increasing the friction between the mobile mechanism and the contact surface. The camera 07 monitors the surrounding area, realizes real-time and stable transmission of the surrounding images, and performs all-round monitoring.

[0043] The storage box 38 is fixedly connected to the mobile box 01, and the bottom of the storage box 38 is fixedly connected to the battery 26. A detector 37 is connected to one side of the storage box 38. The storage box 38 can store the devices installed on the mounting plate 11. The detector 37 is limited and determines whether there is a corresponding inspection device in the storage box 38. At the same time, according to specific needs, the corresponding detection instrument can be set in 37 to detect the inspection device to determine whether its function is normal, thereby ensuring the stable execution of subsequent work.

[0044] The mobile mechanism includes:

[0045] The AGV trolley 02 is fixedly connected to the bottom of the mobile box 01. The execution end of the AGV trolley 02 is connected to a linkage frame 39. The linkage frame 39 is rotatably connected to a rotating wheel 15. The outer side of the rotating wheel 15 is sleeved with a moving belt 03. The moving belt 03 is provided with symmetrical rotating wheels 15. An air guide pipe is connected between two air guide cylinders 16. The AGV trolley 02 is an existing mobile mechanism, which provides power, thereby rotating the rotating wheel 15, further driving the rotation and movement of the moving belt 03, so that the whole can be moved, and inspections at different positions can be carried out. The air guide pipe conducts gas;

[0046] The follower belt 30 is sleeved on the outside of the moving belt 03. The follower belt 30 is provided with a concave groove 29. A plurality of adsorption nozzles 33 connected to the follower belt 30 are provided in the concave groove 29. The bottom of the adsorption nozzle 33 is connected to a concentration bar 35 fixedly connected to the moving belt 03. The bottom of the concentration bar 35 is connected to an extraction pipe 34 connected to the moving belt 03. The follower belt 30 moves along with the rotation of the moving belt 03, further driving the adsorption nozzles 33 and the concentration bar 35 to move. The concentration bar 35 is connected to a certain number of adsorption nozzles 33 to realize the flow of gas, thereby ensuring the need for subsequent adsorption.

[0047] The conducting pipe 14 is connected to one end of the vent pipe, and the middle of the conducting pipe 14 is rotatably sleeved with a series pipe 13 connected to the air guide cylinder 16. The conducting pipe 14 is connected to the air guide, and then the air passes through the series pipe 13 and enters the telescopic pipe 31 through the air guide cylinder 16 to achieve the need of suction;

[0048] The telescopic tube 31 has one end connected to the moving belt 03 and the other end connected to the air guide pipe. The telescopic tube 31 conducts gas and then absorbs the gas in the moving belt 03.

[0049] A detector 36 is connected to the bottom of the concentrating strip 35, an air duct is connected between the adsorption nozzle 33 and the concentrating strip 35, a sticker is attached to the outside of the adsorption nozzle 33, a sensor is arranged in the detector 36, and a solenoid valve is arranged on the extraction tube 34. Through control, the gas in the concentrating strip 35 is turned on and off, so that the gas outside 33 at the corresponding position flows or does not flow, and the adsorption point is controlled while ensuring the movement of the whole device, while reducing the output of some unnecessary power and the corresponding energy consumption.

[0050] A pressure sensor is provided on the contact ball 05, a plurality of mounting holes are provided on the mounting plate 11, a Hall element is provided on one side of the detector 37, the pressure sensor performs corresponding data detection, the mounting holes facilitate external installation, and the Hall element performs detection.

[0051] The top of the mobile box 01 is rotatably connected with a rotating circle, and the telescopic rod 04 is fixedly connected to the rotating circle. The rotating circle facilitates the rotation of the telescopic rod 04, thereby ensuring the stability of the force applied to the telescopic rod 04 and ensuring the support of 04.

[0052] The mobile box 01 is provided with a plurality of indicator lights, and the mobile box 01 is fixedly connected with a plurality of speakers, the indicator lights perform indication work, and the speakers indicate corresponding signals.

[0053] One side of the mobile box 01 is connected to multiple interfaces 22, one side of the interface 22 is connected to the battery 26 through a wire, and the interface 22 is connected to the outside world for charging and data transmission to facilitate the overall work needs.

[0054] The implementation principle of the embodiment of the present application is:

[0055] When working, firstly, a specific device for corresponding inspection execution is installed on the installation plate 11, and at the same time, the device is charged and the corresponding program is improved to complete the preparation work of the preliminary device and ensure the stable progress of subsequent work.

[0056] During the inspection process, the AGV trolley 02 works to rotate the rotating wheel 15, further driving the moving belt 03 and the follower belt 30 to rotate and move, thereby driving the movement of the entire device, and driving the suction nozzle 33 to move during the movement. The suction nozzle 33 deforms and adsorbs during the movement, so that the entire device can move stably on different road surfaces, and the air pump 27 works to absorb. During the absorption process, the external fluid flows through the suction nozzle 33, the concentration strip 35, the extraction tube 34, the moving belt 03, the telescopic tube 31, the air guide cylinder 16, the series tube 13, the conducting tube 14 and the filter box 28, thereby generating negative pressure in the suction nozzle 33, so that the suction nozzle 33 is adsorbed to the moving ground, thereby allowing the entire device to move on complex and large-angle steep slopes, and can ensure overall stability when not moving, thereby realizing large-scale, multi-terrain, and multi-space inspection work, further reducing labor input and reducing the participation of personnel in dangerous areas.

[0057] When monitoring, the robot arm 09 can be adjusted as needed to make active adjustments to ensure that the device on the mounting plate 11 reaches the position. When necessary, the telescopic rod 04 can be extended to allow the contact ball 05 to contact the top of the tunnel, pressurizing the entire device and increasing the friction between the suction nozzle 33 and the ground, thereby ensuring the stability of the entire device. The camera 07 can be used to shoot at different positions to facilitate viewing by backstage personnel.

[0058] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. An intelligent robot for tunnel inspection, characterized in that: include: A mobile box having a functional mechanism connected thereto; A moving mechanism connected to the moving box, and the moving mechanism is connected to the functional mechanism; The external mechanism is connected to the top of the moving box, and the external mechanism is connected to the functional mechanism.

2. An intelligent robot for tunnel inspection as claimed in claim 1, characterized in that: The functional mechanism comprises: An air pump is fixedly connected to the mobile box, an output end of the air pump is connected to a filter box, and one side of the filter box is connected to a ventilation pipe connected to the mobile mechanism; A motor, which is fixedly connected to the moving box, wherein the output end of the motor is drivingly connected to a transmission fixedly connected to the moving box, and the output end of the transmission is drivingly connected to a transmission shaft connected to an external mechanism; A plurality of signalers are provided, the signalers are fixedly connected in the moving box, and a battery fixedly connected to the moving box is provided on one side of the signaler; The electric slide rail is fixedly connected in the moving box, and the moving end of the electric slide rail is fixedly connected with a counterweight block.

3. An intelligent robot for tunnel inspection as claimed in claim 2, characterized in that: One side of the moving box is fixedly connected with a plurality of gas pressure rods, the moving ends of the gas pressure rods are fixedly connected with electromagnets, and one side of the moving box is provided with a maintenance door.

4. The intelligent robot for tunnel inspection according to claim 2, characterized in that: The external agencies include: A mechanical arm, one end of which is fixedly connected to the transmission shaft, the mechanical arm is rotatably connected to the moving box, and one end of the mechanical arm is connected to a mounting plate; A telescopic rod, which is fixedly connected to the mobile box, a mobile end of the telescopic rod is fixedly connected to an expansion plate, a top of the expansion plate is connected to a plurality of contact balls, and a bottom of the expansion plate is fixedly connected to a plurality of cameras; The storage box is fixedly connected to the mobile box, the bottom of the storage box is fixedly connected to the battery, and one side of the storage box is connected to a detector.

5. The intelligent robot for tunnel inspection according to claim 4, characterized in that: The moving mechanism comprises: The AGV trolley is fixedly connected to the bottom of the mobile box. The execution end of the AGV trolley is connected to a linkage frame, and the linkage frame is rotatably connected to a rotating wheel. The outer side of the rotating wheel is sleeved with a moving belt. Symmetrical rotating wheels are arranged inside the moving belt. An air guide pipe is connected between the two air guide cylinders. A follower belt is sleeved on the outside of the moving belt, the follower belt is provided with a concave groove, a plurality of adsorption nozzles connected to the follower belt are provided in the concave groove, the bottom of the adsorption nozzle is connected to a concentration bar fixedly connected to the moving belt, and the bottom of the concentration bar is connected to an extraction pipe connected to the moving belt; A conducting pipe connected to one end of the vent pipe, wherein a series pipe connected to the air guide cylinder is rotatably sleeved in the middle of the conducting pipe; The telescopic tube has one end connected to the moving belt and the other end connected to the air guide tube.

6. An intelligent robot for tunnel inspection as claimed in claim 5, characterized in that: The bottom of the concentration bar is connected with a detector, an air guide tube is connected between the adsorption nozzle and the concentration bar, and a self-adhesive sticker is pasted on the outer side of the adsorption nozzle.

7. An intelligent robot for tunnel inspection as claimed in claim 6, characterized in that: A pressure sensor is arranged on the contact ball, a plurality of mounting holes are arranged on the mounting plate, and a Hall element is arranged on one side of the detector.

8. The intelligent robot for tunnel inspection according to claim 6, characterized in that: The top of the moving box is rotatably connected with a rotating circle, and the telescopic rod is fixedly connected to the rotating circle.

9. The intelligent robot for tunnel inspection according to claim 6, characterized in that: The moving box is provided with a plurality of indicator lights, and a plurality of speakers are fixedly connected inside the moving box.

10. The intelligent robot for tunnel inspection according to claim 6, characterized in that: One side of the mobile box is connected with a plurality of interfaces, and one side of the interface is connected with the battery through an electric wire.

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