Tunnel robot lifting speed reducer

Abstract

The invention relates to the field of tunnel inspection, in particular to a tunnel robot lifting speed reducer which comprises three-dimensional supports, fixed guide rails and lifting guide rails, the three-dimensional supports are symmetrically arranged, first cross beams are arranged at the lower ends of the three-dimensional supports, second cross beams are arranged at the upper ends of the three-dimensional supports, and the lifting guide rails are detachably connected to the two ends of the fixed guide rails; the sliding guide rail is connected with the lifting guide rail and enables the lifting guide rail to slide up and down; the clamping assembly comprises a clamping piece and a stopping block, the stopping block is arranged at one end of the clamping piece, a clamping hole is formed in the side edge of the three-dimensional support, and the clamping piece stretches into or retreats from the clamping hole to determine the height position of the sliding guide rail; the device further comprises a tension rope which sequentially passes through the first pulley block, the second pulley block and the third pulley block and is connected with the clamping assembly. The device has the advantages that the tunnel robot can be mounted on the running guide rail, and meanwhile, the running direction of the tunnel robot can be quickly changed, and the vertical height can be adjusted in a buffering manner.

Description

[Technical field]

[0001] The present invention relates to the field of tunnel inspection, and in particular to a tunnel robot lifting and reducing device. [Background technology]

[0002] Urban high-speed tunnels are developing rapidly, and the quality of tunnels is directly related to the reliability of tunnels during operation. Therefore, urban traffic tunnels and high-speed traffic tunnels often need to be regularly monitored. Using tunnel robots for real-time monitoring is a common method today. The tunnel robot is installed on the running rail using a lifting device, or the tunnel inspection robot is changed in the vertical direction to achieve shooting height.

[0003] However, the existing lifting device can only enable the tunnel robot to rise to the highest point in a single line and then descend to the lowest point. It is impossible to finely adjust the lifting height of the tunnel robot. For example, the tunnel robot is lifted too high and cannot be lowered immediately, or the tunnel robot descends or rises without buffering, which shortens the service life of the tunnel robot.

[0004] Therefore, a tunnel robot lifting and deceleration device is proposed, which can install the tunnel robot on the running guide rail and realize the tunnel robot to quickly change the running direction and buffer the up and down height. [Summary of the invention]

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a tunnel robot lifting and deceleration device, which can install the tunnel robot on the running guide rail and realize the tunnel robot to quickly change the running direction and buffer the up and down height.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A tunnel robot lifting and deceleration device is used to lift the tunnel robot, comprising a three-dimensional support, a fixed guide rail, and a liftable guide rail. The three-dimensional support is symmetrically arranged, a first crossbeam is arranged at the lower end of the three-dimensional support, and a second crossbeam is arranged at the upper end. The liftable guide rail is detachably connected to both ends of the fixed guide rail.

[0008] A sliding guide rail is connected to the liftable guide rail, and the liftable guide rail is slid up and down to change the height of the liftable guide rail from the ground;

[0009] The clamping assembly comprises a clamping piece and a blocking block, wherein the blocking block is arranged at one end of the clamping piece, a clamping hole is arranged on the side of the three-dimensional bracket, and the clamping piece extends into or out of the clamping hole to determine the height position of the sliding guide rail;

[0010] The deceleration assembly includes a first pulley block, a second pulley block, and a third pulley block. The deceleration assembly is used to buffer the sliding guide rail when it rises or falls, and at the same time, to form a pulling force on the engaging assembly to enable the engaging member to exit the engaging hole;

[0011] It also includes a tension rope, which passes through the first pulley group, the second pulley group, and the third pulley group in sequence, and is connected to the locking component, so that the locking part can be extended into or out of the locking hole to determine the height position of the sliding guide rail.

[0012] Preferably, the first pulley group is arranged on the first cross beam, and the first pulley group is powered by a motor. The first pulley group includes at least one first pulley, at least one first fixing member, and a first rod body. The first fixing member fixes the first rod body. The first pulley is rotatably arranged at both ends of the first rod body, and the tension rope is strung on the first pulley.

[0013] Preferably, an intermediate piece is provided in the middle of the first rod body for providing rotational power to the motor, and a transmission chain is provided between the motor and the intermediate piece to drive the first rod body to rotate.

[0014] Preferably, the second pulley block is arranged on the second cross beam, the second pulley block comprises a second fixing member, a second rod body, and a second pulley, the second pulley sleeve is arranged on the second rod body, the second rod body is fixed on the second fixing member, and the tension rope is strung on the second pulley.

[0015] Preferably, the third pulley group is arranged on the sliding guide rail, the third pulley group includes a third fixing member, a third rod body, and a third pulley, the third pulley sleeve is arranged on the third rod body, the third rod body is fixed on the third fixing member, and the tension rope is strung on the third pulley.

[0016] Preferably, the clamping assembly further comprises an alignment block, a rectangular spring sleeved on the clamping piece, the alignment block is provided with a first through hole, the blocking block is provided with a second through hole, the rectangular spring is located between the alignment block and the blocking block, and the tension rope is connected to one end of the clamping piece or one end of the blocking block;

[0017] When the sliding guide rail moves upward or downward, the motor rotates forward or reversely to generate tension on the tension rope, and the engaging piece is pulled away from the locking hole. After the sliding guide rail moves to the specified position, the motor stops rotating and the tension disappears, and the engaging piece is re-engaged with the locking hole due to the rebound force of the rectangular spring.

[0018] Preferably, an adjustable upper limit hard position piece is provided at the upper end of the alignment block, a first proximity switch is provided at the side end of the alignment block, and a washer is provided at one end of the rectangular spring close to the alignment block.

[0019] Preferably, the motor is a brake reduction motor.

[0020] Preferably, the invention further comprises an adjustable lower limit hard position member and a second proximity switch, wherein the adjustable lower limit hard position member is located on one side of the second cross beam, and the second proximity switch is located above the adjustable lower limit hard position member.

[0021] A method for raising and lowering a tunnel inspection robot, applied to the above-mentioned tunnel robot raising and lowering and lowering device, comprises the following steps:

[0022] Step 1: Turn on the power switch;

[0023] Step 2: The sliding guide rail automatically rises and pushes out the engaging piece, driving the liftable guide rail to complete the docking with the fixed guide rail;

[0024] Step 3: Use the remote control or background to control the tunnel robot to move and enter the fixed guide rail;

[0025] Step 4: After ensuring that the tunnel robot enters the fixed guide rail, press the descend button;

[0026] Step 5: The engaging member is disengaged from the three-dimensional support and is automatically lowered;

[0027] Step 6: Turn off the power after the sliding rail returns to the ground.

[0028] The beneficial effects of the present invention are as follows:

[0029] 1. A deceleration assembly, including a first pulley block, a second pulley block, and a third pulley block. The deceleration assembly is used to buffer the rise or fall of the sliding guide rail, and at the same time to form a pulling force on the engaging assembly to enable the engaging member to exit the engaging hole;

[0030] It also includes a tension rope, which passes through the first pulley group, the second pulley group, and the third pulley group in sequence, and is connected to the locking component, so that the locking part can be extended into or out of the locking hole to determine the height position of the sliding guide rail.

[0031] The locking assembly includes a locking piece and a blocking block. The blocking block is arranged at one end of the locking piece. A locking hole is arranged on the side of the three-dimensional bracket. The locking piece extends into or out of the locking hole to determine the height position of the sliding guide rail. When the tension rope passes through the first pulley group, the second pulley group, and the third pulley group and is finally connected to the locking assembly, the tension rope can be connected to the blocking block or the locking piece. At this time, the blocking block and the locking piece are fixed together. When the tension rope is pulled, the locking assembly is pulled out of the locking hole to realize the up and down sliding of the sliding guide rail. When the position needs to be fixed, the blocking block or the locking piece is provided with thrust by the motor electric equipment to realize the position locking and fixing.

[0032] 2. An intermediate piece is provided in the middle of the first rod body to provide rotational power for the motor. A transmission chain is provided between the motor and the intermediate piece to drive the first rod body to rotate. The transmission chain is not easy to wear. The rotation of the motor drives the intermediate piece to rotate at the same time through the transmission chain, and the change is rapid, so that rapid conversion of rising and falling can be realized, and the wear resistance is high and the service life is long.

[0033] 3. The clamping assembly further includes an alignment block and a rectangular spring sleeved on the clamping piece. The alignment block is provided with a first through hole, the blocking block is provided with a second through hole, the rectangular spring is located between the alignment block and the blocking block, and the tension rope is connected to one end of the clamping piece or one end of the blocking block. In this embodiment, the clamping piece can shuttle between the blocking block and the alignment piece, and is not fixed to each other, and the tension rope is connected to one end of the clamping piece;

[0034] When the sliding guide moves upward or downward, the motor rotates forward or reversely to generate tension on the tension rope. The engaging part is pulled out of the locking hole. The tension rope pulls the engaging part, and the rectangular spring contracts and moves with the engaging part in the direction in which the engaging part is out of the locking hole. After the sliding guide moves to the specified position, the motor stops rotating and the tension disappears. At the same time, the rectangular spring retracts in the locking direction, and the engaging part is re-engaged with the locking hole due to the rebound force of the rectangular spring.

[0035] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings.

Brief Description of the Drawings

[0036] The present invention will be further described below in conjunction with the accompanying drawings:

[0037] Figure 1 This is an overall schematic diagram of a lifting and deceleration device according to an embodiment of the present invention;

[0038] Figure 2 for Figure 1 Schematic diagram of the first pulley block in FIG.

[0039] Figure 3 for Figure 1 Schematic diagram of the second pulley block in FIG.

[0040] Figure 4 for Figure 1 Schematic diagram of the third pulley block in FIG.

[0041] Figure 5 for Figure 1 Schematic diagram of the engaging assembly in FIG.

[0042] Figure 6 This is a schematic diagram of the positioning hole. [Specific implementation method]

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] The following first describes the concepts involved in this application in conjunction with the accompanying drawings. It should be noted that the following description of each concept is only to make the content of this application easier to understand and does not limit the scope of protection of this application.

[0045] Embodiment 1:

[0046] A tunnel robot lifting and deceleration device is used to lift the tunnel robot, such as Figure 1 As shown, it includes a three-dimensional support 1, a fixed guide rail 2, and a liftable guide rail 3. The fixed guide rail 2 is fixed on the side wall of the tunnel. The three-dimensional support 1 is symmetrically arranged. The lower end of the three-dimensional support 1 is provided with a first crossbeam 4, and the first crossbeam 4 is fixed to the upper end of the three-dimensional support 1. The upper end is provided with a second crossbeam 5, and the second crossbeam 5 is fixed to the lower end of the three-dimensional support 1. The liftable guide rail 3 is detachably connected to both ends of the fixed guide rail 2;

[0047] The sliding guide rail 6 is connected to the liftable guide rail 3, driving the liftable guide rail 3 to slide up and down to change the height of the liftable guide rail 3 from the ground, and the sliding speed is fast;

[0048] The deceleration assembly 8 includes a first pulley block 9, a second pulley block 10, and a third pulley block 11. The deceleration assembly 8 is used to buffer the sliding guide rail 6 when it rises or falls, and at the same time, to form a pulling force on the engaging assembly 7 to enable the engaging member 701 to exit the engaging hole 703;

[0049] It also includes a tension rope 12, which passes through the first pulley group 9, the second pulley group 10, and the third pulley group 11 in sequence, and is connected to the locking assembly 7, so that the locking member 701 extends into or out of the locking hole 703 to determine the height position of the sliding guide rail 6.

[0050] The engaging component 7 includes an engaging member 701 and a blocking block 702. The blocking block 702 is arranged at one end of the engaging member 701. A locking hole 703 is arranged on the side of the three-dimensional bracket 1. The engaging member 701 extends into or out of the locking hole 703 to determine the height position of the sliding guide rail 6. When the tension rope 12 passes through the first pulley group 9, the second pulley group 10, and the third pulley group 11 and is finally connected to the engaging component 7, the tension rope 12 can be connected to the blocking block 702 or the engaging member 701. At this time, the blocking block 702 and the engaging member 701 are fixed together. When the tension rope 12 is pulled, the engaging component 7 is pulled out of the locking hole 703 to realize the up and down sliding of the sliding guide rail 6. When the position needs to be fixed, the blocking block 702 or the engaging member 701 is provided with thrust by the motor 901 electric device to realize the position locking and fixing.

[0051] In this embodiment, Figure 2 As shown, the first pulley group 9 is arranged on the first crossbeam 4, and the first pulley group 9 is powered by a motor 901. The motor 901 is a 400w brake reduction motor 901. A first fixing plate for fixing is provided on one side of the motor 901. The first pulley group 9 includes at least one first pulley 902, at least one first fixing member 903, and a first rod body 904. There are two first pulleys 902 and they are fixed on both sides of the first rod body 904. The first fixing member 903 fixes the first rod body 904. A bearing is provided inside the first fixing member 903 for easy rotation. The first pulley 902 is rotatably arranged at both ends of the first rod body 904, and the tension rope 12 is strung on the first pulley 902.

[0052] An intermediate piece 905 is provided in the middle of the first rod body 904 for providing rotational power to the motor 901. The motor 901 and the intermediate piece 905 are provided with a transmission chain 906 to drive the first rod body 904 to rotate. The transmission chain 906 is not easy to wear. The rotation of the motor 901 drives the intermediate piece 905 to rotate simultaneously through the transmission chain 906, and the change is rapid, so that the rapid conversion of raising and lowering can be realized, and the wear resistance is high and the service life is long.

[0053] In this embodiment, Figure 3 As shown, the second pulley group 10 is arranged on the second cross beam 5, and the second pulley group 10 includes a second fixing member 1001, a second rod body 1002, and two second pulleys 1003. The tension rope 12 passes through the second pulley 1003 successively. The second fixing member 1001 is fixed under the second cross beam 5 to facilitate the connection of the tension rope 12. The second pulley 1003 is sleeved on the second rod body 1002, and the second rod body 1002 is fixed on the second fixing member 1001. The tension rope 12 is strung on the second pulley 1003.

[0054] In this embodiment, Figure 4As shown, the third pulley group 11 is fixed on the sliding guide rail 6, and the third pulley group 11 includes a third fixing member 1101, a third rod body 1102, and a third pulley 1103. The third pulley 1103 is one, and the third pulley 1103 is sleeved on the third rod body 1102. The third rod body 1102 is fixed on the third fixing member 1101. The tension rope 12 is strung on the third pulley 1103. The tension rope 12 uses the fixed first pulley group 9 and the second pulley group 10 as fulcrums. When the third pulley group 11 pulls the engaging member 701 to disengage, it drives the sliding guide rail 6 to move up and down. The first pulley group 9 is the lowest point of descent, and the second pulley group 10 is the highest point of ascent. Therefore, the first pulley group 9, the second pulley group 10, and the third pulley group 11 are indispensable, so as to realize the buffering adjustment of the up and down height of the sliding guide rail 6 and change the running direction quickly.

[0055] like Figure 5 , Figure 6 As shown, the clamping assembly 7 further includes an alignment block 704, a rectangular spring 705 sleeved on the clamping member 701, the alignment block 704 is provided with a first through hole 706, the blocking block 702 is provided with a second through hole 707, the rectangular spring 705 is located between the alignment block 704 and the blocking block 702, the tension rope 12 is connected to one end of the clamping member 701 or to one end of the blocking block 702, in this embodiment, the clamping member 701 can shuttle between the blocking block 702 and the alignment member, and are not fixed to each other, and the tension rope 12 is connected to one end of the clamping member 701;

[0056] When the sliding guide rail 6 moves upward or downward, the motor 901 rotates forward or reversely to generate tension on the tension rope 12, and the engaging part 701 is subjected to the tension and disengages from the locking hole 703. The tension rope 12 pulls the engaging part 701, and the rectangular spring 705 contracts and moves with the engaging part 701 in the direction in which the engaging part 701 disengages from the locking hole 703. After the sliding guide rail 6 moves to the specified position, the motor 901 stops rotating and the tension disappears. At the same time, the rectangular spring 705 retracts in the locking direction, and the engaging part 701 is reengaged with the locking hole 703 due to the rebound force of the rectangular spring 705.

[0057] An adjustable upper limit hard position piece 13 is provided at the upper end of the alignment block 704, and the adjustable upper limit hard position piece 13 limits the maximum height of the sliding guide rail 6 to prevent the sliding guide rail 6 from colliding with the first crossbeam 4 and causing damage. A first proximity switch 14 is provided at the side end of the alignment block 704, which reacts to the approach of the sliding guide rail 6 to achieve the purpose of controlling the switch on or off, so as to monitor the normal operation of the sliding guide rail 6 in real time. A washer 15 is provided at one end of the rectangular spring 705 close to the alignment block 704 to reduce the wear between the rectangular spring 705 and the alignment piece.

[0058] It also includes an adjustable lower limit hard position member 16 and a second proximity switch 17. The adjustable lower limit hard position member 16 is located on one side of the second cross beam 5. The second proximity switch 17 is located above the adjustable lower limit hard position member 16. It reacts to the approach of the sliding guide rail 6 to achieve the purpose of controlling the switch on or off, so as to monitor the normal operation of the sliding guide rail 6 in real time. The adjustable lower limit hard position member 16 limits the maximum height of the sliding guide rail 6 to prevent the sliding guide rail 6 from colliding with the second cross beam 5 and causing damage.

[0059] The proximity switch can use a Hall proximity switch or a photoelectric proximity switch.

[0060] A method for raising and lowering a tunnel inspection robot, applied to the above-mentioned tunnel robot raising and lowering and lowering device, comprises the following steps:

[0061] Step 1: Turn on the power switch;

[0062] Step 2: The sliding guide rail 6 automatically rises and pushes out the engaging member 701, driving the liftable guide rail 3 to complete the docking with the fixed guide rail 2;

[0063] Step 3: Control the tunnel robot to move onto the fixed guide rail 2 through the remote control or the background;

[0064] Step 4: After the tunnel robot enters the fixed guide rail 2, press the descend button;

[0065] Step 5: The engaging member 701 is disengaged from the three-dimensional support 1 and is automatically lowered;

[0066] Step 6: Turn off the power after the sliding guide rail 6 returns to the ground.

[0067] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A tunnel robot lifting and deceleration device, characterized in that: Used to lift the tunnel robot, comprising a three-dimensional support, a fixed guide rail, and a liftable guide rail, wherein the three-dimensional support is symmetrically arranged, a first crossbeam is provided at the lower end of the three-dimensional support, and a second crossbeam is provided at the upper end, and the liftable guide rail is detachably connected to both ends of the fixed guide rail; A sliding guide rail, wherein the sliding guide rail is connected to the liftable guide rail, and the liftable guide rail is slid up and down to change the height of the liftable guide rail from the ground; The clamping assembly comprises a clamping piece and a blocking block, wherein the blocking block is arranged at one end of the clamping piece, a clamping hole is arranged on the side of the three-dimensional bracket, and the clamping piece extends into or out of the clamping hole to determine the height position of the sliding guide rail; A deceleration assembly, comprising a first pulley block, a second pulley block, and a third pulley block, wherein the deceleration assembly is used to buffer the sliding guide rail when it rises or falls, and at the same time to form a pulling force on the engaging assembly to enable the engaging member to exit the engaging hole; It also includes a tension rope, which passes through the first pulley group, the second pulley group, and the third pulley group in sequence, and is connected to the locking component, so that the locking part can be extended into or out of the locking hole to determine the height position of the sliding guide rail.

2. A tunnel robot lifting and deceleration device as claimed in claim 1, characterized in that: The first pulley group is arranged on the first crossbeam, and the first pulley group is powered by a motor. The first pulley group includes at least one first pulley, at least one first fixing member, and a first rod body. The first fixing member fixes the first rod body. The first pulley is rotatably arranged at both ends of the first rod body, and the tension rope is strung on the first pulley.

3. A tunnel robot lifting and deceleration device as claimed in claim 2, characterized in that: An intermediate piece is provided in the middle of the first rod body for providing rotational power to the motor, and a transmission chain is provided between the motor and the intermediate piece to drive the first rod body to rotate.

4. A tunnel robot lifting and deceleration device as claimed in claim 1, characterized in that: The second pulley block is arranged on the second cross beam, the second pulley block comprises a second fixing member, a second rod body, and a second pulley, the second pulley sleeve is arranged on the second rod body, the second rod body is fixed on the second fixing member, and the tension rope is strung on the second pulley.

5. The tunnel robot lifting and deceleration device according to claim 1, characterized in that: The third pulley block is arranged on the sliding guide rail, and the third pulley block includes a third fixing member, a third rod body, and a third pulley. The third pulley sleeve is arranged on the third rod body, and the third rod body is fixed on the third fixing member. The tension rope is strung on the third pulley.

6. A tunnel robot lifting and deceleration device as claimed in claim 1, characterized in that: The clamping assembly further comprises an alignment block and a rectangular spring sleeved on the clamping piece, the alignment block is provided with a first through hole, the blocking block is provided with a second through hole, the rectangular spring is located between the alignment block and the blocking block, and the tension rope is connected to one end of the clamping piece or one end of the blocking block; When the sliding guide rail moves upward or downward, the motor rotates forward or reversely to generate tension on the tension rope, and the engaging piece is disengaged from the locking hole due to the tension. After the sliding guide rail moves to a specified position, the motor stops rotating and the tension disappears, and the engaging piece is re-engaged with the locking hole due to the rebound force of the rectangular spring.

7. The tunnel robot lifting and deceleration device according to claim 1, characterized in that: An adjustable upper limit hard position piece is arranged at the upper end of the alignment block, a first proximity switch is arranged at the side end of the alignment block, and a washer is arranged at one end of the rectangular spring close to the alignment block.

8. A tunnel robot lifting and deceleration device as claimed in claim 2, characterized in that: The motor is a brake reduction motor.

9. A tunnel robot lifting and deceleration device according to any one of claims 1 to 8, characterized in that: It also includes an adjustable lower limit hard position piece and a second proximity switch, wherein the adjustable lower limit hard position piece is located on one side of the second cross beam, and the second proximity switch is located above the adjustable lower limit hard position piece.

10. A method for raising and lowering a tunnel inspection robot, applied to a tunnel robot raising and lowering and lowering device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: Turn on the power switch; Step 2: The sliding guide rail automatically rises and pushes out the engaging piece, driving the liftable guide rail to complete docking with the fixed guide rail; Step 3: Use the remote control or background to control the tunnel robot to move and enter the fixed guide rail; Step 4: After ensuring that the tunnel robot enters the fixed guide rail, press the descend button; Step 5: The engaging member is disengaged from the three-dimensional support and is automatically lowered; Step 6: After the sliding guide rail returns to the ground, the power is turned off.

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