Intelligent tunnel cloud rail bridge inspection robot

Abstract

The invention discloses an intelligent tunnel cloud rail bridge inspection robot which is characterized in that based on an original bridge body in a tunnel, a driving mounting rack, a driven mounting rack and a keel are combined to form an inspection platform capable of being directly matched with a bridge, and the inspection platform is matched with the driving mounting rack to set a driving assembly; stable contact between the driving wheels and the surface of the bridge track is formed, reliable advancing of the inspection platform on the bridge is achieved under rotation output of the driving assembly, the original bridge is directly used as the robot track, the application scene adaptability of the inspection robot is greatly improved, the hardware cost and the implementation cost are effectively reduced, and the inspection efficiency is improved. And through the arrangement of the driving and driven double mounting racks, the adaptation of the inspection platform to a bridge in a complex tunnel environment is further enhanced, and the quick response, stability and reliability of the inspection work of the robot are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of tunnel inspection equipment, and relates to a smart tunnel cloud rail bridge inspection robot. BACKGROUND

[0002] With the continuous expansion of highway construction, in order to adapt to the topographic features of different regions in China, the ratio of bridges to tunnels of highways gradually increases, and the safety risk of tunnel sections in the actual operation process is relatively large. In recent years, relevant accidents have occurred many times, causing certain economic losses and even casualties. In order to enhance the traffic safety management level in the tunnel and reduce unnecessary losses, tunnel inspection robots have been applied to many roads.

[0003] The conventional tunnel inspection robot has relatively single function and high cost, especially needs to be equipped with a specific running track, which greatly increases the hardware cost and implementation cost, and also increases the installation load in the tunnel. Therefore, an inspection equipment capable of realizing basic functions such as inspection and solving the drawbacks of the conventional robot running track is urgently needed, so that it can be applied to more application scenarios. SUMMARY

[0004] The application is provided in order to overcome the deficiencies of the prior art, and provides a smart tunnel cloud rail bridge inspection robot.

[0005] In order to achieve the above-mentioned purpose, the application adopts the following technical solutions:

[0006] A smart tunnel cloud rail bridge inspection robot, comprising an inspection platform and a driving assembly, the inspection platform comprising a driving installation rack, a driven installation rack and a keel plate, the driving installation rack and the driven installation rack are both slidably arranged on the bridge track, the driving assembly comprises a driving wheel, the driving assembly is connected with the driving installation rack to form the contact between the driving wheel surface and the bridge track surface, the rotation of the driving wheel drives the movement of the driving installation rack along the bridge, the driven installation rack is provided with a rotatable heavy wheel bearing, the outer circumferential surface of the heavy wheel bearing is in contact with the bridge track surface, and the two ends of the keel plate along the extension direction of the bridge track are connected to the driving installation rack and the driven installation rack respectively.

[0007] Further, the driving installation racks are arranged in two opposite positions on the bridge, the driven installation racks are arranged in two opposite positions on the bridge, and the two driving installation racks and the two driven installation racks form a rectangular distribution.

[0008] Further, the driving mounting frame comprises a middle piece and side supports arranged on both sides of the middle piece, a track through hole for the track of the bridge to pass through is formed between the two side supports, a wheel groove for accommodating the driving wheel is formed on the middle piece, and the wheel groove is provided with a through opening facing the track surface of the bridge.

[0009] Further, the middle piece comprises two wedge-shaped blocks, and each of the two wedge-shaped blocks is provided with an inclined surface, and the two inclined surfaces are oppositely arranged to form the wheel groove.

[0010] Further, the driving mounting frame comprises a middle piece and side supports arranged on both sides of the middle piece, a track through hole for the track of the bridge to pass through is formed between the two side supports, a wheel groove for accommodating the driving wheel is formed on the middle piece, and the wheel groove is provided with a through opening facing the track surface of the bridge.

[0011] Further, the side walls of the two side supports are respectively provided with a sliding groove for the flange of the bridge to be embedded to form a sliding fit, and the sliding groove is communicated with the track through hole.

[0012] Further, a guide limiting wheel is arranged in the sliding groove, the outer peripheral surface of the guide limiting wheel abuts against the outer edge of the flange of the bridge, a connecting bolt is arranged in the guide limiting wheel, and the connecting bolt is connected to the side support to form a rotating shaft of the guide limiting wheel.

[0013] Further, the side support is provided with a mounting hole for mounting the connecting bolt, and the connecting bolt passes through the guide limiting wheel.

[0014] Further, the side support is provided with a mounting groove, the mounting groove is vertically communicated with the sliding groove, a clamping jaw is slidingly fitted in the sliding groove, one end of the clamping jaw is connected with a spring, the other end of the spring abuts against the inner wall of the mounting groove, the head of the connecting bolt and a nut are arranged at two ends of the guide limiting wheel respectively, the other end of the clamping jaw is provided with a clamping groove for clamping the head of the connecting bolt or the nut, and the mounting groove is communicated with the side wall of the side support to form an open port for the connecting bolt to enter.

[0015] Further, the driving assembly further comprises a driving motor and a T-shaped speed reducer, the input shaft end of the T-shaped speed reducer is connected to the driving motor, the two output shaft ends of the T-shaped speed reducer are connected to the two driving wheels, the two sides of the T-shaped speed reducer are respectively provided with connecting plates, and the two connecting plates are respectively connected with the two driving mounting frames.

[0016] In summary, the present application has the following advantages:

[0017] The inspection robot of the present application is based on the original bridge body in the tunnel, adopts a driving installation rack, a driven installation rack and a keel combination to form an inspection platform which can be directly adapted to the bridge, cooperates with the setting of the driving installation rack to the driving assembly to form stable contact of the driving wheel with the surface of the bridge track, realizes reliable travel of the inspection platform on the bridge under the rotary output of the driving assembly, directly uses the original bridge as the robot track, greatly improves the application scene adaptability of the inspection robot, effectively reduces the hardware cost and implementation cost, and the setting of the driving and driven double installation racks further enhances the adaptation of the inspection platform to the bridge in the complex tunnel environment and improves the rapid response and stable reliability of the robot inspection work. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic view of the inspection robot of the present application.

[0019] Figure 2 It is a structural schematic view of the inspection platform. Figure 1

[0020] Figure 3

[0021] Figure 4 It is a structural schematic view of the inspection platform. Figure 3

[0022] Figure 5 It is an exploded structural schematic view of the driving installation rack.

[0023] Figure 6 It is a structural schematic view of the side support in an embodiment of the installation rack.

[0024] Figure 7 It is a structural schematic view of the side support and the elastic structure in the driving installation rack.

[0025] Figure 8 It is an exploded structural schematic view of the driven installation rack.

[0026] Figure 9 It is a structural schematic view of the inspection platform. Figure 8

[0027] In the figure, 11 is a driving motor, 12 is a reduction box, 13 is a driving wheel, 14 is a connecting plate, 2a is a driving installation rack, 2b is a driven installation rack, 21 is a side support, 211 is a sliding groove, 212 is a mounting hole, 213 is a nut groove, 214 is a mounting groove, 215 is a closing opening, 22 is an intermediate piece, 221 is an inclined surface, 222 is an arc groove, 223 is a heavy wheel type bearing, 23 is a track through hole, 24 is a guide limiting wheel, 241 is a connecting bolt, 25 is an elastic structure, 251 is a jaw, 252 is a spring, 3 is a keel plate, and 4 is a sealing plate.​​​​ DETAILED DESCRIPTION

[0028] Other advantages and embodiments of the present application will be disclosed in the following detailed description of the embodiments of the present application, and will be apparent from the drawings and the written description. The present application can also be put into practice in various different embodiments and in various different applications, and the various details of the application can be modified in light of different views and applications without departing from the spirit of the application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0029] It should be noted that the drawings provided in the following embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the drawings, rather than the number, shape and size of the components in actual implementation. The shape, number and ratio of the components in actual implementation can be changed arbitrarily, and the layout of the components can be more complex.

[0030] All directional indications (such as up, down, left, right, front, back, transverse, longitudinal, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between the components in a certain specific posture, and if the specific posture changes, the directional indications will also change accordingly.

[0031] Due to installation errors and other reasons, the parallel relationship referred to in the embodiments of the present application can actually be an approximate parallel relationship, and the vertical relationship can actually be an approximate vertical relationship.

[0032] The embodiments of the present application provide a smart tunnel cloud track bridge inspection robot, referring to Figure 1 and Figure 2 which can be compatible with the bridge in the tunnel, comprising an inspection platform composed of a driving assembly and a mounting rack, the driving assembly is directly set on the bridge through the mounting rack, and the movement and operation of the entire inspection robot on the bridge are realized under the driving of the driving assembly.

[0033] Specifically, referring to Figure 3 , the driving assembly includes a servo motor, a reduction box 12 and a driving wheel 13, wherein the reduction box 12 preferably adopts a T-shaped reduction box 12, the servo motor is connected with the input shaft end of the T-shaped reduction box 12 to provide rotary driving, and two driving wheels 13 are respectively connected with the two output shaft ends of the T-shaped reduction box 12 to form synchronous rotary output.

[0034] The driving wheel 13 preferably adopts a 150mm cross-grain solid rubber wheel, which forms an effective friction force when contacting with the track surface on the bridge, realizes high grip and high torque driving, and through theoretical calculation, when the output shaft speed of the reduction box 12 reaches 18 revolutions per second, the linear speed of the outer edge of the driving wheel 13 can reach 30km / h, which is much higher than the maximum running speed (20km / h) of a conventional track robot, so that the platform can be moved to a predetermined position under human control in a very short time, reducing the waiting time.

[0035] The bridge in the embodiment includes but is not limited to a native bridge in a tunnel or a bridge for laying cables and other equipment, etc. The structural form of the bridge has been widely disclosed in the prior art. The inner and outer walls of the bridge or the surface of the folded edge on the bridge can be contacted by the driving wheel 13 to realize the running driving of the inspection robot on the bridge.

[0036] Referring to Figure 3 , Figure 5 and Figure 8 , the mounting rack includes a middle piece 22 and two side supports 21, the two side supports 21 are arranged in parallel, a track opening 23 with a set width is formed between the two side supports 21, the middle piece 22 is arranged between the two side supports 21, and the two sides of the middle piece 22 are connected with the two side supports 21 respectively, so that the middle piece 22 maintains the stable position of the two side supports 21 as a support. As a preferred, one or more long bolts are used as connecting pieces, which penetrate the two side supports 21 and the middle piece 22 at the same time, and fix the two side supports 21 and the middle piece 22.

[0037] By clamping and installing the track opening 23 of the mounting rack relative to the bridge, the track on the bridge for the driving wheel 13 to travel is located in the track opening 23, and the sliding fit of the mounting rack and the bridge is realized.

[0038] In the preferred embodiment, the bridge adopts a parallel double-track structure, which has two parallel tracks along the extension arrangement direction of the bridge. The mounting rack is correspondingly arranged as two or more, and the plurality of mounting racks are arranged on the track surfaces on both sides in a set layout and realize synchronous travel under the driving of the double driving wheels 13 of the driving assembly.

[0039] In order to realize the stable connection of the mounting rack and the bridge, one or both of the two side supports 21 is provided with a sliding groove 211, so that the sliding groove 211 is located on one side or both sides of the track opening 23 and is communicated with the track opening 23, so that the folded edge on the bridge can be embedded in the sliding groove 211, and the folded edge on the bridge is limited by the upper and lower sides of the sliding groove 211, so as to ensure that the mounting rack will not be separated from the bridge.

[0040] In some embodiments, both side rails on the bridge are in C-shaped structure, the top of the rail is bent to one side to form a folded edge, the top of the folded edge serves as the rail surface, and the folded edge is embedded in the sliding groove 211, and the other side of the side support 21 directly abuts against the rail.

[0041] In some preferred embodiments, both side rails on the bridge are in I-shaped structure, the top of the rail is bent to both sides to form T-shaped double folded edges, the top of the double folded edges serves as the rail surface, and the double folded edges are respectively embedded in the sliding grooves 211 arranged on both sides.

[0042] In order to improve the running stability of the installation rack and the bridge, a guide limiting wheel 24 is further arranged in the side support 21, preferably in the sliding groove 211. The guide limiting wheel 24 is arranged horizontally, with the axial direction being vertical and perpendicular to the extension direction of the bridge. The outer peripheral surface of the guide limiting wheel 24 abuts against the outer edge of the folded edge of the bridge, and the rolling of the guide limiting wheel 24 relative to the folded edge improves the smoothness of the rack running.

[0043] A groove is further arranged in the outer peripheral surface of the guide limiting wheel 24 and recessed along the entire circumference. The groove limits the folded edge on both sides, so that the cooperation between the guide limiting wheel 24 and the folded edge is more stable, and the dislocation and separation during running are reduced.

[0044] Referring to Figure 6 , the guide limiting wheel 24 and the side support 21 are arranged in detachable connection and installation, so as to reduce the installation operation difficulty of the installation rack and the bridge and improve the operation efficiency. Specifically, the mounting hole 212 is arranged on the side support 21 along the axial direction of the guide limiting wheel 24, and the mounting hole 212 is communicated with the sliding groove 211. After the guide limiting wheel 24 is arranged in the side support 21, the connecting bolt 241 is arranged in the guide limiting wheel 24 along the mounting hole 212 as the rotating shaft of the guide limiting wheel 24, and one end of the connecting bolt 241 is threadedly connected with the side support 21, so as to realize the installation of the guide limiting wheel 24 and the side support 21. The nut groove 213 is further arranged on the side support 21, and the nut on the connecting bolt 241 is arranged in the side support 21. The mounting hole 212 is communicated with the nut groove 213, so that the connecting bolt 241 is threadedly connected with the nut in the nut groove 213 to complete the installation.

[0045] Under actual construction conditions, when the tunnel is long enough, the installation of the bridge will inevitably deviate in the linear direction, and therefore the elastic structure 25 is further arranged on one of the installation racks.

[0046] Specifically, referring to Figure 5 and Figure 7The elastic structure 25 comprises a clamping jaw 251 and a spring 252, and the side support 21 is provided with a mounting groove 214 for mounting the clamping jaw 251 and the spring 252. The mounting groove 214 is in staggered communication with the sliding groove 211. Preferably, the mounting groove 214 is vertically staggered with the sliding groove 211, so that the connecting bolt 241 can be arranged in the mounting groove 214 and vertically pass through the sliding groove 211. More preferably, the mounting groove 214 is cross staggered with the sliding groove 211. The clamping jaw 251 and the spring 252 are arranged in two groups and are arranged in the upper and lower ends of the mounting groove 214, respectively. The two ends of the mounting groove 214 are arranged as a narrowed opening 215 structure in the inner diameter, so as to limit the clamping jaw 251 and the spring 252 in the two ends of the mounting groove 214, thereby avoiding the clamping jaw 251 and the spring 252 from falling into the sliding groove 211.

[0047] The mounting groove 214 is open to the side wall of the side support 21 in the direction of the rail opening 23, so as to enable the spring 252 and the clamping jaw 251 to enter the mounting groove 214 from the side. One end of the clamping jaw 251 is provided with a post head for sleeving the spring 252. The other end of the spring 252 is deeply arranged in the mounting groove 214 and abuts against the inner wall of the mounting groove 214, so as to form a spring force on the clamping jaw 251. The other end of the clamping jaw 251 is provided with a clamping groove for clamping the head of the connecting bolt 241 or a nut. The connecting bolt 241 passes through the guide limiting ring, and the head of the connecting bolt 241 and the nut are arranged on the two sides of the guide limiting ring. The bolt, the nut and the guide limiting ring are arranged in the sliding groove 211 and the mounting groove 214, so that the clamping grooves of the two clamping jaws 251 are clamped on the head of the connecting bolt 241 and the nut, respectively. When the mounting rack is arranged on the bridge, the spring force of the spring 252 enables the guide limiting wheel 24 to always abut against the folded edge of the bridge. The elastic action range of the spring 252 enables the guide limiting wheel 24 to be adaptively transversely displaced when the bridge has a certain linear direction deviation, thereby ensuring the reliable cooperation between the guide limiting wheel 24 and the bridge.

[0048] In some embodiments, one or more mounting racks are drive mounting racks 2a. Preferably, the drive mounting racks 2a are arranged in parallel on the left and right rail surfaces of the bridge, respectively. The middle piece 22 is provided with a wheel groove for arranging the drive wheel 13. The wheel groove is open to the rail surface of the bridge. The drive assembly is arranged in the drive mounting rack 2a. The drive wheel 13 is arranged in the wheel groove of the middle piece 22, so that the drive wheel 13 can pass through the through opening and directly contact the rail surface of the bridge, thereby enabling the rotation of the drive wheel 13 to drive the movement of the drive mounting rack 2a along the bridge.

[0049] Preferably, the middle piece 22 is two wedge-shaped blocks arranged oppositely. Each of the two wedge-shaped blocks is provided with a slope 221. The two wedge-shaped blocks are arranged oppositely with the slopes 221, so that the two slopes 221 form the wheel groove of the middle piece 22.

[0050] Further, the driving assembly is fixedly installed with the driving mounting frame 2a through the connecting plates 14, the output shafts at both sides of the speed reducer 12 are fixedly connected to the two connecting plates 14 respectively, and the two connecting plates 14 are fixedly connected to the driving mounting frames 2a at both sides through the long bolts.

[0051] More preferably, referring to Figure 5 , four guide limit wheels 24 are arranged in the driving mounting frame 2a, the four guide limit wheels 24 are arranged on the two side supports 21 in pairs and are connected to the side supports 21 through the elastic structures 25.

[0052] In some other embodiments, one or more mounting frames are driven mounting frames 2b, the driven mounting frames 2b are connected to the driving mounting frames 2a through the keel plates 3, specifically, the two ends of the keel plates 3 abut against the side supports 21 of the driving mounting frames 2a and the side supports 21 of the driven mounting frames 2b respectively, and the long bolts are arranged to form fixed connections.

[0053] Preferably, referring to Figure 8 and Figure 9 , two guide limit wheels 24 are arranged in the driven mounting frame 2b, the two guide limit wheels 24 are arranged on the two side supports 21 oppositely, one of the guide limit wheels 24 is installed on one of the side supports 21 through the mounting hole 212 and the bolt, and the other guide limit wheel 24 is installed on the other side support 21 through the elastic structure 25. The arrangement of the reduced guide limit wheels 24 can effectively prevent the phenomenon of being stuck due to too small turning radius when the longitudinal spacing between the driving mounting frame 2a and the driven mounting frame 2b is large.

[0054] Further, the driven mounting frame 2b is also provided with a heavy wheel type bearing 223 for contact with the bridge track surface, the bottom of the intermediate piece 22 is provided with an arc groove 222 for accommodating the heavy wheel type bearing 223, the arc groove 222 is communicated with the bottom of the intermediate piece 22 and faces the bridge, the heavy wheel type bearing 223 is installed in the arc groove 222 and partially exposes the outer circumferential surface to form contact with the track surface, and the heavy wheel type bearing 223 penetrates the bolt, and the two ends of the bolt are fixed to the two side supports 21.

[0055] In some preferred embodiments, referring to Figure 3 and Figure 4 , the driven mounting frame 2b is provided with two parallel driven mounting frames 2b arranged on the left and right track surfaces of the bridge respectively, the two driven mounting frames 2b are connected to the two driving mounting frames 2a through the keel plates 3, forming a rectangular structure of the inspection platform, which is part of the connection between the robot and the bridge.

[0056] Further, the outer periphery of the inspection platform is fixed with a plurality of sealing plates 4, forming a stable frame structure, the keel plate 3 and the sealing plate 4 provide lateral load and protection, ensuring that the mounting rack on the four corners and the bridge track surface are in physical contact, and the load of the entire inspection platform can be evenly distributed on the four wheels, so that each stress point is balanced as much as possible, and there is no situation of hanging up, lifting or extrusion deformation.

[0057] Further, a plurality of load-bearing partitions and partitioning plates are arranged in the inspection platform, for arranging various electronic components on the inspection platform, including but not limited to cameras, batteries, power modules, control modules, communication modules, etc. According to the different functions of various types of electronic components, the corresponding installation area is physically isolated, the purpose is to prevent short circuit or breakdown caused by sliding, loosening and other abnormal conditions. The division of the electronic component installation area also facilitates targeted maintenance work during the later maintenance process.

[0058] Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor shall belong to the scope of protection of the present application.

Claims

1. A smart tunnel cloud rail bridge inspection robot, characterized in that, The utility model provides a kind of bridge crane, including inspection platform and drive assembly, the inspection platform includes drive mounting frame, driven mounting frame and keel plate, the drive mounting frame and the driven mounting frame are slidably fitted in bridge rail, the drive assembly includes drive wheel, the drive assembly is connected with the drive mounting frame, forms the contact of drive wheel wheel surface and bridge rail surface, the rotation of the drive wheel drives the movement of the drive mounting frame along bridge, the driven mounting frame is provided with rotatable heavy wheel bearing, the outer periphery of the heavy wheel bearing is in contact with bridge rail surface, and the two ends of the keel plate along the extension direction of bridge rail are connected to the drive mounting frame and the driven mounting frame respectively. 2.The tunnel cloud rail bridge inspection robot of claim 1, wherein, The drive mounting frame is arranged on the bridge as two opposites, the driven mounting frame is arranged on the bridge as two opposites, and the two drive mounting frames and the two driven mounting frames form a rectangular distribution. 3.The tunnel cloud rail bridge inspection robot of claim 2, wherein, The drive mounting frame includes an intermediate piece and side supports arranged on both sides of the intermediate piece, a rail passage for the bridge rail to pass through is formed between the two side supports, a wheel groove for accommodating the drive wheel is formed on the intermediate piece, and the wheel groove forms a through opening towards the rail surface of the bridge.

4. The tunnel cloud rail bridge inspection robot according to claim 3, characterized in that, The intermediate piece includes two wedge blocks, each of the two wedge blocks is provided with an inclined surface, and the two inclined surfaces are oppositely arranged to form the wheel groove. 5.The tunnel cloud rail bridge inspection robot of claim 2, wherein, The driven mounting frame includes an intermediate piece and side supports arranged on both sides of the intermediate piece, a rail passage for the bridge rail to pass through is formed between the two side supports, and a rotatable heavy wheel bearing is arranged in the intermediate piece, and the outer periphery of the heavy wheel bearing is in contact with the bridge rail surface. 6.The tunnel cloud rail bridge inspection robot of claim 3 or 5, wherein, A sliding groove for the folding edge of the bridge to be embedded to form a sliding fit is formed on the side wall of each of the two side supports, and the sliding groove is communicated with the rail passage. 7.The tunnel cloud rail bridge inspection robot of claim 6, wherein, A guide limiting wheel is arranged in the sliding groove, the outer peripheral surface of the guide limiting wheel abuts against the outer edge of the folding edge of the bridge, a connecting bolt is arranged in the guide limiting wheel, and the connecting bolt is connected to the side support to form the rotation shaft of the guide limiting wheel. 8.The tunnel cloud rail bridge inspection robot of claim 7, wherein, An installation hole for installing the connecting bolt is arranged on the side support, and the connecting bolt is arranged in the guide limiting wheel. 9.The tunnel cloud rail bridge inspection robot of claim 7, wherein, An installation groove is arranged on the side support, the installation groove is vertically communicated with the sliding groove, a pawl is slidably fitted in the sliding groove, one end of the pawl is connected to a spring, the other end of the spring abuts against the inner wall of the installation groove, the head of the connecting bolt and a nut are arranged at two ends of the guide limiting wheel respectively, the other end of the pawl is provided with a clamping groove for clamping the head of the connecting bolt or the nut, and the installation groove is communicated with the side wall of the side support to form an open port for the connecting bolt to enter. 10.The tunnel cloud rail bridge inspection robot of claim 2, wherein, The drive assembly further includes a drive motor and a T-shaped speed reducer, the input shaft end of the T-shaped speed reducer is connected to the drive motor, the two output shaft ends of the T-shaped speed reducer are connected to the two drive wheels, connecting plates are arranged on both sides of the T-shaped speed reducer respectively, and the two connecting plates are connected with the two drive mounting frames respectively.

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