Hanging track for tunnel inspection and inspection device

Abstract

The invention relates to a hanging track for tunnel inspection and an inspection device.The hanging track for tunnel inspection comprises a plurality of track sections, the multiple track sections are sequentially connected end to end in a butt joint mode, each track section comprises a track shell and a track inner core, and each track inner core is a honeycomb aluminum inner core; the honeycomb aluminum inner core is arranged in the track shell in a penetrating mode in the length direction of the track shell, and the honeycomb aluminum inner core is fixedly connected with the inner side wall of the track shell. The honeycomb aluminum inner core comprises a plurality of core pipes with regular polygonal cross sections, and the outer side walls of every two adjacent core pipes are fixedly connected. According to the hanging rail for tunnel inspection, the honeycomb-shaped inner core is arranged in the rail shell, the structural strength of the rail can be enhanced, the weight of the rail cannot be increased too much, rail rusting is avoided, rail vibration, noise and the like are reduced, and thermal expansion and cold contraction deformation of the rail is avoided.

Description

Technical Field

[0001] This invention relates to the technical field of tunnel inspection, specifically to a mounting track and inspection device for tunnel inspection. Background Technology

[0002] Existing tunnel inspection hook-up rails generally use steel rails, which are heavy and inconvenient to lay and install. There are also hook-up rails using hollow aluminum rails, but hollow aluminum rails are prone to deformation due to thermal expansion and contraction during use, and are inconvenient to assemble and connect, making them difficult to adapt to dynamically changing scenarios. In addition, the overall weight of the inspection mechanism is heavy, which can also easily cause the rails to deform during operation.

[0003] In existing tunnel inspection wheel sets, the axles are typically secured to the housing with nuts during track operation. Over time, these nuts can easily come loose from the axles, causing them to become loose. Furthermore, existing tunnel inspection wheel sets are all driven by a single motor, which results in poor driving performance and instability for heavier wheel sets. Summary of the Invention

[0004] In order to solve one or more technical problems existing in the prior art, the present invention provides a connecting track and inspection device for tunnel inspection.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: The present invention provides a hanging track for tunnel inspection, comprising multiple track segments, which are connected end to end in sequence. Each track segment includes a track shell and a track core. The track core is a honeycomb aluminum core, which is inserted into the track shell along the length direction of the track shell. The honeycomb aluminum core is fixedly connected to the inner sidewall of the track shell. The honeycomb aluminum core includes multiple core tubes with regular polygonal cross-sections, and the outer sidewalls of two adjacent core tubes are fixedly connected.

[0006] The beneficial effects of the present invention are: the tunnel inspection hanging track of the present invention, by setting a honeycomb inner core inside the track shell, can enhance the structural strength of the track, and also prevent the weight of the track from increasing too much, avoid track rusting, reduce track vibration and noise, and avoid track thermal expansion and contraction deformation.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, a first magnetic block and a second magnetic block are respectively installed on the end faces of the two ends of the track segment. One end of a track segment is magnetically connected to the second magnetic block at one end of the adjacent track segment through the first magnetic block. The two adjacent track segments are also connected and fixed by connectors.

[0009] The beneficial effect of adopting the above-mentioned further solution is that by setting magnetic blocks at both ends of the track segment, it is possible to achieve rapid magnetic splicing between track segments. After magnetic splicing, it is still necessary to connect and fix them through connectors.

[0010] Furthermore, the first mating surface of the first magnetic block is recessed in the middle to form a mating groove, and the second mating surface of the second magnetic block is raised in the middle to form a mating protrusion. The second mating surface is adapted to abut against the first mating surface, and the mating protrusion is adapted to be inserted into the corresponding mating groove.

[0011] The beneficial effect of adopting the above-mentioned further solution is that by setting docking grooves or docking protrusions on the magnetic block, stable, fast and accurate docking between two adjacent track segments can be achieved.

[0012] Furthermore, the first mating surface of the first magnetic block is flush with the end face of the track segment it is located on, and the second mating surface of the second magnetic block is flush with the end face of the track segment it is located on.

[0013] Furthermore, a carbon fiber layer is formed on the outer surface of the track shell; the track section is integrally formed using an aluminum drawing process.

[0014] The beneficial effect of adopting the above-mentioned further solution is that by setting a carbon fiber layer on the outer surface of the track shell, the corrosion resistance of the track shell can be improved.

[0015] Furthermore, the upper surface of the track segment is recessed to form a first track groove and a second track groove arranged in parallel with each other, and the first track groove and the second track groove both extend along the length direction of the track segment; the opposite side walls of the track segment are respectively recessed to form a first guide groove and a second guide groove, and the first guide groove and the second guide groove both extend along the length direction of the track segment.

[0016] The beneficial effects of adopting the above-mentioned further solution are: by setting the track groove and the guide groove, the guide wheel group of the inspection component can run along the guide groove or the track groove respectively, so that the guide wheel group runs within a limited range, avoids deviation and prevents it from falling off, and avoids the wheel group from shaking up and down, making the overall structure more stable.

[0017] This invention provides an inspection device, including a tunnel inspection mounting track as described above, and an inspection component. The inspection component includes a walking mechanism and an image acquisition mechanism. The walking mechanism is mounted on the tunnel inspection mounting track and can move along various track segments. The walking mechanism includes a first walking frame, a drive wheel set, and a first guide wheel set. The drive wheel set and the first guide wheel set are both mounted on the first walking frame and are rotatably mounted on the tunnel inspection mounting track. Each axle of the first guide wheel set is fixed to the first walking frame by anti-reverse nuts. The image acquisition mechanism is installed at the bottom of the first walking frame.

[0018] The beneficial effects of the present invention are: the inspection device of the present invention can realize the stable operation of the inspection components on the track section.

[0019] Furthermore, the anti-reverse nut includes a nut body and a pin. The nut body has multiple pairs of insertion holes, which are evenly arranged along the circumference of the nut body. Each pair includes two insertion holes arranged radially along the nut body. The axle has an anti-reverse insertion hole. After the nut body is tightened on the axle, a pair of insertion holes are arranged correspondingly to the anti-reverse insertion hole on the axle. The pin is inserted into the corresponding pair of insertion holes and the anti-reverse insertion hole.

[0020] The beneficial effect of adopting the above-mentioned further solution is that by setting an anti-reverse nut, opening a plug hole on the anti-reverse nut, and opening an anti-reverse plug hole on the axle, the pin can be inserted into the plug hole and the anti-reverse plug hole. This gear-shaped anti-reverse nut can lock the pin, thereby preventing the axle from loosening or falling off due to the loosening of the nut body.

[0021] Furthermore, the drive wheel assembly includes two drive wheels, which are respectively rolledly connected to the opposite side walls of the track section, and the upper and lower ends of the central shafts of the two drive wheels are connected by tension springs.

[0022] The beneficial effect of adopting the above-mentioned further solution is that the central shafts of the two drive wheels are connected by a tension spring, which can maintain the balance of the two drive wheels as much as possible, especially when turning, it can reduce the problem of inconsistent force on the two drive wheels caused by the eccentric wheel.

[0023] Furthermore, the walking mechanism also includes a fire extinguishing tank, a second walking frame, and a second guide wheel assembly. The second walking frame is rolled on the tunnel inspection hook track via the second guide wheel assembly. The second walking frame is detachably connected to the first walking frame. Each axle of the second guide wheel assembly is fixed to the second walking frame by anti-reverse nuts. The fire extinguishing tank is installed at the bottom of the second walking frame via a first shock-absorbing component. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the end face structure of the two track sections of the connecting track for tunnel inspection of the present invention in a split state; Figure 2 This is a schematic diagram of the main structure of the mounting track and inspection components for tunnel inspection according to the present invention. Figure 3 This is a three-dimensional structural diagram of the inspection device of the present invention; Figure 4 This is a three-dimensional structural diagram of the inspection component of the present invention; Figure 5 This is a three-dimensional structural diagram of the anti-retraction nut of the present invention; Figure 6 This is a three-dimensional structural diagram of the fire extinguishing canister of the present invention in its assembled state; Figure 7 This is a three-dimensional structural diagram of the image acquisition mechanism of the present invention in its assembled state.

[0025] The attached diagram lists the components represented by each number as follows: 100. Track segment; 101. Track outer shell; 102. Track inner core; 103. First magnetic block; 104. Second magnetic block; 105. First mating surface; 106. Second mating surface; 107. Mating groove; 108. Mating protrusion; 109. First track groove; 110. Second track groove; 111. First guide groove; 112. Second guide groove; 200. First traveling frame; 201. Drive wheel; 202. Central shaft; 203. Tension spring; 204. First top guide wheel; 205. First side guide wheel; 206. First bottom guide wheel; 300. Anti-reverse nut; 301. Nut body; 302. Axle; 303. Insertion hole; 304. Anti-reverse insertion hole; 400. Second traveling frame; 401. Second top guide wheel; 402. Second side guide wheel; 500. Fire extinguisher; 501. First shock absorber assembly; 600. Image acquisition mechanism; 601. Second shock absorption component; 602. Rotating gimbal. Detailed Implementation

[0026] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0027] Example 1 like Figure 1 and Figure 2As shown, a tunnel inspection hook track of this embodiment includes multiple track segments 100, which are connected end to end in sequence. Each track segment 100 includes a track shell 101 and a track core 102. The track core 102 is a honeycomb aluminum core, which is inserted into the track shell 101 along the length of the track shell 101. The honeycomb aluminum core is fixedly connected to the inner sidewall of the track shell 101. The honeycomb aluminum core includes multiple core tubes with a regular polygonal cross-section, and the outer sidewalls of two adjacent core tubes are fixedly connected.

[0028] Furthermore, in this embodiment, a carbon fiber layer is formed on the outer surface of the track housing 101; the track segment 100 is integrally formed using an aluminum drawing process. By providing a carbon fiber layer on the outer surface of the track housing, the corrosion resistance of the track housing can be improved. In this embodiment, the track housing 101 can also be filled with shock-absorbing springs and sound-insulating cotton to reduce vibration noise and deformation during robot operation.

[0029] The tunnel inspection hook track of this embodiment enhances the structural strength of the track by setting a honeycomb inner core inside the track shell, while also preventing the track weight from increasing too much, avoiding track rust, reducing track vibration and noise, and preventing track deformation due to thermal expansion and contraction.

[0030] Example 2 Based on Embodiment 1, this embodiment provides a preferred docking structure for track segment 100. For example... Figure 1 As shown, in this embodiment, a first magnetic block 103 and a second magnetic block 104 are respectively installed on the end faces of the track segment 100. One end of a track segment 100 is magnetically connected to the second magnetic block 104 at one end of an adjacent track segment 100 via the first magnetic block 103. Adjacent track segments 100 are also connected and fixed together by connectors. By setting magnetic blocks at both ends of the track segments, rapid magnetic splicing between track segments can be achieved, enabling "plug and play." After magnetic splicing, connectors are still needed for connection and fixation.

[0031] Further preferred, such as Figure 1 As shown, in this embodiment, the first mating surface 105 of the first magnetic block 103 is recessed to form a mating groove 107, and the second mating surface 106 of the second magnetic block 104 is protruded to form a mating protrusion 108. The second mating surface 106 is adapted to abut against the first mating surface 105, and the mating protrusion 108 is adapted to be inserted into the corresponding mating groove 107. By setting the mating groove or mating protrusion on the magnetic block, stable, fast and accurate docking between two adjacent track segments can be achieved.

[0032] Specifically, such as Figure 1As shown, in this embodiment, the first mating surface 105 of the first magnetic block 103 is flush with the end face of the track segment 100, and the second mating surface 106 of the second magnetic block 104 is flush with the end face of the track segment 100.

[0033] The track connection in this embodiment is designed with a "strong suction tenon", which enables standard modular rapid assembly.

[0034] Example 3 Based on Embodiment 1 or Embodiment 2, this embodiment provides a preferred structure for track segment 100. For example... Figure 1 and Figure 2 As shown, in this embodiment, the upper surface of the track segment 100 has recessed areas forming a first track groove 109 and a second track groove 110 arranged parallel to each other. Both the first track groove 109 and the second track groove 110 extend along the length of the track segment 100. The opposite side walls of the track segment 100 have recessed areas forming a first guide groove 111 and a second guide groove 112, both extending along the length of the track segment 100. By providing track grooves and guide grooves, the guide wheel assembly of the inspection component can run along the guide grooves or track grooves respectively, ensuring that the guide wheel assembly runs within a limited range, preventing deviation and detachment, and preventing the wheel assembly from wobbling up and down, thus making the overall structure more stable.

[0035] Example 4 This embodiment provides an inspection device, such as Figures 3-7 As shown, the system includes a tunnel inspection mounting track as described in any of the above embodiments, and also includes an inspection component. The inspection component includes a walking mechanism and an image acquisition mechanism. The walking mechanism is mounted on the tunnel inspection mounting track and can move along each track segment 100. The walking mechanism includes a first walking frame 200, a drive wheel set, and a first guide wheel set. The drive wheel set and the first guide wheel set are both mounted on the first walking frame 200 and are rotatably mounted on the tunnel inspection mounting track. Each axle 302 of the first guide wheel set is fixed to the first walking frame 200 by an anti-reverse nut 300. The image acquisition mechanism 600 is installed at the bottom of the first walking frame 200.

[0036] In a further preferred embodiment, the image acquisition mechanism 600 of this embodiment is mounted on the bottom of the first traveling frame 200 via a rotating pan-tilt head 602. The rotating pan-tilt head 602 is a commonly used rotating device for tunnel inspection, and it enables the image acquisition mechanism 600 to rotate 360° horizontally. The image acquisition mechanism 600 of this embodiment is also mounted on the bottom of the rotating pan-tilt head 602 via a second shock-absorbing component 601. The second shock-absorbing component 601 of this embodiment can employ multiple spherical rubber structures, and the assembly method of the spherical rubber structures can refer to the assembly method of the first shock-absorbing component on the fire extinguisher in the following embodiment.

[0037] Specifically, the first guide wheel assembly in this embodiment includes a first top guide wheel 204, a first side guide wheel 205, and a first bottom guide wheel 206. Two first top guide wheels 204 are provided and are respectively rolled in the first track groove 109 and the second track groove 110. Two first side guide wheels 205 are provided and are respectively rolled in the first guide groove 111 and the second guide groove 112. Two first bottom guide wheels 206 are provided and are respectively rolled in the bottom of the track segment 100. These guide wheels work together to enable the first guide wheel assembly to move along the track segment 100.

[0038] The image acquisition mechanism can use commercially available tunnel inspection cameras, specifically lightweight and compact dual-spectrum cameras weighing less than 500g, which greatly reduces the weight of the robot. It not only has a 360-degree rotating gimbal but also features a shockproof design to reduce shaking during robot movement when monitoring or capturing images. The gimbal has multiple sensors, including a high-definition camera that ensures high-definition image visualization and zoom of more than 30x, a thermal imager that can still detect and measure temperature in low-light environments, and a laser that can perform distance detection and crack scanning on the target.

[0039] The inspection device in this embodiment can enable the inspection components to operate stably on the track section.

[0040] Example 5 Based on Example 4, this example provides a preferred structure for the anti-loosening nut 300. For example... Figure 5As shown, the anti-reverse nut 300 of this embodiment includes a nut body 301 and a pin. The nut body 301 has multiple pairs of insertion holes 303, which are evenly arranged around the circumference of the nut body 301. The insertion holes 303 extend axially to the end face of the nut body 301. Each pair includes two insertion holes 303 arranged radially corresponding to each other along the nut body 301. The axle 302 has an anti-reverse insertion hole 304. After the nut body 301 is tightened on the axle 302, a pair of insertion holes 303 and the anti-reverse insertion hole 304 on the axle 302 are arranged correspondingly. The pin is inserted into the corresponding pair of insertion holes 303 and the anti-reverse insertion hole 304. By incorporating a locking nut with a insertion hole and a locking insertion hole on the axle, a pin can be inserted into both the insertion hole and the locking insertion hole. This gear-shaped locking nut secures the pin, preventing the axle from loosening or falling off due to the nut itself becoming loose. Alternatively, a pin hole can be radially designed at the end of the axle, and a gear-shaped nut, once fixed, can secure the pin, preventing the axle from loosening or falling off due to the nut becoming loose.

[0041] Example 6 like Figure 3 As shown, the drive wheel assembly in this embodiment includes two drive wheels 201, which are respectively rolledly connected to the opposite side walls of the track section 100. The upper and lower ends of the central shafts 202 of the two drive wheels 201 are connected by tension springs 203. The connection of the central shafts of the two drive wheels by tension springs can maintain the balance of the two drive wheels as much as possible, especially reducing the problem of inconsistent force on the two drive wheels caused by the eccentric wheel when turning. The upper and lower double spring tension design can maintain the balance of the two motors as much as possible, especially reducing the problem of inconsistent force on the two motors caused by eccentric force when turning.

[0042] In this embodiment, two drive wheels 201 are provided. The lower ends of the central shafts 202 of both drive wheels 201 are rotatably connected to the platform frame of the inspection device via rotating rods. The platform frame is installed below and fixedly connected to the first traveling frame 200. The image acquisition mechanism 600 is installed below the platform frame, and the platform frame is used to install components such as controllers. The rotating rod is rotatably connected to the platform frame via bearings and is arranged horizontally. The lower end of the central shaft is vertically fixedly connected to the rotating rod. The tension springs at the lower ends of the two drive wheels 201 can be connected to the rotating rod or to the central shaft. The drive wheels 201 are wheel structures with their own motors, enabling them to move along the track under the drive of their own motors.

[0043] In this embodiment, the outer surface of the drive wheel is made of elastic silicone, and a motor is installed inside. When there is slight deformation of the track (such as bending caused by thermal expansion and contraction, or installation error), the drive mechanism can automatically adjust the wheel spacing or tilt angle to keep it in contact with the track and avoid jamming. This can prevent the robot from derailing or getting stuck when the track is uneven or when turning quickly in complex environments.

[0044] Example 7 Based on any one of embodiments 4 to 6, this embodiment provides a preferred solution for the walking mechanism. For example... Figure 3 and Figure 6 As shown, the walking mechanism in this embodiment further includes a fire extinguisher 500, a second walking frame 400, and a second guide wheel assembly. The second walking frame 400 is rotatably mounted on the tunnel inspection hook track via the second guide wheel assembly. The second walking frame 400 is detachably connected to the first walking frame 200. Each axle 302 of the second guide wheel assembly is fixed to the second walking frame 400 by anti-reverse nuts 300. The fire extinguisher 500 is mounted on the bottom of the second walking frame 400 via a first shock-absorbing component 501. In this embodiment, the first shock-absorbing component 501 can adopt two sets of mounting plates and multiple spherical rubber structures. One set of mounting plates is fixed to the bottom of the second walking frame 400 with a pre-installed assembly gap between them. The other set of mounting plates is fixed to the top of the fire extinguisher 500 with a pre-installed assembly gap between them. The upper and lower ends of the spherical rubber structures are respectively fixed to the two sets of mounting plates. The spherical rubber structures are solid rubber balls. The shock-absorbing components can reduce the shaking caused by the weight of the fire extinguishing egg (fire extinguishing canister) during robot operation.

[0045] Specifically, such as Figure 3 As shown, the second guide wheel group in this embodiment adopts the same structure as the first guide wheel group, including a second top guide wheel 401, a second side guide wheel 402, and a second bottom guide wheel. Two second top guide wheels 401 are provided and are respectively rolled in the first track groove 109 and the second track groove 110. Two second side guide wheels 402 are provided and are respectively rolled in the first guide groove 111 and the second guide groove 112. Two second bottom guide wheels are provided and are respectively rolled in the bottom of the track section 100. These guide wheels work together to realize the movement of the second guide wheel group along the track section 100.

[0046] In the description of this invention, it should be understood that the terms "center", "length", "upper", "lower", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and 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. Therefore, they should not be construed as limitations on this invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0051] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A mounting rail for tunnel inspection, characterized in that, It includes multiple track segments, which are connected end to end in sequence. Each track segment includes a track shell and a track core. The track core is a honeycomb aluminum core, which is inserted into the track shell along the length direction of the track shell and is fixedly connected to the inner sidewall of the track shell. The honeycomb aluminum core includes multiple core tubes with regular polygonal cross-sections, and the outer sidewalls of two adjacent core tubes are fixedly connected.

2. The tunnel inspection suspension track according to claim 1, characterized in that, The two ends of the track segment are respectively equipped with a first magnetic block and a second magnetic block. One end of a track segment is magnetically connected to the second magnetic block at one end of an adjacent track segment through the first magnetic block. The two adjacent track segments are also connected and fixed by connectors.

3. The tunnel inspection suspension track according to claim 2, characterized in that, The first magnetic block has a recessed center on its first mating surface to form a mating groove, and the second magnetic block has a raised center on its second mating surface to form a mating protrusion. The second mating surface is adapted to abut against the first mating surface, and the mating protrusion is adapted to be inserted into the corresponding mating groove.

4. The tunnel inspection suspension track according to claim 3, characterized in that, The first mating surface of the first magnetic block is flush with the end face of the track segment it is located on, and the second mating surface of the second magnetic block is flush with the end face of the track segment it is located on.

5. A tunnel inspection suspension track according to any one of claims 1 to 4, characterized in that, The outer surface of the track shell is covered with a carbon fiber layer; the track section is integrally formed using an aluminum drawing process.

6. A tunnel inspection suspension track according to any one of claims 1 to 4, characterized in that, The upper surface of the track segment is recessed to form a first track groove and a second track groove arranged in parallel to each other, and the first track groove and the second track groove both extend along the length direction of the track segment; the opposite side walls of the track segment are respectively recessed to form a first guide groove and a second guide groove, and the first guide groove and the second guide groove both extend along the length direction of the track segment.

7. An inspection device, characterized in that, The system includes a tunnel inspection mounting track as described in any one of claims 1 to 6, and further includes an inspection component. The inspection component includes a walking mechanism and an image acquisition mechanism. The walking mechanism is mounted on the tunnel inspection mounting track and is capable of moving along each track segment. The walking mechanism includes a first walking frame, a drive wheel set, and a first guide wheel set. The drive wheel set and the first guide wheel set are both mounted on the first walking frame and are rotatably mounted on the tunnel inspection mounting track. Each axle of the first guide wheel set is fixed to the first walking frame by anti-reverse nuts. The image acquisition mechanism is installed at the bottom of the first walking frame.

8. The inspection device according to claim 7, characterized in that, The anti-reverse nut includes a nut body and a pin. The nut body has multiple pairs of insertion holes, which are evenly arranged around the circumference of the nut body. Each pair includes two insertion holes arranged radially around the nut body. The axle has an anti-reverse insertion hole. After the nut body is tightened on the axle, a pair of insertion holes are arranged correspondingly to the anti-reverse insertion hole on the axle. The pin is inserted into the corresponding pair of insertion holes and the anti-reverse insertion hole.

9. The inspection device according to claim 7, characterized in that, The drive wheel assembly includes two drive wheels, which are respectively rolled on opposite side walls of the track section. The upper and lower ends of the central shafts of the two drive wheels are connected by tension springs.

10. The inspection device according to claim 7, characterized in that, The walking mechanism also includes a fire extinguishing tank, a second walking frame, and a second guide wheel assembly. The second walking frame is rolled on the tunnel inspection hook track via the second guide wheel assembly. The second walking frame is detachably connected to the first walking frame. Each axle of the second guide wheel assembly is fixed to the second walking frame by anti-reverse nuts. The fire extinguishing tank is installed at the bottom of the second walking frame via a first shock-absorbing component.

Images