Movement wheel train mechanism of tunnel inspection robot

Abstract

The utility model relates to a moving wheel train mechanism of a tunnel inspection robot, which comprises a frame laterally mounted on a track, and a driving wheel train and a plurality of groups of driven guide wheel trains which are arranged in the frame, the driving wheel train is positioned in the middle of the frame and matched with the top surface of the track, and the driven guide wheel trains are positioned in the middle of the frame and matched with the top surface of the track. The driving wheels are located on the left side and the right side of the driving wheel train and matched with the upper side and the lower side of the rail, the driving wheel train comprises a driving wheel carrier arranged on the frame and driving wheels arranged on the driving wheel carrier, and the driving wheels are matched with the top face of the rail. According to the utility model, a track side-mounted mounting mode is adopted, so that the cameras can be mounted above the track, the driving wheel train drives the inspection robot to move, the cameras can be mounted on the upper side and the lower side of the frame at the same time, a shooting blind area can be avoided in the tunnel inspection process, and the inspection efficiency is improved. The defect that an existing robot of a hoisting structure can only shoot the lower view angle is overcome.

Description

Technical Field

[0001] The utility model belongs to the field of tunnel inspection robots, and in particular relates to a motion wheel system mechanism of a tunnel inspection robot. Background Art

[0002] Tunnel inspection has always been an important task to ensure the safety of tunnel structures and roads. At present, the safety inspection of various structural defects in tunnels is done manually. Each inspection requires multiple people and takes a long time to complete the safety inspection of the entire tunnel. In order to realize the unmanned and intelligent inspection of various structural defects in tunnels, tunnel inspection robots have been developed to solve the low efficiency of manual inspections and excessive fatigue caused by long-term inspections. Tunnel inspection robots are equipped with multiple sensors such as high-definition cameras, panoramic cameras, infrared cameras, gas sensors, etc. to realize multifunctional inspection work such as inspection of cracks, water seepage, and shedding of tunnel walls, inspection of road obstacles, and alarm of traffic accidents.

[0003] Currently, tunnel inspection robots mostly move on I-shaped tracks, which are mostly hoisted structures. The tracks are fixed to the tunnel wall through upper brackets, so the camera cannot be installed above the track. Therefore, during the inspection process, the camera detection will have a large visual blind spot, making it impossible to inspect some areas on the top of the tunnel. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a motion wheel system mechanism of a tunnel inspection robot. The inspection robot is installed on the track at its side, so that a camera can be installed above the track to achieve full-angle coverage and avoid visual blind spots.

[0005] The technical solution adopted by the utility model is:

[0006] A motion wheel train mechanism of a tunnel inspection robot comprises a frame mounted on a track, a driving wheel train and a driven guide wheel train arranged in the frame, the driving wheel train is located in the middle of the frame and matches with the top surface of the track, the driven guide wheel train has a plurality of groups, which are located on the left and right sides of the driving wheel train and match with the upper and lower sides of the track, the driving wheel train comprises a driving wheel frame arranged on the frame and a driving wheel arranged on the driving wheel frame, the driving wheel matches with the top surface of the track, and the driving wheel is connected to a motor by transmission.

[0007] Furthermore, the driving wheel frame includes a frame body and top fixing seats arranged at both ends of the frame body, the top fixing seats are fixedly connected to the frame, one end of the frame body is connected to one of the top fixing seats through a rotating shaft, and the other end of the frame body is connected to the other top fixing seat through a guide gas spring.

[0008] Furthermore, on a side close to the guide gas spring, a shock absorbing spring is arranged between the top of the frame body and the frame, and a guide shaft is arranged inside the shock absorbing spring.

[0009] Furthermore, the driven guide wheel system includes a wheel set base fixedly connected to the frame, a driven wheel seat installed on the wheel set base through a movable shaft, and a driven wheel arranged on the driven wheel seat, and driven wheels are arranged at both ends of the driven wheel seat.

[0010] Furthermore, a guide wheel base is provided on the driven wheel seat, and a guide wheel is provided on the guide wheel base. There are several guide wheels respectively matched with the left and right sides of the track.

[0011] Furthermore, two guide wheel bases are provided on both the left and right sides of the track, the two guide wheel bases on one side are connected by a guide spring sheet, and two guide wheels are provided on each guide wheel base.

[0012] Furthermore, a horizontally arranged driven wheel assembly fixing plate is provided in the frame, driven wheel springs are provided at both ends of the driven wheel seat, and the driven wheel seat is fixed to the driven wheel assembly fixing plate by the driven wheel springs and screws.

[0013] Furthermore, the driving wheel, driven wheel and guide wheel are all made of rubber-coated material.

[0014] Furthermore, the frame includes a main vertical plate, an upper vertical plate, a lower vertical plate, a top plate, a bottom plate, a left vertical plate and a right vertical plate, the driving wheel train is installed on the top plate, and the left vertical plate and the right vertical plate are respectively provided with a clearance groove for the track to pass through.

[0015] The positive effects of the utility model are:

[0016] The utility model adopts a track side-mounted installation method, so that the camera can be installed above the track, and the driving wheel system drives the inspection robot to move. The camera can be installed on the upper and lower sides of the frame at the same time, and the shooting blind spots can be avoided during the tunnel inspection process, which solves the shortcoming that the robot with the existing hoisting structure can only shoot the downward perspective.

[0017] The driving wheel system is set on the upper side of the guide rail, and the robot's own gravity can be used to provide friction. Combined with the shock-absorbing spring and guide gas spring of the driving wheel system, dynamic adjustment of the driving wheel and track pressure can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 It is a schematic diagram of the decomposition of the framework of the utility model;

[0020] Figure 3This is a schematic diagram of the structure of the driving wheel system of the utility model;

[0021] Figure 4 It is an exploded schematic diagram of the driven guide gear train of the utility model. DETAILED DESCRIPTION

[0022] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0023] As attached Figures 1-4 As shown, the utility model discloses a motion wheel train mechanism of a tunnel inspection robot, comprising a frame 3 mounted on a track 4 and a driving wheel train and a driven guide wheel train arranged in the frame 3 .

[0024] The frame 3 includes a main vertical plate 32, an upper vertical plate 33, a lower vertical plate 34, a top plate 35, a bottom plate 36, a left vertical plate 37 and a right vertical plate 38. The driving wheel train is installed on the top plate 35. The main vertical plate 32 is located on one side of the track 4. The upper vertical plate 33 and the lower vertical plate 34 are respectively located on the upper and lower sides of the track 4 to wrap the driving wheel train and the driven guide wheel train in the frame 3. The left vertical plate 37 and the right vertical plate 38 are respectively located on the left and right sides of the main vertical plate 32. The top plate 35 and the bottom plate 36 are respectively located at the top and bottom of the main vertical plate 32. All the plates constituting the frame 3 are connected by mortise and tenon structures, which ensures the stability and lightness of the structure in the installation method of the side-mounted track. The left vertical plate 37 and the right vertical plate 38 are respectively provided with a clearance groove for the track 4 to pass through.

[0025] The driving wheel train is installed on the top plate 35 , a driven wheel set fixing plate 31 is provided on the main vertical plate 32 , and the driven guide wheel train is installed on the driven wheel set fixing plate 31 .

[0026] As attached Figure 2 , 3 As shown, the driving wheel system of the utility model is located in the middle of the frame 3 and matches the top surface of the track 4, including a driving wheel frame 14 and a driving wheel 13 arranged on the driving wheel frame 14, the driving wheel 13 matches the top surface of the track 4, a motor 11 is installed on one side of the driving wheel frame 14, a reducer 12 is arranged on the output shaft of the motor 11, the driving wheel 13 is connected to the reducer 12, and the driving wheel 13 is driven by the motor to rotate. The motor 11 is a servo motor, and the reducer 12 is a right-angle planetary gear reducer.

[0027] Preferably, the driving wheel frame 14 includes a frame main body 14a and top fixing seats 14b provided at both ends of the frame main body 14a. The number of the top fixing seats 14b is two and they are fixedly connected to the top plate 35. The driving wheel 13 is installed in the frame main body 14a through a bearing seat 14g. One end of the frame main body 14a is connected to one of the top fixing seats 14b through a rotating shaft 14c, and the other end of the frame main body 14a is connected to the other top fixing seat 14b through a guiding air spring 14f. And a damping spring 14d is provided at one end of the frame main body 14a close to the guiding air spring 14f. The damping spring 14d is located between the frame main body 14a and the top plate 35, and a guiding shaft 14e is provided in the damping spring 14d. The frame main body 14a is connected to the top plate 35 through the damping spring 14d and the guiding air spring 14f to form a damping structure, which can realize the dynamic adjustment of the pressure between the driving wheel 13 and the track 4.

[0028] The driven guiding wheel system includes a wheel set base 26, a driven wheel seat 24 and a driven wheel 21. The driven wheel 21 is fixed on the driven wheel seat 24 through a driven wheel shaft 22 and a driven wheel shaft end screw 23. The driven wheel seat 24 is fixed on the wheel set base 26 through a movable shaft 25. Each driven guiding wheel system includes two driven wheels 21, and the two driven wheels 21 are respectively located on the left and right sides of the driven wheel seat 24. Driven wheel springs 212 are respectively provided on the left and right sides of the movable shaft 25 on the driven wheel seat 24. The driven wheel seat 24 is fixed on the driven wheel set fixing plate 31 through the driven wheel springs 212 and screws. The driven wheel 21 and the driving wheel 13 are both located above the track 4 and are in contact with the top surface of the track.

[0029] A guiding structure is further provided on the wheel set base 26, which includes a guiding wheel base 28 fixed on the wheel set base 26 through a positioning shaft 210 passing through a base bushing 29 and a guiding wheel 27 provided on the guiding wheel base 28. Two guiding wheel bases 28 are respectively provided on both sides of the track 4. The adjacent two guiding wheel bases 28 are connected through a guiding spring piece 211. And two horizontally arranged guiding wheels 27 are provided on each guiding wheel base 28. The guiding wheels 27 are in contact with both sides of the track 4 to achieve the guiding function.

[0030] There are 4 groups of driven guiding wheel systems, which are respectively located on the left and right sides of the driving wheel system and the upper and lower sides of the track 4.

[0031] Preferably, the driving wheel 13, the driven wheel 21 and the guiding wheel 27 of the present utility model are all made of rubber-coated materials.

[0032] The utility model installs the frame side on the track 4, leaving the top position space compared with the prior art, and cameras can be installed at the top and bottom of the frame to avoid blind spots during tunnel inspection and achieve all-round detection. At the same time, the gravity of the robot itself is used to provide friction, and the shock-absorbing spring 14d and the guiding air spring 14f of the driving wheel system can realize dynamic adjustment of the pressure between the driving wheel and the track, avoiding excessive vibration of the fuselage. The driven guiding wheel system is provided with a spring structure, which allows the robot to run smoothly even when the track is uneven.

[0033] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A motion gear train mechanism of a tunnel inspection robot, characterized in that The invention comprises a frame (3) mounted on a track (4) at its side, and a driving wheel train and a driven guide wheel train arranged in the frame (3); the driving wheel train is located in the middle of the frame (3) and matches the top surface of the track (4); the driven guide wheel train comprises a plurality of groups, which are located on the left and right sides of the driving wheel train and match the upper and lower sides of the track (4); the driving wheel train comprises a driving wheel frame (14) arranged on the frame (3) and a driving wheel (13) arranged on the driving wheel frame (14); the driving wheel (13) matches the top surface of the track (4); and the driving wheel (13) is drivingly connected to a motor (11).

2. The motion gear train mechanism of a tunnel inspection robot according to claim 1 is characterized in that The driving wheel frame (14) comprises a frame body (14a) and top fixing seats (14b) arranged at both ends of the frame body (14a); the top fixing seats (14b) are fixedly connected to the frame (3); one end of the frame body (14a) is connected to one of the top fixing seats (14b) via a rotating shaft (14c); and the other end of the frame body (14a) is connected to the other top fixing seat (14b) via a guide gas spring (14f).

3. The motion gear train mechanism of a tunnel inspection robot according to claim 2 is characterized in that On a side close to the guide gas spring (14f), a shock absorbing spring (14d) is provided between the top of the frame body (14a) and the frame (3), and a guide shaft (14e) is provided inside the shock absorbing spring (14d).

4. The motion gear train mechanism of a tunnel inspection robot according to claim 1 is characterized in that The driven guide wheel train comprises a wheel assembly base (26) fixedly connected to the frame (3), a driven wheel seat (24) mounted on the wheel assembly base (26) via a movable shaft (25), and a driven wheel (21) arranged on the driven wheel seat (24), with driven wheels (21) being arranged at both ends of the driven wheel seat (24).

5. The motion gear train mechanism of a tunnel inspection robot according to claim 4 is characterized in that A guide wheel base (28) is also provided on the driven wheel seat (24), and a guide wheel (27) is provided on the guide wheel base (28). The guide wheels (27) have a plurality of guide wheels that respectively cooperate with the left and right sides of the track (4).

6. The motion gear train mechanism of a tunnel inspection robot according to claim 5, characterized in that Two guide wheel bases (28) are provided on both the left and right sides of the track (4); the two guide wheel bases (28) on one side are connected via a guide spring sheet (211); and two guide wheels (27) are provided on each guide wheel base (28).

7. The motion gear train mechanism of a tunnel inspection robot according to claim 4 is characterized in that A horizontally arranged driven wheel assembly fixing plate (31) is provided in the frame (3), driven wheel springs (212) are provided at both ends of the driven wheel seat (24), and the driven wheel seat (24) is fixed to the driven wheel assembly fixing plate (31) via the driven wheel springs (212) and screws.

8. The motion gear train mechanism of a tunnel inspection robot according to claim 5, characterized in that The driving wheel (13), the driven wheel (21), and the guide wheel (27) are all made of rubber-coated material.

9. The motion gear train mechanism of a tunnel inspection robot according to claim 1, characterized in that The frame (3) comprises a main vertical plate (32), an upper vertical plate (33), a lower vertical plate (34), a top plate (35), a bottom plate (36), a left vertical plate (37) and a right vertical plate (38); a driving wheel train is mounted on the top plate (35); and clearance grooves for allowing the track (4) to pass through are respectively provided on the left vertical plate (37) and the right vertical plate (38).

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