A double-cabin tunnel inspection robot

Abstract

This utility model relates to a dual-chamber tunnel inspection robot, including a walking mechanism and a track, as well as a first chamber and a second chamber. Both the first and second chambers include a cabin, on which the walking mechanism is mounted. The cabins are connected to the track via the walking mechanism. The walking mechanism includes drive wheels and connecting mechanisms. The connecting mechanisms are symmetrically arranged on the front and rear sides of the cabins. The drive wheels are positioned between the two connecting mechanisms. The connecting mechanism includes a bracket, a transverse auxiliary wheel set, and a longitudinal auxiliary wheel set. The transverse and longitudinal auxiliary wheel sets are both fixed to the bracket and clamp the track respectively. The drive wheels are in contact with the track. A steering mechanism is provided between the bracket and the upper surface of the cabin. A flexible connecting mechanism is provided between the first and second chambers. This utility model uses a dual-chamber structure to increase the installation space for sensors and detection equipment. The additional walking mechanism enables synchronous walking, steering, and track clamping of the two chambers, allowing them to move stably and synchronously along the track.

Description

Technical Field

[0001] This utility model relates to the field of tunnel inspection technology, specifically to a dual-chamber tunnel inspection robot. Background Technology

[0002] Tunnel inspection robots are installed inside tunnels via tracks to perform multi-dimensional environmental monitoring and assist workers in directing operations. During operation, workers remotely control the robot to move along the tracks. Existing tunnel inspection robots are mostly single-compartment structures, which limit the number of sensors that can be installed, thus preventing the expansion to include more types of sensors. Similarly, due to structural limitations and insufficient installation space, they are difficult to adapt to diverse inspection scenarios.

[0003] To address these issues, existing technologies involve increasing the size of the single-cabinet structure. However, with a larger single-cabinet size, the robot relies on a single motor for drive, which may lead to insufficient power in complex track environments such as long-distance tunnels and curves. Furthermore, high-speed turns cause significant impacts on the robot and the track, affecting operational stability.

[0004] Therefore, there is an urgent need for a dual-compartment tunnel inspection robot, which can provide more installation positions for sensors and other detection equipment, and also ensure the stability of the dual-compartment structure when moving on the track. Utility Model Content

[0005] To address the problem of insufficient installation space for equipment on existing tunnel inspection robots, this utility model proposes a dual-compartment tunnel inspection robot. The dual-compartment structure increases the installation space for sensors and detection equipment, and a walking mechanism is set up to enable the two compartments to walk, turn, and clamp onto the track synchronously, allowing the two compartments to walk stably along the track synchronously.

[0006] To achieve the above objectives, this utility model proposes a dual-chamber tunnel inspection robot, including a walking mechanism and a track, as well as a first chamber and a second chamber. Both the first chamber and the second chamber include a chamber, on which the walking mechanism is installed. The chamber is connected to the track through the walking mechanism. The walking mechanism includes a drive wheel and a connecting mechanism. The connecting mechanisms are symmetrically arranged on the front and rear sides of the chamber. The drive wheel is disposed between the two connecting mechanisms. The connecting mechanism includes a bracket, a transverse auxiliary wheel set, and a longitudinal auxiliary wheel set. The transverse auxiliary wheel set and the longitudinal auxiliary wheel set are both fixed on the bracket and clamp the track respectively. The drive wheel is in contact with the track. A steering mechanism is provided between the bracket and the upper surface of the chamber. A flexible connection mechanism is provided between the first and second cabins. An emergency projection light is provided at the bottom of the first cabin, a dual-spectrum gimbal camera is provided at the bottom of the second cabin, and a speaker is provided on the side of the second cabin.

[0007] Furthermore, the cabin is a hollow, U-shaped structure. A mounting base is provided on the upper surface of the cabin. A rectangular through-hole is formed on the upper surface of the mounting base corresponding to the cabin's recess. A drive wheel is positioned at the rectangular through-hole. Shock-absorbing mechanisms are provided on both sides of the drive wheel. Each shock-absorbing mechanism includes a connecting plate, a column, and a suspension. The suspension has a triangular structure, with its apex pointing downwards and rotatably connected to the drive wheel via a bearing. One base corner of the suspension is rotatably connected to the connecting plate, and the other base corner has an elliptical through-hole. A column is positioned within the elliptical through-hole. The column has a stepped cylindrical structure, with its large-diameter end area larger than the area of ​​the elliptical through-hole. The lower end of the column is threaded to the mounting base. A spring is fitted onto the column, positioned between the suspension and the mounting base. The connecting plate is fixed to the mounting base.

[0008] A shock-absorbing mechanism is installed to reduce the impact of track bumps on the drive wheels. Additionally, the drive wheels can be fine-tuned by adjusting the distance between the column and the mounting base to ensure contact with the track. Both the first and second compartments are equipped with drive wheels, which work synchronously to provide power to the dual-compartment tunnel inspection robot, ensuring sufficient power support.

[0009] Furthermore, the bracket is U-shaped, and both side walls of the bracket are U-shaped structures, with an waist-shaped plate at the top of the side walls of the bracket; The transverse auxiliary wheel assembly includes four swing wheels. Each swing wheel includes a horizontal arm and a roller. One side of the horizontal arm is located between the side wall of the waist-shaped plate and the support, and the other side has a notch. The roller is rotatably connected in the notch. The horizontal arm is rotatably connected to the waist-shaped plate and the support. A limit hole is provided on the waist-shaped plate, and a limit block is inserted into the limit hole. The limit block is fixed to the horizontal arm. The four balance wheels are arranged in pairs in a figure-eight pattern, with each of the four balance wheels contacting both sides of the track and clamping the track in the left and right directions.

[0010] There are two connecting mechanisms on one cabin, so there are eight pendulum wheels on one cabin. The total number of pendulum wheels on the first and second cabins is 16. The 16 pendulum wheels clamp the track, so that the dual-cabin tunnel inspection robot will not sway left or right during operation. The design layout of the pendulum wheels allows for multiple contact points between the pendulum wheels and the track, and the forces at each contact point are balanced, so as to achieve stable operation of the dual-cabin tunnel inspection robot.

[0011] The limiting holes on the horizontal arm limit the limiting blocks, thereby restricting the rotation range of the horizontal arm. The small range of rotation of the horizontal arm allows the four balance wheels to cope with the slight changes in the track due to thermal expansion and contraction, making the operation of the dual-chamber tunnel inspection robot more stable.

[0012] Furthermore, the longitudinal auxiliary wheel set includes pressure rollers and rollers. The pressure rollers are connected to the two side walls of the bracket respectively through bearings and rotating shafts. The rollers are located below the two pressure rollers. The rollers are provided with roller frames. The roller frames are U-shaped. The rollers are rotatably connected to the middle of the roller frames. Extension plates are provided on both sides of the roller frames. Spring assemblies are provided between the extension plates and the middle of the bracket. The roller frames are fixed to the bracket through the spring assemblies. The two pressure rollers contact the upper end face of the bottom of the track, and the roller contacts the lower end face of the bottom of the track. The two pressure rollers and the roller clamp the track in the vertical direction.

[0013] Each compartment has two connecting mechanisms, therefore each compartment has four pressure rollers and two rollers. The first and second compartments together have eight pressure rollers and four rollers. The pressure rollers press down on the upper surface of the bottom of the track from both sides according to the shape of the track, while the rollers contact the lower surface of the bottom of the track. The two clamp the track in the vertical direction, enabling the dual-compartment tunnel inspection robot to operate stably.

[0014] Furthermore, the steering mechanism includes a bearing and a rotating shaft. The bearing is fixed to the mounting base, and the rotating shaft is fixedly installed inside the bearing. The rotating shaft is fixed to the bottom surface of the bracket. Two arc-shaped holes are mirror-imagely opened in the middle of the bracket, and a limit post is provided corresponding to the middle of the arc-shaped holes. The limit post is fixed to the mounting base.

[0015] The flexible connection mechanism includes a bellows cover and a universal coupling; Both the first and second cabins have openings on their side walls, and crossbeams are fixedly connected to the openings. A slot is provided on the crossbeams, and the middle part of the crossbeams is semi-circular. Both crossbeams are rotatably connected to universal couplings. The bellows cover is fixedly installed between the openings of the first and second cabins.

[0016] The first and second compartments are equipped with a total of four steering mechanisms. During turns, the four steering mechanisms rotate sequentially under the action of the lateral and longitudinal auxiliary wheel sets, achieving smooth and stable cornering. Limiting posts within arc-shaped holes limit the turning angle, allowing the dual-compartment tunnel inspection robot to navigate 90° straight bends. Due to the robot's relatively long body, a universal coupling is installed between the first and second compartments to achieve sequential turning, further improving stability. Openings are provided on the side walls of both the first and second compartments to facilitate wiring of internal electrical equipment. Bellows covers protect the electrical wiring, and the interiors of both compartments are waterproofed and dustproofed, enhancing the overall effectiveness of the dual-compartment tunnel inspection robot.

[0017] Furthermore, the spring assembly includes a bolt and a spring, the bracket has a threaded hole corresponding to the extension plate, the bolt passes through the extension plate and is threadedly fixed to the bracket, and a spring is provided between the bracket and the extension plate, the spring being sleeved on the bolt.

[0018] The spring assembly is used to cope with track bumps, and the distance between the roller and the pressure roller can be adjusted by adjusting the distance between the bolt and the bracket, so that the dual-chamber tunnel inspection robot can be used on rails of different specifications.

[0019] The beneficial effects of this utility model through the above technical solution are as follows: This utility model solves the problem of limited installation capacity of existing tunnel inspection robot equipment. By adopting a dual-compartment structure, the modular layout increases the equipment installation capacity. The first compartment can carry equipment such as emergency projectors, while the second compartment can carry equipment such as dual-spectrum gimbal cameras and speakers. Compared to a single-compartment structure, it can accommodate more functional modules and peripherals, meeting the diverse equipment needs in tunnel inspection and expanding the robot's functional coverage.

[0020] This utility model of a dual-chamber tunnel inspection robot boasts the advantage of stable operation. A transverse auxiliary wheel set clamps the track in the left-right direction. The arrangement of the swing wheels ensures multiple contact points between the robot and the track, with balanced forces at each point. The horizontal arm can rotate within a small range to accommodate minor changes in track temperature. The longitudinal auxiliary wheel set's pressure roller contacts the upper bottom surface of the track, while the roller contacts the lower bottom surface, clamping the track vertically. A steering mechanism, using arc-shaped holes and limiting posts, limits the turning angle. A universal coupling assists in the sequential rotation of the two chambers during turns. A flexible bellows cover protects internal wiring and adapts to the relative movement of the chambers. A shock-absorbing mechanism reduces the impact of track bumps on the drive wheels. The synchronous operation of the two drive wheels provides sufficient power, ensuring stable operation of the two chambers in complex track environments. Attached Figure Description

[0021] Figure 1 This is one of the structural schematic diagrams of a dual-chamber tunnel inspection robot according to this utility model; Figure 2 This is the second structural schematic diagram of a dual-chamber tunnel inspection robot according to this utility model; Figure 3 This is the third structural schematic diagram of a dual-chamber tunnel inspection robot according to this utility model; Figure 4 for Figure 3 A cross-sectional view of AA.

[0022] Reference numerals: 1 for first compartment, 2 for second compartment, 3 for drive wheel, 4 for bracket, 5 for emergency projection light, 6 for dual-spectrum gimbal camera, 7 for horn, 8 for mounting base, 9 for connecting plate, 10 for column, 11 for suspension, 12 for waist plate, 13 for cross arm, 14 for roller, 15 for limit block, 16 for pressure roller, 17 for roller, 18 for roller frame, 19 for extension plate, 20 for steering mechanism, 21 for arc hole, 22 for spring assembly, 23 for bellows cover, 24 for universal coupling, 25 for crossbeam. Detailed Implementation

[0023] Example 1 like Figures 1-4 As shown, a dual-chamber tunnel inspection robot includes a walking mechanism and a track. It is characterized by further including a first chamber 1 and a second chamber 2. Both the first chamber 1 and the second chamber 2 include a chamber. A walking mechanism is installed on each chamber, and the chamber is connected to the track via the walking mechanism. The walking mechanism includes a drive wheel 3 and a connecting mechanism. The connecting mechanisms are symmetrically arranged on the front and rear sides of the chamber. The drive wheel 3 is positioned between the two connecting mechanisms. The connecting mechanism includes a bracket 4, a transverse auxiliary wheel set, and a longitudinal auxiliary wheel set. The transverse auxiliary wheel set and the longitudinal auxiliary wheel set are both fixed to the bracket 4 and clamp the track respectively. The drive wheel 3 contacts the track. A steering mechanism 20 is provided between the bracket 4 and the upper surface of the chamber. A flexible connection mechanism is provided between the first cabin 1 and the second cabin 2. An emergency projection light 5 is provided at the bottom of the first cabin 1, a dual-spectrum gimbal camera 6 is provided at the bottom of the second cabin 2, and a speaker 7 is provided on the side of the second cabin 2.

[0024] The cabin is a hollow, U-shaped structure. A mounting base 8 is provided on the upper surface of the cabin. A rectangular through-hole is formed on the upper surface of the mounting base 8 corresponding to the cabin's recess. A drive wheel 3 is positioned at the rectangular through-hole. Shock-absorbing mechanisms are provided on both sides of the drive wheel 3. The shock-absorbing mechanisms include a connecting plate 9, a column 10, and a suspension 11. The suspension 11 has a triangular structure, with its apex pointing downwards and rotatably connected to the drive wheel 3 via a bearing. One base corner of the suspension 11 is rotatably connected to the connecting plate 9, and the other base corner has an elliptical through-hole. A column 10 is positioned within the elliptical through-hole. The column 10 has a stepped cylindrical structure, with the larger diameter end of the column 10 having a larger area than the elliptical through-hole. The lower end of the column 10 is threaded to the mounting base 8. A spring is fitted onto the column 10, positioned between the suspension 11 and the mounting base 8. The connecting plate 9 is fixed to the mounting base 8.

[0025] The bracket 4 is U-shaped, and both side walls of the bracket 4 are convex. The top of the side wall of the bracket 4 is provided with a waist-shaped plate 12. The transverse auxiliary wheel assembly includes four swing wheels. Each swing wheel includes a horizontal arm 13 and a roller 14. One side of the horizontal arm 13 is disposed between the side wall of the waist plate 12 and the support 4, and the other side has a notch. The roller 14 is rotatably connected in the notch. The horizontal arm 13 is rotatably connected to the waist plate 12 and the support 4. A limit hole is provided on the waist plate 12, and a limit block 15 is inserted into the limit hole. The limit block 15 is fixed to the horizontal arm 13. The four balance wheels are arranged in pairs in a figure-eight pattern, with each of the four balance wheels contacting both sides of the track and clamping the track in the left and right directions.

[0026] The longitudinal auxiliary wheel assembly includes a pressure roller 16 and a roller 17. The pressure roller 16 is connected to the two side walls of the support 4 through bearings and a rotating shaft. The roller 17 is located below the two pressure rollers 16. The roller 17 is provided with a roller frame 18. The roller frame 18 is U-shaped. The roller 17 is rotatably connected to the middle of the roller frame 18. Extension plates 19 are provided on both sides of the roller frame 18. Spring assemblies 22 are provided between the extension plates 19 and the middle of the support 4. The roller frame 18 is fixed to the support 4 through the spring assemblies 22. The two pressure rollers 16 are in contact with the upper end face of the bottom of the track, and the roller 17 is in contact with the lower end face of the bottom of the track. The two pressure rollers 16 and the roller 17 clamp the track in the vertical direction.

[0027] The steering mechanism 20 includes a bearing and a rotating shaft. The bearing is fixed to the mounting base 8, and the rotating shaft is fixedly installed inside the bearing. The rotating shaft is fixed to the bottom surface of the bracket 4. Two arc-shaped holes 21 are mirror-shaped in the middle of the bracket 4. A limit post is provided in the middle of the arc-shaped holes 21, and the limit post is fixed to the mounting base 8.

[0028] The spring assembly 22 includes a bolt and a spring. The bracket 4 has a threaded hole corresponding to the extension plate 19. The bolt passes through the extension plate 19 and is threaded to the bracket 4. A spring is provided between the bracket 4 and the extension plate 19, and the spring is sleeved on the bolt.

[0029] The flexible connection mechanism includes a bellows cover 23 and a universal coupling 24; The first compartment 1 and the second compartment 2 both have openings on their side walls. A crossbeam 25 is fixedly connected to the opening. A slot is provided on the crossbeam 25. The middle part of the crossbeam 25 is semi-circular. Both crossbeams 25 are rotatably connected to a universal coupling 24. The bellows cover 23 is fixedly installed between the openings of the first cabin 1 and the second cabin 2.

[0030] In this embodiment, the drive wheel 3 is a hub motor.

[0031] During operation, the dual-compartment tunnel inspection robot connects to the track via a walking mechanism and performs inspection work through the coordinated operation of the first compartment 1 and the second compartment 2. During operation, the drive wheels 3 contact the track, and the robot moves along the track under the synchronous power output of the drive wheels 3 of each compartment. The connecting mechanism is symmetrically distributed on the front and rear sides of the compartments. The transverse auxiliary wheel set and the longitudinal auxiliary wheel set on the support 4 clamp the track from the left and right and up and down directions, respectively. The swing wheel of the transverse auxiliary wheel set contacts both sides of the track through the rollers 14 connected to the cross arm 13, and the limiting block 15 on the waist plate 12 restricts the rotation range of the cross arm. The rotation of the cross arm 13 adapts to the slight changes in the track caused by thermal expansion and contraction. The pressure roller 16 of the longitudinal auxiliary wheel set contacts the upper end surface of the track bottom, and the roller 17 contacts the lower end surface of the track bottom through the roller frame 18 and the spring assembly 22, ensuring that no swaying occurs during movement.

[0032] During operation, the shock absorption mechanism mitigates the impact of track bumps. The suspension 11 connects the drive wheel 3 with a triangular structure, working in conjunction with the springs on the column 10 to buffer impacts. Simultaneously, the distance between the column and the mounting base 8 can be adjusted to ensure the drive wheel maintains contact with the track. When encountering curves, the steering mechanism 20 between the bracket 4 and the mounting base 8 rotates via bearings and a shaft. The arc-shaped hole 21 and the limiting post restrict the turning angle. The universal coupling 24 between the first compartment 1 and the second compartment 2 assists in the orderly steering of the two compartments. The bellows cover 23 protects the wiring at the openings of the two compartments, balancing flexible connection and protection.

[0033] During operation, the emergency projection light 5 at the bottom of the first compartment 1 can project warning information (such as safety exit signs) in special circumstances, the dual-spectrum pan-tilt camera 6 at the bottom of the second compartment 2 collects images and thermal imaging data inside the tunnel, and the side speaker 7 is used for voice reminders or intercom. All components work together to complete the inspection task of the tunnel environment and equipment status.

[0034] The embodiments described above are merely preferred embodiments of this utility model and are not intended to limit the scope of implementation of this utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the patent claims of this utility model should be included within the scope of the patent application of this utility model.

Claims

1. A dual-chamber tunnel inspection robot, comprising a walking mechanism and a track, characterized in that, It also includes a first cabin (1) and a second cabin (2). Both the first cabin (1) and the second cabin (2) include cabins. A walking mechanism is provided on the cabin. The cabin is connected to the track through the walking mechanism. The walking mechanism includes a drive wheel (3) and a connecting mechanism. The connecting mechanism is symmetrically arranged on the front and rear sides of the cabin. The drive wheel (3) is arranged between the two connecting mechanisms. The connecting mechanism includes a bracket (4), a transverse auxiliary wheel group and a longitudinal auxiliary wheel group. The transverse auxiliary wheel group and the longitudinal auxiliary wheel group are both fixed on the bracket (4) and clamp the track respectively. The drive wheel (3) is in contact with the track. A steering mechanism (20) is provided between the bracket (4) and the upper surface of the cabin. A flexible connection mechanism is provided between the first cabin (1) and the second cabin (2). An emergency projection light (5) is provided at the bottom of the first cabin (1), a dual-spectrum gimbal camera (6) is provided at the bottom of the second cabin (2), and a horn (7) is provided on the side of the second cabin (2).

2. The dual-chamber tunnel inspection robot according to claim 1, characterized in that, The cabin is a hollow U-shaped structure. A mounting base (8) is provided on the upper surface of the cabin. A rectangular through-hole is provided on the upper surface of the mounting base (8) corresponding to the recess in the cabin. A drive wheel (3) is positioned at the rectangular through-hole. Shock-absorbing mechanisms are provided on both sides of the drive wheel (3). The shock-absorbing mechanism includes a connecting plate (9), a column (10), and a suspension (11). The suspension (11) has a triangular structure, with its apex pointing downwards and rotatably connected to the drive wheel (3) via a bearing. (11) is rotatably connected to one bottom corner and the connecting plate (9), and an elliptical through hole is opened at the other bottom corner. A column (10) is set in the elliptical through hole. The column (10) has a stepped cylindrical structure. The area of ​​the large diameter end of the column (10) is larger than the area of ​​the elliptical through hole. The lower end of the column (10) is threaded to the mounting base (8). A spring is sleeved on the column (10). The spring is located between the suspension (11) and the mounting base (8). The connecting plate (9) is fixed to the mounting base (8).

3. The dual-chamber tunnel inspection robot according to claim 2, characterized in that, The bracket (4) is U-shaped, and both side walls of the bracket (4) are convex. A waist-shaped plate (12) is provided at the top of the side wall of the bracket (4). The transverse auxiliary wheel assembly includes four swing wheels. Each swing wheel includes a horizontal arm (13) and a roller (14). One side of the horizontal arm (13) is located between the side wall of the waist plate (12) and the support (4), and the other side has a notch. The roller (14) is rotatably connected in the notch. The horizontal arm (13) is rotatably connected to the waist plate (12) and the support (4). A limit hole is provided on the waist plate (12), and a limit block (15) is inserted into the limit hole. The limit block (15) is fixed to the horizontal arm (13). The four balance wheels are arranged in pairs in a figure-eight pattern, with each of the four balance wheels contacting both sides of the track and clamping the track in the left and right directions.

4. The dual-chamber tunnel inspection robot according to claim 3, characterized in that, The longitudinal auxiliary wheel set includes a pressure roller (16) and a roller (17). The pressure roller (16) is connected to the two side walls of the bracket (4) through bearings and a rotating shaft respectively. The roller (17) is located below the two pressure rollers (16). The roller (17) is provided with a roller frame (18). The roller frame (18) is U-shaped. The roller (17) is rotatably connected to the middle of the roller frame (18). Extension plates (19) are provided on both sides of the roller frame (18). A spring assembly (22) is provided between the extension plate (19) and the middle of the bracket (4). The roller frame (18) is fixed to the bracket (4) through the spring assembly (22). Two pressure rollers (16) are in contact with the upper end face of the bottom of the track, and the roller (17) is in contact with the lower end face of the bottom of the track. The two pressure rollers (16) and the roller (17) clamp the track in the vertical direction.

5. A dual-chamber tunnel inspection robot according to claim 3, characterized in that, The steering mechanism (20) includes a bearing and a rotating shaft. The bearing is fixed to the mounting base (8). The rotating shaft is fixed inside the bearing. The rotating shaft is fixed to the bottom surface of the bracket (4). Two arc-shaped holes (21) are mirrored in the middle of the bracket (4). A limit post is provided in the middle of the arc-shaped holes (21). The limit post is fixed to the mounting base (8).

6. A dual-chamber tunnel inspection robot according to claim 4, characterized in that, The spring assembly (22) includes a bolt and a spring. The bracket (4) has a threaded hole corresponding to the extension plate (19). The bolt passes through the extension plate (19) and is threaded to the bracket (4). A spring is provided between the bracket (4) and the extension plate (19). The spring is sleeved on the bolt.

7. A dual-chamber tunnel inspection robot according to claim 1, characterized in that, The flexible connection mechanism includes a bellows cover (23) and a universal coupling (24). The first compartment (1) and the second compartment (2) are provided with openings on their side walls. A crossbeam (25) is fixedly connected to the opening. A slot is provided on the crossbeam (25). The middle part of the crossbeam (25) is semi-circular. Both crossbeams (25) are rotatably connected to a universal coupling (24). The accordion cover (23) is fixedly installed between the openings of the first cabin (1) and the second cabin (2).

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