A multi-directional moving gimbal for tunnel monitoring

Abstract

The application discloses a multi-directional moving cloud platform for tunnel monitoring, which comprises a fixing base, a mounting base, a shell and a driving mechanism. The fixing base and the mounting base are oppositely arranged on the shell, and the driving mechanism is arranged in the shell. The driving mechanism comprises a support, a rotating driving assembly and a swinging driving assembly. The rotating driving assembly is arranged on the upper side of the support and is in sliding connection with the fixing base. The rotating driving assembly is used for driving the shell, the driving mechanism and the mounting base to rotate relative to the fixing base. The swinging driving assembly is arranged on the lower side of the support and is connected with the mounting base. The swinging driving assembly is used for driving the mounting base to swing in the transverse direction. In the application, through the cooperative action of rotation and swinging, the multi-directional moving cloud platform can realize accurate positioning and monitoring of any position in the tunnel and provide comprehensive and accurate data support for safety evaluation of the tunnel.

Description

Technical Field

[0001] This application relates to the field of tunnel monitoring technology, and in particular to a multi-directional mobile pan-tilt unit for tunnel monitoring. Background Technology

[0002] With the rapid expansion of transportation networks, water conservancy projects, and urban underground spaces, tunnel projects are becoming increasingly large in scale and complex in structure. The environment inside tunnels is characterized by narrow spaces, variable geological conditions, dark and damp environments, and a high degree of potential for sudden disasters (such as water leakage, lining cracking, surrounding rock deformation, and spalling). This necessitates timely monitoring of the tunnel's condition during construction or use to prevent safety accidents.

[0003] Tunnel monitoring primarily relies on a combination of manual inspections and monitoring equipment. While manual inspections are intuitive and flexible, they suffer from inherent drawbacks such as low efficiency, strong subjectivity, high risk, difficulty in covering nighttime and harsh environments, and discrete data that is difficult to record continuously in time and space. Monitoring equipment (such as crack gauges, stress-strain gauges, piezometers, cameras, and rangefinders) can provide continuous data, but their monitoring range is limited to preset points, resulting in significant spatial blind spots. They struggle to capture subtle changes or sudden damage across the entire tunnel cross-section, especially in critical areas such as the arch and sidewalls. For long tunnels that can easily stretch for several kilometers or even tens of kilometers, achieving comprehensive, high-density, and dynamic monitoring coverage remains challenging.

[0004] Traditional spherical pan-tilt units have also been used in tunnel monitoring. However, the internal space of traditional spherical pan-tilt units is small, and they can only accommodate visible light cameras and thermal imagers at most. They cannot integrate more monitoring equipment (such as laser rangefinders, multispectral devices, etc.) and cannot meet the needs of the complex structure of tunnels. Utility Model Content

[0005] The main technical problem addressed by this application is to provide a multi-directional mobile pan-tilt unit for tunnel monitoring, which solves the problem that existing pan-tilt units are difficult to integrate with large monitoring equipment and cannot meet the requirements of the complex structure of tunnels.

[0006] To solve the above-mentioned technical problems, one technical solution adopted in this application is to provide a multi-directional mobile pan-tilt unit for tunnel monitoring, including a fixed base, a mounting base, a housing, and a drive mechanism. The fixed base and the mounting base are disposed opposite to each other on the housing. The drive mechanism is disposed inside the housing and includes a bracket, a rotation drive assembly, and a swing drive assembly. The rotation drive assembly is disposed on the upper side of the bracket and is slidably connected to the fixed base. The rotation drive assembly is used to drive the housing, the drive mechanism, and the mounting base to rotate relative to the fixed base. The swing drive assembly is disposed on the lower side of the bracket and is connected to the mounting base. The swing drive assembly is used to drive the mounting base to swing in the lateral direction.

[0007] In some embodiments, the rotary drive assembly includes a rotary fixed plate, a rotary drive component, a first rotary transmission component, and a second rotary transmission component. The rotary fixed plate is disposed on the bracket and located on the left side of the bracket. The rotary drive component is disposed on the rotary fixed plate, and the output shaft of the rotary drive component is vertically arranged. The first rotary transmission component is fixedly connected to the output shaft of the rotary drive component and meshes with the second rotary transmission component. The second rotary transmission component is connected to the fixed seat. A rotary bearing is disposed inside the fixed seat. The inner ring of the rotary bearing is fixedly connected to the bracket, and the outer ring of the rotary bearing is connected to the fixed seat.

[0008] In some embodiments, the fixing base includes a first fixing part and a second fixing part, the second fixing part extending downward from the middle of the first fixing part, and the second fixing part connecting to the bracket;

[0009] The lower end of the second fixing part extends inward to form a support part, and the upper end surface of the support part supports the outer ring of the rotary bearing; the middle part of the bracket extends in the direction of the rotary bearing to form a protrusion, and the protrusion is connected to the inner ring of the rotary bearing.

[0010] The outer wall of the second fixing part is stepped, including a first step and a second step. The first step is adjacent to the first fixing part, and the second step extends downward from the lower end of the first step. The diameter of the second step is smaller than the diameter of the first step. A second rotary transmission member is provided on the outside of the second step. The height of the second step is equal to the thickness of the second rotary transmission member. The first step is pressed against the upper end surface of the second rotary transmission member.

[0011] In some embodiments, the outer wall of the second step is provided with a sealing ring, which is used to seal the gap between the fixing seat and the housing; the sealing ring includes a first sealing part and a second sealing part, the second sealing part extending upward from the inner end of the first sealing part; the first sealing part is located on the lower side of the inner wall of the housing, the inner wall of the housing is close to the lower end of the outer wall of the second sealing part, the lower side of the inner wall of the second sealing part is close to the second step, the upper side of the inner wall of the second sealing part extends outward, and the upper end of the second sealing part abuts against the lower end face of the first fixing part.

[0012] In some embodiments, the bracket includes a top plate portion, and a first side plate portion and a second side plate portion extending downward from the front and rear sides of the top plate portion; a first groove is provided on the upper part of the second side plate portion, a first rotation limiting member is provided in the first groove, and a first rotation trigger member and a second rotation trigger member are provided on the second rotation transmission members on both sides of the first rotation limiting member, the first rotation trigger member and the second rotation trigger member are used to trigger the first rotation limiting member, and the first rotation limiting member is used to limit the rotation position of the bracket.

[0013] In some embodiments, the upper part of the bracket is provided with a second groove, and a second rotation limiting member and a third rotation limiting member are provided in the second groove. A third rotation trigger member and a fourth rotation trigger member are provided on the second rotation transmission member on both sides of the second groove. The third rotation trigger member is used to trigger the third rotation limiting member, and the fourth rotation trigger member is used to trigger the second rotation limiting member. The second rotation limiting member and the third rotation limiting member are used to limit the rotation limit position of the bracket.

[0014] In some embodiments, the swing drive assembly includes a swing drive member, a first swing transmission member, a second swing transmission member, and a swing transmission shaft. The swing drive member is disposed on the right side of the bracket, and the output shaft of the swing drive member is arranged horizontally. The second swing transmission member is arranged vertically, and the upper part of the second swing transmission member meshes with the first swing transmission member. The lower part of the second swing transmission member is connected to the middle part of the swing transmission shaft. The heads on both sides of the swing transmission shaft are rotatably connected to the bracket, and the two ends of the swing transmission shaft extend out of the housing and are connected to the mounting base.

[0015] In some embodiments, a third groove is provided on the inner wall of the lower part of the bracket, a first swing limiting member is provided in the third groove, a first swing trigger member and a second swing trigger member are provided on the swing transmission shaft, the first swing trigger member and the second swing trigger member are respectively located on both sides of the first swing limiting member, the first swing trigger member and the second swing trigger member are used to trigger the first swing limiting member, and the first swing limiting member is used to limit the swing position of the second swing transmission member.

[0016] In some embodiments, a second swing limiter and a third swing limiter are provided on the upper side of the inner wall of the bracket, and a third swing trigger is provided on the swing transmission shaft. The third swing trigger is located between the second swing limiter and the third swing limiter, and the third swing trigger is used to trigger the second swing limiter and the third swing limiter. The second swing limiter and the third swing limiter are used to limit the swing limit position of the second swing transmission member.

[0017] In some embodiments, the mounting base includes a mounting base plate and mounting side plates, the mounting side plates extending from the front and rear sides of the mounting base plate toward the housing; a connector is provided on the swing transmission shaft outside the swing bearing, the connector connecting to the mounting base, the connector including a first connecting portion, a second connecting portion extending from the inner side of the first connecting portion toward the swing transmission shaft, at least one connecting protrusion extending outward from the middle of the second connecting portion, a connecting hole adapted to the connecting protrusion provided on the mounting side plate, the connecting protrusion adapting to the connecting hole; a third connecting portion extending from the inner side of the second connecting portion toward the swing transmission shaft, multiple positioning grooves longitudinally formed at both ends of the swing transmission shaft, the third connecting portion adapting to the positioning grooves.

[0018] The beneficial effects of this application are as follows: In this application, the rotary drive assembly is connected to the fixed base, enabling the housing, drive mechanism, and mounting base to rotate relative to the fixed base. This allows the monitoring equipment mounted on the mounting base to rotate horizontally, thereby expanding the monitoring range. Whether it's the top, sidewalls, or bottom of the tunnel, it can be easily covered, avoiding the monitoring blind spots caused by the location limitations of traditional fixed monitoring equipment.

[0019] The oscillation drive assembly, located adjacent to and connected to the mounting base, drives the mounting base to oscillate relative to the housing. This oscillation function further enhances the flexibility of monitoring, enabling the monitoring equipment to be adjusted at large angles in the vertical direction. Through the synergistic effect of rotation and oscillation, the multi-directional pan-tilt unit can achieve precise positioning and monitoring of any location within the tunnel, providing comprehensive and accurate data support for tunnel safety assessment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a structure according to an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the structure from the rear according to an embodiment of this application;

[0022] Figure 3 This is a top view of a structural diagram according to an embodiment of this application;

[0023] Figure 4 yes Figure 3 A schematic diagram of the three-dimensional sectional structure along the AA direction;

[0024] Figure 5 This is an exploded structural diagram according to an embodiment of this application;

[0025] Figure 6 This is another exploded structural diagram according to an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the front side structure after removing the shell according to an embodiment of this application;

[0027] Figure 8 This is a schematic diagram of the structure of the rear side after removing the shell according to an embodiment of this application;

[0028] Figure 9 This is a schematic diagram of the bottom structure after removing the shell according to an embodiment of this application;

[0029] Figure 10 This is another structural schematic diagram of the bottom after removing the shell according to an embodiment of this application;

[0030] Figure 11 This is a partial structural schematic diagram of a rotary drive assembly and a swing drive assembly according to an embodiment of this application;

[0031] Figure 12 This is a partially exploded structural diagram of a rotary drive assembly according to an embodiment of this application;

[0032] Figure 13 This is a partially exploded structural diagram of a swing drive assembly according to an embodiment of this application;

[0033] Figure 14 This is a schematic diagram of the structure of a support according to an embodiment of this application;

[0034] Figure 15 This is a structural schematic diagram of a fixing base according to an embodiment of this application;

[0035] Figure 16 This is a schematic diagram of the structure of the fixing seat in another direction according to an embodiment of this application;

[0036] Figure 17 This is a schematic diagram of the structure of a connector according to an embodiment of this application. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0039] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component 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 application.

[0040] 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 one or more of that feature. In the description of this application, "multiple" or "several" means two or more, unless otherwise explicitly specified.

[0041] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0042] For the description of this application, the terms used are not limiting. Figure 1 The labels “front,” “back,” “up,” “down,” “left,” and “right” shown are used to facilitate understanding of this embodiment and are not intended to limit this application. Specifically, front-back indicates longitudinal direction, left-right indicates lateral direction, and up-down indicates vertical direction.

[0043] Figures 1-17This application illustrates an embodiment of a multi-directional pan-tilt unit for tunnel monitoring, comprising a fixed base 1, a mounting base 2, a housing 3, and a drive mechanism. The fixed base 1 and the mounting base 2 are disposed opposite each other in the housing 3. The drive mechanism is disposed within the housing 3 and includes a bracket 4, a rotation drive assembly 5, and a swing drive assembly 6. The rotation drive assembly 5 is disposed on the upper side of the bracket 4 and is slidably connected to the fixed base 1. The rotation drive assembly 5 is used to drive the housing 3, the drive mechanism, and the mounting base 2 to rotate relative to the fixed base 1. The swing drive assembly 6 is disposed on the lower side of the bracket 4 and is connected to the mounting base 2. The swing drive assembly 6 is used to drive the mounting base 2 to swing in the lateral direction.

[0044] In this application, the rotary drive assembly 5 is connected to the fixed base 1, enabling the housing 3, drive mechanism, and mounting base 2 to rotate relative to the fixed base 1. This allows the monitoring equipment mounted on the mounting base 2 to rotate horizontally, thereby expanding the monitoring range and avoiding blind spots caused by the location limitations of traditional fixed monitoring equipment. The swing drive assembly 6 is adjacent to and connected to the mounting base 2, enabling the mounting base 2 to swing relative to the housing 3. This swing function further enhances the flexibility of monitoring, allowing the monitoring equipment to adjust its tilt angle in the lateral direction. Through the synergistic effect of rotation and swing, the multi-directional pan-tilt unit can achieve precise positioning and monitoring of any location within the tunnel, providing comprehensive and accurate data support for tunnel safety assessment.

[0045] In some embodiments, such as Figures 4-12 As shown, the rotary drive assembly 5 includes a rotary fixed plate 51, a rotary drive component 52, a first rotary transmission component 53, and a second rotary transmission component 54. The rotary fixed plate 51 is mounted on the bracket 4, located on the left side of the bracket 4. The rotary drive component 52 is mounted on the rotary fixed plate 51, and its output shaft is vertically oriented. The first rotary transmission component 53 is fixedly connected to the output shaft of the rotary drive component 52, and engages with the second rotary transmission component 54. The second rotary transmission component 54 is connected to a fixed base 1. A rotary bearing 541 is installed inside the fixed base 1. The inner ring of the rotary bearing 541 is fixedly connected to the bracket 4, and the outer ring of the rotary bearing 541 is connected to the fixed base 1. When the output shaft of the rotary drive component 52 rotates, it drives the first rotary transmission component 53 to rotate. The rotation of the first rotary transmission component 53 causes the rotary drive component 52, the bracket 4, the housing 3, and the mounting base 2 to rotate around the vertical axis of the second rotary transmission component 54. The rotation described below will focus on the bracket 4, and will not elaborate on the rotation of the structures mounted on the bracket 4.

[0046] In some embodiments, the rotary drive 52 is a drive motor or a combination of a drive motor and a reducer, which can drive the bracket 4 to rotate forward or backward. Both the first rotary transmission member 53 and the second rotary transmission member 54 are gears, and the diameter of the second rotary transmission member 54 is 5-20 times that of the first rotary transmission member 53. This ensures the stability of the bracket 4's rotation.

[0047] In some embodiments, such as Figure 15 and Figure 16 As shown, the rotary bearing 541 is disposed within the fixed base 1. The fixed base 1 includes a first fixed part 11 and a second fixed part 12. The second fixed part 12 extends downward from the middle of the first fixed part 11. The first fixed part 11 is used to connect to an external support. The second fixed part 12 is connected to the bracket 4.

[0048] The fixed base 1 allows the pan-tilt unit to be securely installed on various supports within the tunnel, ensuring that it will not shift or shake due to vibration or external forces during operation, thus guaranteeing the stability and accuracy of the monitoring data. Even in harsh tunnel environments, such as high temperature, high humidity, and strong vibration, the multi-directional pan-tilt unit can still operate stably and reliably, providing continuous and effective support for tunnel monitoring.

[0049] In some embodiments, such as Figure 4 and Figure 16 As shown, a first central hole 15 is vertically formed in the middle of the first fixing part 11 and the second fixing part 12, and a rotary bearing 541 is disposed in the first central hole 15. The diameter of the first central hole 15 is larger than the diameter of the rotary bearing 541, which facilitates the placement of the rotary bearing 541 in the fixing seat 1 and facilitates the installation and maintenance of the rotary bearing 541.

[0050] In some embodiments, a sealing cover 17 is provided at the upper end of the first central hole 15, which can prevent dust or rainwater from entering the first central hole 15.

[0051] In some embodiments, such as Figure 4 , Figure 6 , Figure 14 , Figure 15 and Figure 16As shown, a support portion 14 extends inward from the lower end of the second fixing portion 12, and the upper end face of the support portion 14 supports the outer ring of the rotary bearing 541. A protrusion 411 extends from the middle of the bracket 4 toward the rotary bearing 541. The protrusion 411 is connected to the inner ring of the rotary bearing 541, and the height of the protrusion 411 is slightly higher than the height of the support portion 14 to make the rotary bearing 541 horizontal. A second center hole 47 is vertically opened at the center of the bracket 4. A clamping block 16 is provided at the upper end of the inner ring of the rotary bearing 541. A third center hole 161 is vertically opened at the center of the clamping block 16. A locking bolt (not shown in the figure) passes through the third center hole 161, the rotary bearing 541, and the second center hole 47 to fix the inner ring of the rotary bearing 541 to the bracket 4.

[0052] In some embodiments, such as Figure 4 , Figure 14 and Figure 15 As shown, the outer wall of the second fixing part 12 is stepped, including a first step 121 and a second step 122. The first step 121 is adjacent to the first fixing part 11, and the second step 122 extends downward from the lower end of the first step 121. The diameter of the second step 122 is smaller than the diameter of the first step 121. A second rotary transmission member 54 is provided on the outer side of the second step 122. The height of the second step 122 is equal to the thickness of the second rotary transmission member 54. The first step 121 presses against the upper end surface of the second rotary transmission member 54, thereby fixing the second rotary transmission member 54.

[0053] In some embodiments, the outer surface of the second step 122 extends outward with a positioning protrusion 13, and the inner wall of the second rotary transmission member 54 is provided with a positioning groove 542. The positioning groove 542 is adapted to the positioning protrusion 13. The cooperation between the positioning groove 542 and the positioning protrusion 13 can position the second rotary transmission member 54 and prevent the second rotary transmission member 54 from rotating.

[0054] In some embodiments, such as Figure 4 and Figure 12 As shown, the outer wall of the second step 122 is provided with a sealing ring 58. The sealing ring 58 is used to seal the gap between the fixing seat 1 and the housing 3 to prevent dust or rainwater from entering the housing 3.

[0055] In some embodiments, such as Figure 4 , Figure 12 and Figure 15As shown, the sealing ring 58 includes a first sealing portion 581 and a second sealing portion 582, with the second sealing portion 582 extending upward from the inner end of the first sealing portion 581. The first sealing portion 581 is annular and located on the lower side of the inner wall of the housing 3. The inner wall of the housing 3 is close to the lower end of the outer wall of the second sealing portion 582. The lower side of the inner wall of the second sealing portion 582 is abutted against the second step 122 of the second fixing portion 12, and the upper side of the inner wall of the second sealing portion 582 extends outward, with the upper end of the second sealing portion 582 abutting against the lower end face of the first fixing portion 11. This ensures a tight seal between the fixing seat 1 and the housing 3, preventing dust or rainwater from entering the housing 3.

[0056] In some embodiments, such as Figure 14 As shown, the bracket 4 has a U-shaped structure, including a top plate 41, and a first side plate 42 and a second side plate 43 extending downward from the front and rear sides of the top plate 41.

[0057] In some embodiments, such as Figure 8 , Figure 11 and Figure 12 As shown, a first groove 421 is provided on the upper part of the first side plate portion 42, and a first rotation limiting member 55 is provided in the first groove 421. A first rotation trigger member 551 and a second rotation trigger member 552 are provided on the second rotation transmission members 54 on both sides of the first rotation limiting member 55. The first rotation trigger member 551 and the second rotation trigger member 552 are used to trigger the first rotation limiting member 55, and the first rotation limiting member 55 is used to limit the rotation position of the bracket 4. When the first rotation trigger member 551 triggers the first rotation limiting member 55, it limits the rotation position of the bracket 4 when it rotates forward. When the second rotation trigger member 552 triggers the first rotation limiting member 55, it limits the rotation position of the bracket 4 when it rotates backward.

[0058] In some embodiments, the first rotation limiting member 55 can be a photoelectric switch or a limit switch, and the first rotation trigger member 551 and the second rotation trigger member 552 are rod-shaped or L-shaped structures. When the bracket 4 rotates clockwise, the first rotation limiting member 55 rotates in the direction of the first rotation trigger member 551. When the first rotation limiting member 55 moves directly below the first rotation trigger member 551, the first rotation trigger member 551 triggers the first rotation limiting member 55. The first rotation limiting member 55 then controls the rotation drive member 52 to stop operating via the control board 7 to prevent the bracket 4 from rotating too clockwise. After the first rotation trigger member 551 triggers the first rotation limiting member 55, the rotation drive member 52 can no longer continue to rotate clockwise, but must stop rotating until a new command is input to reverse it. When the bracket 4 reverses, the first rotation limiter 55 rotates towards the second rotation trigger 552. When the first rotation limiter 55 moves directly below the second rotation trigger 552, the second rotation trigger 552 triggers the first rotation limiter 55. The first rotation limiter 55 then controls the rotation drive 52 to stop operating via the control panel 7 to prevent the bracket 4 from reversing excessively. After the second rotation trigger 552 triggers the first rotation limiter 55, the rotation drive 52 can no longer continue to reverse; instead, it must stop rotating until a new command is input to rotate it back to the forward direction.

[0059] In some embodiments, such as Figure 7 , Figure 11 and Figure 12 As shown, a second groove 431 is provided on the upper part of the second side plate portion 43. A second rotation limiting member 56 and a third rotation limiting member 57 are provided in the second groove 431. A third rotation trigger member 571 and a fourth rotation trigger member 561 are provided on the second rotation transmission members 54 on both sides of the second groove 431. The third rotation trigger member 571 is used to trigger the third rotation limiting member 57, and the fourth rotation trigger member 561 is used to trigger the second rotation limiting member 56. The second rotation limiting member 56 and the third rotation limiting member 57 are used to limit the rotation limit position of the bracket 4. When the third rotation trigger member 571 triggers the third rotation limiting member 57, it limits the rotation limit position of the bracket 4 when rotating forward. When the fourth rotation trigger member 561 triggers the second rotation limiting member 56, it limits the rotation limit position of the bracket 4 when rotating in reverse.

[0060] The second rotation limiter 56 and the third rotation limiter 57 serve as safety devices. If the first rotation limiter 55 malfunctions and fails to stop the drive component, the rotation drive component 52 will continue to rotate, which may cause damage to the equipment.

[0061] In some embodiments, the second rotation limiting member 56 and the third rotation limiting member 57 can be photoelectric switches or limit switches, and the third rotation trigger member 571 and the fourth rotation trigger member 561 can be rod-shaped structures or L-shaped structures.

[0062] When the bracket 4 rotates forward, the first rotation limiter 55 rotates in the direction of the first rotation trigger 551. When the first rotation limiter 55 moves directly below the first rotation trigger 551, if the first rotation limiter 55 malfunctions and fails to stop the rotation drive 52, the rotation drive 52 will continue to run, causing the bracket 4 to continue rotating forward. When the third rotation limiter 57 rotates directly below the third rotation trigger 571, the third rotation trigger 571 triggers the third rotation limiter 57. The third rotation limiter 57 controls the rotation drive 52 to cut off power through the control board 7, thereby ensuring that the rotation drive 52 will not continue to run and ensuring safety during use.

[0063] When the bracket 4 reverses, the first rotation limiter 55 rotates towards the second rotation trigger 552. When the first rotation limiter 55 moves directly below the second rotation trigger 552, if the second rotation limiter 56 malfunctions and fails to stop the rotation drive 52, the rotation drive 52 will continue to run, causing the bracket 4 to continue to reverse. When the second rotation limiter 56 rotates directly below the fourth rotation trigger 561, the fourth rotation trigger 561 triggers the second rotation limiter 56. The second rotation limiter 56 then controls the rotation drive 52 to cut off power via the control board 7, thereby ensuring that the rotation drive 52 will not continue to run and ensuring safety during use.

[0064] In some embodiments, such as Figure 9 , Figure 11 and Figure 13 As shown, the swing drive assembly 6 includes a swing drive component 61, a first swing transmission component 62, a second swing transmission component 63, and a swing transmission shaft 64. The swing drive component 61 is located on the right side of the bracket 4, and its output shaft is horizontally positioned. The second swing transmission component 63 is vertically positioned, with its upper part meshing with the first swing transmission component 62 and its lower part connected to the middle part of the swing transmission shaft 64. The heads on both sides of the swing transmission shaft 64 are rotatably connected to the bracket 4, and both ends of the swing transmission shaft 64 extend out of the housing 3 and connect to the mounting base 2.

[0065] The first swing transmission component 62 and the second swing transmission component 63 can both be gears, or they can be a combination of a worm gear and a worm.

[0066] In some embodiments, the swing drive 61 can be a drive motor or a combination of a drive motor and a reducer, which can drive the mounting base 2 to swing left or right by rotating forward or reverse. The first swing transmission member 62 is a worm gear, and the second swing transmission member 63 is a worm wheel. The first swing transmission member 62 is located on the upper part of the inner side of the bracket 4, and the second swing transmission member 63 is located on the lower part of the inner side of the bracket 4. The first swing transmission member 62 is arranged laterally and is sleeved on the outside of the output shaft of the swing drive member 61. The first swing transmission member 62 meshes with the second swing transmission member 63. When the swing drive member 61 drives the first swing transmission member 62 to rotate, the first swing transmission member 62 can drive the second swing transmission member 63 to swing left or right. This can then drive the mounting base 2, which is connected to the swing transmission shaft 64, to swing left or right.

[0067] The first swing transmission component 62 and the second swing transmission component 63 employ a combination of worm gear and worm, which reduces the space occupied by the swing drive assembly 6 and is suitable for installation within the bracket 4. This reduces the overall size of the pan-tilt unit. Furthermore, when the worm stops rotating, the worm gear also locks itself in place. When the lead angle of the worm is less than the equivalent friction angle between the meshing teeth, the mechanism has self-locking properties, enabling reverse self-locking; that is, only the worm can drive the worm gear, and the worm gear cannot drive the worm. This ensures the stability of the mounting base 2 and allows it to withstand larger loads, making it suitable for installation and use with various monitoring devices.

[0068] In some embodiments, such as Figure 9 , Figure 11 and Figure 13 As shown, a third groove 44 is provided on the inner wall of the first side plate portion 42 or the second side plate portion 43. The third groove 44 is located at the lower part of the first side plate portion 42 or the second side plate portion 43. A first swing limiting member 65 is provided in the third groove 44. A first swing trigger member 651 and a second swing trigger member 652 are provided on the swing transmission shaft 64. The first swing trigger member 651 and the second swing trigger member 652 are respectively located on both sides of the first swing limiting member 65. The first swing trigger member 651 and the second swing trigger member 652 are used to trigger the first swing limiting member 65. The first swing limiting member 65 is used to limit the swing position of the second swing transmission member 63.

[0069] In some embodiments, the first swing limiting member 65 can be a photoelectric switch or a limit switch, and the first swing trigger member 651 and the second swing trigger member 652 are rod-shaped or L-shaped structures. When the first swing trigger member 651 triggers the first swing limiting member 65, it limits the swing position of the mounting base 2 to the left. When the second swing trigger member 652 triggers the first swing limiting member 65, it limits the swing position of the mounting base 2 to the right.

[0070] When the second swing transmission member 63 swings to the left, the first swing trigger member 651 moves towards the first swing limit member 65. When the first swing trigger member 651 moves to the first swing limit member 65, it triggers the first swing limit member 65. The first swing limit member 65 then controls the swing drive member 61 to stop operating via the control panel 7 to prevent the mounting base 2 from swinging excessively to the left. After the first swing trigger member 651 triggers the first swing limit member 65, the second swing transmission member 63 can no longer continue to the left and must stop rotating. After a new command is input, the second swing transmission member 63 will swing to the right.

[0071] When the second swing transmission member 63 swings to the right, the second swing trigger member 652 rotates towards the first swing limit member 65. When the second swing trigger member 652 moves to the first swing limit member 65, it triggers the first swing limit member 65. The first swing limit member 65 then controls the swing drive member 61 to stop operating via the control panel 7 to prevent the mounting base 2 from swinging excessively to the right. After the second swing trigger member 652 triggers the first swing limit member 65, the swing drive member 61 can no longer continue to the right but must stop rotating. After a new command is input, the second swing transmission member 63 will swing to the left.

[0072] In some embodiments, such as Figure 9 , Figure 11 and Figure 13 As shown, a second swing limiting member 66 and a third swing limiting member 67 are provided on the upper side of the inner wall of the first side plate portion 42 or the second side plate portion 43. A third swing trigger member 671 is provided on the swing transmission shaft 64. The third swing trigger member 671 is located between the second swing limiting member 66 and the third swing limiting member 67. The third swing trigger member 671 is used to trigger the second swing limiting member 66 and the third swing limiting member 67. The second swing limiting member 66 and the third swing limiting member 67 are used to limit the swing limit position of the second swing transmission member 63. When the third swing trigger member 671 triggers the third swing limiting member 67, it limits the swing limit position of the mounting base 2 to the left. When the third swing trigger member 671 triggers the second swing limiting member 66, it limits the swing limit position of the second swing transmission member 63 to the right.

[0073] The second swing limiter 66 and the third swing limiter 67 serve as safety devices. If the first swing limiter 65 fails to stop the drive component, the swing drive component 61 will continue to swing, which may cause damage to the equipment.

[0074] In some embodiments, the second swing limiter 66 and the third swing limiter 67 may be photoelectric switches or limit switches, and the third swing trigger 671 may be a rod-shaped structure or an L-shaped structure.

[0075] When the second swing transmission member 63 swings to the left, the first swing trigger member 651 swings towards the first swing limit member 65. When the first swing trigger member 651 moves to the first swing limit member 65, if the first swing limit member 65 malfunctions and fails to stop the swing drive member 61, the swing drive member 61 will continue to run, causing the second swing transmission member 63 to continue swinging to the left. When the third swing trigger member 671 swings to the third swing limit member 67, the third swing trigger member 671 triggers the third swing limit member 67. The third swing limit member 67 controls the swing drive member 61 to cut off power through the control board 7, thereby ensuring that the swing drive member 61 will not continue to run and ensuring safety during use.

[0076] When the second swing transmission member 63 swings to the right, the second swing trigger member 652 swings towards the first swing limit member 65. When the second swing trigger member 652 moves to the first swing limit member 65, if the second swing limit member 66 malfunctions and fails to stop the swing drive member 61, the swing drive member 61 will continue to run, causing the second swing transmission member 63 to continue swinging to the right. When the third swing trigger member 671 swings to the second swing limit member 66, the second swing limit member 66 controls the swing drive member 61 to cut off power through the control board 7. This ensures that the swing drive member 61 will not continue to run, ensuring safety during use.

[0077] In some embodiments, such as Figure 6 , Figure 10 , Figure 13 and Figure 14 As shown, mounting grooves 45 are provided on the outer sides of the first side plate 42 and the second side plate 43 of the bracket 4. A swing bearing 643 is provided in each mounting groove 45. A swing transmission shaft 64 passes through the mounting groove 45 and is connected to the swing bearing 643. An arc-shaped baffle 46 is provided on the outer side of the mounting groove 45, which restricts the swing bearing 643 within the mounting groove 45.

[0078] In some embodiments, such as Figure 6 As shown, the mounting base 2 includes a mounting base plate 21 and mounting side plates 22. The mounting base plate 21 is square, and the mounting side plates 22 extend from the front and rear sides of the mounting base plate 21 toward the housing 3. The mounting base plate 21 is used to mount other equipment, such as measuring terminals, laser rangefinders, etc.

[0079] In some embodiments, such as Figure 9 , Figure 11 and Figure 17 As shown, a connector 68 is provided on the swing drive shaft 64 outside the swing bearing 643. The connector 68 is connected to the mounting base 2, thereby ensuring the stability of the connection with the mounting base 2.

[0080] In some embodiments, such as Figure 6 , Figure 9 , Figure 11 and Figure 17 As shown, the connector 68 includes a first connecting portion 681, which is disc-shaped and has an outer end face flush with the outer end face of the mounting side plate 22. A second connecting portion 682 extends from the inner side of the first connecting portion 681 toward the swing drive shaft 64. The middle of the second connecting portion 682 is annular, and at least one connecting protrusion 684 extends outward from the middle of the second connecting portion 682. The mounting side plate 22 is provided with a connecting hole 23 that matches the connecting protrusion 684. The connector 68, through the engagement of the connecting protrusion 684 and the connecting hole 23, can drive the mounting base 2 to swing with the swing drive shaft 64.

[0081] In some embodiments, such as Figure 9 , Figure 11 , Figure 13 and Figure 17 As shown, a third connecting part 683 extends from the inner side of the second connecting part 682 toward the direction of the swing drive shaft 64. Multiple positioning grooves 641 are longitudinally provided at both ends of the swing drive shaft 64. The third connecting part 683 is adapted to the positioning grooves 641. The cooperation between the third connecting part 683 and the positioning grooves 641 can ensure the stability of the connection between the swing drive shaft 64 and the connecting member 68.

[0082] In some embodiments, such as Figure 13 As shown, the middle of both ends of the swing drive shaft 64 and the middle of the connector 68 are provided with connecting holes 642. A fixing bolt (not shown in the figure) passes through the connecting hole 642 and fixes the swing drive shaft 64 and the connector 68.

[0083] In some embodiments, such as Figure 5 and Figure 6 As shown, the housing 3 includes a first outer shell 31 and a second outer shell 32. The first outer shell 31 and the second outer shell 32 are symmetrically arranged around the vertical axis of the multi-directional pan-tilt unit used for tunnel monitoring. The first outer shell 31 and the second outer shell 32 enclose a receiving space, within which a drive mechanism is installed. The symmetrical arrangement of the first outer shell 31 and the second outer shell 32 facilitates the assembly of the housing 3 and the maintenance of its internal structure. The housing 3 effectively blocks dust, moisture, and debris from entering the tunnel, preventing them from entering the drive mechanism, reducing wear and corrosion of components, and extending the service life of the equipment.

[0084] In some embodiments, such as Figures 4-14As shown, a control board 7 is provided inside the housing 3. The control board 7 is connected to a rotary drive 52, a swing drive 61, a first rotary limiter 55, a second rotary limiter 56, a third rotary limiter 57, a first swing limiter 65, a second swing limiter 66, and a third swing limiter 67. The control board 7 can control the forward rotation, reverse rotation, and power-off of the rotary drive 52 according to the first rotary limiter 55, the second rotary limiter 56, and the third rotary limiter 57. The control board 7 can also control the forward rotation, reverse rotation, and power-off of the swing drive 61 according to the first swing limiter 65, the second swing limiter 66, and the third swing limiter 67. In this application, the pan-tilt unit does not need to rotate and swing 360° due to the special environment of the tunnel. Therefore, the rotation angle is limited by the first rotary limiter 55, the second rotary limiter 56, and the third rotary limiter 57, and the swing angle is limited by the first swing limiter 65, the second swing limiter 66, and the third swing limiter 67.

[0085] In some embodiments, such as Figure 1 and Figure 2 As shown, a connection port 9 is provided on the side of the housing 3. The connection port 9 is connected to an external power cord to power the pan-tilt unit. An antenna 8 is provided on the outside of the housing 3. The antenna 8 is electrically connected to the control board 7. The antenna 8 is used to increase the signal received or transmitted by the control board 7, thereby providing stable signal transmission in the tunnel environment.

[0086] Therefore, this application discloses a multi-directional mobile pan-tilt unit for tunnel monitoring. In this application, the rotary drive assembly is connected to the fixed base, enabling the housing, drive mechanism, and mounting base to rotate relative to the fixed base. This allows the monitoring equipment mounted on the mounting base to rotate horizontally, thereby expanding the monitoring range. Whether it's the top, sidewalls, or bottom of the tunnel, it can be easily covered, avoiding the blind spots caused by the location limitations of traditional fixed monitoring equipment.

[0087] The oscillation drive assembly, located adjacent to and connected to the mounting base, drives the mounting base to oscillate relative to the housing. This oscillation function further enhances the flexibility of monitoring, enabling the monitoring equipment to be adjusted at large angles in the vertical direction. Through the synergistic effect of rotation and oscillation, the multi-directional pan-tilt unit can achieve precise positioning and monitoring of any location within the tunnel, providing comprehensive and accurate data support for tunnel safety assessment.

[0088] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A multi-directional mobile pan-tilt unit for tunnel monitoring, characterized in that, The device includes a fixed base, a mounting base, a housing, and a drive mechanism. The fixed base and the mounting base are disposed opposite each other on the housing. The drive mechanism is disposed within the housing and includes a bracket, a rotary drive assembly, and a swing drive assembly. The rotary drive assembly is disposed on the upper side of the bracket and is slidably connected to the fixed base. The rotary drive assembly is used to drive the housing, the drive mechanism, and the mounting base to rotate relative to the fixed base. The swing drive assembly is disposed on the lower side of the bracket and is connected to the mounting base. The swing drive assembly is used to drive the mounting base to swing in the lateral direction.

2. The multi-directional mobile pan-tilt unit for tunnel monitoring according to claim 1, characterized in that, The rotary drive assembly includes a rotary fixed plate, a rotary drive component, a first rotary transmission component, and a second rotary transmission component. The rotary fixed plate is disposed on the bracket and located on the left side of the bracket. The rotary drive component is disposed on the rotary fixed plate, and the output shaft of the rotary drive component is vertically arranged. The first rotary transmission component is fixedly connected to the output shaft of the rotary drive component and meshes with the second rotary transmission component. The second rotary transmission component is connected to the fixed seat. A rotary bearing is disposed inside the fixed seat. The inner ring of the rotary bearing is fixedly connected to the bracket, and the outer ring of the rotary bearing is connected to the fixed seat.

3. The multi-directional mobile pan-tilt unit for tunnel monitoring according to claim 2, characterized in that, The fixing base includes a first fixing part and a second fixing part, the second fixing part extends downward from the middle of the first fixing part, and the second fixing part is connected to the bracket; The lower end of the second fixing part extends inward to form a support part, the upper end surface of which supports the outer ring of the rotary bearing; the middle part of the bracket extends in the direction of the rotary bearing to form a protrusion, which is connected to the inner ring of the rotary bearing. The outer wall of the second fixing part is stepped, including a first step and a second step. The first step is adjacent to the first fixing part, and the second step extends downward from the lower end of the first step. The diameter of the second step is smaller than the diameter of the first step. The second rotary transmission member is provided on the outside of the second step. The height of the second step is equal to the thickness of the second rotary transmission member. The first step is pressed on the upper end surface of the second rotary transmission member.

4. The multi-directional mobile pan-tilt unit for tunnel monitoring according to claim 3, characterized in that, The outer wall of the second step is provided with a sealing ring, which is used to seal the gap between the fixing seat and the housing. The sealing ring includes a first sealing part and a second sealing part. The second sealing part extends upward from the inner end of the first sealing part. The first sealing part is located on the lower side of the inner wall of the housing. The inner wall of the housing is close to the lower end of the outer wall of the second sealing part. The lower side of the inner wall of the second sealing part is close to the second step. The upper side of the inner wall of the second sealing part extends outward. The upper end of the second sealing part abuts against the lower end face of the first fixing part.

5. The multi-directional mobile pan-tilt unit for tunnel monitoring according to claim 2, characterized in that, The bracket includes a top plate portion, and a first side plate portion and a second side plate portion extending downward from the front and rear sides of the top plate portion; a first groove is provided on the upper part of the second side plate portion, a first rotation limiting member is provided in the first groove, and a first rotation trigger member and a second rotation trigger member are provided on the second rotation transmission members on both sides of the first rotation limiting member. The first rotation trigger member and the second rotation trigger member are used to trigger the first rotation limiting member, and the first rotation limiting member is used to limit the rotation position of the bracket.

6. The multi-directional pan-tilt unit for tunnel monitoring according to claim 5, characterized in that, The upper part of the bracket is provided with a second groove, and a second rotation limiter and a third rotation limiter are provided in the second groove. A third rotation trigger and a fourth rotation trigger are provided on the second rotation transmission member on both sides of the second groove. The third rotation trigger is used to trigger the third rotation limiter, and the fourth rotation trigger is used to trigger the second rotation limiter. The second rotation limiter and the third rotation limiter are used to limit the rotation limit position of the bracket.

7. The multi-directional mobile pan-tilt unit for tunnel monitoring according to claim 1, characterized in that, The swing drive assembly includes a swing drive component, a first swing transmission component, a second swing transmission component, and a swing transmission shaft. The swing drive component is located on the right side of the bracket, and its output shaft is horizontally oriented. The second swing transmission component is vertically oriented, with its upper part meshing with the first swing transmission component and its lower part connected to the middle part of the swing transmission shaft. The heads on both sides of the swing transmission shaft are rotatably connected to the bracket via swing bearings, and both ends of the swing transmission shaft extend out of the housing and connect to the mounting base.

8. The multi-directional pan-tilt unit for tunnel monitoring according to claim 7, characterized in that, A third groove is provided on the inner wall of the lower part of the bracket, and a first swing limiting member is provided in the third groove. A first swing trigger and a second swing trigger are provided on the swing transmission shaft. The first swing trigger and the second swing trigger are respectively located on both sides of the first swing limiting member. The first swing trigger and the second swing trigger are used to trigger the first swing limiting member. The first swing limiting member is used to limit the swing position of the second swing transmission member.

9. The multi-directional mobile pan-tilt unit for tunnel monitoring according to claim 8, characterized in that, The upper inner wall of the bracket is provided with a second swing limiter and a third swing limiter. The swing transmission shaft is provided with a third swing trigger. The third swing trigger is located between the second swing limiter and the third swing limiter. The third swing trigger is used to trigger the second swing limiter and the third swing limiter. The second swing limiter and the third swing limiter are used to limit the swing limit position of the second swing transmission member.

10. The multi-directional mobile pan-tilt unit for tunnel monitoring according to claim 7, characterized in that, The mounting base includes a mounting base plate and mounting side plates. The mounting side plates extend from the front and rear sides of the mounting base plate toward the housing. A connector is provided on the swing transmission shaft outside the swing bearing. The connector connects to the mounting base. The connector includes a first connecting portion. A second connecting portion extends from the inner side of the first connecting portion toward the swing transmission shaft. At least one connecting protrusion extends outward from the middle of the second connecting portion. A connecting hole adapted to the connecting protrusion is provided on the mounting side plate. The connecting protrusion is adapted to the connecting hole. A third connecting part extends from the inner side of the second connecting part toward the direction of the swing transmission shaft. Multiple positioning grooves are longitudinally opened at both ends of the swing transmission shaft, and the third connecting part is adapted to the positioning grooves.

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