Intelligent tunnel bridge patrol robot driving installation structure

Abstract

The utility model discloses a kind of intelligent tunnel bridge frame inspection robot drive installation structure, adopt the combination form of middle piece and side support to form and the sliding fit connection of bridge frame, and provide the wheel groove of drive wheel installation to realize the direct drive of drive wheel to bridge track surface, realize the operation of drive installation structure and inspection robot on bridge, the cooperation of drive wheel and heavy wheel type bearing realizes the stability and high efficiency of drive effect, further through the cooperation of sliding slot and guide limit wheel to bridge edge, provide the stable connection relationship of drive installation structure and bridge frame, ensure the stability of inspection robot operation, the adaptation of inspection robot and bridge is realized at low cost.

Description

Technical Field

[0001] This utility model belongs to the technical field of tunnel inspection equipment, and relates to a drive and installation structure for a smart tunnel bridge inspection robot. Background Technology

[0002] With the continuous expansion of highway construction, the ratio of bridges to tunnels on highways is gradually increasing to adapt to the different terrain features of various regions in China. Among these, tunnel sections pose significant safety risks during actual operation, and several related accidents have occurred in recent years, causing considerable economic losses and even casualties. To enhance traffic safety management within tunnels and reduce unnecessary losses, tunnel inspection robots have been deployed on several roads.

[0003] Conventional tunnel inspection robots have relatively limited functionality and are costly, especially since they require specific running tracks, significantly increasing hardware and implementation costs and adding to the installation load within the tunnel. To address these shortcomings, utilizing existing cable trays used for laying cables within tunnels as tracks for inspection robots is a novel approach. Therefore, there is an urgent need for an installation structure that allows inspection robots to adapt to existing cable trays, enabling them to perform inspection functions through actuation, and thus allowing for cost-effective deployment in more application scenarios. Utility Model Content

[0004] In order to overcome the shortcomings of the prior art, this utility model provides a drive and installation structure for an intelligent tunnel bridge inspection robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A smart tunnel cable tray inspection robot drive installation structure includes an intermediate component and side supports connected to both sides of the intermediate component. A track opening for cable tray track passage is formed between the two side supports. The intermediate component has a wheel groove communicating with the track opening. A drive wheel is arranged in the wheel groove to form contact between the drive wheel and the cable tray track surface. A heavy-duty wheel bearing is rotatably arranged at the bottom of the intermediate component, and the outer peripheral surface of the heavy-duty wheel bearing contacts and engages with the cable tray track surface. The side supports are provided with a sliding groove for the cable tray folded edge to be inserted to form a sliding fit. The sliding groove communicates with the track opening. A guide limiting wheel is rotatably arranged in the sliding groove, and the outer peripheral wheel surface of the guide limiting wheel abuts against the outer edge of the cable tray folded edge.

[0007] Furthermore, the intermediate component includes two wedge-shaped blocks, each of which has an inclined surface, and the two inclined surfaces are arranged opposite each other to form the wheel groove.

[0008] Furthermore, it also includes long bolts, which are inserted through the intermediate member and the side brackets on both sides to form a fixed connection.

[0009] Furthermore, the outer circumferential surface of the guide wheel is provided with a groove that is concave along the entire circumference, and the groove abuts against the folded edge of the cable tray.

[0010] Furthermore, a connecting bolt is provided on the guide limiting wheel, and the connecting bolt is connected to the side bracket to form the rotation shaft of the guide limiting wheel. The side bracket is provided with a mounting hole for installing the connecting bolt and a nut groove for inserting a nut. The mounting hole and the nut groove are respectively connected to the sliding groove. The connecting bolt passes through the mounting hole and is connected to the nut.

[0011] Furthermore, a connecting bolt is threaded through the guide limiting wheel, and the connecting bolt is connected to the side bracket to form the rotation shaft of the guide limiting wheel. The side bracket is provided with a mounting groove, which is perpendicularly connected to the sliding groove. A pawl is slidably fitted in the sliding groove. One end of the pawl is connected to a spring, and the other end of the spring abuts against the inner wall of the mounting groove. The head of the connecting bolt and the nut are respectively located at both ends of the guide limiting wheel. The other end of the pawl is provided with a groove for engaging the head of the connecting bolt or engaging the nut. The mounting groove is connected to the side wall of the side bracket to form an open opening for the connecting bolt to enter.

[0012] Furthermore, the intermediate component has an arc groove for accommodating the heavy-duty wheel bearing, and the arc groove is connected to the bottom of the intermediate component to form an opening facing the bridge track surface.

[0013] Furthermore, it also includes a drive assembly, which includes a drive motor and a reduction gearbox, with the drive motor and the drive wheel respectively disposed at the input shaft end and the output shaft end of the reduction gearbox.

[0014] In summary, the advantages of this utility model are as follows:

[0015] The drive mounting structure of this utility model adopts a combination of intermediate parts and side brackets to form a sliding fit connection with the bridge frame, and provides wheel grooves for the drive wheels to directly drive the drive wheels to the bridge frame track surface, realizing the operation of the drive mounting structure and the inspection robot on the bridge. The cooperation between the drive wheels and heavy-duty wheel bearings ensures stable and efficient driving effect. Furthermore, the cooperation between the sliding groove and the guide limit wheel with the bridge frame folding edge provides a stable connection between the drive mounting structure and the bridge frame, ensuring the stable operation of the inspection robot and achieving low-cost adaptation between the inspection robot and the bridge frame. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the drive mounting structure of this utility model.

[0017] Figure 2 for Figure 1 A schematic diagram of the explosion structure.

[0018] Figure 3 This is a schematic diagram of the side support structure.

[0019] Figure 4 This is a schematic diagram of the side support and elastic structure.

[0020] Figure 5 Exploded structural diagrams of other embodiments of the drive mounting structure.

[0021] Figure 6 for Figure 5 A structural diagram from another perspective.

[0022] The diagram shows the following components: 11. Drive motor; 12. Gearbox; 13. Drive wheel; 14. Connecting plate; 21. Side bracket; 211. Slide groove; 212. Mounting hole; 213. Nut groove; 214. Mounting groove; 215. Closure; 22. Intermediate component; 221. Inclined surface; 222. Arc groove; 223. Heavy-duty wheel bearing; 23. Rail through-hole; 24. Guide limit wheel; 241. Connecting bolt; 25. Elastic structure; 251. Claw; 252. Spring. Detailed Implementation

[0023] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0024] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0025] In this embodiment of the invention, all directional indicators (such as up, down, left, right, front, back, horizontal, vertical, etc.) are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indicator will also change accordingly.

[0026] Due to installation errors and other reasons, the parallel relationship referred to in the embodiments of this utility model may actually be an approximate parallel relationship, and the perpendicular relationship may actually be an approximate perpendicular relationship.

[0027] This utility model provides a smart tunnel cable tray inspection robot drive installation structure, which enables the inspection robot to be adapted to be installed on the cable tray in the tunnel, and realizes the movement and operation of the entire inspection robot on the cable tray under drive.

[0028] For reference Figure 1 The driving components of the inspection robot include a servo motor, a gearbox 12, and drive wheels 13. The gearbox 12 is preferably a T-type gearbox 12. The servo motor is connected to the input shaft end of the T-type gearbox 12 to provide rotation drive. The two drive wheels 13 are respectively connected to the two output shaft ends of the T-type gearbox 12 to form synchronous rotation output.

[0029] The drive wheel 13 preferably uses a 150mm horizontally textured solid rubber wheel, which forms effective friction when in contact with the track surface on the bridge frame, achieving high grip and high torque drive.

[0030] The cable trays mentioned in this embodiment include, but are not limited to, native cable trays in tunnels or cable trays used for laying cables and other equipment. The structural forms of cable trays have been widely disclosed in the prior art. The inspection platform can use the inner and outer walls of the cable tray or the surface of the folded edge on the cable tray as the track surface contacted by the drive wheel 13, thereby realizing the driving of the inspection robot on the cable tray.

[0031] Reference Figure 2 , Figure 5 and Figure 6 The drive mounting structure includes an intermediate component 22 and two side brackets 21. The two side brackets 21 are arranged relatively parallel to each other, and a track through-hole 23 of a set width is formed between the two side brackets 21. The intermediate component 22 is disposed between the two side brackets 21, and its two sides are respectively connected to the two side brackets 21, so that the intermediate component 22 serves as a support to maintain the stable position of the two side brackets 21. Preferably, one or more long bolts are used as connecting members. The long bolts pass through both side brackets 21 and the intermediate component 22 at the same time, fixing the two side brackets 21 and the intermediate component 22.

[0032] By engaging the rail through-hole 23 with the bridge frame, the rail on the bridge frame used for driving the wheel 13 is located inside the rail through-hole 23, thus achieving a sliding fit between the two side supports 21 and the bridge frame.

[0033] In a preferred embodiment, the cable tray adopts a parallel double-track structure, with two parallel tracks along the extension direction of the cable tray. The combination of the intermediate component 22 and the two side supports 21 is set to two or more sets. Drive installation structures are respectively set on the track surfaces on both sides, and synchronous movement is achieved under the drive of the dual drive wheels 13.

[0034] In order to achieve a stable connection between the drive mounting structure and the cable tray, one or both of the two side supports 21 are provided with a sliding groove 211, so that the sliding groove 211 is located on one or both sides of the rail through 23 and connected to the rail through 23, so that the folded edge on the cable tray can be embedded and matched in the sliding groove 211. The upper and lower sides of the sliding groove 211 limit the folded edge of the cable tray, ensuring that the mounting frame will not detach from the cable tray.

[0035] In some embodiments, both sides of the cable tray adopt a C-shaped structure, and the top of the track is bent to one side with a folded edge. The top of the folded edge serves as the track surface, and the folded edge is embedded in the slide groove 211. The side bracket 21 on the other side directly abuts against the track.

[0036] In some preferred embodiments, the rails on both sides of the cable tray adopt an I-shaped structure, and the top of the rail is bent to both sides to provide a T-shaped double fold. The top of the double fold serves as the rail surface, and the double fold is respectively embedded in the sliding grooves 211 on both sides.

[0037] To improve the operational stability of the mounting frame and cable tray, a guide limit wheel 24 is further provided. The guide limit wheel 24 is located in the side support 21, preferably in the slide groove 211. The guide limit wheel 24 is horizontally arranged, and its axis is vertical and perpendicular to the extension direction of the cable tray. This allows the outer circumferential surface of the guide limit wheel 24 to abut against the outer edge of the folded edge of the cable tray. The rolling of the guide limit wheel 24 relative to the folded edge improves the smoothness of the frame's movement.

[0038] The outer circumferential surface of the guide limit wheel 24 is also provided with a groove along the entire circumference. The bridge frame folded edge abuts in the groove. The curvature of the groove makes it limit the folded edge on both the upper and lower sides, making the cooperation between the guide limit wheel 24 and the folded edge more stable and reducing misalignment and separation during movement.

[0039] Reference Figure 3The guide limiting wheel 24 and the side bracket 21 are designed for detachable connection and installation to reduce the difficulty of installation and operation of the drive mounting structure and the cable tray and improve operational efficiency. Specifically, the side bracket 21 has a mounting hole 212 along the axial direction of the guide limiting wheel 24, which is connected to the slide groove 211. After the guide limiting wheel 24 is installed in the side bracket 21, a connecting bolt 241 is inserted into the guide limiting wheel 24 along the mounting hole 212 as the rotation axis of the guide limiting wheel 24, and one end of the connecting bolt 241 is... The guide limit wheel 24 is threadedly connected to the side bracket 21 to realize the installation of the guide limit wheel 24 and the side bracket 21. The side bracket 21 is also provided with a nut groove 213 for the nut on the connecting bolt 241 to be set into the side bracket 21. The mounting hole 212 is connected to the nut groove 213, so that the connecting bolt 241 passes through the mounting hole 212 and is threadedly connected to the nut in the nut groove 213 to complete the installation. Preferably, when the guide limit wheel 24 is set in the slide groove 211, the mounting hole 212 and the nut groove 213 are respectively connected to the slide groove 211.

[0040] Under actual construction conditions, when the tunnel distance is long enough, the installation of the cable tray will inevitably have a deviation in the linear direction. Therefore, furthermore, an elastic structure 25 is provided on one or more of the drive installation structures.

[0041] Specifically, refer to Figure 2 and Figure 4 The elastic structure 25 includes a claw 251 and a spring 252. The side bracket 21 is provided with a mounting groove 214 for mounting the claw 251 and the spring 252. The mounting groove 214 and the slide groove 211 form an interlaced connection. Preferably, the mounting groove 214 and the slide groove 211 are perpendicularly interlaced, so that the connecting bolt 241 can be set in the mounting groove 214 and perpendicularly pass through the slide groove 211. More preferably, the mounting groove 214 and the slide groove 211 are cross-shaped. Two sets of claws 251 and springs 252 are provided and are respectively set in the upper and lower ends of the mounting groove 214. The parts at both ends of the mounting groove 214 that connect with the slide groove 211 are all set with a narrow inner diameter constriction 215 structure to limit the claws 251 and springs 252 inside the two ends of the mounting groove 214 and prevent the claws 251 and springs 252 from falling into the slide groove 211.

[0042] The mounting groove 214, facing the rail through-hole 23, connects to the side wall of the side bracket 21, forming an open opening for the spring 252 and the claw 251 to enter and be installed laterally. One end of the claw 251 is provided with a post for the spring 252 to be fitted. The other end of the spring 252 extends into the mounting groove 214 and abuts against the inner wall of the mounting groove 214, forming an elastic force on the claw 251. The other end of the claw 251 is provided with a groove for engaging with the head of the connecting bolt 241 or with the nut. The connecting bolt 241 passes through the guide limiting ring and makes the connecting bolt 252... The head of 41 and the nut are respectively located on both sides of the guide limiting ring. The bolt and nut and the guide limiting ring enter the slide groove 211 and the mounting groove 214 together, so that the slots of the two claws 251 are respectively engaged with the head of the connecting bolt 241 and the nut. When the mounting frame is set on the cable tray, the elastic force of the spring 252 keeps the guide limiting wheel 24 in contact with the folded edge of the cable tray. The elastic range of the spring 252 can make the guide limiting wheel 24 adaptably move laterally when there is a certain linear deviation in the cable tray, so as to ensure the reliable cooperation between the guide limiting wheel 24 and the cable tray.

[0043] Preferably, the drive mounting structure has two parallel drive mounting structures respectively set on the left and right track surfaces of the cable tray. The intermediate member 22 has a wheel groove for mounting the drive wheel 13. The wheel groove is connected to the track through-hole 23 to form a through opening facing the track surface of the cable tray. The drive assembly is installed on the drive mounting structure, and the drive wheel 13 is set in the wheel groove of the intermediate member 22, so that the drive wheel 13 can pass through the through opening and directly contact the track surface of the cable tray. Thus, the rotation of the drive wheel 13 drives the drive mounting structure to move along the cable tray.

[0044] More preferably, the intermediate component 22 consists of two wedge-shaped blocks arranged opposite each other, each wedge-shaped block having an inclined surface 221. The two wedge-shaped blocks are arranged opposite each other with the inclined surfaces 221 facing each other, so that the two inclined surfaces 221 form the groove of the intermediate component 22.

[0045] Furthermore, the drive assembly and drive mounting structure are fixedly mounted by connecting plates 14. The output shaft ends on both sides of the gearbox 12 are fixedly connected to the two connecting plates 14 respectively. The two connecting plates 14 are fixedly connected to the drive mounting frames 2a on both sides by long bolts.

[0046] Furthermore, a heavy-duty wheel bearing 223 is rotatably mounted on the bottom of the intermediate component for contacting and engaging with the bridge rail surface, sharing the load-bearing capacity, increasing the contact area between the drive mounting structure and the rail surface, and improving the stability of the drive wheel 13. The bottom of the intermediate component 22 is provided with an arc groove 222 for accommodating the heavy-duty wheel bearing 223. The arc groove 222 is connected to the bottom of the intermediate component 22 to form an opening facing the bridge rail surface, so that the heavy-duty wheel bearing 223 is installed in the arc groove 222 and part of its outer peripheral surface is exposed to contact the rail surface. A bolt is installed through the heavy-duty wheel bearing 223, and the two ends of the bolt are fixed to the side brackets 21 on both sides.

[0047] Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort should fall within the protection scope of this utility model.

Claims

1. A drive and installation structure for a smart tunnel cable tray inspection robot, characterized in that, The device includes an intermediate component and side supports connected to both sides of the intermediate component. A track opening is formed between the two side supports for the cable tray track to pass through. The intermediate component has a wheel groove communicating with the track opening. A drive wheel is arranged in the wheel groove to form contact between the drive wheel and the cable tray track surface. A heavy-duty wheel bearing is rotatably mounted on the bottom of the intermediate component. The outer circumferential surface of the heavy-duty wheel bearing is in contact with the cable tray track surface. The side supports have a sliding groove for the cable tray folded edge to be inserted to form a sliding fit. The sliding groove is communicating with the track opening. A guide limiting wheel is rotatably mounted in the sliding groove. The outer circumferential surface of the guide limiting wheel abuts against the outer edge of the cable tray folded edge.

2. The intelligent tunnel cable tray inspection robot drive installation structure according to claim 1, characterized in that, The intermediate component includes two wedge-shaped blocks, each with an inclined surface, which are arranged opposite to each other to form the wheel groove.

3. The intelligent tunnel cable tray inspection robot drive installation structure according to claim 1, characterized in that, It also includes long bolts, which are inserted through the intermediate member and the side brackets on both sides to form a fixed connection.

4. The intelligent tunnel cable tray inspection robot drive installation structure according to claim 1, characterized in that, The outer circumferential surface of the guide wheel is provided with a groove along the entire circumference, and the groove abuts against the folded edge of the cable tray.

5. The intelligent tunnel cable tray inspection robot drive installation structure according to claim 1, characterized in that, A connecting bolt is threaded through the guide limiting wheel. The connecting bolt is connected to the side bracket to form the rotation shaft of the guide limiting wheel. The side bracket is provided with a mounting hole for installing the connecting bolt and a nut groove for inserting a nut. The mounting hole and the nut groove are respectively connected to the sliding groove. The connecting bolt passes through the mounting hole and is connected to the nut.

6. The intelligent tunnel bridge inspection robot drive installation structure according to claim 1 or 5, characterized in that, A connecting bolt passes through the guide limiting wheel, and the connecting bolt is connected to the side bracket to form the rotation shaft of the guide limiting wheel. The side bracket is provided with a mounting groove, which is perpendicularly connected to the sliding groove. A pawl is slidably fitted in the sliding groove. One end of the pawl is connected to a spring, and the other end of the spring abuts against the inner wall of the mounting groove. The head of the connecting bolt and the nut are respectively located at both ends of the guide limiting wheel. The other end of the pawl is provided with a groove for engaging the head of the connecting bolt or the nut. The mounting groove is connected to the side wall of the side bracket to form an open opening for the connecting bolt to enter.

7. The intelligent tunnel cable tray inspection robot drive installation structure according to claim 1, characterized in that, The intermediate component has an arc groove for accommodating the heavy-duty wheel bearing, and the arc groove is connected to the bottom of the intermediate component to form an opening facing the bridge track surface.

8. The intelligent tunnel cable tray inspection robot drive installation structure according to claim 1, characterized in that, It also includes a drive assembly, which includes a drive motor and a gearbox, with the drive motor and the drive wheel respectively located at the input shaft end and the output shaft end of the gearbox.

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