A smart tunnel and cloud rail cable tray inspection robot

Abstract

This utility model discloses a smart tunnel cloud rail cable tray inspection robot. Based on the original cable tray body in the tunnel, it adopts an installation frame to adapt to the cable tray. With the installation of the drive component and the installation frame, a stable contact is formed between the drive wheel and the surface of the cable tray track. Under the rotation output of the drive component, the inspection robot can reliably move on the cable tray. The original cable tray is directly used as the robot track, which greatly improves the application scenario adaptability of the inspection robot and effectively reduces hardware and implementation costs.

Description

Technical Field

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

[0002] With the continuous expansion of highway construction, the bridge-to-tunnel ratio on highways is gradually increasing to adapt to the diverse terrain features across China. Tunnels, in particular, pose significant safety risks during actual operation, leading to numerous accidents in recent years that have resulted in 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. However, conventional tunnel inspection robots have relatively limited functionality and are costly, especially given the need for specific running tracks, which increases both hardware and implementation costs, as well as the installation load within the tunnel. Therefore, we aim to design an automated operating platform capable of performing basic inspection functions while retaining various hardware and software interfaces. Simultaneously, we seek to eliminate conventional robot tracks, reduce costs, and enable its application in a wider range of scenarios. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, this utility model provides a smart tunnel cloud rail bridge inspection robot.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A smart tunnel cloud rail cable tray inspection robot includes an inspection platform and a drive assembly. The inspection platform includes one or more mounting frames for sliding connection with the cable tray. The mounting frames are provided with rail through-holes for the cable tray rail to pass through. The drive assembly includes a drive wheel. The drive assembly is connected to one or more mounting frames to form a contact between the outer wheel surface of the drive wheel and the cable tray rail surface. The rotation of the drive wheel drives the inspection platform to move along the cable tray.

[0006] Furthermore, the mounting frame includes an intermediate component and side brackets connected to both sides of the intermediate component. The track opening is formed between the two side brackets, and one or both of the two side brackets are provided with a sliding groove for the folded edge of the cable tray to be inserted to form a sliding fit.

[0007] Furthermore, the intermediate component is provided with a wheel groove for accommodating the drive wheel, and the wheel groove forms a through opening facing the track surface of the bridge frame.

[0008] 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.

[0009] Furthermore, the intermediate component is equipped with a rotatable heavy-duty wheel bearing, the outer circumferential surface of which contacts and engages with the bridge track surface.

[0010] Furthermore, it also includes a guide limiting wheel, the outer circumferential surface of which abuts against the outer edge of the bridge frame folded edge, and a connecting bolt is provided on the guide limiting wheel, which is connected to the side bracket to form the rotation axis of the guide limiting wheel.

[0011] Furthermore, the side bracket is provided with mounting holes for installing the connecting bolts, and the connecting bolts pass through the guide limit wheel.

[0012] Furthermore, the side bracket is provided with a mounting groove, which is perpendicularly connected to the sliding groove. A pawl is slidably fitted inside 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.

[0013] Furthermore, it also includes a keel plate, which is arranged along the extension direction of the cable tray track, and two or more of the mounting frames are connected to the keel plate.

[0014] Furthermore, the drive assembly also includes a drive motor and a reduction gearbox, with the drive motor and the drive wheel respectively located at the input shaft end and the output shaft end of the reduction gearbox.

[0015] In summary, the advantages of this utility model are as follows:

[0016] This utility model's inspection robot is based on the original cable tray body in the tunnel. It adopts an installation frame to adapt to the cable tray. With the installation of the drive component and the installation frame, a stable contact is formed between the drive wheel and the surface of the cable tray track. Under the rotation output of the drive component, the inspection robot can reliably move on the cable tray. The original cable tray is directly used as the robot track, which greatly improves the adaptability of the inspection robot to the application scenarios and effectively reduces hardware and implementation costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the inspection robot of this utility model.

[0018] Figure 2 for Figure 1 A schematic diagram of the structure from the bottom middle view.

[0019] Figure 3This is a schematic diagram of the inspection platform.

[0020] Figure 4 for Figure 3 A schematic diagram of the structure from the bottom middle view.

[0021] Figure 5 An exploded structural diagram of the drive mounting frame.

[0022] Figure 6 A schematic diagram of the side bracket in one embodiment of the mounting rack.

[0023] Figure 7 A schematic diagram of the side support and elastic structure in the drive mounting frame.

[0024] Figure 8 This is an exploded structural diagram of the driven mounting frame.

[0025] Figure 9 for Figure 8 A structural diagram from another perspective.

[0026] The diagram shows the following components: 11. Drive motor; 12. Gearbox; 13. Drive wheel; 14. Connecting plate; 2a. Drive mounting frame; 2b. Driven mounting frame; 21. Side bracket; 211. Slide groove; 212. Mounting hole; 213. Nut groove; 214. Mounting groove; 215. Recess; 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; 3. Keel plate; 4. Sealing plate. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] This invention provides a smart tunnel cloud rail cable tray inspection robot, referring to... Figure 1 and Figure 2 It can be compatiblely installed on the bridge frame in the tunnel. It includes an inspection platform consisting of a drive component and a mounting frame. The drive component is directly mounted on the bridge frame through the mounting frame, and the entire inspection robot moves and runs on the bridge frame under the drive of the drive component.

[0032] For details, please refer to Figure 3 The drive assembly includes 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.

[0033] 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. According to theoretical calculations, when the output shaft speed of the reduction gearbox 12 reaches 18 rpm, the linear speed of the outer edge of the drive wheel 13 can reach 30km / h, which far exceeds the maximum operating speed of conventional track robots (20km / h), allowing the platform to move to the predetermined position in a very short time under human control, reducing waiting time.

[0034] 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.

[0035] Reference Figure 3 , Figure 5 and Figure 8The mounting frame includes a middle component 22 and two side supports 21. The two side supports 21 are arranged relatively parallel to each other, and a track through-hole 23 of a set width is formed between the two side supports 21. The middle component 22 is disposed between the two side supports 21, and its two sides are respectively connected to the two side supports 21, so that the middle component 22 serves as a support to maintain the stable position of the two side supports 21. Preferably, one or more long bolts are used as connecting members. The long bolts pass through both side supports 21 and the middle component 22 at the same time, fixing the two side supports 21 and the middle component 22.

[0036] By engaging the mounting frame with the cable tray in a snap-fit ​​configuration, the track on the cable tray used for driving the wheel 13 is located within the track opening 23, thus achieving a sliding fit between the mounting frame and the cable tray.

[0037] 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 mounting frame is configured as two or more, and the multiple mounting frames are respectively arranged on the track surfaces on both sides in a set layout, and achieve synchronous movement under the drive of the dual drive wheels 13 of the drive assembly.

[0038] To achieve a stable connection between the mounting frame 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-hole 23 and connected to the rail through-hole 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] The outer circumferential surface of the guide wheel 24 is also provided with a groove along the entire circumference. The groove forms a limit on the upper and lower double-sided folded edge, making the cooperation between the guide wheel 24 and the folded edge more stable and reducing misalignment and separation during movement.

[0043] Reference Figure 6 The guide limit wheel 24 and the side bracket 21 are designed to be detachably connected to reduce the difficulty of installing the mounting frame and the cable tray and improve the efficiency of operation. Specifically, the side bracket 21 has a mounting hole 212 along the axial direction of the guide limit wheel 24. The mounting hole 212 is connected to the slide groove 211. After the guide limit wheel 24 is set in the side bracket 21, a connecting bolt 241 is inserted into the guide limit wheel 24 along the mounting hole 212 as the rotation axis of the guide limit wheel 24. One end of the connecting bolt 241 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 also has 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.

[0044] 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 installation frames.

[0045] Specifically, refer to Figure 5 and Figure 7 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.

[0046] 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.

[0047] In some embodiments, one or more mounting frames are drive mounting frames 2a. Preferably, there are two drive mounting frames 2a arranged in parallel on the left and right track surfaces of the cable tray. The intermediate member 22 has a groove for mounting the drive wheel 13. The groove forms a through opening facing the track surface of the cable tray. The drive assembly is mounted on the drive mounting frame 2a, and the drive wheel 13 is disposed in the 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 can drive the mounting frame 2a to move along the cable tray.

[0048] 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.

[0049] Furthermore, the drive assembly and the drive mounting frame 2a 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.

[0050] More preferably, refer to Figure 5 A drive mounting frame 2a is provided with four guide limit wheels 24. The four guide limit wheels 24 are arranged in pairs on two side brackets 21 and are connected to the side brackets 21 through an elastic structure 25.

[0051] In other embodiments, one or more mounting frames are driven mounting frames 2b, which are connected to the driving mounting frame 2a via a keel plate 3. Specifically, the two ends of the keel plate 3 abut against the side bracket 21 of the driving mounting frame 2a and the side bracket 21 of the driven mounting frame 2b, respectively, and are fixedly connected by long bolts.

[0052] Preferred, refer to Figure 8 and Figure 9 Two guide limit wheels 24 are provided in a driven mounting frame 2b. The two guide limit wheels 24 are respectively disposed on two side brackets 21. One guide limit wheel 24 is installed on one side bracket 21 through a mounting hole 212 and bolts, and the other guide limit wheel 24 is installed on the other side bracket 21 through an elastic structure 25. The reduced number of guide limit wheels 24 can effectively prevent jamming caused by the small turning radius when the longitudinal distance between the driving mounting frame 2a and the driven mounting frame 2b is large.

[0053] Furthermore, a heavy-duty wheel bearing 223 is also provided in the driven mounting frame 2b for contacting and engaging with the bridge rail surface. The bottom of the intermediate part 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 part 22 and faces the bridge, 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. The heavy-duty wheel bearing 223 is provided with a bolt through it, and the two ends of the bolt are fixed to the side brackets 21 on both sides.

[0054] In some preferred embodiments, refer to Figure 3 and Figure 4 Two driven mounting frames 2b are provided and are set in parallel on the left and right rail surfaces of the cable tray. The two driven mounting frames 2b are connected to the two driven mounting frames 2a through the keel plate 3 to form a rectangular inspection platform, which serves as the part connecting the robot and the cable tray.

[0055] Furthermore, the outer periphery of the inspection platform is fixed with multiple sealing plates 4 to form a stable frame structure. The keel plate 3 and sealing plates 4 provide lateral load-bearing and protection, ensuring that the mounting frame at the four corners is in physical contact with the cable tray track surface. At the same time, the load of the entire inspection platform can be evenly distributed on the four wheels, so that each stress point is kept as balanced as possible, and there is no situation of suspension, tilting or compression deformation.

[0056] Furthermore, the inspection platform is equipped with multiple load-bearing partitions and zone partitions for mounting various electronic components, including but not limited to cameras, batteries, power modules, control modules, and communication modules. Based on the different functions of each type of electronic component, corresponding installation areas are physically isolated to prevent short circuits or breakdowns caused by slippage or loosening. The division of electronic component installation areas also facilitates targeted maintenance and repair work during later maintenance processes.

[0057] 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 smart tunnel cloud rail bridge inspection robot, characterized in that, The system includes an inspection platform and a drive assembly. The inspection platform includes one or more mounting frames for sliding connection with the cable tray. The mounting frames are provided with rail through-holes for the cable tray rails to pass through. The drive assembly includes a drive wheel. The drive assembly is connected to one or more mounting frames to form a contact between the outer wheel surface of the drive wheel and the cable tray rail surface. The rotation of the drive wheel drives the inspection platform to move along the cable tray.

2. The intelligent tunnel superrail bridge inspection robot according to claim 1, characterized in that, The mounting frame includes an intermediate component and side brackets connected to both sides of the intermediate component. The track opening is formed between the two side brackets. One or both of the two side brackets are provided with a sliding groove for the folded edge of the cable tray to be inserted to form a sliding fit.

3. The intelligent tunnel superrail bridge inspection robot according to claim 2, characterized in that, The intermediate component is provided with a wheel groove for accommodating the drive wheel, and the wheel groove forms a through opening facing the track surface of the bridge frame.

4. The intelligent tunnel superrail bridge inspection robot according to claim 3, 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.

5. The intelligent tunnel superrail bridge inspection robot according to claim 2, characterized in that, The intermediate component is equipped with a rotatable heavy-duty wheel bearing, the outer circumferential surface of which is in contact with the bridge track surface.

6. The intelligent tunnel superrail bridge inspection robot according to claim 2, characterized in that, It also includes a guide limiting wheel, the outer circumferential surface of which abuts against the outer edge of the bridge frame folded edge, and a connecting bolt is provided on the guide limiting wheel, which is connected to the side bracket to form the rotation shaft of the guide limiting wheel.

7. The intelligent tunnel superrail bridge inspection robot according to claim 6, characterized in that, The side bracket is provided with mounting holes for installing the connecting bolts, and the connecting bolts pass through the guide limit wheel.

8. The intelligent tunnel superrail bridge inspection robot according to claim 6, characterized in that, 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 limit 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.

9. The intelligent tunnel superrail bridge inspection robot according to claim 1, characterized in that, It also includes a keel plate, which is arranged along the extension direction of the cable tray track, and two or more of the mounting frames are connected to the keel plate.

10. The intelligent tunnel superrail bridge inspection robot according to claim 1, characterized in that, The drive assembly also includes a drive motor and a reduction gearbox, with the drive motor and the drive wheel respectively located at the input shaft end and the output shaft end of the reduction gearbox.

Images