The invention belongs to the technical field of tunnel construction, and particularly relates to a long-distance tunnel wall-climbing transportation robot. Comprising a platform, first rotating shafts and second rotating shafts are arranged on the upper end face and the lower end face of the platform respectively, first driving wheels are connected to the peripheries of the first rotating shafts, second driving wheels are connected to the peripheries of the second rotating shafts, and the peripheries of the first driving wheels and the second driving wheels are in transmission connection through tracks. The suckers are connected with the crawler belt through spherical hinges to achieve reversing of the robot. A plurality of vacuum pumps, vacuum motors and vacuum air pipes which are matched with suction cups are arranged in the robot, a vacuum pressure detection device is installed in each suction cup, and the devices can detect whether the inner cavity of the single suction cup reaches the specified negative pressure state or not and feed data back to a controller. And a controller is used for independently controlling the working state of each suction cup, so that crawling of the robot is achieved, and mobile gas detection, temperature and humidity alarm, camera remote inspection and an alternating current charging power supply mode can be achieved.
本发明属于隧道施工技术领域,尤其涉及一种长距离隧道爬壁运输机器人。包括平台,所述平台上、下两端面均分别设有第一转轴和第二转轴,第一转轴外围连接有第一驱动轮,第二转轴外围连接有第二驱动轮,且第一驱动轮和第二驱动轮外围通过履带传动连接。吸盘通过球铰与履带连接以实现机器人的换向;在机器人内部,设有与吸盘配套的多个真空泵、真空电机以及真空气管,每个吸盘内部安装有真空压力检测装置,该装置可检测单个吸盘内腔是否达到规定的负压状态,并将数据反馈至控制器,并且利用控制器独立控制每个吸盘的工作状态从而实现机器人的爬行,并且可实现移动式气体检测、温湿报警和摄像头远程巡视以及交流充电供电模式。
Long-distance tunnel wall-climbing transportation robot
一种长距离隧道爬壁运输机器人
2022-07-22
Patent
Electronic Resource
Chinese
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