CN109968320A - A kind of cantilever hanger rail type tunnel crusing robot - Google Patents

Abstract

The invention provides a cantilever rail-type tunnel inspection robot, comprising a robot body, an autonomous moving device for driving the robot body to move, and a cantilever; the cantilever includes a first link, a connecting plate and a first drive for driving the movement of the first link The first driving device includes a first power output mechanism, a first bearing and a first driving wheel; one end of the connecting plate is fixed with the robot body, the other end is provided with a through hole, and the first bearing is fixed in the through hole of the connecting plate ; The first drive wheel extends toward the first bearing to form a bump, the bump extends into the inner ring of the first bearing and is fixed against the wall surface, and the bump is fixed on the first connecting rod by fixing bolts; the first power output mechanism is installed on the On the robot body, the power output end drives the first driving wheel to rotate to drive the movement of the first connecting rod, and the first connecting rod is provided with a multi-modal sensing array. The application of the technical solution can solve the problem of low inspection efficiency of inspection robots in the prior art.

Description

A cantilever rail-type tunnel inspection robot

technical field

The invention relates to the field of inspection robots, in particular to a cantilever rail-type tunnel inspection robot.

Background technique

The underground power transmission technology that does not occupy the ground space has been greatly developed in many countries, especially developed countries. For example, more than 85% of the power transmission in the capital area of a certain country is underground ultra-high voltage transmission lines. In recent years, with the continuous development of underground power transmission technology, many cities have built cable tunnels for the transmission of ultra-high voltage. That is to say, the urban cable tunnel is an important type of urban electric power entering the ground overhead, improving the safety of electric power operation, and utilizing the urban underground space, and it is also an important direction for the development of electric power facilities in the future. However, cable tunnels are in an underground humid and corrosive environment all the year round, making the safety of power lines a key technology. In order to ensure the safety of power transmission, in addition to the waterproof and moisture-proof work in the tunnel, regular inspection of the power lines in the tunnel is also essential. The inspection method of cable tunnels is basically manual inspection, but it is dangerous and efficient. Low.

In response to the above problems, some cable tunnels apply online monitoring technology, but need to embed a large number of sensors, high cost, and heavy maintenance workload in the later period. With the development of robotics and inspection robots, rail inspection robots that can be used in cable tunnels or similar environments have emerged. Compared with traditional manual inspection, rail inspection robots have strong environmental adaptability, high detection accuracy, and can The advantages of 24-hour all-day inspection, the use of inspection robots for inspection not only saves costs, but also has higher inspection efficiency.

Inspection robots mainly include wheeled inspection robots and crawler inspection robots. However, the cable tunnel has a long and narrow space, is blocked along the route, has many obstacles, and has a large number of turns, up and down slopes, and even vertical climbs. However, the existing power pipe gallery tunnel cable detection robot still has the following shortcomings:

(1) The existing cable tunnel inspection robots cannot adapt to the humid environment of the tunnel well, and are prone to leakage, electrical conductivity, and cable corrosion.

(2) The structure of the existing cable tunnel inspection robot is generally cumbersome, the inspection speed is low, the inspection cannot be carried out at high speed, and the inspection efficiency is very low.

(3) The existing cable tunnel inspection robot adopts the visual inspection equipment of the cloud table, which cannot effectively solve the problems of fully autonomous inspection, multi-layer cable bracket occlusion, and automatic defect detection, and the inspection efficiency and coverage are low.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a cantilever rail-type tunnel inspection robot, so as to solve the problem of low inspection efficiency of the tunnel inspection robot in the prior art.

In order to achieve the above purpose, the present invention provides a cantilever rail-type tunnel inspection robot, the cable tunnel is provided with a track along the line, the cantilever rail-type tunnel inspection robot moves along the track on the track, and the cantilever rail-type tunnel inspection robot moves along the line. The inspection robot includes: a robot body, an autonomous mobile device and a cantilever; the autonomous mobile device is suspended on a track, and a power supply device, a drive device and a communication device electrically connected to the power supply device are installed on the robot body, so The drive device is connected with the autonomous moving device to drive the autonomous moving device to move along the track; the cantilever includes a first link, a connecting plate and a first drive device for driving the first link to move; the first drive The device includes a first power output mechanism, a first bearing and a first driving wheel; one end of the connecting plate is used to be fixed with the robot body, the other end is provided with a through hole, and the first bearing is fixed on the connecting plate the through hole of the plate; the first driving wheel extends toward the first bearing to form a hollow circular bump, the bump extends into the inner ring of the first bearing and is fixed against the wall surface, the bump It is fixed on the rod body of the first connecting rod by fixing bolts; the first power output mechanism is installed on the robot body, and the power output end of the first power output mechanism drives the first driving wheel to rotate to drive the The movement of the first connecting rod is provided on the first connecting rod, and a multi-modal sensing array for detecting the cable tunnel is arranged on the first connecting rod, and the multi-modal sensing array is electrically connected with the communication device.

Further, the cantilever further includes a second connecting rod and a second driving device for driving the movement of the second connecting rod, the second driving device includes a second power output mechanism, a rotating shaft, a transmission shaft, a second bearing, a first The third bearing, the fourth bearing, the second driving wheel, and the transmission mechanism;

The second bearing is arranged in the wheel hole of the first driving wheel, and the rotating shaft passes through the shaft hole of the second bearing; and one end of the rotating shaft extends into the first connecting rod, and the rotating shaft extends into the first connecting rod. The rotating shaft is connected with the first connecting rod through a third bearing, the second driving wheel is sleeved and fixed on the other end of the rotating shaft; one end of the transmission shaft is fixed with the second connecting rod, and the transmission The other end of the shaft is connected with the first connecting rod through the fourth bearing, and the transmission shaft is connected with the rotating shaft through the transmission mechanism; the second connecting rod is provided with the multi-modal sensor array; the second power output mechanism is installed on the robot body, and the power output end of the second power output mechanism drives the second driving wheel to rotate to drive the transmission mechanism to act on the second connection a lever to rotate the second link about the axis of the drive shaft.

Further, the transmission mechanism includes a third driving wheel, a fourth driving wheel and a built-in transmission belt, the third driving wheel is sleeved on the rotating shaft, and the fourth driving wheel is sleeved on the transmission shaft, The built-in transmission belt is connected between the third drive wheel and the fourth drive wheel.

Further, the cantilever also includes a tensioner for tensioning the built-in transmission belt.

Further, the cantilever further includes a third connecting rod and a third motor, the motor stator of the third motor is fixed on the second connecting rod, and the end of the third connecting rod is connected to the third motor The motor rotors are connected to each other, and the multi-modal sensing array is arranged on the third connecting rod.

Further, the cantilever further includes a motor fixing plate, the third motor is fixed on the motor fixing plate, and the motor fixing plate is connected with the rod body of the second link.

Further, the first power output mechanism includes a first motor, a first speed reducer and a first transmission belt, the first speed reducer is connected to the power output end of the first motor, and the first speed reducer passes through The first transmission belt is connected with the first drive wheel.

Further, the second power output mechanism includes a second motor, a second speed reducer and a second transmission belt, the second speed reducer is connected to the power output end of the second motor, and the second speed reducer passes through The first drive belt is connected to the second drive wheel.

Further, the central axis of the rotating shaft, the transmission shaft and the third motor is opened outward to form a wire hole, and the signal wire enters the corresponding connecting rod through the wire hole and then communicates with the multi-mode transmission. The inductive array is connected, and the wire enters the corresponding connecting rod through the wire hole and is electrically connected to the third motor.

Further, both ends of the third connecting rod are provided with the multimodal sensing array.

Compared with the prior art, the beneficial effect of the present invention is that: the cantilever rail-type tunnel inspection robot includes a robot body, an autonomous moving device and a cantilever; in this technical solution, the cantilever is connected to the robot body through a connecting plate, and the robot body moves autonomously through The device is in contact with the track and travels along the track. The first drive device acts on the cantilever, and the first output mechanism is installed on the robot body, which makes the cantilever lightweight, and the cantilever can rotate normally and flexibly to adapt to the complex and blocked tunnel environment. The multi-modal sensing array on the cantilever performs multi-angle and high-coverage detection of the cable tunnel with the rotation of the cantilever, thereby improving the inspection efficiency of the cable tunnel inspection robot.

Description of drawings

The accompanying drawings forming a part of the present application are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

In the attached image:

1 is a schematic diagram of the overall structure of a cantilever rail-type tunnel inspection robot of the present invention;

2 is a schematic diagram of the internal structure of the cantilever rail-type tunnel inspection robot of the present invention;

3 is a partial structural cross-sectional view of the cantilever rail-type tunnel inspection robot of the present invention;

4 is a schematic diagram of the application of the cantilever rail-type tunnel inspection robot of the present invention;

5 is a schematic diagram of the application of the cantilever rail-type tunnel inspection robot of the present invention.

Wherein, the above-mentioned drawings include the following reference signs:

10. Robot body; 20. Autonomous mobile device; 21. Roller; 22. Support housing; 31. First connecting rod; 311, First bearing; 312, First driving wheel; 3131, First motor; 3133, the first transmission belt; 32, the second connecting rod; 321, the second bearing; 322, the third bearing; 323, the rotating shaft; 324, the transmission shaft; 325, the second driving wheel; 3261, the third driving wheel; 3262, fourth drive wheel; 3263, built-in drive belt; 3264, tensioner; 3271, second motor; 3272, second reducer; 3273, second drive belt; 33, third link; 331, motor fixed board; 40, multimodal sensing array; 50, wire hole; 60, track.

Detailed ways

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. 1-4, a cantilever rail-type tunnel inspection robot includes: a robot body 10, an autonomous mobile device 20 and a cantilever; the autonomous mobile device 20 is suspended on the track, and a power supply is installed on the robot body 10 A device (not shown in the figure), a driving device (not shown in the figure) and a communication device (not shown in the figure) respectively electrically connected with the power supply device, the driving device is connected with the autonomous mobile device 20 to drive the autonomous mobile device 20 to advance along the track The cantilever includes a first connecting rod 31, a connecting plate and a first driving device that drives the first connecting rod 31 to work; the first driving device includes a first power output mechanism, a first bearing 311 and a first driving wheel 312; the connecting plate One end is used to be fixed with the robot body 10, and the other end is provided with a through hole, and the first bearing 311 is fixed in the through hole of the connecting plate; the first driving wheel 312 extends toward the first bearing 311 to form a hollow circular bump, the convex The block extends into the inner ring of the first bearing 311 and is fixed against the wall surface, and the convex block is fixed on the rod body of the first connecting rod 31 by fixing bolts; the first power output mechanism is installed on the robot body 10, and the first power output mechanism The power output end drives the first driving wheel 312 to rotate to drive the movement of the first connecting rod 31. The first connecting rod 31 is provided with a multi-modal sensing array 40 for detecting cable tunnels. The multi-modal sensing array 40 communicates with The device is electrically connected.

In the present invention, the cantilever is connected to the robot body 10 through the connecting plate. The robot body 10 is in contact with the track through the autonomous moving device 20 and travels along the track. The cantilever is acted on by the first driving device, and the first output mechanism is installed on the robot body 10. , making the cantilever lightweight, the cantilever can be rotated normally and flexibly to adapt to the complex and blocked tunnel environment, and the multi-modal sensing array 40 on the cantilever can detect the cable tunnel with high coverage with the rotation of the cantilever, thereby improving the tunnel. The inspection efficiency of the inspection robot.

The cantilever also includes a second connecting rod 32 and a second driving device for driving the second connecting rod 32 to move. The second driving device includes a second power output mechanism, a rotating shaft 323, a transmission shaft 324, a second bearing 321, and a third bearing. 322, the fourth bearing, the second driving wheel 325, and the transmission mechanism; the second bearing 321 is arranged in the wheel hole of the first driving wheel 312, the rotating shaft 323 passes through the shaft hole of the second bearing 321; and one end of the rotating shaft 323 extends Entering the first connecting rod 31, the rotating shaft 323 is connected with the first connecting rod 31 through the third bearing 322, the second driving wheel 325 is sleeved and fixed on the other end of the rotating shaft 323; one end of the transmission shaft 324 is connected with the second connecting rod 32 Fixed, the other end of the transmission shaft 324 is connected to the first connecting rod 31 through a fourth bearing, and the transmission shaft 324 is connected to the rotating shaft 323 through a transmission mechanism; the second connecting rod 32 is provided with a multi-modal sensing array 40; the second power The output mechanism is installed on the robot body 10 , and the power output end of the second power output mechanism drives the second driving wheel 325 to rotate to drive the transmission mechanism to act on the second link 32 so that the second link 32 is about the axis of the transmission shaft 324 turn.

Further, the transmission mechanism includes a third driving wheel 3261, a fourth driving wheel 3262 and a built-in transmission belt 3263, the third driving wheel 3261 is sleeved on the rotating shaft 323, the fourth driving wheel 3262 is sleeved on the transmission shaft 324, and the built-in transmission belt 3263 Connected between the third driving wheel 3261 and the fourth driving wheel 3262 . The first connecting rod 31 is driven to rotate by the first driving device, and the second connecting rod 32 is driven to rotate relative to the first connecting rod 31 by the second driving device, so that the first connecting rod 31 and the second connecting rod 32 can move relatively independently. The flexibility of the cantilever is further increased, and the inspection robot can further adapt to the complex and secluded environment of the cable tunnel to carry out inspection work and ensure the coverage of inspection.

As shown in FIG. 2 , the boom also includes a tensioner 3264 for tensioning the built-in drive belt 3263 . The tensioner 3264 tensions the built-in drive belt 3263 in the form of a U-shaped groove, so as to keep the built-in drive belt 3263 with proper tension during the transmission process, so as to prevent the drive belt from slipping, or to prevent the built-in drive belt 3263 from tooth skipping and de-teething. And the phenomenon of dragging out.

The cantilever further includes a third connecting rod 33 , and a multimodal sensing array 40 is disposed on the third connecting rod 33 . Compared with the first link 31 and the second link 32, the third link 33 at the end needs the smallest power to rotate. In order to save energy, a third motor is selected to directly drive the third connecting rod 33 to rotate. The motor stator of the third motor is fixed on the second connecting rod 32, and the end of the third connecting rod 33 is connected with the motor rotor of the third motor. The cable equipment near the ground end in the cable tunnel is susceptible to moisture and is difficult to detect. Therefore, both ends of the third link 33 are provided with multi-modal sensing arrays 40 to maximize the comprehensive inspection of the cable tunnel by the inspection robot.

Preferably, the cantilever further includes a motor fixing plate 331 for fixing the third motor. The motor fixing plate 331 is connected to the rod body of the second connecting rod 32. The motor fixing plate 331 can be used to quickly disassemble and install the third motor.

Referring to FIG. 1 , the cantilever with high aspect ratio formed by the first link 31 , the second link 32 and the third link 33 connected in series by the transmission mechanism has three degrees of freedom. Under the cooperation of the cantilever and the autonomous moving device 20 , The inspection robot has four degrees of freedom, horizontal free movement and vertical free folding, which fully ensures the flexibility of the inspection robot, adapts to the long and narrow tunnel environment, and can also pass through the fire door smoothly. The inspection efficiency of the robot. At the same time, the combination of the rotating shaft 323 and the bearing, and the transmission shaft 324 and the bearing ensures the rigidity and load capacity of the cantilever. When the inspection robot inspects, the cantilever is in a straight or free rotation state, and the multi-mode sensor array on the connecting rod detects the cable equipment; when it is necessary to pass through the fire door, the first driving device, the second driving device and the third The three motors drive the three connecting rods to fold in sequence to reduce the length of the robot cantilever, so that it can pass through the fire door smoothly. The series structure and foldable cantilever are adapted to the narrow and long blocked tunnel environment, and solves the problem that the inspection robot in the prior art is blocked by the multi-layer cable bracket, and the detection blind area cannot be fully detected.

Preferably, the first power output mechanism includes a first motor 3131, a first speed reducer 3132 and a first transmission belt 3133, the first speed reducer 3132 is connected to the power output end of the first motor 3131, and the first speed reducer 3132 passes through the first speed reducer 3132. The transmission belt 3133 is connected to the first driving pulley 312 . The second power output mechanism includes a second motor 3271, a second reducer 3272 and a second transmission belt 3273. The second reducer 3272 is connected to the power output end of the second motor 3271. The second reducer 3272 is connected to the first transmission belt 3133 with The second drive wheel 325 is connected. That is, the folding and unfolding of the third link 33 is directly driven by the third motor, and the folding and unfolding of the first link 31 and the second link 32 are driven by the first motor 3131 and the second motor 3271 through the action of the transmission belt. The use of the reducer can reduce the moment of inertia, and can control the start, stop and speed of the transmission belt in time. The first motor 3131, the second motor 3271 and the reducer are placed on the robot body 10 through the transmission belt, which greatly reduces the quality of the cantilever, thereby reducing the energy loss of the motor and ensuring that the inspection robot can still maintain High-efficiency detection; at the same time, the flexible connection between the cantilever and the robot body 10 is ensured by the use of a flexible transmission belt, which can resist the lateral force on the cantilever when the inspection robot travels at high speed and maintain its own stability.

Referring to FIG. 3 , the central axes of the rotating shaft 323 , the transmission shaft 324 and the third motor extend outward to form a wire hole 50 , and the first connecting rod 31 , the second connecting rod 32 and the third connecting rod 33 all have internal cavities of hollow rods. A part of the signal lines enter the interior of the first connecting rod 31 through the wire hole 50 of the rotating shaft 323 and then connect to the multi-modal sensing array 40 on the first connecting rod 31; Inside the connecting rod 31 , and then enter the inside of the second connecting rod 32 through the wire hole 50 of the transmission shaft 324 and then connect to the multi-modal sensing array 40 on the second connecting rod 32 ; The wire hole 50 enters the interior of the first connecting rod 31, then enters the second connecting rod 32 through the wire passing hole 50 of the transmission shaft 324, and finally enters the third connecting rod 33 through the wire passing hole 50 of the third motor. It is then connected to the multimodal sensing array 40 on the third link 33 . The electric wire enters the inside of the first connecting rod 31 through the wire hole 50 of the rotating shaft 323 and is electrically connected to the third motor. The built-in cable in the cable hole 50 effectively prevents the long-term external leakage of the cable from being prone to leakage and corrosion in a humid environment, and prolongs the service life of the tunnel inspection robot.

Further, the multimodal sensing array 40 includes a variety of detection sensors, and can also be installed on the side of any one or more of the first link 31 , the second link 32 and the third link 33 as required. Detection devices such as cameras, infrared sensors, and thermal imagers perform real-time detection with the rotation of the cantilever.

Preferably, the autonomous mobile device 20 includes a support housing 22 and four rollers 21 , the support housing 22 is connected to the robot body 10 , the four rollers 21 are divided into two groups, and the two groups of rollers 21 are symmetrically installed on the support housing 22 . superior. The track 60 is provided with two passages for the movement of the two groups of rollers 21. Referring to Figure 4, the inspection robot travels on the track 60 through the two groups of rollers 21, and the cantilever carries out multi-angle real-time monitoring of the cable tunnel along with the traveling motion of the inspection robot. detection. At the same time, the cantilever rail-type tunnel inspection robot can also add a cantilever with the same structural design. For example, a second cantilever is installed at A in Figure 4, and the two cantilevers cooperate with each other to perform double-layer inspection of the angle crossing to prevent leakage. Check the problem.

When the cantilever rail-type tunnel inspection robot conducts inspection along the track 60 in the cable tunnel, the cantilever is in a state of being stretched and opened or rotated at multiple angles. The first link 31 , the second link 32 and the third link The multi-modal sensing array 40 on the rod 33 performs multi-angle and high-coverage detection on the cable equipment, as shown in Figure 4; when the inspection robot needs to pass through the fire door or encounter an obstacle during the traveling process, The first link 31 , the second link 32 and the third link 33 are folded upward in turn to reduce the length of the cantilever, which can minimize the longitudinal length of the inspection robot. It can successfully pass through the fire door or bypass obstacles to continue the inspection work, improve the flexibility of the inspection robot in the process of traveling and inspection, and ensure the inspection efficiency to a certain extent.

The present invention greatly reduces the quality of the cantilever and reduces the energy output through the design of the cantilever series structure, the hollow arrangement of cables, and the motor and the reducer behind the robot body 10, so that the inspection robot can adapt to The narrow and long tunnel environment enables the inspection robot to perform inspection when moving at high speed, and at the same time protects the cables from moisture, which can prolong the service life and improve the coverage and inspection efficiency of the inspection robot.

It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances such that the embodiments of the application described herein can, for example, be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. a kind of cantilever hanger rail type tunnel crusing robot, be provided in cable tunnel along track, the cantilever hanger rail type tunnel Road crusing robot is mobile along the line on that track, which is characterized in that cantilever hanger rail type tunnel crusing robot includes: machine Device human body (10), autonomous device (20) and cantilever；

Autonomous device (20) suspension in orbit, is equipped with power supply unit, difference on the robot body (10) The driving device and communication device being electrically connected with the power supply unit, the driving device and the autonomous device (20) are even It connects to drive the autonomous device (20) to move along track；

The cantilever includes the first driving device of first connecting rod (31), connecting plate and driving first connecting rod (31) movement；Institute Stating first driving device includes the first power take-off mechanism, first bearing (311) and the first driving wheel (312)；The connection One end of plate is used to fix with the robot body (10), and through-hole is offered on the other end, and the first bearing (311) is fixed In the through-hole of the connecting plate；First driving wheel (312) extends to form hollow circle towards the first bearing (311) Convex block, the convex block are extended into contradict in the inner ring of the first bearing (311) with wall surface and be fixed, and the convex block passes through fixed spiral shell Bolt is fixed on the body of rod of the first connecting rod (31)；First power take-off mechanism is mounted on the robot body (10) On, the power output end of first power take-off mechanism drives first driving wheel (312) to rotate to drive described first The movement of connecting rod (31) is provided with the multi-modal sensor array (40) for detection cable tunnel on the first connecting rod (31), The multi-modal sensor array (40) is electrically connected with the communication device.

2. a kind of cantilever hanger rail type tunnel according to claim 1 crusing robot, which is characterized in that the cantilever also wraps Include second connecting rod (32) and the second driving device for driving the second connecting rod (32) to move, second driving device Including the second power take-off mechanism, shaft (323), transmission shaft (324), second bearing (321), 3rd bearing (322), the 4th axis It holds, the second driving wheel (325) and transmission mechanism；

The second bearing (321) is arranged in the wheel bore of first driving wheel (312), and the shaft (323) passes through described The axis hole of second bearing (321)；And one end of the shaft (323) extends into the first connecting rod (31), the shaft (323) it is connect by the 3rd bearing (322) with the first connecting rod (31), second driving wheel (325) is arranged and consolidates It is scheduled on the other end of the shaft (323)；One end and the second connecting rod (32) of the transmission shaft (324) are fixed, the biography The other end of moving axis (324) is connect by the fourth bearing with the first connecting rod (31), and the transmission shaft (324) passes through institute Transmission mechanism is stated to connect with the shaft (323)；The multi-modal sensor array (40) is provided on the second connecting rod (32)； Second power take-off mechanism is mounted on the robot body (10), the power output of second power take-off mechanism End drive second driving wheel (325) rotation with drive the transmission mechanism transmission effect in the second connecting rod (32) so that The second connecting rod (32) rotates around the axis of the transmission shaft (324).

3. a kind of cantilever hanger rail type tunnel according to claim 2 crusing robot, which is characterized in that the transmission mechanism Including third driving wheel (3261), the 4th driving wheel (3262) and built-in transmission belt (3263), the third driving wheel (3261) it is set on the shaft (323), the 4th driving wheel (3262) is set on the transmission shaft (324), described Built-in transmission belt (3263) is connected between the third driving wheel (3261) and the 4th driving wheel (3262).

4. a kind of cantilever hanger rail type tunnel according to claim 3 crusing robot, which is characterized in that the cantilever also wraps Include the stretcher (3264) for being tensioned the built-in transmission belt (3263).

5. according to a kind of described in any item cantilever hanger rail type tunnel crusing robots of claim 2 to 4, the cantilever further includes Third connecting rod (33) and third motor, the motor stator of the third motor are fixed on the second connecting rod (32), and described The end of three-link (33) is connected with the rotor of the third motor, is provided on the third connecting rod (33) described more Modal sense array (40).

6. a kind of cantilever hanger rail type tunnel according to claim 5 crusing robot, which is characterized in that the cantilever also wraps It includes motor fixing plate (331), the third motor is fixed on the motor fixing plate (331), the motor fixing plate (331) It is connect with the body of rod of the second connecting rod (32).

7. a kind of cantilever hanger rail type tunnel according to claim 5 crusing robot, which is characterized in that first power Output mechanism includes first motor (3131), the first retarder (3132) and the first transmission belt (3133), and described first slows down Device (3132) is connected on the power output end of the first motor (3131), and first retarder (3132) passes through described the One transmission belt (3133) is connect with first driving wheel (312).

8. a kind of cantilever hanger rail type tunnel according to claim 7 crusing robot, which is characterized in that second power Output mechanism includes the second motor (3271), the second retarder (3272) and the second transmission belt (3273), and described second slows down Device (3272) is connected on the power output end of second motor (3271), and second retarder (3272) passes through described the One transmission belt (3133) is connect with second driving wheel (325).

9. a kind of cantilever hanger rail type tunnel according to claim 8 crusing robot, which is characterized in that the shaft (323), the central axis of the transmission shaft (324) and the third motor opens up to form cable-through hole (50), signal wire outward It is connect after the cable-through hole (50) enter corresponding connecting rod inside with the multi-modal sensor array (40), electric wire passes through institute Cable-through hole (50) are stated to be electrically connected into corresponding connecting rod inside with the third motor.

10. a kind of cantilever hanger rail type tunnel according to claim 5 crusing robot, which is characterized in that the third connects Both ends are provided with the multi-modal sensor array (40) on bar (33).