CN109968337A - A cantilever of a rail-mounted tunnel inspection robot - Google Patents

Abstract

The invention provides a cantilever of a rail hanging type tunnel inspection robot, comprising a first driving device, a first connecting rod and a connecting plate; the first driving device comprises 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, and 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 driving wheel extends toward the first bearing to form a hollow circular bump, and the bump extends 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 power output mechanism. A driving wheel rotates to drive the first connecting rod to move, and the first connecting rod is provided with a multi-modal sensing array for detecting the cable tunnel. The application of the technical solution can solve the problem of low inspection efficiency of the cantilever of the inspection robot in the prior art.

Description

A cantilever of a rail-mounted tunnel inspection robot

technical field

The invention relates to the field of cable tunnel inspection robots, in particular to a cantilever of a rail suspension 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 cantilever of the existing power pipe gallery tunnel cable detection hanging rail robot still has the following shortcomings:

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

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

(3) The existing cable tunnel inspection robot cantilever adopts the visual inspection equipment of the PTZ, 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 of a rail-mounted tunnel inspection robot, so as to solve the problem of low inspection efficiency of the cantilever of the tunnel inspection robot in the prior art.

In order to achieve the above purpose, the present invention provides a cantilever of a rail-mounted tunnel inspection robot, comprising: a first driving device, a first connecting rod and a connecting plate; the first driving device includes a first power output mechanism, a third a bearing and a first driving wheel; one end of the connecting plate is used for fixing 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 driving The wheel extends toward the first bearing to form a hollow circular protrusion, the protrusion extends into the inner ring of the first bearing and is fixed against the wall surface, and the protrusion is fixed on the first connecting rod by a fixing bolt 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 drive wheel to rotate to drive the first link to move, the first power output A multimodal sensing array for detecting cable tunnels is provided on the connecting rod.

Further, the cantilever of the rail suspension type tunnel inspection robot further includes a second link and a second drive device for driving the movement of the second link, and the second drive device includes a second power output mechanism, a rotating shaft, a transmission shaft, a second bearing, a third bearing, a fourth bearing, a second driving wheel, and a 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 passes through the shaft hole of the second bearing. The third bearing is connected with the first connecting rod, 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 other end of the transmission shaft The fourth bearing is connected with the first connecting rod, the transmission shaft is connected with the rotating shaft through the transmission mechanism; the multi-modal sensing array is provided on the second connecting rod; the 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, so as to drive the transmission mechanism to act on the second link to make the first The second link rotates around the axis of the transmission 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 of the rail-suspended tunnel inspection robot further includes a tensioner for tensioning the built-in transmission belt.

Further, the cantilever of the rail-suspended tunnel inspection robot 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 third connecting rod has a motor stator. The end is connected with the motor rotor of the third motor, and the third connecting rod is provided with a multi-modal sensing array.

Further, the cantilever of the rail suspension type tunnel inspection robot 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 A 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 The first transmission belt is connected with 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 of the rail-mounted tunnel inspection robot includes a first driving device, a first connecting rod and a connecting plate, and the first driving device includes a first power output mechanism, a first A 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 in the through hole of the connecting plate; the first driving wheel extends toward the first bearing to form a hollow circle 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 rod body of the first connecting rod through fixing bolts; the first power output mechanism is installed on the robot body, and the first power output The power output end of the mechanism 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 for detecting the cable tunnel. In the present invention, the first output mechanism that drives the movement of the first link is placed on the robot body to make the cantilever lighter, and at the same time, a multi-modal sensing array is arranged on the first link. The rotation of the first link can form a multi-angle observation of the position of the cable or tunnel to be detected, and realize the detection of high coverage of the cable tunnel. When it is necessary to pass through the fire door, the cantilever is rotated upward to reduce the length of the cantilever to enable inspection. The robot passed through the fire door smoothly, which effectively improved the inspection efficiency of the cantilever of the rail-mounted 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 of a rail-mounted tunnel inspection robot of the present invention;

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

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

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

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

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

11, the first connecting rod; 12, the second connecting rod; 13, the third connecting rod; 20, the multimodal sensing array; 31, the first bearing; 32, the second bearing; 33, the third bearing; 41, 1st drive wheel; 42, second drive wheel; 43, third drive wheel; 44, fourth drive wheel; 51, rotating shaft; 52, transmission shaft; 61, first motor; 62, second motor; 63, motor Fixed plate; 71, the first reducer; 72, the second reducer; 81, the first transmission belt; 82, the second transmission belt; 83, the built-in transmission belt; 83a, the tensioner; 90, the wire hole; 100, the robot body .

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. Referring to Figures 1 to 3, the present invention provides a cantilever of a rail-mounted tunnel inspection robot, comprising: a first driving device, a first connecting rod 11 and a connecting plate; the first driving device includes a first driving device A power output mechanism, a first bearing 31 and a first driving wheel 41; 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 31 is fixed in the through hole of the connecting plate; the first The drive wheel 41 extends toward the first bearing 31 to form a circular bump, the bump extends into the inner ring of the first bearing 31 and is fixed against the wall surface, and the bump is fixed on the rod body of the first connecting rod 11 by fixing bolts; the first The 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 41 to rotate to drive the movement of the first connecting rod 11. The first connecting rod 11 is provided with a multi-mode sensor for detecting cable tunnels. state sensing array 20.

In the present invention, the first output mechanism that drives the movement of the first link 11 is placed on the robot body to make the cantilever lighter, and at the same time, a multi-modal sensing array 20 is arranged on the first link 11, and the multi-modal sensing With the rotation of the first link 11, the array 20 forms a multi-angle observation on the position of the cable or tunnel to be detected, so as to realize the detection of high coverage of the cable tunnel. The inspection robot can pass through the fire door smoothly, which effectively improves the inspection efficiency of the cantilever of the hanging rail-type tunnel inspection robot.

The cantilever of the rail-mounted tunnel inspection robot further includes a second connecting rod 12 and a second driving device for driving the second connecting rod 12 to move. The second driving device includes a second power output mechanism, a rotating shaft 51, a transmission shaft 52, The second bearing 32 , the third bearing 33 , the fourth bearing, the second driving wheel 42 , and the transmission mechanism; the second bearing 32 is arranged in the wheel hole of the first driving wheel 41 , and the rotating shaft 51 passes through the shaft of the second bearing 32 and one end of the rotating shaft 51 extends into the first connecting rod 11, the rotating shaft 51 is connected with the first connecting rod 11 through the third bearing 33, and the second driving wheel 42 is sleeved and fixed on the other end of the rotating shaft 51; the transmission shaft 52 One end of the transmission shaft 52 is fixed with the second connecting rod 12, the other end of the transmission shaft 52 is connected with the first connecting rod 11 through the fourth bearing, and the transmission shaft 52 is connected with the rotating shaft 51 through the transmission mechanism; the second connecting rod 12 is provided with a multi-modal The sensor array 20; 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 42 to rotate to drive the transmission mechanism to act on the second link 12 to make the second link 12 rotates about the axis of drive shaft 52 .

Further, the transmission mechanism includes a third driving wheel 43, a fourth driving wheel 44 and a built-in transmission belt 83, the third driving wheel 43 is sleeved on the rotating shaft 51, the fourth driving wheel 44 is sleeved on the transmission shaft 52, and the built-in transmission belt 83 Connected between the third driving wheel 43 and the fourth driving wheel 44 . The first connecting rod 11 is driven to rotate by the first driving device, and the second connecting rod 12 is driven to rotate relative to the first connecting rod 11 by the second driving device, so that the first connecting rod 11 and the second connecting rod 12 can move relatively independently. It further adapts to the complex and secluded environment of the cable tunnel, ensures the coverage of the cantilever inspection, and further increases the flexibility of the cantilever.

As shown in FIG. 2 , the cantilever of the rail-mounted tunnel inspection robot further includes a tensioner 83 a for tensioning the built-in transmission belt 83 . The tensioner 83a tensions the built-in transmission belt 83 in the form of a U-shaped groove, so as to keep the built-in transmission belt 83 with a proper tension during the transmission process, so as to prevent the transmission belt from slipping, or to prevent the built-in transmission belt 83 from skipping or dislodging teeth. And the phenomenon of dragging out.

The cantilever of the rail-mounted tunnel inspection robot further includes a third connecting rod 13 , and a multimodal sensing array 20 is arranged on the third connecting rod 13 . Compared with the first link 11 and the second link 12, the third link 13 at the end needs the smallest power to rotate. In order to save energy, a third motor is selected to drive the third connecting rod 13 to rotate. The motor stator of the third motor is fixed on the second connecting rod 12 , and the end of the third connecting rod 13 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 13 are provided with multimodal sensing arrays 20 to maximize the comprehensive detection of the cable tunnel.

Preferably, the cantilever of the rail-mounted tunnel inspection robot further includes a motor fixing plate 63 for fixing the third motor. The motor fixing plate 63 is connected with the rod body of the second connecting rod 12. The use of the motor fixing plate 63 can quickly adjust the third motor. Three motors are removed and installed.

The cantilever with high aspect ratio formed by the first link 11 , the second link 12 and the third link 13 connected in series by the transmission mechanism has three degrees of freedom, that is, the flexibility of the cantilever is higher, which ensures that the inspection robot can not only High-efficiency detection can also pass through the fire door smoothly, while ensuring the rigidity, load capacity, and free unfolding and folding functions of the cantilever. When the inspection robot inspects, the connecting rod is in a straight or free rotation state, and the multi-mode sensing array on the connecting rod detects the cable equipment from multiple angles; when it needs to pass through the fire door, the first driving device, the second The driving device and the third motor respectively drive the three connecting rods to be folded in sequence to reduce the length of the robot cantilever, so as to be able to pass through the fire door smoothly. The series structure and foldable cantilever adapt to the narrow and long blocked tunnel environment, and solve the problem that the cantilever of the inspection robot is blocked by the multi-layer cable bracket in the prior art, and the detection blind area cannot be fully detected.

Preferably, the first power output mechanism includes a first motor 61 , a first speed reducer 71 and a first transmission belt 81 , the first speed reducer 71 is connected to the power output end of the first motor 61 , and the first speed reducer 71 passes through the first speed reducer 71 . The transmission belt 81 is connected to the first drive pulley 41 . The second power output mechanism includes a second motor 62 , a second speed reducer 72 and a second transmission belt 82 . The second speed reducer 72 is connected to the power output end of the second motor 62 , and the second speed reducer 72 is connected to the first transmission belt 81 through the first transmission belt 81 . The second drive wheel 42 is connected. That is, the folding and unfolding of the third link 13 is directly driven by the third motor, and the folding and unfolding of the first link 11 and the second link 12 are driven by the first motor 61 and the second motor 62 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 61, the second motor 62 and the two reducers are placed on the robot body through the transmission belt, which greatly reduces the quality of the cantilever, thereby reducing the energy loss of the first motor 61 and the second motor 62, ensuring the patrolling The inspection robot can still maintain high-efficiency inspection of the cantilever during the traveling motion; at the same time, the flexible connection between the cantilever and the robot body is ensured by the use of a flexible transmission belt, which can resist the lateral force on the cantilever when the robot is at high speed. Stablize.

Referring to FIG. 3 , the central axes of the rotating shaft 51 , the transmission shaft 52 and the third motor extend outward to form a wire hole 90 , and the first connecting rod 11 , the second connecting rod 12 and the third connecting rod 13 all have internal cavities of hollow rods. A part of the signal lines pass through the wire hole 90 of the rotating shaft 51 and enter the interior of the first connecting rod 11 and then connect to the multi-modal sensing array 20 on the first connecting rod 11; Inside the connecting rod 11 , and then enter the inside of the second connecting rod 12 through the wire hole 90 of the transmission shaft 52 and then connect to the multi-modal sensing array 20 on the second connecting rod 12 ; The wire hole 90 enters the interior of the first connecting rod 11 , then enters the second connecting rod 12 through the wire passing hole 90 of the transmission shaft 52 , and finally enters the third connecting rod 13 through the wire passing hole 90 of the third motor. It is then connected to the multimodal sensing array 20 on the third link 13 . The electric wire enters the inside of the first connecting rod 11 through the wire hole 90 of the rotating shaft 51 and is electrically connected to the third motor. The built-in cable in the cable hole 90 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 cantilever.

Further, the multimodal sensing array 20 includes a variety of detection sensors, and can also be installed on the side of any one or more of the first link 11 , the second link 12 and the third link 13 as required. Detection devices such as cameras, infrared sensors, and thermal imagers perform real-time detection with the movement of the cantilever.

Figures 4 and 5 are schematic diagrams of the cantilever applied to the robot body 100, and Figure 4 is the cantilever straightening state, that is, when the inspection robot conducts inspections in the cable tunnel, the cantilever is in a state that can be stretched and opened or rotated at multiple angles , the multi-modal sensing array 20 on the first link 11, the second link 12 and the third link 13 performs multi-angle and high-coverage detection on the cable equipment; When passing through a fire door or encountering an obstacle, the cantilever is folded upward through the first link 11, the second link 12 and the third link 13 in turn to reduce its length. Figure 5 shows the cantilever folded to reduce the length of the inspection robot. The maximum longitudinal length, so that the inspection robot can smoothly 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. .

Through the design of the serial structure of the cantilever, the hollow arrangement of cables, and the rear arrangement of the motor and the reducer, the invention enables the inspection robot to adapt to the narrow and long tunnel environment, greatly reduces the quality of the cantilever, and reduces the energy output. The inspection robot can still perform inspection with the cantilever when moving at high speed, and at the same time, the cable is moisture-proof, which can prolong the service life and improve the coverage rate and inspection efficiency of the inspection robot cantilever.

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 cantilever of a rail-mounted tunnel inspection robot, characterized in that, comprising: a first driving device, a first connecting rod (11) and a connecting plate; The first driving device includes a first power output mechanism, a first bearing (31) and a first driving wheel (41); one end of the connecting plate is used to be fixed with the robot body, and the other end is provided with a through hole, so The first bearing (31) is fixed in the through hole of the connecting plate; the first driving wheel (41) extends toward the first bearing (31) to form a hollow circular projection, and the projection extends into the The inner ring of the first bearing (31) is fixed against the wall surface, and the bump is fixed on the rod body of the first connecting rod (11) by fixing bolts; the first power output mechanism is installed on the robot body The power output end of the first power output mechanism drives the first driving wheel (41) to rotate to drive the first connecting rod (11) to move, and the first connecting rod (11) is provided with a A multimodal sensing array (20) for detecting cable tunnels. 2. The cantilever of a rail-suspended tunnel inspection robot according to claim 1, wherein the cantilever of the rail-suspended tunnel inspection robot further comprises a second connecting rod (12) and a second connecting rod (12) for driving the The second driving device for the movement of the second connecting rod (12), the second driving device comprises a second power output mechanism, a rotating shaft (51), a transmission shaft (52), a second bearing (32), a third bearing ( 33), a fourth bearing, a second driving wheel (42), and a transmission mechanism; The second bearing (32) is arranged in the wheel hole of the first driving wheel (41), the rotating shaft (51) passes through the shaft hole of the second bearing (32); and the rotating shaft (51) ) extends into the first connecting rod (11), the rotating shaft (51) is connected with the first connecting rod (11) through the third bearing (33), and the second driving wheel ( 42) sleeved and fixed on the other end of the rotating shaft (51); one end of the transmission shaft (52) is fixed with the second connecting rod (12), and the other end of the transmission shaft (52) passes through the The fourth bearing is connected with the first connecting rod (11), the transmission shaft (52) is connected with the rotating shaft (51) through the transmission mechanism; the second connecting rod (12) is provided with a The multimodal sensing array (20); the second power output mechanism is mounted on the robot body, and the power output end of the second power output mechanism drives the second driving wheel (42) to rotate to drive the The transmission mechanism acts on the second link (12) to rotate the second link (12) around the axis of the transmission shaft (52). 3. The cantilever of a rail-mounted tunnel inspection robot according to claim 2, wherein the transmission mechanism comprises a third driving wheel (43), a fourth driving wheel (44) and a built-in transmission belt (83) ), the third driving wheel (43) is sleeved on the rotating shaft (51), the fourth driving wheel (44) is sleeved on the transmission shaft (52), and the built-in transmission belt (83) Connected between the third driving wheel (43) and the fourth driving wheel (44). 4. The cantilever of a rail-suspended tunnel inspection robot according to claim 3, characterized in that the cantilever of the rail-suspended tunnel inspection robot further comprises an arm for tensioning the built-in transmission belt (83). Tensioner (83a). 5. The cantilever of a rail-suspended tunnel inspection robot according to any one of claims 2 to 4, the cantilever of the rail-suspended tunnel inspection robot further comprising a third link (13) and a third motor (73), the motor stator of the third motor (73) is fixed on the second connecting rod (12), and the end of the third connecting rod (13) is connected to the end of the third motor (73). The motor rotors are connected to each other, and the multi-modal sensing array (20) is arranged on the third connecting rod (13). 6. The cantilever of a rail-suspended tunnel inspection robot according to claim 5, wherein the cantilever of the rail-suspended tunnel inspection robot further comprises a motor fixing plate (63), and the third motor It is fixed on the motor fixing plate (63), and the motor fixing plate (63) is connected with the rod body of the second connecting rod (12). 7. The cantilever of a rail-mounted tunnel inspection robot according to claim 5, wherein the first power output mechanism comprises a first motor (61), a first reducer (71) and a first transmission belt ( 81), the first speed reducer (71) is connected to the power output end of the first motor (61), and the first speed reducer (71) communicates with the first speed reducer (71) through the first transmission belt (81). A drive wheel (41) is connected. 8. The cantilever of a rail-mounted tunnel inspection robot according to claim 7, wherein the second power output mechanism comprises a second motor (62), a second reducer (72) and a second transmission belt ( 82), the second speed reducer (72) is connected to the power output end of the second motor (62), and the second speed reducer (72) communicates with the second speed reducer (72) through the second transmission belt (82). The two driving wheels (42) are connected. 9 . The cantilever of a rail-suspended tunnel inspection robot according to claim 8 , wherein the central axis of the rotating shaft ( 51 ), the transmission shaft ( 52 ) and the third motor is outward. 10 . A wire-passing hole (90) is formed, and the signal wire enters the corresponding connecting rod through the wire-passing hole (90) and is connected to the multi-modal sensing array (20), and the electric wire passes through the wire-passing hole (90). ) into the interior of the corresponding connecting rod to be electrically connected to the third motor. 10 . The cantilever of a rail-suspended tunnel inspection robot according to claim 5 , wherein the third link ( 13 ) is provided with the multi-modal sensing array ( 20 ) at both ends. 11 . ).