CN105807276A - Primary support and lining radar detecting device and method in tunnel and underground engineering - Google Patents
Primary support and lining radar detecting device and method in tunnel and underground engineering Download PDFInfo
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- CN105807276A CN105807276A CN201610277824.2A CN201610277824A CN105807276A CN 105807276 A CN105807276 A CN 105807276A CN 201610277824 A CN201610277824 A CN 201610277824A CN 105807276 A CN105807276 A CN 105807276A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses a primary support and lining radar detecting device and method in tunnel and underground engineering.The detecting device comprises a platform, and first driving devices are arranged at the bottom of the platform and drives the platform to conduct self-propelled moving; a mechanical arm is installed on the top of the platform, the mechanical arm can be driven by second driving devices to swing back and forth along the cross section of a tunnel, and the tail end of the mechanical arm is connected with an upper radar antenna clamping groove through elastic devices; the bottom of the platform is connected with a lower radar antenna clamping groove through telescopic arms.The mechanical arm located on the platform is adjusted according to the tunnel radius during the operation process and is high in adaptability to a particular tunnel section, and fixed-point measurement can be conducted according to a measuring line to be measured; the upper clamping groove and the lower clamping groove in a radar antenna containing system are tightly attached to the lining surface or an inverted arch, the self-adaptive degree is high, the measurement accuracy is high, and the measurement requirement is better met.
Description
Technical field
The present invention relates to a kind of detecting device in tunnels and underground engineering first with lining cutting detections of radar and method.
Background technology
In constructing tunnel process, need lining cutting is detected, but owing to present stage construction technology is lack of standardization, supervise ineffective, create a lot of concrete thickness deficiency, country rock leakiness, the quality problems such as cavity percolating water occur, typically by radar, tunnel-liner is obtained data, be analyzed obtaining data, to obtain tunnel-liner quality.At present, the detection serving as a contrast inverted arch and abutment wall to two is relatively easy, but the detection of vault and haunch is relatively just extremely difficult.Owing to vault and haunch distance ground are higher, it is necessary to scene carries out welding shelf, carries out operation with loader, and it is relatively hazardous that staff carries out operation ratio in high-altitude, and in the process of detection, loader needs continuous adjustment highly to coordinate detection.Often due to the insufficient height that shelf or loader rise, radar antenna departs from detection faces, it is impossible to keeps in touch with detection faces or keeps very in-plant detection, thus causing that detection data produce bigger error.And, for making the people of work high above the ground effectively coordinate with loading function, in the process that loader advances, be typically required for a people command, the detection of lining cutting had work high above the ground danger, waste time and energy, workload big, the data gathered are produced certain impact, and detection efficiency is low.
Existing equipment or method are difficult to the automatization of detection tunnel-liner quality with efficient, it is necessary to develop the tunnel-liner detections of radar machinery of a kind of more efficient more dominance energy.Accordingly, it would be desirable to design a kind of in tunnels and underground engineering just with the new type mechanical device of lining cutting detections of radar to solve problem above.
Summary of the invention
The present invention is the deficiency overcoming above-mentioned technology, it is provided that just prop up the detecting device with lining cutting detections of radar and operational approach in a kind of simple in construction, easy and simple to handle, cheap tunnels and underground engineering.
For achieving the above object, the present invention adopts following technical proposals:
A kind of for just propping up the new type mechanical device with lining cutting detections of radar in tunnels and underground engineering, including a platform, described mesa base is provided with driving device I, drives platform automatic moving；Be provided with mechanical arm at the top of platform, described mechanical arm can swing back and forth along cross section, tunnel under the driving of driving device II, and the end of mechanical arm is connected with top radar antenna draw-in groove by elastic device；Described mesa base is connected with bottom radar antenna draw-in groove by telescopic arm.
Further, described driving device I includes two pairs of driving wheels, and described platform is connected with two pairs of driving wheels by connecting device, and two pairs of driving wheels pass through motor-driven；Platform is responsible for carrying whole top machinery, it is ensured that mechanically stable.Motor provides driving force voluntarily for whole machinery, to realize automatic walking.
Further, described mechanical arm includes the arm I, arm II and the arm III that are sequentially connected, and each via connecting bearing pin II, connecting bearing pin III connection between arm I and arm II, arm II and arm III, and arm connects bearing pin I by one and is arranged on platform.
Further, described driving device II includes two motors, and wherein a motor drives and connects bearing pin I rotation, and then realizes the swing of arm I；Another motor adjusts the anglec of rotation of arm III by belt drive unit.
Further, the end at arm III connects an expansion link, and the clutch end of expansion link drives a gripper shoe, is provided with top radar antenna draw-in groove in described gripper shoe；It is connected by elastic device between described gripper shoe with top radar antenna draw-in groove；It is connected also by elastic device between described gripper shoe and the head end of arm III；Expansion link adjusts radar antenna and the laminating degree on two lining surfaces together with self adaptation elastic device.
Two described motors, expansion links are all connected with control device.
Further, described platform being additionally provided with a display, described display is connected with the radar antenna being arranged in top radar antenna draw-in groove, bottom radar antenna draw-in groove, is used for showing real time radar ripple, it is simple to operator's real-time operation and control.
Further, on described platform, preformed hole passes through for radar antenna transmission line, conveniently connects radar antenna and display.
Further, described mechanical arm is positioned on platform, and its length can be adjusted according to tunnel radius under motor control, adapts to tunnel cross-section, it is simple to carry out one-point measurement according to the survey line to measure.
Further, described top radar antenna draw-in groove is connected with mechanical arm by two-stage spring, can reach close contact with the laminating of lining cutting surface self-adaptive by two-stage spring radar surface, be automatically adjusted according to stressing conditions, improve certainty of measurement.
Further, described bottom radar antenna draw-in groove is connected with platform by four telescopic arms, draw-in groove and inverted arch can be made to fit tightly by regulating telescopic arm length, meet measurement requirement.
Application said apparatus realizes the detections of radar just propped up in tunnels and underground engineering with lining cutting, comprises the following steps:
1), when measuring inverted arch, this machinery is moved to relevant position, radar antenna is placed in the draw-in groove of bottom and fixes；
2) regulating telescopic arm length, make radar bottom surface and the laminating of inverted arch surface, display is connected with radar antenna by transmission line through platform preformed hole, utilizes motor to provide driving force to make whole device from walking；
3), when measuring tunnel side wall, haunch, spandrel, vault, this machinery is moved to tunnel midline position, radar antenna is placed in the draw-in groove of top and fixes；
4) according to tunnel cross-section radius, utilizing motor to regulate mechanical arm length, make radar bottom surface and the laminating of tunnel-liner surface self-adaptive, radar antenna is directly connected by transmission line with display, utilizes motor to provide driving force to make whole device from walking；
5) according to required survey line, 1～4 operating process is repeated.
The present invention have studied a kind of new type mechanical device in tunnels and underground engineering first with lining cutting detections of radar and operational approach, solve the shortcoming of radar detection device underaction in practice in the past, it is impossible in tunnels and underground engineering, carry out the technical barrier just propped up with lining cutting detections of radar easily.Compared with prior art, apparatus of the present invention have the advantage that
1) plateform system has mechanically stable, high intensity, the feature that can automatically walk voluntarily, solid and reliable, and automaticity is high, is greatly improved the efficiency of workmen.
2) display laid on platform, it is simple to operator's real-time operation, monitor in real time, on platform reserved short side the connection of radar antenna transmission line, radar antenna and display, easy to use, efficiently convenient.
3) it is positioned at the mechanical arm on platform, is adjusted according to tunnel radius during operation, to concrete tunnel cross-section strong adaptability, one-point measurement can be carried out according to the survey line to measure；
4) the top and the bottom draw-in groove in radar antenna installing system is tight with lining cutting surface or inverted arch laminating, and self adaptation degree is high, and certainty of measurement is high, meets measurement requirement better；
Accompanying drawing explanation
Fig. 1 is present configuration front view；
Fig. 2 is present configuration left side view；
Fig. 3 is present configuration right side view；
Fig. 4 is robot arm system schematic diagram；
The structure chart of Fig. 5 antenna draw-in groove；
Wherein, 1. platform voluntarily；The short spring of 2-1 self adaptation；The long spring of 2-2 self adaptation；3. driving belt；4-1 arm I, 4-2 arm II, 4-3 arm III；5. display platform；6-1 motor, 6-2 motor；7. top radar antenna draw-in groove；8. bottom radar antenna draw-in groove；9. telescopic arm；10. antenna transmission line preformed hole；11. expansion link.
Detailed description of the invention
Below in conjunction with accompanying drawing, further describe specific implementation of the patent mode.
As Figure 1-4, the present invention have studied a kind of new type mechanical device in tunnels and underground engineering first with lining cutting detections of radar and operational approach, solve the shortcoming of radar detection device underaction in practice in the past, cannot carrying out the technical barrier just propped up with lining cutting detections of radar easily in tunnels and underground engineering, concrete structure is as follows:
For tunnels and underground engineering just props up the new type mechanical device with lining cutting detections of radar, including platform 1 voluntarily, robot arm system (arm I4-1, arm II4-2, arm III4-3), radar antenna installing system.
Platform 1 two pairs of driving wheels arranged below voluntarily, above every side drive wheel, design has high-strength steel sheet, and motor 6-1, motor 6-2, display platform 5, radar antenna transmission line preformed hole 10 are installed in platform 1 surface voluntarily.
Motor II6-2, motor I6-1 manipulation under, arm I4-1, arm III4-3 drive top radar antenna draw-in groove to rotate along cross section, tunnel, carry out one-point measurement according to the survey line to measure；It is positioned at the mechanical arm on platform, is adjusted according to tunnel radius during operation, to concrete tunnel cross-section strong adaptability, one-point measurement can be carried out according to the survey line to measure；
Radar antenna installing system is divided into top radar antenna draw-in groove 7 and bottom radar antenna draw-in groove 8, top draw-in groove is connected with mechanical arm by two-stage spring 2, close contact can be reached with the laminating of lining cutting surface self-adaptive by two-stage spring 2 radar surface, bottom draw-in groove is connected with platform 1 voluntarily by four telescopic arms 9, can make bottom radar antenna draw-in groove 8 with inverted arch laminating closely by regulating telescopic arm 9 length.
Display platform 5 is used for laying display, it is simple to operator's real-time operation；The display laid on platform, it is simple to operator's real-time operation, monitor in real time, on platform reserved short side the connection of radar antenna transmission line, radar antenna and display, easy to use, efficiently convenient.
Platform is left a blank in advance and 10 passes through connection radar antenna and display for radar antenna transmission line；Mechanical arm is positioned on platform 1, and arm length can be adjusted according to tunnel radius, adapts to tunnel cross-section；
Concrete, mechanical arm includes the arm I4-1, arm II4-2 and the arm III4-3 that are sequentially connected, and each via connecting bearing pin II, connecting bearing pin III connection between arm I4-1 and arm II4-2, arm II4-2 and arm III4-3, and arm connects bearing pin I by one and is arranged on platform.One motor 6-1 drives and connects bearing pin I rotation, and then realizes the swing of arm I；Another motor 6-2 adjusts the anglec of rotation of arm III by belt drive unit.
Further, the end at arm III connects an expansion link 11, and the clutch end of expansion link 11 drives a gripper shoe, is provided with top radar antenna draw-in groove in described gripper shoe；It is connected by the short spring 2-1 of self adaptation between described gripper shoe with top radar antenna draw-in groove；It is connected also by the long spring 2-2 of self adaptation between described gripper shoe with the head end of arm III4-3；Expansion link 11 adjusts radar antenna and the laminating degree on two lining surfaces together with self adaptation elastic device.
Two motors are all connected with control device.
Application said apparatus realizes the detections of radar just propped up in tunnels and underground engineering with lining cutting, comprises the following steps:
1), when measuring inverted arch, this machinery is moved to relevant position, radar antenna is placed in the draw-in groove of bottom and fixes；
2) regulating telescopic arm length, make radar bottom surface and the laminating of inverted arch surface, display is connected with radar antenna by transmission line through platform preformed hole, utilizes motor to provide driving force to make whole device from walking；
3), when measuring tunnel side wall, haunch, spandrel, vault, this machinery is moved to tunnel midline position, radar antenna is placed in the draw-in groove of top and fixes；
4) according to tunnel cross-section radius, utilizing motor to regulate mechanical arm length, make radar bottom surface and the laminating of tunnel-liner surface self-adaptive, radar antenna is directly connected by transmission line with display, utilizes motor to provide driving force to make whole device from walking；
5) according to required survey line, 1～4 operating process is repeated.
The specific embodiment of the present invention is described in conjunction with accompanying drawing although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme, those skilled in the art need not pay various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
1. just propping up and lining cutting radar detection device in a tunnels and underground engineering, it is characterised in that include a platform, described mesa base is provided with driving device I, drives platform automatic moving；Be provided with mechanical arm at the top of platform, described mechanical arm can swing back and forth along cross section, tunnel under the driving of driving device II, and the end of mechanical arm is connected with top radar antenna draw-in groove by elastic device；Described mesa base is connected with bottom radar antenna draw-in groove by telescopic arm.
2. tunnels and underground engineering as claimed in claim 1 just props up and lining cutting radar detection device, it is characterized in that, described driving device I includes two pairs of driving wheels, and described platform is connected with two pairs of driving wheels by connecting device, and two pairs of driving wheels pass through motor-driven.
3. tunnels and underground engineering as claimed in claim 1 just props up and lining cutting radar detection device, it is characterized in that, described mechanical arm includes the arm I, arm II and the arm III that are sequentially connected, each via connecting bearing pin II, connecting bearing pin III connection between arm I and arm II, arm II and arm III, arm I connects bearing pin I by one and is arranged on platform.
4. first and lining cutting radar detection device in tunnels and underground engineering as claimed in claim 1, it is characterised in that described driving device II includes two motors, and wherein a motor drives and connects bearing pin I rotation, and then realizes the swing of arm I；Another motor adjusts the anglec of rotation of arm III by belt drive unit.
5. tunnels and underground engineering as claimed in claim 4 just props up and lining cutting radar detection device, it is characterized in that, end at arm III connects an expansion link, and the clutch end of expansion link drives a gripper shoe, is provided with top radar antenna draw-in groove in described gripper shoe；It is connected by elastic device between described gripper shoe with top radar antenna draw-in groove；It is connected also by elastic device between described gripper shoe and the head end of arm III；Expansion link adjusts radar antenna and the laminating degree on two lining surfaces together with self adaptation elastic device.
6. tunnels and underground engineering as claimed in claim 5 just props up and lining cutting radar detection device, it is characterised in that two described motors, expansion links are all connected with control device.
7. tunnels and underground engineering as claimed in claim 1 just props up and lining cutting radar detection device, it is characterized in that, described platform is additionally provided with a display, described display is connected with the radar antenna being arranged in top radar antenna draw-in groove, bottom radar antenna draw-in groove, for showing real time radar ripple, it is simple to operator's real-time operation and control.
8. tunnels and underground engineering as claimed in claim 1 just props up and lining cutting radar detection device, it is characterised in that described platform is provided with the preformed hole passed through for radar antenna transmission line.
9. tunnels and underground engineering as claimed in claim 1 just props up and lining cutting radar detection device, it is characterised in that described bottom radar antenna draw-in groove is connected with platform by four telescopic arms.
10. utilize the method that the arbitrary described detecting device of claim 1-9 realizes just propping up the detections of radar with lining cutting in tunnels and underground engineering, it is characterised in that comprise the following steps:
1), when measuring inverted arch, radar detection device is moved to relevant position, radar antenna is placed in the radar antenna draw-in groove of bottom and fixes；
2) regulating telescopic arm length, make radar bottom surface and the laminating of inverted arch surface, display is connected with radar antenna by transmission line through platform preformed hole, utilizes motor to provide driving force to make whole device from walking；
3), when measuring tunnel side wall, haunch, spandrel, vault, this machinery is moved to tunnel midline position, radar antenna is placed in the draw-in groove of top and fixes；
4) according to tunnel cross-section radius, utilizing motor to regulate mechanical arm length, make radar bottom surface and the laminating of tunnel-liner surface self-adaptive, radar antenna is directly connected by transmission line with display, utilizes motor to provide driving force to make whole device from walking；
5) according to required survey line, 1～4 operating process is repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610277824.2A CN105807276B (en) | 2016-04-28 | 2016-04-28 | Just propped up and lining cutting radar detection device and method in tunnels and underground engineering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610277824.2A CN105807276B (en) | 2016-04-28 | 2016-04-28 | Just propped up and lining cutting radar detection device and method in tunnels and underground engineering |
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| CN105807276A true CN105807276A (en) | 2016-07-27 |
| CN105807276B CN105807276B (en) | 2018-01-02 |
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| CN107093367A (en) * | 2017-05-26 | 2017-08-25 | 成都福莫斯智能系统集成服务有限公司 | Industrial teaching robot control system |
| CN107272075A (en) * | 2017-06-29 | 2017-10-20 | 中国地质大学（武汉） | Vehicle-mounted railway tunnel vault geological radar continuous detecting system |
| CN107462870A (en) * | 2017-08-30 | 2017-12-12 | 苏交科集团股份有限公司 | A kind of geological radar Pilot Operational Equipment |
| CN107678026A (en) * | 2017-09-08 | 2018-02-09 | 中国铁路总公司 | Tunnel-liner condition checkout gear |
| CN108680495A (en) * | 2018-05-03 | 2018-10-19 | 广西交通工程检测有限公司 | A kind of highway and Tunnel testing auxiliary device |
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| CN108748214B (en) * | 2018-08-08 | 2023-07-18 | 田国力 | Constant stress multifunctional manipulator |
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