CN105807276B - Just propped up and lining cutting radar detection device and method in tunnels and underground engineering - Google Patents
Just propped up and lining cutting radar detection device and method in tunnels and underground engineering Download PDFInfo
- Publication number
- CN105807276B CN105807276B CN201610277824.2A CN201610277824A CN105807276B CN 105807276 B CN105807276 B CN 105807276B CN 201610277824 A CN201610277824 A CN 201610277824A CN 105807276 B CN105807276 B CN 105807276B
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- Prior art keywords
- arm
- radar
- platform
- radar antenna
- neck
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Classifications
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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
Abstract
The invention discloses just branch and lining cutting radar detection device and method, including a platform, described mesa base in a kind of tunnels and underground engineering to be provided with drive device I, drives platform automatic moving；Mechanical arm is installed at the top of platform, described mechanical arm can be swung back and forth under drive device II driving along tunnel cross section, and the end of mechanical arm is connected by elastic device with top radar antenna neck；Described mesa base is connected by telescopic arm with bottom radar antenna neck.Mechanical arm on platform, it is adjusted according to tunnel radius during operation, to specific tunnel cross-section strong adaptability, one-point measurement can be carried out according to the survey line to be measured；Top and the bottom neck in radar antenna installing system is bonded closely with lining cutting surface or inverted arch, and adaptive degree is high, and measurement accuracy is high, preferably meets measurement request.
Description
Technical field
It is used in tunnels and underground engineering the just detection means and method of branch and lining cutting detections of radar the present invention relates to a kind of.
Background technology
, it is necessary to be detected to lining cutting during constructing tunnel, but because construction technology at this stage is lack of standardization, supervision is not
Power, generate many concrete thickness deficiencies, country rock leakiness, the quality problems such as empty percolating water occur, lead to common radar pair
Tunnel-liner obtains data, analyzes obtaining data, to obtain tunnel-liner quality.At present, to two lining inverted arch and side
The detection of wall is relatively easy, but the detection to vault and haunch is relative just extremely difficult.Due to vault and haunch apart from ground compared with
It is high to carry out operation with loading machine, it is necessary to scene carries out welding shelf, staff in high-altitude progress operation than relatively hazardous, and
During detection, loading machine needs constantly adjustment height to be detected to coordinate.Often due to shelf or the height of loading machine rising
Degree is inadequate, and radar antenna departs from detection faces, it is impossible to keeps contacting or keeping the detection of close distance with detection faces, so as to cause to examine
Survey data and produce larger error.Also, it is that the people for making work high above the ground is effectively coordinated with loading function, advances in loading machine
During be typically required for a people and commanded, have that work high above the ground is dangerous, wastes time and energy, workload to the detection of lining cutting
Greatly, certain influence is produced to the data of collection, detection efficiency is low.
Existing equipment or method are difficult to detect automation and the high efficiency of tunnel-liner quality, it is necessary to which exploitation is a kind of
The tunnel-liner detections of radar mechanical device of more efficient more dominance energy.Therefore, it is necessary to which designing one kind is used for tunnels and underground engineering
In just branch with the new type mechanical device of lining cutting detections of radar to solve problem above.
The content of the invention
The present invention is overcomes the shortcomings of above-mentioned technology, there is provided a kind of tunnel simple in construction, easy to operate, cheap and
The detection means and operating method with lining cutting detections of radar are just propped up in underground engineering.
To achieve the above object, the present invention uses following technical proposals：
It is a kind of to be used in tunnels and underground engineering just prop up the new type mechanical device with lining cutting detections of radar, including one flat
Platform, described mesa base are provided with drive device I, drive platform automatic moving；Mechanical arm is installed at the top of platform, institute
The mechanical arm stated can swing back and forth under drive device II driving along tunnel cross section, and the end of mechanical arm passes through
Elastic device is connected with top radar antenna neck；Described mesa base passes through telescopic arm and bottom radar antenna neck phase
Even.
Further, described drive device I includes two pairs of driving wheels, and described platform passes through attachment means and two pairs of drives
Driving wheel is connected, and two pairs of driving wheels are driven by motor；Platform is responsible for carrying whole top machinery, ensures mechanically stable.It is electronic
Machine provides voluntarily driving force for whole mechanical device, to realize automatically walk.
Further, described mechanical arm includes the arm I, arm II and the arm III that are sequentially connected, and arm I and arm II, arm II and
Platform is arranged on by a connection bearing pin I each via connection bearing pin II, connection bearing pin III connections, and arm between arm III
On.
Further, described drive device II includes two motors, wherein a motor drive connection bearing pin I rotation,
And then realize arm I swing；Another motor adjusts the arm III anglec of rotation by belt drive unit.
Further, an expansion link is connected in arm III end, the clutch end of expansion link drives a support
Plate, top radar antenna neck is installed in described supporting plate；Between described supporting plate and top radar antenna neck
It is connected by elastic device；It is connected between described supporting plate and arm III head end also by elastic device；Expansion link is together with certainly
Adapt to the laminating degree on elastic device adjustment radar antenna and two lining surfaces.
Two described motors, expansion links are connected with control device.
Further, a display is additionally provided with described platform, described display is with being arranged on top radar day
Radar antenna in line card groove, bottom radar antenna neck is connected, and for showing real time radar ripple, personnel easy to operation grasp in real time
Make and control.
Further, preformed hole passes through for radar antenna transmission line on described platform, it is convenient connect radar antenna with
Display.
Further, described mechanical arm is located on platform, and its length can be according to tunnel under motor control
Radius is adjusted, and adapts to tunnel cross-section, is easy to carry out one-point measurement according to the survey line to be measured.
Further, described top radar antenna neck is connected by two-stage spring with mechanical arm, passes through two-stage bullet
Spring radar surface can be bonded with lining cutting surface self-adaptive reaches close contact, is automatically adjusted according to stressing conditions, improves measurement
Precision.
Further, described bottom radar antenna neck is connected by four telescopic arms with platform, flexible by adjusting
Arm lengths can be such that neck is brought into close contact with inverted arch, meet measurement request.
The detections of radar just propped up in tunnels and underground engineering with lining cutting is realized using said apparatus, is comprised the following steps：
1) when measuring inverted arch, this mechanical device is moved into relevant position, radar antenna is placed in the neck of bottom and fixed；
2) flexible arm lengths are adjusted, radar bottom surface is bonded with inverted arch surface, transmission line will be shown through platform preformed hole
Device is connected with radar antenna, and providing driving force using motor makes whole device from walking；
3) when measuring tunnel side wall, haunch, spandrel, vault, this mechanical device is moved into tunnel midline position, by radar day
Line is placed in the neck of top and fixed；
4) according to tunnel cross-section radius, mechanical arm length is adjusted using motor, makes radar bottom surface and tunnel-liner table
Surface self-adaption is bonded, and radar antenna is directly connected by transmission line with display, and providing driving force using motor makes whole device
From walking；
5) survey line needed for, repeats 1~4 operating process.
The present invention have studied a kind of new type mechanical device for being used for first branch and lining cutting detections of radar in tunnels and underground engineering
With operating method, solve the shortcomings that radar detection device underaction in practice in the past, can not be easily in tunnel and underground
The technical barrier of just branch and lining cutting detections of radar is carried out in engineering.Compared with prior art, apparatus of the present invention have advantages below：
1) voluntarily plateform system have mechanically stable, high intensity, can automatically walk the characteristics of, it is solid and reliable, automate journey
Degree is high, greatly improves the efficiency of workmen.
2) display laid on platform, personnel's real-time operation easy to operation, in real time monitoring, short side is reserved on platform
The connection of radar antenna transmission line, radar antenna and display, it is easy to use, it is efficiently convenient.
3) mechanical arm on the platform, it is adjusted according to tunnel radius during operation, specific tunnel cross-section is fitted
Ying Xingqiang, one-point measurement can be carried out according to the survey line to be measured；
4) the top and the bottom neck in radar antenna installing system is bonded closely with lining cutting surface or inverted arch, adaptive degree
Height, measurement accuracy is high, preferably meets measurement request；
Brief description of the drawings
Fig. 1 is structure front view of the present invention；
Fig. 2 is structure left side view of the present invention；
Fig. 3 is structure right side view of the present invention；
Fig. 4 is robot arm system schematic diagram；
The structure chart of Fig. 5 antenna necks；
Wherein, 1. voluntarily platforms；The adaptive short springs of 2-1；The adaptive long springs of 2-2；3. driving belt；4-1 arms I, 4-2
Arm II, 4-3 arm III；5. display platform；6-1 motors, 6-2 motors；7. top radar antenna neck；8. bottom radar antenna card
Groove；9. telescopic arm；10. antenna transmission line preformed hole；11. expansion link.
Embodiment
Below in conjunction with the accompanying drawings, specific implementation of the patent mode is further described.
As Figure 1-4, the present invention have studied a kind of for just being propped up in tunnels and underground engineering and lining cutting detections of radar
New type mechanical device and operating method, solve the shortcomings that radar detection device underaction in practice in the past, can not be easily
The technical barrier of just branch and lining cutting detections of radar is carried out in tunnels and underground engineering, specific structure is as follows：
For the just new type mechanical device of branch and lining cutting detections of radar, including voluntarily platform 1, machine in tunnels and underground engineering
Tool hand (arm I4-1, arm II4-2, arm III4-3), radar antenna installing system.
Voluntarily there are two pairs of driving wheels the lower section of platform 1, and per side drive wheel, top is designed with high-strength steel sheet, voluntarily the table of platform 1
Face installation motor 6-1, motor 6-2, display platform 5, radar antenna transmission line preformed hole 10.
Motor II6-2, motor I6-1 manipulation under, arm I4-1, arm III4-3 drive top radar antenna neck along
Tunnel cross section is rotated, and one-point measurement is carried out according to the survey line to be measured；Mechanical arm on platform, during operation according to
Tunnel radius is adjusted, and to specific tunnel cross-section strong adaptability, can carry out one-point measurement according to the survey line to be measured；
Radar antenna installing system is divided into top radar antenna neck 7 and bottom radar antenna neck 8, and top neck passes through
Two-stage spring 2 is connected with mechanical arm, can be bonded by the radar surface of two-stage spring 2 with lining cutting surface self-adaptive and reach close
Contact, bottom neck are connected by four telescopic arms 9 with voluntarily platform 1, can make bottom radar by adjusting the length of telescopic arm 9
Antenna neck 8 is bonded closely with inverted arch.
Display platform 5 is used to lay display, personnel's real-time operation easy to operation；The display laid on platform, it is easy to grasp
Make personnel's real-time operation, in real time monitoring, reserve on platform short side radar antenna transmission line, radar antenna and display company
Connect, it is easy to use, it is efficiently convenient.
Left blank in advance on platform and 10 pass through connection radar antenna and display for radar antenna transmission line；Mechanical arm is located at
On platform 1, arm length can be adjusted according to tunnel radius, adapt to tunnel cross-section；
Specifically, mechanical arm includes arm I4-1, arm II4-2 and the arm III4-3 being sequentially connected, and arm I4-1 and arm II4-
2nd, each via connection bearing pin II, connection bearing pin III connections between arm II4-2 and arm III4-3, and arm passes through a connecting pin
Axle I is arranged on platform.One motor 6-1 drive connection bearing pins I rotation, and then realize arm I swing；Another motor 6-2
The arm III anglec of rotation is adjusted by belt drive unit.
Further, an expansion link 11 is connected in arm III end, the clutch end of expansion link 11 drives a branch
Fagging, top radar antenna neck is installed in described supporting plate；Described supporting plate and top radar antenna neck it
Between be connected by adaptive short spring 2-1；Also by adaptive long spring between described supporting plate and arm III4-3 head end
2-2 is connected；Expansion link 11 adjusts the laminating degree on radar antenna and two lining surfaces together with adaptive elastic device.
Two motors are connected with control device.
The detections of radar just propped up in tunnels and underground engineering with lining cutting is realized using said apparatus, is comprised the following steps：
1) when measuring inverted arch, this mechanical device is moved into relevant position, radar antenna is placed in the neck of bottom and fixed；
2) flexible arm lengths are adjusted, radar bottom surface is bonded with inverted arch surface, transmission line will be shown through platform preformed hole
Device is connected with radar antenna, and providing driving force using motor makes whole device from walking；
3) when measuring tunnel side wall, haunch, spandrel, vault, this mechanical device is moved into tunnel midline position, by radar day
Line is placed in the neck of top and fixed；
4) according to tunnel cross-section radius, mechanical arm length is adjusted using motor, makes radar bottom surface and tunnel-liner table
Surface self-adaption is bonded, and radar antenna is directly connected by transmission line with display, and providing driving force using motor makes whole device
From walking；
5) survey line needed for, repeats 1~4 operating process.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (6)
1. just propped up and lining cutting radar detection device in a kind of tunnels and underground engineering, it is characterised in that described including a platform
Mesa base be provided with drive device I, drive platform automatic moving；Mechanical arm, described machine are installed at the top of platform
Tool arm includes arm I, arm II and the arm III being sequentially connected；Each via connection bearing pin between arm I and arm II, arm II and arm III
II, connection bearing pin III connections, arm I are arranged on platform by a connection bearing pin I；Described mechanical arm is in drive device
It can be swung back and forth under II driving along tunnel cross section, described drive device II includes two motors, wherein a motor
Drive connection bearing pin I rotates, and then realizes arm I swing；Another motor adjusts arm III rotation by belt drive unit
Angle；An expansion link is connected in arm III end, the clutch end of expansion link drives a supporting plate, in described branch
Top radar antenna neck is installed on fagging；Pass through elastic device phase between described supporting plate and top radar antenna neck
Even；It is connected between described supporting plate and arm III head end also by elastic device；Expansion link is adjusted together with adaptive elastic device
Whole radar antenna and the laminating degree on two lining surfaces；Described mesa base passes through telescopic arm and bottom radar antenna neck phase
Even；A display is additionally provided with described platform, described display is with being arranged on top radar antenna neck, bottom radar
Radar antenna in antenna neck is connected, for showing real time radar ripple, personnel's real-time operation easy to operation and control.
2. just propped up and lining cutting radar detection device in tunnels and underground engineering as claimed in claim 1, it is characterised in that described
Drive device I include two pairs of driving wheels, described platform is connected by attachment means with two pairs of driving wheels, and two pairs of driving wheels lead to
Cross motor driving.
3. just propped up and lining cutting radar detection device in tunnels and underground engineering as claimed in claim 1, it is characterised in that described
Two motors, expansion links be connected with control device.
4. just propped up and lining cutting radar detection device in tunnels and underground engineering as claimed in claim 1, it is characterised in that described
Platform be provided with and be used for the preformed hole that passes through of radar antenna transmission line.
5. just propped up and lining cutting radar detection device in tunnels and underground engineering as claimed in claim 1, it is characterised in that described
Bottom radar antenna neck be connected by four telescopic arms with platform.
6. the radar just propped up in tunnels and underground engineering with lining cutting is realized using any described detection means of claim 1- 5
The method of detection, it is characterised in that comprise the following steps：
1）When measuring inverted arch, radar detection device is moved into relevant position, radar antenna is placed in the radar antenna neck of bottom
It is and fixed；
2）The flexible arm lengths of regulation, make radar bottom surface be bonded with inverted arch surface, transmission line pass through platform preformed hole by display and
Radar antenna is connected, and providing driving force using motor makes whole device from walking；
3）When measuring tunnel side wall, haunch, spandrel, vault, this mechanical device is moved into tunnel midline position, radar antenna is put
In in the neck of top and fixed；
4）According to tunnel cross-section radius, mechanical arm length is adjusted using motor, makes radar bottom surface and tunnel-liner surface certainly
Fitting is adapted to, radar antenna is directly connected by transmission line with display, and providing driving force using motor makes whole device voluntarily
Walk；
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105807276A CN105807276A (en) | 2016-07-27 |
| CN105807276B true CN105807276B (en) | 2018-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610277824.2A Expired - Fee Related 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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| CN (1) | CN105807276B (en) |
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| CN106855617A (en) * | 2016-12-29 | 2017-06-16 | 山东大学 | A kind of tunnel detection detects radar portable carrier and method |
| 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 |
| CN107272075B (en) * | 2017-06-29 | 2019-01-15 | 中国地质大学（武汉） | Vehicle-mounted railway tunnel vault geological radar continuous detecting system |
| CN107462870B (en) * | 2017-08-30 | 2023-05-23 | 苏交科集团股份有限公司 | Geological radar auxiliary operation equipment |
| CN107678026B (en) * | 2017-09-08 | 2023-12-29 | 中国铁路总公司 | Tunnel lining state detection device |
| CN108748214B (en) * | 2018-08-08 | 2023-07-18 | 田国力 | Constant stress multifunctional manipulator |
| CN109244626B (en) * | 2018-09-28 | 2020-08-11 | 重庆大学 | Geological radar detects tunnel lining antenna telescoping shoring column |
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| CN109794947B (en) * | 2019-02-13 | 2020-10-13 | 泉州昌荣贸易有限公司 | Tunnel lining detection mechanical arm adjusted based on radian of tunnel wall |
| CN109927610A (en) * | 2019-03-26 | 2019-06-25 | 中国铁建重工集团有限公司 | Existing Railway Line tunnel defect synthetic detection vehicle |
| CN110146875B (en) * | 2019-04-16 | 2021-04-16 | 武汉驰驭科技有限公司 | Tunnel lining radar detection device |
| CN110470580A (en) * | 2019-07-30 | 2019-11-19 | 苑正青 | The apparatus for management of information of Tunnel Engineering management |
| CN110333486A (en) * | 2019-08-13 | 2019-10-15 | 四川朝阳公路试验检测有限公司 | A kind of tunnel Ground Penetrating Radar detection system and its application method |
| CN110534869A (en) * | 2019-08-27 | 2019-12-03 | 长安大学 | A kind of vcehicular tunnel geology detection system and method with adaptive laminating apparatus |
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| CN110646791A (en) * | 2019-09-12 | 2020-01-03 | 山东大学 | Geological radar auxiliary device and method for tunnel secondary lining detection |
| CN111190179B (en) * | 2020-01-17 | 2022-06-24 | 中国矿业大学(北京) | Underground disease three-dimensional information extraction method based on pendulum type ground penetrating radar |
| CN113290568A (en) * | 2021-05-21 | 2021-08-24 | 山东大学 | Self-adaptive tunnel detection robot and working method |
| CN114114244A (en) * | 2021-10-22 | 2022-03-01 | 武汉中仪物联技术股份有限公司 | Pipeline robot based on radar detection |
| CN114776943A (en) * | 2022-03-29 | 2022-07-22 | 江西省天驰高速科技发展有限公司 | Radar detection auxiliary support and tunnel detection method |
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| JP2002296346A (en) * | 2001-03-29 | 2002-10-09 | Komatsu Ltd | Method and apparatus for measurement of probing distance of underground probing radar for tunnel- boring machine |
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| CN102765431B (en) * | 2011-03-02 | 2016-08-03 | 常州中铁科技有限公司 | Trolley for tunnel detection radar |
| CN204479742U (en) * | 2015-01-06 | 2015-07-15 | 交通运输部公路科学研究所 | A kind of tunnel-liner detections of radar servicing unit and tunnel-liner detections of radar car |
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- 2016-04-28 CN CN201610277824.2A patent/CN105807276B/en not_active Expired - Fee Related
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| CN105807276A (en) | 2016-07-27 |
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Inventor after: Li Shucai Inventor after: Wang Xintong Inventor after: Ma Xiuyuan Inventor after: Liu Jin Inventor after: Shi Xuesong Inventor after: Gao Bin Inventor after: Wang Wenyang Inventor after: Liu Tonghui Inventor before: Li Shucai Inventor before: Wang Xintong Inventor before: Ma Xiuyuan Inventor before: Liu Jin |
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