CN108332027B - Vehicle-mounted multi-degree-of-freedom horizontal lifting platform for detecting tunnel roof lining defects - Google Patents
Vehicle-mounted multi-degree-of-freedom horizontal lifting platform for detecting tunnel roof lining defects Download PDFInfo
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- CN108332027B CN108332027B CN201810093408.6A CN201810093408A CN108332027B CN 108332027 B CN108332027 B CN 108332027B CN 201810093408 A CN201810093408 A CN 201810093408A CN 108332027 B CN108332027 B CN 108332027B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/0049—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means for non integrated articles
- B60R2011/005—Connection with the vehicle part
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0084—Adjustable or movable supports with adjustment by linear movement in their operational position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/063—Parallelogram arms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/068—Arms being part of the undercarriage
Abstract
The invention discloses a vehicle-mounted multi-degree-of-freedom horizontal lifting platform for tunnel roof lining disease detection, which comprises a hydraulic control unit, a horizontal mechanism, a truss lifting mechanism, a waviness adaptation mechanism and a geological radar, wherein the truss lifting mechanism is positioned on one side of the horizontal mechanism, the middle part of the truss lifting mechanism is hinged with the top of the horizontal mechanism, the waviness adaptation mechanism is arranged at the top of the truss lifting mechanism, and the geological radar is arranged on the waviness adaptation mechanism; the multi-degree-of-freedom horizontal lifting platform can be arranged on a vehicle, the horizontal mechanism can enable the truss lifting mechanism to turn horizontally and vertically, and the horizontal height can be adjusted when the truss lifting mechanism turns to a horizontal position so as to be beneficial to transportation; the height of the geological radar can be adjusted by the truss lifting mechanism, the angle of the geological radar can be adjusted by the waviness adaptation mechanism according to the slope of the detected tunnel, and then the multidirectional angle adjustment can be carried out according to the condition that the tunnel top lining is uneven when the detection is carried out.
Description
Technical Field
The invention belongs to the technical field of tunnel detection, and particularly relates to a vehicle-mounted multi-degree-of-freedom horizontal lifting platform for detecting tunnel roof lining diseases.
Background
In the large-scale highway traffic construction in China, mountain drilling and road opening are needed, tunnels are needed to be built, and the highway mileage is shortened so as to meet the requirement of modern high-speed transportation. However, various types of diseases can occur in the tunnel along with the lapse of time, which may affect the normal use of the tunnel in a light case and damage the tunnel structure in a heavy case, thereby causing serious accidents. Therefore, during the use period of the tunnel, tunnel defect detection is required, health state evaluation is carried out, and the quality of the tunnel is ensured. The tunnel defect detection is mainly carried out aiming at the defects of common lining cracks, lining back holes and the like, wherein the tunnel top lining is higher, the surface of the top lining is uneven and faces downwards, and the defect detection operation difficulty is higher.
The geological radar has the advantages of high precision, high efficiency, small loss and the like, and is widely applied to the field of tunnel detection. At present, the mode that utilizes geological radar to carry out top lining and detect relies on the manual work, and operating personnel stands on the operation platform of putting up on the vehicle promptly, lifts the radar and crosses the top, pastes the tunnel top lining surface at the unevenness hard, and along with the vehicle is advanced slowly, carries out portable detection to top lining surface. The method has poor sight, low efficiency and high lifting labor intensity, the arms and the head and the neck of the operators are extremely easy to be fatigued, great potential safety hazards exist, the operators can be served by armed police fighters with strong physical strength and good endurance, and the detection of one tunnel needs the relay of a plurality of operators.
Therefore, the tunnel top lining disease detection platform which can meet different tunnel heights, automatically adapt to the uneven height of the top lining, is safe, labor-saving, efficient and capable of being moved in a vehicle-mounted manner is designed, and the tunnel top lining disease detection platform has a wide application prospect.
Disclosure of Invention
The invention aims to provide a vehicle-mounted multi-degree-of-freedom horizontal lifting platform for tunnel roof lining disease detection, which aims at solving the problems of poor sight, low efficiency, high lifting labor intensity and high potential safety hazard in the manual tunnel roof lining detection, meeting the detection requirements of tunnels with different heights and automatically adapting to the condition of uneven surface of a tunnel roof lining.
In order to solve the technical problems, the invention provides a vehicle-mounted multi-degree-of-freedom horizontal lifting platform for tunnel roof lining disease detection, which comprises a hydraulic control unit, a horizontal mechanism, a truss lifting mechanism, a waviness adaptation mechanism and a geological radar, wherein the truss lifting mechanism is located on one side of the horizontal mechanism, the middle part of the truss lifting mechanism is hinged with the top of the horizontal mechanism, the waviness adaptation mechanism is arranged on the top of the truss lifting mechanism, and the geological radar is arranged on the waviness adaptation mechanism.
Preferably, the horizontal mechanism comprises a base, two side brackets and a frame seat, the frame seat is arranged above the base, a horizontal hydraulic cylinder is arranged between the base and the frame seat, one end of the horizontal hydraulic cylinder is hinged to the base, and a piston rod at the other end of the horizontal hydraulic cylinder is hinged to the frame seat; the two side brackets are arranged on two sides of the horizontal hydraulic cylinder, one end of each side bracket is hinged to the base, and the other end of each side bracket is hinged to the bracket seat; the truss lifting mechanism is characterized in that a turnover hydraulic cylinder is arranged on the frame seat, one end of the turnover hydraulic cylinder is hinged to the frame seat, and a piston rod at the other end of the turnover hydraulic cylinder is hinged to the middle of the truss lifting mechanism.
Preferably, a cushion block is arranged at the top end of the frame seat, and a buffer piece is arranged on one side, close to the truss lifting mechanism, of the base.
Preferably, the waviness adaptation mechanism comprises a bottom plate, a plurality of support rods, a fixed frame and a radar box, the fixed frame is arranged above the bottom plate, an adjusting hydraulic cylinder is arranged between the fixed frame and the bottom plate, one end of the adjusting hydraulic cylinder is hinged to the bottom plate, and a piston rod at the other end of the adjusting hydraulic cylinder is hinged to the fixed frame; the supporting rod is arranged between the fixed frame and the bottom plate, one end of the supporting rod is hinged to the fixed frame, and the other end of the supporting rod is hinged to the bottom plate; the radar box is arranged on the fixed frame, and the geological radar is fixed in the radar box through the clamping and pressing mechanism. Preferably, the top of the radar box is provided with a rolling device.
Preferably, the rolling device is a universal wheel, and the universal wheels are arranged at four corners of the radar box.
Preferably, the radar box penetrates through the fixed frame, bosses are arranged on two sides of the bottom end of the radar box and located below the fixed frame, and the bosses are connected with the fixed frame through springs.
Preferably, the upper surface of the fixed frame is provided with a plurality of spring cylinders, the springs are arranged in the spring cylinders, the top ends of the springs are fixed in the spring cylinders through pin shafts, and the bottom ends of the springs are connected to the bosses through lifting lugs.
Preferably, the truss lifting mechanism comprises an outer truss, an inner truss, a lifting hydraulic cylinder and a horizontal support, the inner truss is arranged inside the outer truss, a guide rail is arranged inside the outer truss, a sliding block matched with the guide rail is arranged outside the inner truss, one end of the lifting hydraulic cylinder is arranged on the outer truss, and a piston rod at the other end of the lifting hydraulic cylinder is hinged to the inner truss; the horizontal support is arranged in the middle of the outer side of the outer truss, and the bottom end of the horizontal support is hinged with the top end of the frame seat; and a piston rod of the turning hydraulic cylinder is hinged on the horizontal support.
Has the beneficial effects that:
the multi-degree-of-freedom horizontal lifting platform is arranged on a detection vehicle and is transported to a tunnel detection site along with the vehicle. The middle part of the truss lifting mechanism is hinged with the top of the horizontal mechanism, the truss lifting mechanism can be turned over on the horizontal mechanism through the horizontal mechanism, the truss lifting mechanism can be turned over to be in a vertical position during detection, and the truss lifting mechanism can be turned over to be in a horizontal position and can reduce the horizontal height of the truss lifting mechanism to facilitate road transportation when the truss lifting mechanism is not detected; the height of the geological radar can be adjusted by the truss lifting mechanism, the waviness adaptation mechanism can adjust the height and the angle of the geological radar according to the slope small range of the detected tunnel, and then the multidirectional angle adjustment can be carried out according to the uneven situation of the tunnel top lining when the detection is carried out, so that the detection process is time-saving and labor-saving, safe, reliable and convenient to operate, and the detection accuracy is high.
A horizontal hydraulic cylinder is arranged between a base and a frame seat of the horizontal mechanism, and the horizontal hydraulic cylinder can drive the horizontal mechanism to rotate around a hinged shaft on the base, so that the height of the truss lifting mechanism in horizontal is changed; the top end of the frame seat is provided with a turning hydraulic cylinder which can turn the truss lifting mechanism to realize the vertical and horizontal movement of the truss lifting mechanism; the top end of the frame seat is provided with a cushion block, and one side of the base close to the truss lifting mechanism is provided with a buffer element, so that the truss lifting mechanism is buffered with the horizontal mechanism in a horizontal state and a vertical state; an adjusting hydraulic cylinder is arranged between a fixed frame and a bottom plate of the waviness adaptation mechanism, and the height of the waviness adaptation mechanism can be adjusted through the adjusting hydraulic cylinder, so that the height of the geological radar can be adjusted in a small range; the rolling device is arranged at the top of the radar box and can be in contact with the tunnel top lining, so that the detection distance of the geological radar is ensured; the rolling device is a universal wheel, and the requirement of all-directional movement can be met; bosses are arranged on two sides of the bottom end of the radar box and connected with the fixed frame through springs, and the elastic deformation of the springs is utilized to ensure that four universal wheels of the waviness adaptation mechanism keep contact with the surface of the tunnel top lining and automatically adapt to small-range waviness changes of the surface of the tunnel top lining; the top end of the spring is fixed in the spring cylinder through a pin shaft, the bottom end of the spring is connected to the boss through a lifting lug, and the spring cylinder can protect the spring and can guide the extension of the spring; the outer side of the inner truss of the truss lifting mechanism is provided with a sliding block matched with the guide rail of the outer truss, and the waviness adapting mechanism can be lifted in a large range by stretching and contracting the lifting hydraulic cylinder.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic structural view of the horizontal mechanism;
FIG. 3 is a schematic structural diagram of a waviness adaptation mechanism;
FIG. 4 isbase:Sub>A cross-sectional view of the wave-shaping mechanism of FIG. 3 taken along the line A-A;
FIG. 5 is a cross-sectional view of the spring cartridge of FIG. 4 taken along the direction B-B;
FIG. 6 is a schematic structural view of a truss lift mechanism;
fig. 7 is a perspective view of the present invention.
The attached drawings are marked as follows: 1-hydraulic control unit, 2-horizontal mechanism, 3-truss lifting mechanism, 4-waviness adaptation mechanism, 5-geological radar, 6-tunnel top lining, 21-base, 22-side support, 23-frame base, 24-cushion block, 25-turning hydraulic cylinder, 26-horizontal hydraulic cylinder, 27-buffer member, 31-outer truss, 32-inner truss, 33-slide block, 34-lifting hydraulic cylinder, 35-horizontal support, 36-guide rail, 41-bottom plate, 42-support rod, 43-adjusting hydraulic cylinder, 44-fixed frame, 45-radar box, 46-spring barrel, 47-universal wheel, 48-clamping mechanism, 451-boss, 461-spring, 462-lifting lug and 463-pin shaft.
Detailed Description
Embodiments of the present invention are further described below with reference to the accompanying drawings.
As shown in fig. 1 and 7, a tunnel roof lining disease detects with on-vehicle multi freedom platform that crouches, including hydraulic control unit 1, mechanism 2 crouches, truss lift mechanism 3, waviness adaptation mechanism 4 and geological radar 5, truss lift mechanism 3 is located one side of mechanism 2 crouches, truss lift mechanism 3's middle part is articulated with the top of mechanism 2 crouches, waviness adaptation mechanism 4 sets up at truss lift mechanism 3's top, geological radar 5 sets up on waviness adaptation mechanism 4, and corresponding instruction action is accomplished to hydraulic control unit 1 drive crouches mechanism 2, truss lift mechanism 3 and waviness adaptation mechanism 4's executive component, and the executive component is the pneumatic cylinder in each mechanism.
In the embodiment, as shown in fig. 2 and fig. 7, the horizontal mechanism 2 comprises a base 21, two side brackets 22 and a frame seat 23, the hydraulic control unit 1 is arranged on the base 21, and the base 21 is arranged on the detection vehicle, so that the horizontal lifting platform can move along with the detection vehicle as a whole; the frame seat 23 is arranged above the base 21, the horizontal hydraulic cylinders 26 are arranged between the base 21 and the frame seat 23, the horizontal hydraulic cylinders 26 are obliquely arranged, one end of each horizontal hydraulic cylinder 26 is hinged to the base 21, a piston rod at the other end of each horizontal hydraulic cylinder 26 is hinged to the frame seat 23, the number of the horizontal hydraulic cylinders 26 is two, so that the horizontal mechanism 2 can stably move, the two side brackets 22 are arranged on two sides of each horizontal hydraulic cylinder 26, one end of each side bracket 22 is hinged to the base 21, and the other end of each side bracket 22 is hinged to the frame seat 23, so that the base 21, the two side brackets 22 and the frame seat 23 form a deformable first parallelogram mechanism, the first parallelogram mechanism is driven by the horizontal hydraulic cylinders 26 to rotate around a hinge shaft on the base, the height of the horizontal mechanism 2 is changed, the height of the truss lifting mechanism 3 of the horizontal cushion block on the base 24 is further changed, and transportation is facilitated; the frame base 23 is provided with two turning hydraulic cylinders 25, and the number of the turning hydraulic cylinders 25 can be adjusted according to the weight of the truss lifting mechanism 3, so that the stability during turning can be improved; one end of the turning hydraulic cylinder 25 is hinged to the frame seat 23 and is arranged on one side, away from the truss lifting mechanism 3, of the frame seat 23, and a piston rod at the other end of the turning hydraulic cylinder 25 is hinged to the middle of the truss lifting mechanism 3; the top end of the frame seat 23 is provided with a plurality of cushion blocks 24, and one side of the base 21 close to the truss lifting mechanism 3 is provided with a buffer member 27, so that the truss lifting mechanism and the horizontal mechanism form buffering in a horizontal state and a vertical state.
As shown in fig. 3, 4 and 5, the waviness adaptation mechanism 4 includes a bottom plate 41, a plurality of support rods 42, a fixed frame 44 and a radar box 45, the bottom plate 41 is disposed on the top of the inner truss 32 and can be fixed by screws, the fixed frame 44 is disposed above the bottom plate 41, an adjusting hydraulic cylinder 43 is disposed between the fixed frame 44 and the bottom plate 41, the adjusting hydraulic cylinder 43 is obliquely disposed between the fixed frame 44 and the bottom plate 41, the number of the adjusting hydraulic cylinders 43 can be two, and the adjusting hydraulic cylinders are symmetrically disposed on the positions of the fixed frame 44 near two sides, so that the waviness adaptation mechanism 4 can stably move; one end of the adjusting hydraulic cylinder 43 is hinged on the bottom plate 41, and a piston rod at the other end of the adjusting hydraulic cylinder 43 is hinged on the fixed frame 44; the supporting rods 42 are arranged between the fixed frame 44 and the bottom plate 41, one end of each supporting rod 42 is hinged to the fixed frame 44, the other end of each supporting rod 42 is hinged to the bottom plate 41, and the preferable scheme is that the number of the supporting rods 42 is 4, and the supporting rods are respectively arranged at four corners of the fixed frame 44, so that a deformable second parallelogram mechanism is formed by the fixed frame 44, the bottom plate 41 and the 4 supporting rods 42, the height of the second parallelogram mechanism can be adjusted under the action of the adjusting hydraulic cylinder 43, the height of the geological radar 5 is further changed, and the adjustment principle of the height of the second parallelogram mechanism is similar to that of the first parallelogram mechanism; the radar box 45 is arranged on the fixed frame 44, and the geological radar 5 is fixed in the radar box 45 through a clamping and pressing mechanism 48; the top of the radar box 45 is provided with a rolling device, preferably, the rolling device is a universal wheel 47, and four corners of the radar box 45 are provided with the universal wheels 47; the radar box 45 is arranged in the fixed frame 44 in a penetrating manner, bosses 451 are arranged on two sides of the bottom end of the radar box 45, the bosses 451 are positioned below the fixed frame 44, and the bosses 451 are connected with the fixed frame 44 through springs 461; the upper surface of the fixed frame 44 is provided with a plurality of spring cylinders 46, the springs 461 are arranged in the spring cylinders 46, equivalently, the springs 461 penetrate through the fixed frame 44, the top ends of the springs 461 are fixed in the spring cylinders 46 through pin shafts 463, the bottom ends of the springs 461 are connected to the bosses 451 through lugs 462, and the radar box 45 is connected with the fixed frame 44 through the springs 461, so that four universal wheels are ensured to be always in contact with the surface of the tunnel top lining 6, and the wave adaptation mechanism can adjust the height of the radar box 45 in a small range according to the fluctuation change of the surface of the tunnel top lining 6 in the detection process;
as shown in fig. 6 and 7, the truss lifting mechanism 3 includes an outer truss 31, an inner truss 32, a lifting hydraulic cylinder 34 and a horizontal support 35, the inner truss 32 is disposed inside the outer truss 31, a guide rail 36 is disposed inside the outer truss 31, a slider 33 that is engaged with the guide rail 36 is disposed outside the inner truss 32, one end of the lifting hydraulic cylinder 34 is disposed on the outer truss 31, a piston rod at the other end of the lifting hydraulic cylinder 34 is hinged to the inner truss 32, and the inner truss 32 can be pushed out from the inside of the outer truss 31 by the lifting hydraulic cylinder 34, so as to adjust the height of the waviness adaptation mechanism 4; the horizontal support 35 is arranged in the middle of the outer side of the outer truss 31, the bottom end of the horizontal support 35 is hinged to the top end of one side of the frame seat 23, a piston rod of the turning hydraulic cylinder 25 is hinged to the horizontal support 35 and can be hinged to the middle of the horizontal support 35, and therefore the truss lifting mechanism 3 can turn over by taking a hinged support at the top end of one side of the frame seat 23 as an axis to finish the actions of erection and horizontal movement. The hydraulic control unit 1 controls the actions of the overturning hydraulic cylinder 25, the horizontal hydraulic cylinder 26, the lifting hydraulic cylinder 34 and the adjusting hydraulic cylinder 43, thereby completing the adjustment of multiple degrees of freedom of the horizontal lifting platform.
The operation process of detection is as follows: in the transportation process, the horizontal support 31 pulled by the turning hydraulic cylinder 25 in the horizontal mechanism 2 enables the truss lifting mechanism 3 to rotate clockwise (the direction in fig. 1) by taking a hinge shaft on a frame seat as an axis, so that the truss lifting mechanism 3 horizontally lies on a cushion block of the frame seat 23, a piston rod of the horizontal hydraulic cylinder 26 in the horizontal mechanism 2 is pushed out, the first parallelogram mechanism inclines, the height of the horizontal mechanism 2 is changed, and the height of the truss lifting mechanism 3 in horizontal lying is further changed; during detection, the detection vehicle moves the horizontal lifting platform into a detected tunnel, the horizontal hydraulic cylinder 26 is adjusted to enable the horizontal mechanism to be in a vertical state, and the turnover hydraulic cylinder 25 drives the truss lifting mechanism 3 to turn 90 degrees counterclockwise (the direction in fig. 1) to be in a vertical state; the lifting hydraulic cylinder 34 drives the inner truss to move upwards for a certain height along the guide rail 36, and then the height of the waviness adapting mechanism is adjusted in a large range; the adjusting hydraulic cylinder 43 drives the second parallelogram mechanism to rotate for a certain angle, so that the height of the waviness adaptation mechanism 4 is raised in a small range, the geological radar is raised horizontally, and the four universal wheels 47 are in contact with the surface of the tunnel top lining 6 under the action of the elastic force of the spring 461; the detection vehicle slowly moves ahead along the tunnel, the geological radar 5 detects, and the elastic deformation of the spring 461 in the waviness adaptive mechanism 4 can adapt to the waviness change of the tunnel top lining surface in a small range, so that the geological radar in the radar box and the tunnel top lining surface are always kept at a fixed detection distance to complete the disease detection work of the tunnel top lining.
The embodiments of the present invention have been described in detail, but the embodiments are merely examples, and the present invention is not limited to the above-described embodiments. Any equivalent modifications and substitutions for the present invention are within the scope of the present invention for those skilled in the art. Accordingly, equivalent alterations and modifications are intended to be included within the scope of the invention, without departing from the spirit and scope of the invention.
Claims (2)
1. A vehicle-mounted multi-degree-of-freedom horizontal lifting platform for detecting tunnel roof lining diseases is characterized in that: the device comprises a hydraulic control unit (1), a horizontal mechanism (2), a truss lifting mechanism (3), a waviness adaptation mechanism (4) and a geological radar (5), wherein the truss lifting mechanism (3) is located on one side of the horizontal mechanism (2), the middle part of the truss lifting mechanism (3) is hinged to the top of the horizontal mechanism (2), the waviness adaptation mechanism (4) is arranged on the top of the truss lifting mechanism (3), and the geological radar (5) is arranged on the waviness adaptation mechanism (4);
the horizontal mechanism (2) comprises a base (21), two side brackets (22) and a frame seat (23), the frame seat (23) is arranged above the base (21), a horizontal hydraulic cylinder (26) is arranged between the base (21) and the frame seat (23), one end of the horizontal hydraulic cylinder (26) is hinged on the base (21), and a piston rod at the other end of the horizontal hydraulic cylinder (26) is hinged on the frame seat (23); the two side brackets (22) are arranged on two sides of the horizontal hydraulic cylinder (26), one end of each side bracket (22) is hinged to the base (21), and the other end of each side bracket (22) is hinged to the bracket base (23); a turnover hydraulic cylinder (25) is arranged on the frame base (23), one end of the turnover hydraulic cylinder (25) is hinged to the frame base (23), and a piston rod at the other end of the turnover hydraulic cylinder (25) is hinged to the middle of the truss lifting mechanism (3);
a cushion block (24) is arranged at the top end of the frame seat (23), and a buffer piece (27) is arranged on one side, close to the truss lifting mechanism (3), of the base (21);
the waviness adaptation mechanism (4) comprises a bottom plate (41), a plurality of support rods (42), a fixed frame (44) and a radar box (45), the fixed frame (44) is arranged above the bottom plate (41), an adjusting hydraulic cylinder (43) is arranged between the fixed frame (44) and the bottom plate (41), one end of the adjusting hydraulic cylinder (43) is hinged to the bottom plate (41), and a piston rod at the other end of the adjusting hydraulic cylinder (43) is hinged to the fixed frame (44); the supporting rod (42) is arranged between the fixed frame (44) and the bottom plate (41), one end of the supporting rod (42) is hinged to the fixed frame (44), and the other end of the supporting rod (42) is hinged to the bottom plate (41); the radar box (45) is arranged on the fixed frame (44), and the geological radar (5) is fixed in the radar box (45) through a clamping and pressing mechanism (48);
the top of the radar box (45) is provided with a rolling device;
the rolling device is a universal wheel (47), and the four corners of the radar box (45) are provided with the universal wheels (47);
the radar box (45) is arranged in the fixed frame (44) in a penetrating mode, bosses (451) are arranged on two sides of the bottom end of the radar box (45), the bosses (451) are located below the fixed frame (44), and the bosses (451) are connected with the fixed frame (44) through springs (461);
the upper surface of the fixed frame (44) is provided with a plurality of spring cylinders (46), the springs (461) are arranged in the spring cylinders (46), the top ends of the springs (461) are fixed in the spring cylinders (46) through pin shafts (463), and the bottom ends of the springs (461) are connected to the bosses (451) through lifting lugs (462);
the number of the support rods (42) is 4, the support rods are respectively arranged at four corners of the fixed frame (44), and the fixed frame (44), the bottom plate (41) and the 4 support rods (42) form a deformable second parallelogram mechanism.
2. The vehicle-mounted multi-degree-of-freedom horizontal lifting platform for detecting the tunnel roof lining diseases according to claim 1, characterized in that: the truss lifting mechanism (3) comprises an outer truss (31), an inner truss (32), a lifting hydraulic cylinder (34) and a horizontal support (35), the inner truss (32) is arranged inside the outer truss (31), a guide rail (36) is arranged on the inner side of the outer truss (31), a sliding block (33) matched with the guide rail (36) is arranged on the outer side of the inner truss (32), one end of the lifting hydraulic cylinder (34) is arranged on the outer truss (31), and a piston rod at the other end of the lifting hydraulic cylinder (34) is hinged to the inner truss (32); the horizontal support (35) is arranged in the middle of the outer side of the outer truss (31), and the bottom end of the horizontal support (35) is hinged with the top end of the frame seat (23); and a piston rod of the turning hydraulic cylinder (25) is hinged on the horizontal support (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810093408.6A CN108332027B (en) | 2018-01-31 | 2018-01-31 | Vehicle-mounted multi-degree-of-freedom horizontal lifting platform for detecting tunnel roof lining defects |
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| CN201810093408.6A CN108332027B (en) | 2018-01-31 | 2018-01-31 | Vehicle-mounted multi-degree-of-freedom horizontal lifting platform for detecting tunnel roof lining defects |
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| CN108332027A CN108332027A (en) | 2018-07-27 |
| CN108332027B true CN108332027B (en) | 2023-03-03 |
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| CN110497857B (en) * | 2019-08-29 | 2022-03-15 | 上海圭目机器人有限公司 | Support mechanism capable of freely lifting |
| CN112623067A (en) * | 2020-12-29 | 2021-04-09 | 中国船舶重工集团应急预警与救援装备股份有限公司 | Special equipment semi-mounted special carrying platform |
| CN113447986B (en) * | 2021-06-07 | 2024-03-15 | 深圳市博铭维技术股份有限公司 | Buffer device and geological radar robot |
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