CN109356654A - A kind of soft robot built for tunnel with the detection of infiltration gap - Google Patents
A kind of soft robot built for tunnel with the detection of infiltration gap Download PDFInfo
- Publication number
- CN109356654A CN109356654A CN201811370004.3A CN201811370004A CN109356654A CN 109356654 A CN109356654 A CN 109356654A CN 201811370004 A CN201811370004 A CN 201811370004A CN 109356654 A CN109356654 A CN 109356654A
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- China
- Prior art keywords
- tunnel
- detection
- removable cover
- soft robot
- main body
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of soft robots built for tunnel with the detection of infiltration gap, it is related to tunnel device field, specially a kind of soft robot built for tunnel with the detection of infiltration gap, including buffering plate, cooling fin and mounting base, the upper left of the buffering plate is provided with removable cover, and lock screw is installed inside the lower end of removable cover, the inside of the removable cover is respectively arranged with buffering sponge and battery group, and battery group is located at the inside of buffering sponge, connecting screw is installed inside the right end of the removable cover, and main body cover is provided on the right side of removable cover, the inside of the cooling fin is equally spaced and has thermovent.This builds the soft robot with the detection of infiltration gap for tunnel, the practical performance of the device is substantially increased while increasing structure, make the device that there is adsorption capacity in moving process, and the device has autonomous storage cruising ability, effectively keeps the Use Limitation of the device.
Description
Technical field
It is specially a kind of to build for tunnel with the soft of gap detection of seeping water the present invention relates to soft robot technical field
Body robot.
Background technique
Tunnel is the engineering works being embedded in stratum, is a kind of form of human use's underground space.Tunnel can divide
For traffic tunnel, Hydraulic Tunnel, municipal tunnel, mining tunnel.The tunnel that Organisation for Economic Co-operation and Development in 1970 is held
Meeting combines various factors, to tunnel definition are as follows: " acts on any method regulation shape with certain purposes, in subsurface
The basal area that shape and size are built is greater than 2 square metres of cavern, over time and the Use Limitation in tunnel, causes
Tunnel can have the effect for the appearance of the case where crack occur, and relying only on artificial eye observation in the detection process to tunnel gap
Fruit too underground, and soft robot can be competent at this work, scientists from nature draw inspiration, create more than
The similar more flexible and multi-functional robot of those traditional made of metal.
A kind of Tunnel testing mechanism disclosed in Chinese utility model patent ublic specification of application CN207881755U,
Although the Tunnel testing mechanism realizes and wall apparent to shield tunnel construction by shield tunnel testing agency structure setting
The detection of thick defect, but the Tunnel testing mechanism has its equipment internal structure external structure relatively simple, making in use
It is obviously insufficient with performance, and general testing agency is difficult have charging cruising ability, to indirectly reduce equipment pair
The working efficiency of tunnel internal detection, while general detection device does not have adsorption capacity, makes the detection range of equipment more
Narrow disadvantage.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of software machines built for tunnel with the detection of infiltration gap
Device people, it is relatively simple to solve its equipment internal structure external structure mentioned above in the background art, usability in use
Can be obvious insufficient, and general testing agency is difficult have charging cruising ability, to indirectly reduce equipment to tunnel
The working efficiency of inside detection, while general detection device does not have adsorption capacity, keeps the detection range of equipment more narrow
Problem.
In order to achieve the above object, the present invention is achieved by the following technical programs: one kind is built for tunnel with infiltration
The soft robot of gap detection, including buffering plate, cooling fin and mounting base, the upper left of the buffering plate are provided with
Removable cover, and lock screw is equipped with inside the lower end of removable cover, the inside of the removable cover be respectively arranged with buffering sponge and
Battery group, and battery group is located at the inside of buffering sponge, connecting screw is equipped with inside the right end of the removable cover, and living
The right side of dynamic lid is provided with main body cover, and the inside of the cooling fin, which is equally spaced, thermovent, and cooling fin is located at outside main body
Above the middle part of shell, it is provided with power cord jack on the right side of the cooling fin, and signal wire is provided on the right side of power cord jack
Socket is provided with positioning hole above the mounting base, and mounting base is located above the right side of signal line jack.
Optionally, the interior lower end of the buffering plate is provided with lower layer's pedestal, and the upper end of lower layer's pedestal is built-in with rubber
Glue-line is provided with pressure-bearing spring at left and right sides of the rubber layer, and is provided with Pressure Block above pressure-bearing spring, the rubber
Upper layer pedestal is provided with above glue-line.
Optionally, between the rear surface of the rubber layer and the interior surface of lower layer's pedestal and the upper end table of rubber layer
It is fitted closely between face and the rear surface of upper layer pedestal, and the upper end of upper layer pedestal passes through between pressure-bearing spring and Pressure Block
Cooperation be connected with lower layer pedestal, and upper layer pedestal constitutes elastic construction by pressure-bearing spring.
Optionally, it coincides between the central axes of the removable cover and the central axes of main body cover, and removable cover and main body
It is connected between shell by connecting screw, and is buffered between the outer surface of sponge and the interior surface of removable cover and slow
Rushing between the interior surface of sponge and the outer surface of battery group is to fit closely.
Optionally, it is provided with set screw inside the rear and front end of the mounting base, and is provided on the right side of mounting base
Lift-pull handle, the right end of the main body cover is fixed with protective baffle plate, and illuminator is provided on the right side of protective baffle plate, described
It is provided with connecting base at left and right sides of the lower section of buffering plate, and is provided with hydraulic stem below connecting base.
Optionally, the lower end inner width of the mounting base and the upper end external width of main body cover are identical, and mounting base
It is connected by set screw with the outside of main body cover, and the left end interior surface of protective baffle plate and the right end of main body cover
It is fitted closely between outer surface.
Optionally, the lower end of the hydraulic stem is connected with sucker disk seat, and rubber strip is provided with below sucker disk seat, the rubber
Suction tray is provided in the middle part of adhesive tape, the lower section front and rear sides of the buffering plate are provided with attachment base, and under attachment base
Side is provided with fixed link.
Optionally, to be fixedly connected between the lower end of the hydraulic stem and the upper center of sucker disk seat, and rubber strip and suction
Attached disk is embedded in inside the lower end of sucker disk seat, and is coincided between sucker disk seat, rubber strip and the central axes of suction tray.
Optionally, connection bolt is installed inside the lower end of the fixed link, and connects bolt far from buffering plate axis
The side of line is connected with cantilever, and the cantilever is fixed with lifting loop bar far from one end of connection bolt, and it is remote to go up and down loop bar lower end
Side from fixed link is connected with electric rotation shaft, and the electric rotation shaft is equipped with ground-grip tyre far from one end of lifting loop bar.
Optionally, the fixed link is connected by connection bolt with cantilever, and cantilever constitutes rotation by connection bolt
Structure, and be parallel to each other between the central axes of cantilever and the center line of buffering plate.
The present invention provides a kind of soft robots built for tunnel with the detection of infiltration gap, have following beneficial to effect
Fruit:
It, can be to avoid upper layer pedestal under by rubber layer 1. this is used for tunnel and builds the soft robot detected with infiltration gap
The direct contact of layer base interior, reduces abrasion between the two in use process, and passes through pressure-bearing spring and Pressure Block
Setting can form slow vibration effect to the operating table surface of top.
2. this is used for tunnel and builds the soft robot detected with infiltration gap, can be to the storage of its inside by removable cover
Battery pack carries out outer protection ability, and can keep to the sealability inside battery group, avoid humid air and
The intrusion of liquid, and the dismounting mode of removable cover operates also relatively simple convenience, convenient for the operation of user, internal
Part package operation can be carried out to the outer surface of battery group by buffering sponge, and the weak characteristic of buffering sponge can set
It is standby battery group to be protected when colliding, the rigid contact of surface battery group.
3. this is used for tunnel and builds the soft robot detected with infiltration gap, pass through mounting base and the positioning at the top of it
Mounting hole can install corresponding Tunnel testing equipment in the top of equipment, the structure can according to the needs of users with
Meaning installation increases the applicable surface in the device use process with this, improves the multifunctionality of equipment, and lifting herein
Handle is damascene structures, and convenient for user to the artificial moving operation of equipment, and the protective baffle plate of main body cover front end can be with
Indirect protection is carried out to device external in the moving process of equipment, avoids the damage of device external, and the outside of protective baffle plate
Structure is relatively simple, convenient for producing in enormous quantities.
4. this is used for tunnel and builds the soft robot detected with infiltration gap, can be to sucker disk seat, rubber by hydraulic stem
Control is adjusted in the horizontal position of adhesive tape and suction tray, changes between suction tray and metope by the adjusting of suction tray position
Spacing make equipment that there is vertical adsorption capacity to form switching to the fixed form of whole equipment, indirectly increase this
The area of detection of equipment.
5. this be used for tunnel build with infiltration gap detection soft robot, by fixed link can lower section mobile branch
Support structure forms a fixed connection operation, and the cantilever by being adjusted by rotation realizes ground-grip tyre and ground contact angle
Degree, and can form the independent wheel suspension of each ground-grip tyre by going up and down loop bar at the ground of out-of-flatness is protected according to this
Horizontal stable degree in holding equipment traveling process, and each ground-grip tyre is to carry out power by independent electric rotation shaft
Control effectively maintains the continuous driving force output in equipment moving process.
Detailed description of the invention
Fig. 1 is main view external structure schematic diagram of the present invention；
Fig. 2 is main view half section structure diagram of the present invention；
Fig. 3 is side structure schematic view of the present invention；
Fig. 4 is structural schematic diagram after side view of the present invention is adjusted；
Fig. 5 is mounting base overlooking structure diagram of the present invention；
Fig. 6 is partial enlargement structural representation at A of the present invention.
In figure: 1, buffering plate；101, lower layer's pedestal；102, rubber layer；103, pressure-bearing spring；104, Pressure Block；105,
Upper layer pedestal；2, removable cover；3, lock screw；4, sponge is buffered；5, battery group；6, connecting screw；7, main body cover；8, it dissipates
Backing；9, thermovent；10, power cord jack；11, signal line jack；12, mounting base；13, positioning hole；14, spiral shell is positioned
Silk；15, lift-pull handle；16, protective baffle plate；17, illuminator；18, connecting base；19, hydraulic stem；20, sucker disk seat；21, rubber
Item；22, suction tray；23, attachment base；24, fixed link；25, bolt is connected；26, cantilever；27, loop bar is gone up and down；28, electric rotation shaft；
29, ground-grip tyre.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Please refer to Fig. 1 to Fig. 6, the present invention provides a kind of technical solution: one kind is built for tunnel with the detection of infiltration gap
Soft robot, including buffering plate 1, cooling fin 8 and mounting base 12, the upper left of buffering plate 1 be provided with removable cover
2, and lock screw 3 is installed inside the lower end of removable cover 2, the interior lower end of buffering plate 1 is provided with lower layer's pedestal 101, and
The upper end of lower layer's pedestal 101 is built-in with rubber layer 102, and the left and right sides of rubber layer 102 is provided with pressure-bearing spring 103, and holds
The top of pressing spring 103 is provided with Pressure Block 104, and the top of rubber layer 102 is provided with upper layer pedestal 105, under rubber layer 102
Between end surfaces and the interior surface of lower layer's pedestal 101 and the lower end table of the upper end face of rubber layer 102 and upper layer pedestal 105
It is fitted closely between face, and the upper end of upper layer pedestal 105 passes through the cooperation between pressure-bearing spring 103 and Pressure Block 104 under
Layer pedestal 101 be connected, and upper layer pedestal 105 by pressure-bearing spring 103 constitute elastic construction, this be used for tunnel build with seep
The soft robot of water gap detection, by rubber layer 102 can to avoid upper layer pedestal 105 with it is straight inside lower layer pedestal 101
Contact reduces abrasion between the two in use process, and passes through the setting of pressure-bearing spring 103 and Pressure Block 104, can be with
Slow vibration effect is formed to the operating table surface of top；
The inside of removable cover 2 is respectively arranged with buffering sponge 4 and battery group 5, and battery group 5 is located at the interior of buffering sponge 4
Portion is equipped with connecting screw 6 inside the right end of removable cover 2, and the right side of removable cover 2 is provided with main body cover 7, removable cover 2
It coincides between central axes and the central axes of main body cover 7, and is connected between removable cover 2 and main body cover 7 by connecting screw 6
It connects, and buffers between the outer surface of sponge 4 and the interior surface of removable cover 2 and buffer the interior surface and storage of sponge 4
It is to fit closely between the outer surface of battery pack 5, this is used for tunnel and builds the soft robot detected with infiltration gap, leads to
Cross removable cover 2 can battery group 5 to its inside carry out outer protection ability, and can keep to inside battery group 5
Sealability, avoid the intrusion of humid air and liquid, the also relatively simple side and the dismounting mode of removable cover 2 operates
Just, convenient for the operation of user, internal buffering sponge 4 can carry out part package behaviour to the outer surface of battery group 5
Make, the weak characteristic of buffering sponge 4 can protect battery group 5 when equipment collides, surface battery group 5
Rigid contact；
The inside of cooling fin 8, which is equally spaced, thermovent 9, and cooling fin 8 is located above the middle part of main body cover 7, cooling fin 8
Right side is provided with power cord jack 10, and the right side of power cord jack 10 is provided with signal line jack 11, the top of mounting base 12
It is provided with positioning hole 13, and mounting base 12 is located above the right side of signal line jack 11, in the rear and front end of mounting base 12
Portion is provided with set screw 14, and the right side of mounting base 12 is provided with lift-pull handle 15, and the right end of main body cover 7 is fixed with anti-
Guard 16, and the right side of protective baffle plate 16 is provided with illuminator 17, is provided with rank at left and right sides of the lower section of buffering plate 1
Joint chair 18, and the lower section of connecting base 18 is provided with hydraulic stem 19, the lower end inner width of mounting base 12 and the upper end of main body cover 7
External width is identical, and mounting base 12 is connected by set screw 14 with the outside of main body cover 7, and protective baffle plate 16
It is fitted closely between left end interior surface and the right end outer surface of main body cover 7, this is used for tunnel and builds with the spy of infiltration gap
The soft robot of survey, the positioning hole 13 by mounting base 12 and at the top of it can be installed corresponding in the top of equipment
Tunnel testing equipment, which can arbitrarily install according to the needs of users, increase the device use process with this
In applicable surface, improve the multifunctionality of equipment, and lift-pull handle 15 herein be damascene structures, be convenient for user couple
The artificial moving operation of equipment, and the protective baffle plate 16 of 7 front end of main body cover can in the moving process of equipment to equipment outside
Portion carries out indirect protection, avoids the damage of device external, and the external structure of protective baffle plate 16 is relatively simple, raw convenient for high-volume
It produces；
The lower end of hydraulic stem 19 is connected with sucker disk seat 20, and the lower section of sucker disk seat 20 is provided with rubber strip 21, in rubber strip 21
Portion is provided with suction tray 22, and the lower section front and rear sides of buffering plate 1 are provided with attachment base 23, and the lower section setting of attachment base 23
There is fixed link 24, be fixedly connected between the lower end and the upper center of sucker disk seat 20 of hydraulic stem 19, and rubber strip 21 and absorption
Disk 22 is mutually overlapped between sucker disk seat 20, rubber strip 21 and the central axes of suction tray 22 inside the lower end of sucker disk seat 20
It closes, this is used for tunnel and builds the soft robot detected with infiltration gap, can be to sucker disk seat 20, rubber strip by hydraulic stem 19
21 and the horizontal position of suction tray 22 control is adjusted, change suction tray 22 and metope by the adjusting of 22 position of suction tray
Between spacing make equipment that there is vertical adsorption capacity to form switching to the fixed form of whole equipment, indirectly increase
The area of detection of the equipment；
Connection bolt 25 is installed inside the lower end of fixed link 24, and connects side of the bolt 25 far from 1 central axes of buffering plate
It is connected with cantilever 26, cantilever 26 is fixed with lifting loop bar 27 far from one end of connection bolt 25, and it is separate to go up and down 27 lower end of loop bar
The side of fixed link 24 is connected with electric rotation shaft 28, and electric rotation shaft 28 is equipped with ground-grip tyre far from one end of lifting loop bar 27
29, fixed link 24 is connected by connecting bolt 25 with cantilever 26, and cantilever 26 constitutes rotational structure by connection bolt 25, and
And be parallel to each other between the central axes of cantilever 26 and the center line of buffering plate 1, this is used for tunnel and builds with the detection of infiltration gap
Soft robot, by fixed link 24 can the moving support structure of lower section form a fixed connection operation, and pass through and can revolve
The cantilever 26 of modulation section realizes ground-grip tyre 29 and ground contact angle, and passes through lifting loop bar at the ground of out-of-flatness
27 can form the independent wheel suspension of each ground-grip tyre 29, keep the horizontal stable journey in equipment traveling process according to this
Degree, and each ground-grip tyre 29 is to carry out dynamic Control by independent electric rotation shaft 28, effectively maintains equipment shifting
Continuous driving force output during dynamic.
In conclusion this, which is used for tunnel, builds the soft robot detected with infiltration gap, in use, according to user's
It needs that corresponding detection device is installed in the top of mounting base 12, by the cooperation between screw and positioning hole 13 to setting
It is standby that installation is fixed, the device can be used after the installation is completed, the starting drive ground-grip tyre 29 of electric rotation shaft 28 when use
Rotation, to realize the moving operation of equipment, each ground-grip tyre 29 is to carry out power by independent electric rotation shaft 28
Control, effectively maintain in equipment moving process continuous driving force output, such as encountered in the detection process of equipment light compared with
It can star illuminator 17 when dark environment and carry out auxiliary irradiation, and the protective baffle plate 16 of 7 front end of main body cover can set
Indirect protection is carried out to device external in standby moving process, avoids the damage of device external, and the external of protective baffle plate 16 is tied
Structure is relatively simple, and convenient for producing in enormous quantities, at battery group 5, removable cover 2 can be to its inside for the power supply of whole equipment
Battery group 5 carry out outer protection ability, and can keep to sealability battery group 5 inside, avoid moist empty
The intrusion of gas and liquid, the also relatively simple convenience and the dismounting mode of removable cover 2 operates, convenient for the operation of user,
Its internal buffering sponge 4 can carry out part package operation to the outer surface of battery group 5, buffer the weakness of sponge 4
Characteristic can protect battery group 5 when equipment collides, the rigid contact of surface battery group 5, and in equipment
Moving process in operation can be switched over to move mode, by hydraulic stem 19 can to sucker disk seat 20, rubber strip 21 with
And control is adjusted in the horizontal position of suction tray 22, changes between suction tray 22 and metope by the adjusting of 22 position of suction tray
Spacing make equipment that there is vertical adsorption capacity to form switching to the fixed form of whole equipment, indirectly increase this
The area of detection of equipment.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. it is a kind of for tunnel build with infiltration gap detection soft robot, including buffering plate (1), cooling fin (8) and
Mounting base (12), it is characterised in that: the upper left of the buffering plate (1) is provided with removable cover (2), and removable cover (2)
It is equipped with inside lower end lock screw (3), the inside of the removable cover (2) is respectively arranged with buffering sponge (4) and battery group
(5), and battery group (5) is located at the inside for buffering sponge (4), is equipped with connecting screw inside the right end of the removable cover (2)
(6), it and on the right side of removable cover (2) is provided with main body cover (7), the inside of the cooling fin (8) is equally spaced and has thermovent
(9), and cooling fin (8) is located above the middle part of main body cover (7), is provided with power cord jack on the right side of the cooling fin (8)
(10), it and on the right side of power cord jack (10) is provided with signal line jack (11), it is fixed to be provided with above the mounting base (12)
Position mounting hole (13), and mounting base (12) is located above the right side of signal line jack (11).
2. a kind of soft robot built for tunnel with the detection of infiltration gap according to claim 1, feature exist
In: the interior lower end of the buffering plate (1) is provided with lower layer's pedestal (101), and the upper end of lower layer's pedestal (101) is built-in with rubber
Glue-line (102) is provided with pressure-bearing spring (103) at left and right sides of the rubber layer (102), and pressure-bearing spring (103) is upper
Side is provided with Pressure Block (104), is provided with upper layer pedestal (105) above the rubber layer (102).
3. a kind of soft robot built for tunnel with the detection of infiltration gap according to claim 2, feature exist
In: between the rear surface of the rubber layer (102) and the interior surface of lower layer's pedestal (101) and rubber layer (102) it is upper
It is fitted closely between end surfaces and the rear surface of upper layer pedestal (105), and the upper end of upper layer pedestal (105) passes through pressure-bearing bullet
Cooperation between spring (103) and Pressure Block (104) is connected with lower layer's pedestal (101), and upper layer pedestal (105) passes through pressure-bearing
Spring (103) constitutes elastic construction.
4. a kind of soft robot built for tunnel with the detection of infiltration gap according to claim 1, feature exist
In: it coincides between the central axes of the removable cover (2) and the central axes of main body cover (7), and removable cover (2) and main body cover
(7) be connected between by connecting screw (6), and buffer sponge (4) outer surface and removable cover (2) interior surface it
Between and buffering sponge (4) interior surface and battery group (5) outer surface between be to fit closely.
5. a kind of soft robot built for tunnel with the detection of infiltration gap according to claim 1, feature exist
In: it is provided with set screw (14) inside the rear and front end of the mounting base (12), and is provided on the right side of mounting base (12)
The right end of lift-pull handle (15), the main body cover (7) is fixed with protective baffle plate (16), and the right side setting of protective baffle plate (16)
Have illuminator (17), is provided with connecting base (18) at left and right sides of the lower section of the buffering plate (1), and connecting base (18)
Lower section is provided with hydraulic stem (19).
6. a kind of soft robot built for tunnel with the detection of infiltration gap according to claim 5, feature exist
In: the lower end inner width of the mounting base (12) is identical as the upper end external width of main body cover (7), and mounting base (12) is logical
It crosses set screw (14) to be connected with the outside of main body cover (7), and the left end interior surface and main body of protective baffle plate (16)
It is fitted closely between the right end outer surface of shell (7).
7. a kind of soft robot built for tunnel with the detection of infiltration gap according to claim 5, feature exist
In: the lower end of the hydraulic stem (19) is connected with sucker disk seat (20), and rubber strip (21), institute are provided with below sucker disk seat (20)
It states and is provided in the middle part of rubber strip (21) suction tray (22), the lower section front and rear sides of the buffering plate (1) are provided with connection
Seat (23), and fixed link (24) are provided with below attachment base (23).
8. a kind of soft robot built for tunnel with the detection of infiltration gap according to claim 7, feature exist
In: to be fixedly connected between the lower end of the hydraulic stem (19) and the upper center of sucker disk seat (20), and rubber strip (21) and suction
Attached disk (22) is embedded in inside the lower end of sucker disk seat (20), and in sucker disk seat (20), rubber strip (21) and suction tray (22)
It coincides between axis.
9. a kind of soft robot built for tunnel with the detection of infiltration gap according to claim 7, feature exist
In: connection bolt (25) is installed inside the lower end of the fixed link (24), and connects bolt (25) far from buffering plate (1)
The side of axis is connected with cantilever (26), and the cantilever (26) is fixed with lifting loop bar far from one end of connection bolt (25)
(27), and lifting loop bar (27) lower end far from the side of fixed link (24) is connected with electric rotation shaft (28), the electric rotation shaft
(28) one end far from lifting loop bar (27) is equipped with ground-grip tyre (29).
10. a kind of soft robot built for tunnel with the detection of infiltration gap according to claim 9, feature exist
In: the fixed link (24) is connected by connection bolt (25) with cantilever (26), and cantilever (26) passes through connection bolt (25)
Rotational structure is constituted, and is parallel to each other between the central axes of cantilever (26) and the center line of buffering plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811370004.3A CN109356654A (en) | 2018-11-17 | 2018-11-17 | A kind of soft robot built for tunnel with the detection of infiltration gap |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811370004.3A CN109356654A (en) | 2018-11-17 | 2018-11-17 | A kind of soft robot built for tunnel with the detection of infiltration gap |
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| CN109356654A true CN109356654A (en) | 2019-02-19 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111037607A (en) * | 2020-01-02 | 2020-04-21 | 东南大学 | Four-bundle conductor detection robot derailing detection and derailing prevention mechanism |
| CN112114585A (en) * | 2020-08-18 | 2020-12-22 | 黄河 | Four-foot gait interactive bionic deduction robot |
-
2018
- 2018-11-17 CN CN201811370004.3A patent/CN109356654A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111037607A (en) * | 2020-01-02 | 2020-04-21 | 东南大学 | Four-bundle conductor detection robot derailing detection and derailing prevention mechanism |
| CN111037607B (en) * | 2020-01-02 | 2022-08-09 | 东南大学 | Four-bundle conductor detection robot derailing detection and derailing prevention mechanism |
| CN112114585A (en) * | 2020-08-18 | 2020-12-22 | 黄河 | Four-foot gait interactive bionic deduction robot |
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