CN110816698A - Full-automatic geological radar auxiliary tracked vehicle and working method - Google Patents
Full-automatic geological radar auxiliary tracked vehicle and working method Download PDFInfo
- Publication number
- CN110816698A CN110816698A CN201910988174.6A CN201910988174A CN110816698A CN 110816698 A CN110816698 A CN 110816698A CN 201910988174 A CN201910988174 A CN 201910988174A CN 110816698 A CN110816698 A CN 110816698A
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- China
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- transmission mechanism
- geological radar
- tracked vehicle
- hydraulic
- angle adjusting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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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
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
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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
- B60R2011/0042—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
Abstract
The invention discloses a full-automatic geological radar auxiliary tracked vehicle and a working method, wherein the method comprises the following steps: the mobile chassis comprises a telescopic supporting part, a detection part and an angle adjusting part; the telescopic supporting part is arranged on the movable chassis, an angle adjusting part is arranged on the telescopic supporting part, and the detecting part is connected with the angle adjusting part; the angle adjustment unit includes: the hydraulic support device comprises a first transmission mechanism, a second transmission mechanism, a first hydraulic support rod and a driving motor; the first transmission mechanism is connected with the second transmission mechanism, and the second transmission mechanism is connected with the first hydraulic support rod; the driving motor can provide power for the first transmission mechanism, the first transmission mechanism can transmit the power to the second transmission mechanism, and the second transmission mechanism can drive the first hydraulic supporting rod to swing within a set angle range. The invention can automatically realize the adjustment of height and angle, automatically detect, save a large amount of manpower consumption, improve the working efficiency and save the manpower cost.
Description
Technical Field
The invention relates to the technical field of geological radar detection of a tunnel face and a lining in the process of underground cavern excavation, in particular to a full-automatic geological radar auxiliary crawler and a working method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the continuous development of economy in China, more and more expressways and railways are put into construction in order to meet the increasing traffic demands of people. The construction scheme of tunnels is mostly adopted when the expressway and the railway pass through mountain lands.
Lining refers to a permanent supporting structure built by reinforced concrete and other materials along the periphery of a tunnel body in order to prevent surrounding rocks from deforming or collapsing. And after the tunnel construction is finished, checking and accepting the lining. At present, a tunnel lining acceptance detection method is to scan by using a geological radar and judge whether the quality of the tunnel lining reaches the standard or not by using a radar map. But the geological radar detection has the problem of difficult construction. The current general detection method is to use a truck or other engineering vehicles to lift people and equipment to the top of a tunnel, the people lift the equipment, and then the vehicles move to realize lining radar detection.
This construction operation has several problems:
1. the construction safety is extremely poor, and people cannot ensure the safety of the people when standing on the roof or on the engineering truck; besides, the ground with more gravels is rough near the tunnel face, and falling stones may occur, so that certain safety risk exists in manual operation.
2. The manual work is very big, and detection work is comparatively time-consuming.
Disclosure of Invention
In order to solve the problems, the invention provides a full-automatic geological radar auxiliary tracked vehicle and a working method.
In some embodiments, the following technical scheme is adopted:
a fully automated geological radar assisted tracked vehicle comprising: the mobile chassis comprises a telescopic supporting part, a detection part and an angle adjusting part; the telescopic supporting part is arranged on the movable chassis, an angle adjusting part is arranged on the telescopic supporting part, and the detecting part is connected with the angle adjusting part;
the angle adjusting part includes: the hydraulic support device comprises a first transmission mechanism, a second transmission mechanism, a first hydraulic support rod and a driving motor; the first transmission mechanism is connected with the second transmission mechanism, and the second transmission mechanism is connected with the first hydraulic support rod; the driving motor can provide power for the first transmission mechanism, the first transmission mechanism can transmit the power to the second transmission mechanism, and the second transmission mechanism can drive the first hydraulic supporting rod to swing within a set angle range.
Further, still include: and the remote control system is communicated with the mobile chassis, the telescopic supporting part and the angle adjusting part respectively and is used for remotely controlling the movement of the mobile chassis, the stretching of the second hydraulic supporting rod in the telescopic supporting part and the swinging and stretching of the first hydraulic supporting rod in the angle adjusting part.
In other embodiments, the following technical solutions are adopted:
a working method of a full-automatic geological radar auxiliary crawler comprises the following steps:
remotely controlling the telescopic support part to stretch and retract, and adjusting the detection part to a proper height;
remotely controlling the swing of the angle adjusting part and adjusting the contact angle between the detecting part and the top of the tunnel;
the movement of the mobile chassis is remotely controlled to drive the detection part to detect along a set route.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention provides an automatic device for tunnel geological radar detection work, which can automatically realize the adjustment of height and angle and automatically detect, save a large amount of manpower consumption, improve the work efficiency and save the manpower cost.
(2) This device stability is good. The tracked vehicle is adopted, the tracked vehicle can adapt to various terrains, the stability in the detection process is guaranteed, the auxiliary vehicle considers the problems of uniform speed and stable operation of the antenna in the scanning process, and the scanning work of the antenna can be carried out in a more standardized mode.
(3) The device has low cost and good safety. Remote control avoids constructors from staying near the face for a long time, and the constructors do not need to walk on rugged broken stones, so that the safety of geological radar detection work is improved.
(4) The device uses clean energy electric energy, avoids the pollution of automobile exhaust to the air in the tunnel, and saves the energy consumption.
Drawings
FIG. 1 is a schematic overall structure diagram of a fully automatic geological radar-assisted tracked vehicle according to a first embodiment of the invention;
FIG. 2 is a side view of a fully automated geological radar assisted crawler according to a first embodiment of the present invention;
FIG. 3 is a front view of a fully automated geological radar assisted crawler according to a first embodiment of the present invention;
FIG. 4 is a top view of a fully automated geological radar assisted crawler according to a first embodiment of the present invention;
FIG. 5 is a bottom view of a fully automated geological radar assisted tracked vehicle according to a first embodiment of the present invention;
fig. 6 is a schematic view of the overall structure of the vehicle remote control device;
the device comprises a small wheel 1, an antenna carrying box 2, a locking bolt 3, a fixing bolt 4, a hydraulic supporting rod 5, a rotatable fixing rod 6, a gear fixing shaft 7, a triangular supporting plate 8, a hydraulic rod motor 9, a bottom plate 10, a first gear 11, a second gear 12, a hydraulic connecting rod 13, a crawler belt 14, a first connecting rod 15, a laser ranging device 16, a signal receiver 17, a remote control device 18, a vehicle moving button 19, a power gear rotating button 20, a hydraulic rod retracting button 21, a wheel 22, a second connecting rod 23, a third connecting rod 24 and a vehicle power motor 25.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
In one or more embodiments, a fully automatic radar-assisted tracked vehicle is disclosed, comprising: the mobile chassis comprises a telescopic supporting part, a detection part and an angle adjusting part; the telescopic supporting part is arranged on the movable chassis, an angle adjusting part is arranged on the telescopic supporting part, and the detecting part is connected with the angle adjusting part; in addition, the movable chassis, the telescopic supporting part and the angle adjusting part are communicated with the remote control device.
Referring to fig. 1 and 5, the moving chassis includes: track 14, wheels 22, first link 15, second link 23, and third link 24. The wheels 22 are arranged in the track and can rotate in the bottom plate through the wheels 22; the wheels 22 are composed of two large driving wheels and ten smaller inducers; a vehicle power motor 25 provides power for the operation of the crawler and is mounted on the second link 23.
The first link 15 is additionally provided with a laser ranging device 16, and the laser ranging device 16 can measure the distance between the first link 15 and the tunnel face and display the distance on the remote control device.
Referring to fig. 2, 3-4, the telescopic support includes: the hydraulic connecting rod 13 is welded on the second connecting rod 23, the base 10 is welded on the hydraulic supporting rod 13, and the two triangular supporting pieces 8 which are oppositely arranged are welded at the center of the base 10; the hydraulic connecting rod 13 is powered by the hydraulic rod motor 9 to realize extension and retraction.
Referring to fig. 3, the angle adjustment part includes: the first gear 11, the first gear 11 is fixed between two triangular supporting plates 8 through the gear fixed shaft 7; the triangular support sheet 8 is made of stainless steel material, so that the fixing strength is improved.
The first gear 11 is meshed with the second gear 12, the second gear is arranged at the bottom of the hydraulic support rod 5, and the hydraulic support rod 5 is connected with the triangular support sheet 8 through the rotatable fixing rod 6. The extension and retraction of the hydraulic support rod 5 and the rotation of the first gear 11 are powered by a hydraulic rod motor 9. The hydraulic rod motor 9 is mounted on the base 10. The first gear 11 of hydraulic stem motor 9 drive rotates, and first gear 11 rotates and drives second gear 12 and rotate, and second gear 12 rotates and drives hydraulic support pole 5 swing, realizes the adjustment to the hydraulic stem angle to the detection portion on adjustment hydraulic stem top and the contact angle at tunnel top.
In this embodiment, the first gear 11 and the second gear 12 have the same size and are made of stainless steel, which can improve strength and avoid abrasion during use. The hydraulic rod motor 9 and the driving vehicle power motor 25 are lead-acid motors, and are protected by protective covers outside, so that short circuit caused by water inflow is avoided.
Referring to fig. 2, 3, and 4, the probe unit includes: four small wheels 1, wheel support rods and an antenna carrying box 2; the detection part is fixed on a hydraulic support rod 5 through a fixing bolt 4; the antenna carrying box 2 is fixed with the wheel supporting rod through a fixing bolt. The radar antenna is placed in the antenna carrying box 2, and the antenna is fixed by tightening the locking bolt 3; the small wheel 1 can be steered in an electrodeless way, and the flexibility of the whole device is improved.
The four small wheels 1 are used for facilitating the movement of the antenna carrying box 2 on the lining. The wheel support rod is used for supporting and fixing the small wheel 1. The antenna mounting box 2 is used for mounting and fixing an antenna.
Referring to fig. 5, the remote manipulation apparatus includes a vehicle remote control device 18 and a signal receiver 17. The signal receiver 17 is mounted on a third link 24 of the mobile chassis. The vehicle remote control device 18 is provided with a remote control device display screen, a vehicle moving button 19, a power gear rotating button 20 and a hydraulic rod retracting button 21, and is used for realizing remote operations such as moving control of a moving chassis, lifting control of the hydraulic connecting rod 13 and the hydraulic supporting rod 5, rotation control of the hydraulic supporting rod 5 and the like, personnel do not need to contact with a measurement field device, and only need to carry out remote control in a set place, so that personal safety is ensured.
In this embodiment, the working process of the full-automatic radar-assisted tracked vehicle is as follows:
A. opening a hydraulic rod motor 9 on the auxiliary vehicle and driving a vehicle power motor 25 to observe whether the electric quantity is sufficient;
B. stopping the auxiliary vehicle at a start point within the detection range using the vehicle remote control device 18;
C. placing the radar antenna in the antenna carrying box 2, and tightening the locking bolt 3 to fix the antenna;
D. operating the remote control device 18 to adjust the hydraulic connecting rod 13 to a proper height and rotate the hydraulic supporting rod 5 to a proper angle;
E. operating the remote control device 18 to adjust the hydraulic support rod 5 to a proper height;
F. operating the remote control device 18 to constantly pay attention to the distance between the vehicle and the tunnel face so that the vehicle can smoothly move to the terminal point of the detection section;
G. and after the vehicle reaches the end point, the vehicle moving button 19 is pressed to enable the vehicle to retreat to the starting point, the detection work is completed, the antenna is taken down, the hydraulic rod motor 9 is closed, and the vehicle power motor 25 is driven to be used next time.
It can be seen that the above-described embodiments of the present application achieve the following technical effects:
(1) the invention provides an automatic device for the tunnel geological radar detection work, saves a large amount of manpower consumption, improves the work efficiency and saves the manpower cost.
(2) This device stability is good. The tracked vehicle is adopted, the tracked vehicle can adapt to various terrains, the stability in the detection process is guaranteed, the auxiliary vehicle considers the problems of uniform speed and stable operation of the antenna in the scanning process, and the scanning work of the antenna can be carried out in a more standardized mode.
(3) The device has low cost and good safety. Remote control avoids constructors from staying near the face for a long time, and the constructors do not need to walk on rugged broken stones, so that the safety of geological radar detection work is improved.
(4) The device uses clean energy electric energy, avoids the pollution of automobile exhaust to the air in the tunnel, and saves the energy consumption.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (9)
1. A full-automatic geological radar assisted tracked vehicle, comprising: the mobile chassis comprises a telescopic supporting part, a detection part and an angle adjusting part; the telescopic supporting part is arranged on the movable chassis, an angle adjusting part is arranged on the telescopic supporting part, and the detecting part is connected with the angle adjusting part;
the angle adjusting part includes: the hydraulic support device comprises a first transmission mechanism, a second transmission mechanism, a first hydraulic support rod and a driving motor; the first transmission mechanism is connected with the second transmission mechanism, and the second transmission mechanism is connected with the first hydraulic support rod; the driving motor can provide power for the first transmission mechanism, the first transmission mechanism can transmit the power to the second transmission mechanism, and the second transmission mechanism can drive the first hydraulic supporting rod to swing within a set angle range.
2. The fully automated geological radar assisted tracked vehicle of claim 1 wherein said first and second transmissions are gears.
3. A fully automated geological radar assisted tracked vehicle according to claim 1 wherein said telescoping support comprises: the base is connected with the movable chassis through a second hydraulic supporting rod.
4. The fully automatic geological radar assisted tracked vehicle defined in claim 3 wherein the base is connected to two support plates disposed opposite each other, the first transmission means being secured between the two support plates by a fixed shaft.
5. A fully automated geological radar assisted tracked vehicle according to claim 1 wherein said mobile chassis comprises: the crawler systems are arranged on two sides of the frame, and the connecting rods are connected with the crawler systems on the two sides; the track system includes: the crawler belt comprises a crawler belt and wheels arranged in the crawler belt; the wheel comprises two driving wheels and a plurality of inducer.
6. A fully automatic geological radar assisted tracked vehicle as claimed in claim 5 wherein laser ranging means are provided on said links for measuring the distance of the moving chassis from the face of the tunnel.
7. A fully automated geological radar assisted tracked vehicle according to claim 1 wherein said probe comprises: the device comprises a small wheel, a wheel supporting rod and an antenna carrying box; the small wheel is connected with the antenna carrying box through a wheel supporting rod and is in contact with the top lining of the tunnel in the detection process; the radar antenna is arranged in the antenna carrying box, and detection of the tunnel top lining is achieved.
8. A fully automated geological radar assisted tracked vehicle as defined in claim 1 further comprising: and the remote control system is communicated with the mobile chassis, the telescopic supporting part and the angle adjusting part respectively and is used for remotely controlling the movement of the mobile chassis, the stretching of the second hydraulic supporting rod in the telescopic supporting part and the swinging and stretching of the first hydraulic supporting rod in the angle adjusting part.
9. A working method of a full-automatic geological radar auxiliary crawler is characterized by comprising the following steps:
remotely controlling the telescopic support part to stretch and retract, and adjusting the detection part to a proper height;
remotely controlling the swing of the angle adjusting part and adjusting the contact angle between the detecting part and the top of the tunnel;
the movement of the mobile chassis is remotely controlled to drive the detection part to detect along a set route.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910988174.6A CN110816698A (en) | 2019-10-17 | 2019-10-17 | Full-automatic geological radar auxiliary tracked vehicle and working method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910988174.6A CN110816698A (en) | 2019-10-17 | 2019-10-17 | Full-automatic geological radar auxiliary tracked vehicle and working method |
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| CN110816698A true CN110816698A (en) | 2020-02-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112611316A (en) * | 2020-12-21 | 2021-04-06 | 哈尔滨工业大学（威海） | Underground surrounding rock deformation detection method and device |
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2019
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| WO2009141465A1 (en) * | 2008-05-19 | 2009-11-26 | Otri-Universidad De Almeria | Multipurpose autonomous vehicle for work in a greenhouse |
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