CN112596053A - In-pipe geological radar robot and in-pipe geological detection system - Google Patents
In-pipe geological radar robot and in-pipe geological detection system Download PDFInfo
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- CN112596053A CN112596053A CN202011345074.0A CN202011345074A CN112596053A CN 112596053 A CN112596053 A CN 112596053A CN 202011345074 A CN202011345074 A CN 202011345074A CN 112596053 A CN112596053 A CN 112596053A
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- 238000001514 detection method Methods 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 238000009434 installation Methods 0.000 claims abstract description 7
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- 238000000034 method Methods 0.000 description 19
- 230000008569 process Effects 0.000 description 12
- 238000010276 construction Methods 0.000 description 9
- 201000010099 disease Diseases 0.000 description 5
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 239000011800 void material Substances 0.000 description 2
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
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- 239000000523 sample Substances 0.000 description 1
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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
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
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Abstract
The invention discloses a geological radar robot in a pipe and a geological detection system in the pipe, wherein the geological radar robot in the pipe comprises: the driving assembly is used for driving the geological radar robot in the pipe to walk along the axial direction of the pipeline; the driving assembly comprises a first driving mechanism, a second driving mechanism and a carrying platform, and the carrying platform is connected between the first driving assembly and the second driving assembly; the geological radar mounting assembly is used for mounting a geological radar; the geological radar installation component is connected to the erection table. The technical scheme of the invention aims to solve the technical problem that the geological radar cannot give consideration to both the detection depth and the detection resolution ratio when detecting from the ground to the underground in the prior art.
Description
Technical Field
The invention relates to the technical field of geological radar carrying equipment, in particular to a geological radar robot in a pipe and a geological detection system in the pipe.
Background
As a novel electromagnetic technology, the geological radar is widely used in detection of metal pipelines, foundation layers, reinforcing steel bars and the like, can detect holes, sewers, concrete structures and the like, is convenient for workers to know engineering construction conditions in time, and has important significance for urban construction work in China.
Urban underground rain and sewage drainage pipelines are damaged due to old equipment or damage caused by human activities and the like, and soil around the pipelines is washed away, so that underground cavities are formed. Such underground voids slowly 'grow up' over time, causing the road surface to collapse and thus causing a series of property and life losses. For the detection of the underground cavity around the pipeline caused by the damage of the rain and sewage drainage pipeline, a geological radar is used for detection from the ground in the traditional method.
However, due to the physical characteristics of the geological radar, when the underground cavity is detected from the ground, the detection depth and the detection resolution cannot be considered at the same time. That is, when the low-frequency antenna is selected, the cavity with larger depth can be detected, but the cavity with smaller size cannot be distinguished; when a medium-high frequency antenna is selected, a cavity with a smaller size can be distinguished, but the signal attenuation is faster, and a cavity with a larger depth cannot be detected.
The technical problem that the existing geological radar cannot simultaneously give consideration to the detection depth and the detection resolution ratio when detecting from the ground to the underground is solved.
Disclosure of Invention
The invention mainly aims to provide a geological radar robot in a pipe, and aims to solve the technical problem that detection depth and detection resolution cannot be considered simultaneously when a geological radar detects from the ground to the underground in the prior art.
In order to achieve the above object, the present invention provides, in a first aspect, a geological radar robot in pipe; the in-pipe geological radar robot comprises:
the driving assembly is used for driving the geological radar robot in the pipe to walk along the axial direction of the pipeline; the drive assembly includes a first drive mechanism and a second drive mechanism,
the carrying platform is connected between the first driving assembly and the second driving assembly;
the geological radar mounting assembly is used for mounting a geological radar; the geological radar installation component is connected to the erection table.
Optionally, the mounting table comprises a first housing, a driven gear and a driving gear; the first housing is connected with the geological radar mounting assembly; the driven gear is fixedly connected to an inner wall of the first housing, and the driven gear is engaged with the driving gear so that the first housing is rotatable.
Optionally, the mounting table further includes a fixed shaft and a first driving member, the first driving member is connected to the fixed shaft, and the first driving member is configured to drive the driven gear; the first housing is coaxial with the fixed shaft.
Optionally, the geological radar mounting assembly comprises a lifting mechanism,
wherein the lifting mechanism is connected with the first housing such that the geological radar can approach the inner wall of the pipe based on the extension or contraction of the lifting mechanism.
Optionally, the geological radar mounting assembly further comprises a first platform and a rotation mechanism; the first platform is connected with the geological radar; the rotating mechanism is used for driving the first platform to rotate.
Optionally, the geological radar mounting assembly further comprises a second platform; the second platform is connected with the lifting mechanism; the second platform is connected with the rotating mechanism.
Optionally, the carrying platform further includes a flange plate, the flange plate is fixedly connected to the fixed shaft, the first driving mechanism includes a frame, and the frame is fixedly connected to the flange plate.
Optionally, the first driving mechanism includes driving wheel sets uniformly arranged along the circumferential direction of the rack.
Optionally, the first driving mechanism further comprises a telescopic member, and the driving wheel set is connected to the frame through the telescopic member; the telescopic direction of the telescopic piece is parallel to the radial direction of the first shell.
Optionally, in a second aspect, the invention also provides a geological detection system, which comprises the geological radar robot in the pipe.
According to the technical scheme, the geological radar is arranged on the geological radar installation component; connecting the geological radar installation assembly to a mounting platform, wherein a first driving machine and a second driving mechanism are connected to two ends of the mounting platform; first actuating mechanism and second actuating mechanism walk along the inner wall axial of pipeline, and geological radar surveys the cavity underground in the underground piping, can solve simultaneously and can't compromise the technical problem who surveys the degree of depth and survey resolution ratio: when the low-frequency antenna is selected, the cavity with larger depth can be detected, and the cavity with smaller size can be distinguished; when the medium-high frequency antenna is selected, the cavity with smaller size can be distinguished, and the cavity with larger depth can be detected when the antenna walks in the pipeline.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a geological radar robot in a pipe according to the present invention;
FIG. 2 is a schematic view of a preferred embodiment of the mounting station of the present invention from a perspective;
FIG. 3 is a cross-sectional view of section A-A of FIG. 2;
FIG. 4 is a schematic view of a preferred mounting platform of the present invention in connection with a geological radar mounting assembly;
FIG. 5 is a schematic view of a preferred connection structure between the mounting table and the elevating mechanism according to the present invention;
FIG. 6 is a schematic view of a preferred construction of a first elevating structure of the present invention;
FIG. 7 is a schematic view of a second preferred lifting structure of the present invention;
figure 8 is a schematic view from a perspective of a preferred construction of the rotary mechanism of the present invention;
figure 9 is a schematic view from another perspective of a preferred construction of the rotary mechanism of the present invention;
FIG. 10 is a schematic view from a perspective of a preferred construction of the drive assembly of the present invention;
FIG. 11 is a schematic view of a preferred construction of the telescoping member of the drive assembly of the present invention;
FIG. 12 is an enlarged partial view of the portion at A in FIG. 11;
FIG. 13 is an enlarged partial view of the portion of FIG. 11 at B;
FIG. 14 is a schematic view of a preferred construction of the drive wheel set of the drive assembly of the present invention from a perspective;
FIG. 15 is a schematic view of a preferred construction of the drive wheel set of the drive assembly of the present invention from another perspective;
fig. 16 is a cross-sectional view of section B-B in fig. 15.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The present embodiment provides a geological radar robot in pipe, which, as shown in fig. 1, includes:
the driving assembly is in contact with the inner wall of the pipeline and drives the geological radar robot in the pipeline to move along the axial direction of the pipeline; the drive assembly includes a first drive mechanism 100a and a second drive mechanism 100b,
a mounting stage 300, the mounting stage 300 being connected between the first drive mechanism 100a and the second drive unit 100 b;
a geological radar mounting assembly 200 for mounting a geological radar 200 c; the geological radar mounting assembly 200 is connected to the mounting platform 300.
According to the technical scheme, the geological radar is arranged on the geological radar installation component 200; connecting the geological radar installation assembly 200 to a carrying platform 300, wherein a first driving mechanism 100a and a second driving mechanism 100b are connected to two ends of the carrying platform 300; first actuating mechanism 100a and second actuating mechanism 100b walk along the inner wall axial of pipeline, and the geological radar surveys the cavity underground in the underground piping, can solve simultaneously and can't compromise the technical problem who surveys the degree of depth and survey resolution ratio: when the low-frequency antenna is selected, the cavity with larger depth can be detected, and the cavity with smaller size can be distinguished; when the medium-high frequency antenna is selected, the cavity with smaller size can be distinguished, and the cavity with larger depth can be detected when the antenna walks in the pipeline.
In addition, compared with the prior art, the invention has at least the following technical advantages:
firstly, the method comprises the following steps: the ground detection scene is changed into an underground detection scene, so that the influence of ground detection on road traffic is avoided;
secondly, the method comprises the following steps: in the traditional manual hand-push or vehicle-mounted geological radar detection, automatic detection is automatically implemented by a robot, so that the workload in the detection process is greatly reduced, and the detection efficiency is improved;
thirdly, the method comprises the following steps: the method avoids the trade-off between the detection depth and the detection resolution when the geological radar is used for detecting the underground cavity on the ground;
fourthly: the geological radar is moved into the pipeline, so that the geological radar is closer to a disease body (loose soil/void soil/cavity around the pipeline), and a high-frequency antenna can be selected for detection, thereby not only improving the resolution of a detection result, but also detecting and distinguishing the disease body with a smaller size, and further discovering that the disease body is in a 'budding' state, and playing a role in preventing in advance;
fifth, the method comprises the following steps: the smaller distance between the geological radar antenna and the target disease body can weaken the attenuation of signals, so that the reflection intensity formed in a radar map is larger, the contrast with background noise is obvious, and the reliability of radar map interpretation is improved;
alternatively, as shown in fig. 3, the mounting stage 300 includes a first housing 300a, a driven gear 300b, and a driving gear 300 c; the first housing 300a is coupled to the geological radar mounting assembly 200; the driven gear 300b is fixedly coupled to an inner wall of the first housing 300a, and the driven gear 300b is engaged with the driving gear 300c so that the first housing 300a can rotate. In the specific implementation process, the driven gear is an internal gear; the drive gear 300c is an external gear. With this arrangement, when the driven gear 300b rotates to drive the driving gear 300c, the first housing 300a rotates, and the radar on the geological radar mounting assembly 200 can detect cavities in the formation in different radial directions of the pipe. Specifically, the driven gears 300b are connected end to form a circle, whereby the first housing 300a can be rotated by 360 °. By way of example, the driven gear 300b may also be 3/4 circular (270 °), semi-circular (180 °), etc., in profile, with the first housing 300a effecting rotation within a certain angle. In a specific embodiment, the driven gear 300b is fixed to the inner wall of the first housing 300a by means of a stud, welding, or the like. In another specific implementation, referring to fig. 2 or 3, the mounting table 300 includes a driven gear end cover 300i, and the driven gear end cover 300i is connected to the driven gear 300b through a stud; the outer circumferential surface of the driven gear end cap 300i has a circumferential protrusion (not numbered), the inner wall of the first housing 300a has a corresponding circumferential groove, and the circumferential protrusion is in interference fit with the circumferential groove, so that the first housing 300a and the driven gear 300b are fixed; when the driving gear 300c rotates, the driven gear 300b is rotated, and thus the first housing 300a rotates.
Optionally, the mounting stage 300 further includes a fixed shaft 300d and a first driving member 300e, the first driving member 300e is connected to the fixed shaft 300d, wherein the first driving member 300e is configured to drive the driven gear 300 b; the first housing 300a is coaxial with the fixed shaft 300 d. Preferably, the first driving member 300e is a servo motor or a stepping motor. In a specific implementation process, the output shaft of the first driving member 300e is fixedly connected to the driving gear 300c to drive the driven gear 300b to rotate. The first housing 300a has a sufficient hollow area therein for mounting the first driving member 300e and the fixed shaft 300 d; the fixed shaft 300a and the first driving member 300e are connected by a stud. The fixed shaft 300d is installed at the center of the first housing 300a and is coaxial with the fixed shaft, so that the first housing 300a rotates around the axis of the fixed shaft 300 d; in general, when the robot travels through the tunnel, the axis of the fixed shaft 300d coincides with or is parallel to the axis of the tunnel.
Optionally, referring to fig. 4, the geological radar mounting assembly 200 comprises a lifting mechanism 200a, wherein the lifting mechanism 200a is connected to the first housing 300 a; whereby the geological radar may be brought close to the inner wall of the pipe based on the extension or contraction of the lifting mechanism. In a specific implementation, the lifting direction of the lifting mechanism 200a is parallel to the radial direction of the first housing 300 a. Referring to fig. 5, the lifting mechanism 200a includes two sets of lifting structures (a first lifting structure 200a-1 and a second lifting structure 200 a-2); the two sets of lifting structures are respectively disposed at two sides of the axis of the first housing 300 a. The lift mechanism 200a also includes a drive structure 200 a-3. Wherein the first lifting structure 200a-1 comprises a first lifting rod 200a-1a and a second lifting rod 200a-1 b; the first and second lift pins 200a-1a and 200a-1b are hinged to each other to constitute an X-shaped lift structure with each other. Referring to FIG. 6, the driving structure 200a-3 includes a traveling nut 200a-3a, a first lead screw 200a-3b, a driving wheel 200a-3c, a driving wheel 200a-3d, and a second driving member 200a-3 e. The output shafts of the first driving parts 200a-3e are connected with the driving wheels 200a-3d through keys; the driving wheels 200a-3c and the driving wheels 200a-3d are driven by belts; the drive wheels 200a-3c are keyed to the first lead screws 200a-3 b. The traveling nuts 200a-3a and the first lead screws 200a-3b are engaged with each other. The mounting stage 300 further includes a first stage 300f, the first stage 300f having a slide (not numbered) running along the axial direction of the first housing 300a, and the traveling nuts 200a-3a are slidably fitted to the slide (not numbered); the first stage 300f is fixedly coupled to the first housing 300 a. Wherein, the first lifting rod 200a-1a is hinged with the movable nut 200a-3 a; the second lifting rod 200a-1b is hinged with the first stand 300 f; when the second driving member 200a-3e is started, the first lead screw 200a-3b drives the movable nut 200a-3a to move, so as to drive the first lifting rod 200a-1a to move, and the first lifting rod 200a-1a rotates around the movable nut 200a-3a, so as to drive the second lifting rod 200a-1b to rotate around the first platform 300f, thereby realizing the lifting of the lifting mechanism 200 a.
Alternatively, referring to FIG. 4, the first lifting structure 200a-1 includes an X-structure formed by two first lifting rods 200a-1a and two second lifting rods 200a-1 b. The driving structure 200a-3 comprises two moving nuts 200a-3a, two first lead screws 200a-3b and two driving wheels 200a-3 c; the first stage 300f may be provided with two slides (not numbered) and arranged in parallel. Each slide (not numbered) is slidably coupled to a corresponding traveling nut 200a-3 a. The two drive wheels 200a-3c are belt-driven with the drive wheels 200a-3 d. The two first elevating rods 200a-1a are respectively connected with the respective moving nuts 200a-3 a. Optionally, the second drive members 200a-3e are servo motors. The two second lifting rods 200a-1b are respectively hinged with the stop blocks of the respective slide ways.
According to the same mechanism, the other side of the mounting table 300 has another first stage; the first gantry is used to mount the second elevation structure 200 a-2. The connection of the second elevation structure 200a-2 to the further first gantry is connected to the first gantry 300f with reference to the first elevation structure 200 a-1. In general, the driving structure 200a-3 drives the first elevation structure 200a-1, and the second elevation structure 200a-2 is passively moved following the first elevation structure 200a-1 without providing a driving structure. The invention adopts a positive and negative double-trapezoid screw rod double-shear structure, greatly solves the problem that the lifting platform of the common single-shear structure falls by one side, and improves the stability of the radar antenna in the detection process; meanwhile, the pipe wall can be adaptively approached according to the pipe diameter.
Alternatively, as shown in fig. 4, a reinforcing block 300f-1 is attached (welded) to a side of the first stage 300f facing away from the lifting mechanism 200 a. The reinforcing block 300f-1 is coupled to the first housing 300a to increase the stability of the elevating mechanism 200.
Optionally, referring to fig. 4, the geological radar mounting assembly 200 further comprises a first platform 200b, a geological radar 200c and a rotation mechanism 200 e; the first platform 200b is connected to the geological radar 200 c; the rotating mechanism 200e is used for driving the first platform 200b to rotate. In particular implementations, geological radar 200c is common. Referring to fig. 4, damping springs 200c-1 are arranged around the geological radar 200c, and the extension direction of the damping springs 200c-1 is consistent with the lifting direction of the lifting mechanism 200 a; one end of the damping spring 200c-1 is connected to the geological radar 200c, and the other end is connected to the first platform 200 b; the rotating mechanism 200e has a rotating shaft (not numbered) for driving the first platform 200b to rotate; the end of the rotation shaft remote from the worm gear 200e-3 is fixedly connected to the side of the first platform 200b remote from the geological radar 200 c. Referring to fig. 8 or 9, the rotation mechanism 200e includes a third driver 200e-1, a worm 200e-2, and a worm wheel 200 e-3; the third driving piece 200e-1 is used for driving the worm 200e-2 to rotate, the worm 200e-2 is meshed with the worm wheel 200e-3, and the worm wheel 200e-3 is in key connection with the rotating shaft; the axial direction of the rotation shaft is parallel to the lifting direction of the lifting mechanism 200 a. In this manner, the radar assembly 200c is able to spin to probe the formation from different probing orientations. Preferably, the third driving member 200e-1 is a servo motor or a stepping motor.
Optionally, referring to fig. 6, the geological radar mounting assembly 200 further comprises a second platform 200 d; the second platform 200d is connected with the lifting mechanism 200 a; the second platform 200d is connected to the rotating mechanism 200 e. In a specific implementation process, each lifting rod of the lifting mechanism 200a is hinged to the second platform 200d so as to drive the second platform 200d to be far away from the erection table 300 or close to the erection table 300 in the rotating process of the lifting rod, so that the geological radar 200c can adaptively stretch and close to the pipe wall according to the pipe diameter. The rotation mechanism 200e and the second platform 200d are connected by means of a stud, a screw, or the like.
Optionally, a second rack 200d-1 is fixedly arranged on one side of the second platform 200d facing the mounting table; the second stage 200d-1 is provided with a chute (not numbered) having a direction parallel to the axial direction of the mounting table. The first lifting rod 200a-1a is hinged with the second rack 200 d-1; the second lifting rod 200a-1b is hinged to a slide (not shown) in the chute. The sliding block is in sliding fit with the sliding groove.
In a specific implementation process, as shown in fig. 4 to 7, the first lifting structure 200a-1 is configured with a driving structure 200a-3 (screw pair) as a driving dual-rail push rod, and the second lifting structure 200a-1 is configured with a non-screw pair as a driven dual-rail push rod. The direct current motor drives one of the first lead screws 200a-3b to move forwards and the other lead screw to rotate backwards through the synchronous belt, and the 2 groups of moving nuts 200a-3a move reversely to enable the sliding end of the first lifting rod 200a-1a to slide in the slideway, so that the included angle of the double-fork push rod is increased, and the second platform 200d is lowered; under the pressure of the second platform 200d, the sliding end of the second lifting structure 200a-1 moves in the slideway and descends vertically and synchronously. The motor rotates reversely, the 2 groups of moving nuts 200a-3a force the sliding end of the first lifting structure 200a-1 to move reversely, the included angle of the double-fork push rod is reduced, and the second platform 200d is lifted; under the lifting force of the second platform 200d, the sliding end of the second lifting structure 200a-1 moves in the slideway and rises vertically and synchronously. The lifting stroke can be determined by the length of the slideway, the length of the lifting rod and the variation range of the included angle of the push rod. The lifting thrust may be determined by the thrust of the traveling nut 200a-3 a. These 2 parameters can be obtained by theoretical calculation or simulation, or can be determined by experiment. The stability of the lifting platform is determined by the rigidity of the lifting rod, the rigidity of the slideway, the clearance between the hinge of the lifting rod and the clearance between the sliding end of the lifting rod and the slideway.
Optionally, referring to fig. 3, the mounting table 300 further includes a flange 300g, the flange 300g is fixedly connected to the fixed shaft 300d, the first driving mechanism 100a includes a frame 100a-1, and the frame 100a-1 is fixedly connected to the flange 300 g. In a specific implementation, the fixing shaft 300d extends out of the first housing 300a, and specifically, an outer circumferential surface of the gear cover 300i and an inner circumferential surface of the first housing 300a contact each other, and the gear cover 300g has a through hole, so that the fixing shaft 300d extends out of the first housing 300 a. The outer end face of the gear end cap 300i has a flange 300g, and the flange 300g is connected to the fixed shaft 300d (e.g., by interference fit or by a stud). In a specific implementation process, the rack 100a-1 is provided with a stepped hole (not shown) matched with the flange plate 300g, the hole wall of the stepped hole is in contact with the peripheral surface of the flange plate 300g, and the end surface of the stepped hole is provided with a threaded hole; the flange 300g has screw holes 300g-1 fitted to the screw holes, so that the flange 300g and the frame 100a-1 can be fixedly connected to connect the first drive mechanism 100a and the mounting table 300. In the same configuration, the first drive mechanism 100a is connected to the other end of the mounting stage 300, and the first drive mechanism 100a and the second drive mechanism 100b are provided at both ends of the mounting stage 300.
Optionally, the first driving mechanism 100a includes driving wheel sets 100a-2 uniformly arranged along the circumferential direction of the rack 100 a-1. Referring to fig. 1 or 10, three driving wheel sets 100a-2 are provided, and an included angle between every two adjacent driving wheel sets 100a-2 is 120 °, and the driving wheel sets are outwardly supported along the center of the pipeline to have three sets of contact portions with the pipeline. Referring to fig. 1 or 10, each driving wheel set 100a-2 includes two rollers 100a-2a, and the two rollers 100a-2a share the same roller (not shown). Referring to fig. 14-16, the first drive configuration 100a includes a fourth drive 100a-2 i; the fourth driving member 100a-2i is used for driving a roller (not shown) to rotate so as to drive the roller 100a-2a to roll. In a specific implementation process, the first driving structure 100a further comprises a first bevel gear 100a-2g and a second bevel gear 100a-2 h; the first bevel gears 100a-2g and the second bevel gears 100a-2h are meshed with each other, the first bevel gears 100a-2g are fixedly connected with output shafts of the fourth driving parts 100a-2i, and the second bevel gears 100a-2h are fixedly connected with the rollers, so that the fourth driving parts 100a-2i realize rotation of the rollers 100a-2a through a gear transmission mode to walk on the pipe wall. The first drive mechanism 100a further includes a base 100a-2b, a second housing 100a-2j, and a third housing 100a-2 f. A roller is installed in the second housing 100a-2 j; a fourth driving member 100a-2i is installed in the third casing 100a-2 f; the second housings 100a-2j and the third housings 100a-2f are perpendicular to each other and penetrate each other such that the first bevel gears 100a-2g and the second bevel gears 100a-2h are engaged with each other. The bases 100a-2b are provided with guide holes (not numbered), the guide holes are internally provided with buffer columns 100a-2c and springs 100a-2d, the buffer columns 100a-2c are arranged in the springs 100a-2d to realize buffer and shock absorption, and the obstacle crossing capability is realized in the walking process of the robot. As shown in fig. 16, the base 100a-2b has two guide holes (not numbered), and the first group of the buffer posts 100a-2c and the springs 100a-2d are connected to the second housing 100a-2j through the forks 100a-2 e; the second set of posts 100a-2c and springs 100a-2d are connected to the third housing 100a-2f by prongs 100a-2 e; (the fork 100a-2e and the other fork 100a-2e are the same part and therefore are not distinguished by reference numerals). The base 100a-2b is fixedly coupled to the telescoping member 100 a-3. Preferably, the fourth driving parts 100a-2i are servo motors.
Optionally, the first driving mechanism 100a further comprises a telescopic member 100a-3, and the driving wheel set 100a-2 is connected to the frame 100a-1 through the telescopic member 100 a-3; the telescopic direction of the telescopic member 100a-3 is parallel to the radial direction of the first housing 300 a. Referring to fig. 10 and 11, each driving wheel set 100a-2 is provided with a corresponding telescopic member 100 a-3. The driving wheel set 100a-2 extends in a radial direction of the pipe. In a specific implementation process, referring to fig. 11 to 13, the telescopic member 100a-3 includes a second lead screw 100a-3b, a fixing seat 100a-3d, and a lead screw nut 100a-3 c; the second lead screws 100a-3b are connected between the fixed seats 100a-3d and the lead screw nuts 100a-3 c; the telescoping members 100a-3 also include bases 100a-3j and mounts 100a-3 i. The base 100a-3j is fixedly connected with the frame 100 a-1; preferably, the base 100a-3j is welded, threaded, to the frame 100 a-1. In the specific implementation process, the bases 100a-3j are uniformly distributed on the rack 100a-1 in the circumferential direction. The mounting seats 100a-3i are used for mounting the driving wheel sets 100 a-2. The telescoping members 100a-3 further include first links 100a-3f, second links 100a-3e, third links 100a-3h, and fourth links 100a-3 g. The first connecting rods 100a-3f, the second connecting rods 100a-3e and the second lead screws 100a-3b form an isosceles triangle; two ends of the first connecting rods 100a-3f are respectively hinged with the fixed seats 100a-3d and the mounting seats 100a-3 i; two ends of the second connecting rods 100a-3e are respectively hinged with the lead screw nuts 100a-3c and the mounting seats 100a-3 i. The third connecting rods 100a-3h, the fourth connecting rods 100a-3g and the second lead screws 100a-3b form an isosceles triangle; two ends of the third connecting rod 100a-3h are respectively hinged with the fixed seats 100a-3d and the bases 100a-3 j; two ends of the fourth connecting rod 100a-3g are respectively hinged with the lead screw nuts 100a-3c and the bases 100a-3 j. Preferably, the first, second, third and fourth links 100a-3f, 100a-3e, 100a-3h and 100a-3g may be jacks. Preferably, the line between the base 100a-3j and the mount 100a-3i is perpendicular to the axis of the second lead screw 100a-3 b. Therefore, when the fifth driving element 100a-3a drives the second lead screw 100a-3b to rotate on the lead screw nut 100a-3c, the mounting seat 100a-3i can be far away from the rack 100a-1 or close to the rack 100a-1, and the direction of the mounting seat far away from the rack 100a-1 or close to the rack 100a-1 is the telescopic direction of the telescopic element 100a-3 and is perpendicular to the axial direction of the second lead screw 100a-3 b. The mounting seats 100a-3i can be far away from the rack 100a-1 or close to the rack 100a-1 to drive the driving wheel sets 100a-2 to contact with the pipe wall and apply some pressure to the pipeline so as to ensure the stability of the robot walking in the pipeline; when the driving wheel set 100a-2 moves forwards or backwards, the robot can walk in pipelines with different pipe diameters in a self-adaptive mode. Preferably, the fifth drive 100a-3a is a servo motor. The fixing seats 100a-3d are fixedly connected with the fifth driving pieces 100a-3 a.
Preferably, as shown in fig. 12, the first link 100a-3f and the second link 100a-3e are configured with teeth at one end near the mounting seats 100a-3i, and the teeth are engaged with each other to increase the stability of the robot in self-adaptive walking in the pipelines with different pipe diameters.
Preferably, as shown in fig. 13, the third link 100a-3h and the fourth link 100a-3g are configured with teeth at one end near the base 100a-3j, and the teeth are engaged with each other to increase the stability of the robot in self-adaptive walking in the pipes with different pipe diameters.
According to the same embodiment, the second driving mechanism 100b and the first driving mechanism 100a have the same structure and arrangement, which are not described herein again. In general, the second drive mechanism 100b having the vision sensor mounted thereon is a front drive, and the first drive mechanism 100a having the control cable mounted thereon is a rear drive.
Alternatively, bases 100a-2b and mounts 100a-3i are threaded or welded.
Alternatively, as shown in fig. 2 and 3, a lifting lug 300h is fixed to the first housing 100a for lifting the robot.
The invention further provides a geological detection system in pipe, which comprises the geological radar robot in pipe, the concrete structure of the geological radar robot in pipe refers to the above embodiments, and the geological detection system in pipe adopts all the technical schemes of all the embodiments, so that the geological detection system in pipe at least has all the beneficial effects brought by the technical schemes of the embodiments, and the detailed description is omitted.
The geological radar robot in the pipe and/or the geological detection system in the pipe provided by the invention move the application scene of the geological radar from the ground to the underground pipeline aiming at the traditional geological radar method for detecting the underground cavity from the ground, and are specially used for detecting diseases such as soil looseness/void/cavity and the like caused by the damage of the pipeline at the periphery of the pipeline. Based on the above embodiments, the present invention also has the following technical advantages:
sixth: the driving components (the first driving mechanism and the second driving mechanism) of the geological radar robot in the pipe can automatically stretch and retract to adapt to pipe diameters with different sizes, and the driving wheel set is always kept to be tightly attached to the pipe wall, so that the overall stability of the robot is kept, and the coaxiality of a main shaft of the robot and the pipeline is ensured;
seventh: the lifting mechanism in the radar component can be adaptive to the size of the pipe diameter and always keeps the contact or approach of a signal transmitting surface of the radar antenna and the inner wall of the pipeline;
eighth: the autorotation and the turnover of the radar antenna can meet the detection of a space around the pipeline at 360 degrees;
ninth: the cloud deck carrying CCTV can detect the invisible area around the pipeline by the geological radar and perform visual detection on the interior of the pipeline.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An in-pipe geological radar robot, comprising:
the driving assembly is used for driving the geological radar robot in the pipe to walk along the axial direction of the pipeline; the drive assembly includes a first drive mechanism and a second drive mechanism,
the carrying platform is connected between the first driving assembly and the second driving assembly;
the geological radar mounting assembly is used for mounting a geological radar; the geological radar installation component is connected to the erection table.
2. The in-pipe geological radar robot of claim 1, wherein said pick-up station comprises a first housing, a driven gear and a drive gear;
the first housing is connected with the geological radar mounting assembly;
the driven gear is fixedly connected to an inner wall of the first housing, and the driven gear is engaged with the driving gear so that the first housing is rotatable.
3. The in-pipe geological radar robot of claim 2, wherein said pick-up station further comprises a stationary shaft and a first driving member, said first driving member being coupled to said stationary shaft,
wherein the first driving member is used for driving the driven gear;
the first housing is coaxial with the fixed shaft.
4. The in-pipe geological radar robot of claim 3, wherein said geological radar mounting assembly comprises a lift mechanism,
wherein the lifting mechanism is connected with the first housing such that the geological radar can approach the inner wall of the pipe based on the extension or contraction of the lifting mechanism.
5. The in-pipe geological radar robot of claim 4, wherein said geological radar mounting assembly further comprises a first platform and a rotation mechanism;
the first platform is connected with the geological radar; the rotating mechanism is used for driving the first platform to rotate.
6. The in-pipe geological radar robot of claim 5, wherein said geological radar mounting assembly further comprises a second platform;
the second platform is connected with the lifting mechanism; the second platform is connected with the rotating mechanism.
7. The in-pipe geological radar robot of any of claims 2-6, wherein said mounting platform further comprises a flange, said flange being fixedly attached to said stationary shaft,
the first driving mechanism comprises a rack, and the rack is fixedly connected with the flange plate.
8. The in-pipe geological radar robot of claim 7, wherein said first drive mechanism comprises a set of drive wheels arranged circumferentially and uniformly along said frame.
9. The in-pipe geological radar robot of any of claims 8, wherein said first drive mechanism further comprises a telescoping member,
the driving wheel set is connected to the frame through the telescopic piece;
the telescopic direction of the telescopic piece is parallel to the radial direction of the first shell.
10. An in-pipe geological detection system, characterized in that it comprises an in-pipe geological radar robot according to any of claims 1 to 9.
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| CN114114244A (en) * | 2021-10-22 | 2022-03-01 | 武汉中仪物联技术股份有限公司 | Pipeline robot based on radar detection |
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