CN117863160A - Auxiliary supporting structure for tunnel lining detection - Google Patents
Auxiliary supporting structure for tunnel lining detection Download PDFInfo
- Publication number
- CN117863160A CN117863160A CN202410283495.7A CN202410283495A CN117863160A CN 117863160 A CN117863160 A CN 117863160A CN 202410283495 A CN202410283495 A CN 202410283495A CN 117863160 A CN117863160 A CN 117863160A
- Authority
- CN
- China
- Prior art keywords
- rotating
- shell
- clamping jaw
- jaw arm
- ratchet wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 230000002441 reversible effect Effects 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000004567 concrete Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003673 groundwater Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000004901 spalling Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Landscapes
- Clamps And Clips (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to the field of tunnel lining detection, in particular to an auxiliary supporting structure for tunnel lining detection, which comprises an exoskeleton supporting piece, wherein the exoskeleton supporting piece further comprises a mechanical arm, a rotating shaft is arranged on the mechanical arm, a first clamping jaw arm is rotatably arranged on the rotating shaft, the rotating shaft movably penetrates through the first clamping jaw arm and then outwards extends, a forward ratchet wheel and a reverse ratchet wheel are arranged on the rotating shaft, a shell is arranged on the mechanical arm, a connecting block is arranged on the outer wall of the shell, two sleeves are arranged on the connecting block, connecting rods are sleeved on the inner walls of the sleeves, and pawls matched with the forward ratchet wheel and the reverse ratchet wheel are respectively arranged on the two connecting rods.
Description
Technical Field
The invention relates to the technical field of tunnel detection, in particular to an auxiliary supporting structure for tunnel lining detection.
Background
Tunnel lining testing refers to a series of tests performed on the stability, integrity and safety of the tunnel lining. Tunnel lining is an important component of tunnel construction, which protects the tunnel from groundwater attack, supports surrounding soil or rock, and ensures stability of the tunnel. The lining material may be concrete, reinforced concrete, brick or precast slab, etc. The purpose of tunnel lining inspection is to find any problem that may affect the safety of the tunnel structure, such as cracking, water penetration, corrosion, spalling or other structural damage.
In the evaluation of the integrity of the highway tunnel structure, key detection parameters include the thickness of the primary support structure and the detection of potential voids behind it, as well as the thickness of the secondary lining and the presence or absence of voids behind it. The measurement of these parameters is typically accomplished by means of geological radar technology that is capable of nondestructively detecting and mapping subsurface structures. In practice, geological radar devices need to be closely attached to the tunnel wall and moved in the axial direction of the tunnel to continuously acquire data at different heights. This process requires the operator to hold the geological radar equipment and perform long-term data acquisition in different elevation areas on the tunnel wall. However, since the geological radar apparatus needs to continuously maintain contact with the tunnel wall, which is a great challenge for the physical strength of operators, and since the continuity and accuracy of manual work are difficult to ensure, the efficiency and accuracy of data acquisition are affected, and specific cracks or defects cannot be precisely aligned for detailed data acquisition, edges or corners of tunnel liners may be difficult to directly align, which all need to be moved continuously manually, and stay fixedly in a certain area, and in order to detect the conditions of different heights, actions such as lifting the apparatus or bending down by operators are also required to meet the requirements of acquiring data, which is particularly laborious and unfavorable for health in long-time operation.
Disclosure of Invention
The invention aims to provide an auxiliary supporting structure for tunnel lining detection, which is used for solving the problems.
The invention is realized by the following technical scheme:
the auxiliary supporting structure for tunnel lining detection comprises an exoskeleton supporting piece, wherein the exoskeleton supporting piece further comprises a mechanical arm part, the mechanical arm part comprises a mechanical arm, a rotating shaft is arranged on the mechanical arm, a first clamping jaw arm is rotatably arranged on the rotating shaft, the rotating shaft movably penetrates through the first clamping jaw arm and then extends outwards, and a forward ratchet wheel and a reverse ratchet wheel are arranged on the rotating shaft;
the mechanical arm is provided with a shell, the shell is positioned below the rotating shaft, a connecting block is arranged on the outer wall of the shell, two sleeves are arranged on the connecting block, connecting rods are sleeved on the inner wall of the sleeve, pawls matched with the forward ratchet wheel and the reverse ratchet wheel are respectively arranged on the two connecting rods, an acute angle is formed between the two connecting rods, a rotating structure is further arranged between the two connecting rods, a driving structure is arranged in the shell, the driving structure drives the rotating structure to rotate, and in the rotating process of the rotating structure, any connecting rod is driven to move or the two connecting rods are simultaneously driven to move relatively in the sleeves;
be provided with the second clamping jaw arm on the first clamping jaw arm, connect through elevation structure between first clamping jaw arm and the second clamping jaw arm, and be provided with the clamping device who carries out spacing to the object on the second clamping jaw arm.
Further, the driving structure comprises a first conical gear which is rotatably arranged on the inner bottom wall of the shell, a second conical gear which is matched with the first conical gear is arranged on the side wall of the shell, a rotating rod is arranged on the second conical gear, the rotating rod movably penetrates through the shell and then outwards extends, the rotating structure is driven to rotate by rotation of the rotating rod, a rocker is arranged on the first conical gear, and the rocker movably penetrates through the shell and outwards extends.
Further, when the rotating structure drives any connecting rod to move, the rotating structure comprises a cam which is rotatably arranged on the outer wall of the shell, the cam is connected with the rotating rod, and the bottoms of the two connecting rods are connected with the inner wall of the sleeve through compression springs.
Further, trigger bars are provided on opposite side walls of the two connecting bars.
Further, when the rotating structure drives the two connecting rods to move relatively in the sleeve, the rotating structure comprises a through hole formed in the sleeve, racks are arranged on the connecting rods, the racks are partially arranged outside the through hole, and gears meshed with the two racks are rotatably arranged on the shell.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the first clamping jaw arm is rotatably arranged on the rotating shaft, that is to say, the first clamping jaw arm can move left and right in a small range, the small range rotation can help to accurately align specific cracks or defects so as to perform detailed data acquisition, the edge or corner of the tunnel lining can be a region which is difficult to directly align, and the small range rotation can help the antenna to align the regions which are difficult to observe; the same region may be scanned from a plurality of different angles;
2. according to the device, the first clamping jaw arm is prevented from being driven by the rotating shaft to exceed the preset working range through the arranged forward ratchet wheel and the reverse ratchet wheel, so that mechanical damage or improper operation is avoided, in an initial state, the forward ratchet wheel and the reverse ratchet wheel are respectively matched with the pawl and can act on the rotating shaft together, the fixation of a shaft is enhanced, when each ratchet wheel is matched with the corresponding pawl, the pawl is clamped between teeth of the ratchet wheel, and the rotating shaft is prevented from rotating in the corresponding direction of the ratchet wheel;
3. according to the cam, through rotation of the cam, the cam can contact the trigger rod, the cam drives the connecting rod to move along the axis of the sleeve through the trigger rod, so that the ratchet wheel and the pawl are easier to separate from each other rather than forcibly separate from each other, when the cam does not act on the connecting rod, the compression spring drives the connecting rod to return to the initial position and then match with the ratchet wheel and the pawl, the rotation of the ratchet wheel does not drive the connecting rod to move far away from the sleeve, and because the ratchet wheel rotates, the stress on the pawl is oblique force, and the connecting rod can separate from the sleeve only by moving along the axis of the sleeve;
4. this application is through setting up the rotation of gear, makes its gear drive two connecting rods relative movement, and when one connecting rod moved to the direction of keeping away from the connecting block, pawl and ratchet on the connecting rod break away from, simultaneously, another connecting rod has exerted extra force to the ratchet direction towards the in-process that is close to the direction removal of connecting block to pawl on the connecting rod, can make the contact between pawl and the ratchet more firm, this can improve the load capacity of meshing part, prevents pawl jump under the circumstances of heavy load.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a schematic view of the exoskeleton support of the present invention;
FIG. 2 is a schematic diagram of a mechanical arm and a first clamping jaw arm of the present invention;
FIG. 3 is a schematic diagram of the mating structure of the connecting block and connecting rod of the present invention;
FIG. 4 is a schematic diagram of the mating structure of a first bevel gear and a second bevel gear according to the present invention;
FIG. 5 is a schematic diagram of the cooperation structure of the gear and the rack of the present invention;
fig. 6 is a schematic view of the internal structure of the sleeve according to the present invention.
In the drawings, the reference numerals and corresponding part names:
1-a mechanical arm; 2-a first jaw arm; 3-a second jaw arm; 4-positive ratchet wheel; 5-reverse ratchet; 6-pawl; 7-connecting rods; 8-cams; 9-rotating the rod; 10-a second bevel gear; 11-a first bevel gear; 12-rocker; 13-a sleeve; 14-a trigger lever; 15-a housing; 16-connecting blocks; 17-a through hole; 18-rack; 19-gear.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Examples
As shown in fig. 1 to 6, an auxiliary support structure for tunnel lining detection comprises an exoskeleton support piece, wherein the exoskeleton support piece further comprises a manipulator part, the manipulator part comprises a manipulator arm 1, a rotating shaft is arranged on the manipulator arm 1, a first clamping jaw arm 2 is rotatably arranged on the rotating shaft, the rotating shaft extends outwards after penetrating through the first clamping jaw arm 2, and a forward ratchet wheel 4 and a reverse ratchet wheel 5 are arranged on the rotating shaft;
the mechanical arm 1 is provided with a shell 15, the shell 15 is positioned below the rotating shaft, the outer wall of the shell 15 is provided with a connecting block 16, the connecting block 16 is provided with two sleeves 13, the inner wall of each sleeve 13 is sleeved with a connecting rod 7, pawls 6 matched with a forward ratchet 4 and a reverse ratchet 5 are respectively arranged on the two connecting rods 7, an acute angle is formed between the two connecting rods 7, a rotating structure is further arranged between the two connecting rods 7, a driving structure is arranged in the shell 15, the driving structure drives the rotating structure to rotate, and in the rotating process of the rotating structure, any connecting rod 7 is driven to move or the two connecting rods 7 are simultaneously driven to relatively move in the sleeves 13;
be provided with second clamping jaw arm 3 on the first clamping jaw arm 2, be connected through elevation structure between first clamping jaw arm 2 and the second clamping jaw arm 3, and be provided with the clamping device who carries out spacing to the object on second clamping jaw arm 3.
In the evaluation of the integrity of the highway tunnel structure, key detection parameters include the thickness of the primary support structure and the detection of potential voids behind it, as well as the thickness of the secondary lining and the presence or absence of voids behind it. Measurement of these parameters is typically accomplished by means of geological radar (Ground Penetrating Radar, GPR) technology that enables non-destructive detection and mapping of subsurface structures. In practice, geological radar devices need to be closely attached to the tunnel wall and moved in the axial direction of the tunnel to continuously acquire data at different heights. This process requires the operator to hold the geological radar equipment and perform long-term data acquisition in different elevation areas on the tunnel wall. Because the geological radar equipment needs to continuously keep in contact with the tunnel wall, the physical strength of operators is a big test, and because the continuity and the accuracy of manual operation are difficult to ensure, the efficiency and the accuracy of data acquisition can be influenced.
Be provided with the ectoskeleton support piece of wearing formula in this application, the ectoskeleton support piece of wearing formula is a device of reinforcing human muscle strength and bearing capacity, and it improves the strength and the endurance of wearer with the help of high-tech components such as mechanical structure, sensor, motor and control system. When using an exoskeleton to perform work, the operator can use less force to perform larger or longer lasting work. The exoskeleton support member has a manipulator component, namely, arms on the exoskeleton support member, namely, a class of the manipulator arm 1, and the manipulator component is composed of a claw arm and a clamping device.
The application is provided with first clamping jaw arm 2 through rotating on the arm 1 in exoskeleton support piece, and first clamping jaw arm 2 can be a barrel, is provided with second clamping jaw arm 3 in the barrel, is provided with clamping device on the second clamping jaw arm 3, and clamping device carries out spacingly to geological radar equipment. The part of the second jaw arm 3 is located in the first jaw arm 2, and the second jaw arm 3 is lifted by a lifting structure provided between the first jaw arms 2, and the lifting structure is not particularly limited and can be lifted by a hydraulic or pneumatic cylinder. The hydraulic or pneumatic cylinder expands and contracts under pressure, thereby pushing the second jaw arm 3 up or down. The small electric lifting platform can be arranged at the bottom of the second clamping jaw arm 3 by installing the small electric lifting platform at the bottom of the inner wall of the first clamping jaw arm 2. The elevation of the platform is regulated by a remote or automatic control system, so that the second jaw arm 3 is lifted. And the second clamping jaw arm 3 is provided with a clamping device, the clamping device is generally composed of a clamping jaw, a base, a moving platform, a connecting rod and a ball joint or a universal joint, the radar antenna device can be placed on the moving platform, and the moving platform is an end effector of the clamping device and is directly connected with an operated object. To accommodate radar antennas of different sizes, mobile platforms are designed with adjustable clamping devices or interfaces. The built-in second jaw arm 3 allows for accurate position adjustment of the radar apparatus in the vertical direction, which can be adapted to different topography and operating requirements. And the adjustable clamping device or the interface on the mobile platform enables the clamping device to adapt to radar antenna equipment with different sizes and shapes, so that the universality of the system is improved. The opening and closing of the clamping jaw, the position of the moving platform and the clamping force can be accurately controlled through a servo motor or a stepping motor, and the clamping device can be various and is not particularly limited.
The first clamping jaw arm 2 of this application rotates and sets up in the axis of rotation, that is to say that first clamping jaw arm 2 can control the small circle removal, and first clamping jaw arm 2 can make radar antenna equipment cover wider region through controlling the rotation to promote geological survey's scope to small circle rotation can provide more accurate control, is fit for the application scenario that needs fine adjustment, like radar antenna need carry out accurate measurement to crack and defect on the tunnel wall. Small-scale rotation may help to precisely align specific cracks or imperfections for detailed data acquisition, edges or corners of tunnel liners may be difficult to directly align, and small-scale rotation may help antennas align these difficult to observe locations; the same region may be scanned from a plurality of different angles;
through the forward ratchet wheel 4 and the reverse ratchet wheel 5 that set up, can prevent that the axis of rotation from driving first clamping jaw arm 2 and surpassing its established working range to avoid causing mechanical damage or improper operation, under the initial state, forward ratchet wheel 4 and reverse ratchet wheel 5 cooperate with pawl 6 respectively, and they can act on the axis of rotation jointly, thereby strengthen the fixed of counter shaft. When each ratchet wheel is matched with the corresponding pawl 6, the pawl 6 can be clamped between teeth of the ratchet wheels, so that the rotating shaft is prevented from rotating in the corresponding direction of the ratchet wheels. When the two ratchet wheels limit the two directions respectively, the rotating shaft is locked in two directions, namely, the rotating shaft cannot rotate clockwise or anticlockwise, so that the position of the shaft is fixed under the action of no external force, and the stability of the first clamping jaw arm 2 at the moment is improved. The ratchet mechanism of the bi-directional locking can keep the first clamping jaw arm 2 at a desired position from the influence of external environmental factors;
and the drive structure who sets up, in the in-process that first clamping jaw arm 2 needs to drive radar antenna equipment and moves about, if the operator moves towards arbitrary direction, drive rotating structure through drive structure and rotate, make the cooperation between one of them pawl 6 and one of them ratchet release, then first clamping jaw arm 2 can rotate towards corresponding direction, and after rotating, operable drive structure, make rotating structure reset, that is get back to the initial position, the pawl 6 of releasing cooperates with the ratchet again. This arrangement allows the operator to selectively unlock the first jaw arm 2 by allowing the engagement between the pawl 6 and ratchet to be deliberately released and re-engaged, enabling it to move the radar antenna if necessary. This solves the problem of how to switch between a fixed position and a movable position, which is one of the ways in which the driving structure drives the rotating structure to move either connecting rod 7.
The second way is to drive the two connecting rods 7 to move relatively in the sleeve 13 at the same time, that is to say, the rotating structure is rotated in the process that one connecting rod 7 guides the pawl 6 to separate from the ratchet wheel so as to rotate, and the pawl 6 of the other connecting rod 7 is tightly meshed with the ratchet wheel, so that higher load bearing capacity in the opposite direction is ensured and reverse rotation is prevented.
It should be noted that, the driving structure includes a first bevel gear 11 rotatably disposed at the inner bottom wall of the housing 15, a second bevel gear 10 matched with the first bevel gear 11 is disposed on the side wall of the housing 15, a rotating rod 9 is disposed on the second bevel gear 10, the rotating rod 9 movably penetrates the housing 15 and extends outwards, the rotation of the rotating rod 9 drives the rotating structure to rotate, a rocker 12 is disposed on the first bevel gear 11, and the rocker 12 movably penetrates the housing 15 and extends outwards.
The present application manually pulls the rocker 12 in the desired direction by the operator rotating the direction of the first jaw arm 2 as desired, the rocker 12 being connected to the first bevel gear 11, the first bevel gear 11 rotating with it as the operator moves the rocker 12. The rotation of the first bevel gear 11 is transferred to the second bevel gear 10, so that the second bevel gear 10 also rotates, and along with the movement of the second bevel gear 10, it drives the rotating rod 9 to rotate, and the rotating rod 9 is provided with a rotating structure, so that the rotating structure can be driven to rotate.
It should be noted that, when the rotating structure drives any connecting rod 7 to move, the rotating structure includes a cam 8 rotatably disposed on an outer wall of the housing 15, the cam 8 is connected with the rotating rod 9, and bottoms of the two connecting rods 7 are connected with an inner wall of the sleeve 13 through compression springs.
The rotation of the rotating rod 9 drives the cam 8 to rotate. The cams 8 are designed with different radii forming an asymmetrical shape, the initial position of the larger end of the cam 8 being located between the two connecting rods 7, when the cam 8 rotates, the larger end will contact and press the connecting rods 7 connected to the pawls 6. The pressed connecting rod 7 moves due to the pressure of the cam 8, causing the disengagement between the pawl 6 to which it is connected and the ratchet, releasing the first jaw arm 2 for rotation. After rotating to a certain position, the cam 8 returns to the initial position through the rocker 12 to release the pressure on the connecting rod 7, so that the pawl 6 is combined with the ratchet again.
When the operator needs to rotate the first jaw arm 2 in the opposite direction, the rocker 12 is pulled in the opposite direction. This causes the cam 8 to exert pressure on the connecting rod 7 at the other end, so that the pawl 6 of this connecting rod 7 disengages from the ratchet, as described above. Precise control of the first jaw arm 2 can be achieved, rotated to the desired position and after that its position is fixed by re-engaging the pawl 6 and ratchet. This mechanism allows for fast, flexible and precise rotational control while guaranteeing operational stability and safety.
The trigger lever 14 is provided on the opposite side walls of the two connecting rods 7.
According to the ratchet pawl 6, through rotation of the cam 8, the cam 8 can contact the trigger rod 14, the cam 8 drives the connecting rod 7 to move along the axis of the sleeve 13 through the trigger rod 14, so that the ratchet pawl 6 is separated more easily, the ratchet pawl is not forced to be separated rigidly, and when the cam 8 does not act on the connecting rod 7, the compression spring drives the connecting rod 7 to return to the initial position, and the ratchet pawl 6 is matched with the connecting rod 7. Rotation of the ratchet does not bring the connecting rod 7 to a found movement away from the sleeve 13, since the force applied to the pawl 6 by rotation of the ratchet is a tilting force, and movement along the axis of the sleeve 13 is required to disengage the connecting rod 7.
It should be noted that, when the rotating structure drives the two connecting rods 7 to relatively move in the sleeve 13, the rotating structure includes a through hole 17 formed in the sleeve 13, racks 18 are disposed on the connecting rods 7, the racks 18 are partially disposed outside the through hole 17, and gears 19 meshed with the two racks 18 are rotatably disposed on the housing 15.
According to the ratchet wheel and ratchet wheel combination device, the gear 19 is driven to rotate through rotation of the rotating rod 9, teeth on the two racks 18 are meshed with the gear 19, the teeth are meshed with the gear 19 in a tangential mode, certain gaps are reserved between the connecting rod 7 and the sleeve 13 in an initial state, as shown in the figure, in the process of rotation of the gear 19, the rack 18 on one side moves towards the direction away from the connecting block 16, the rack 18 on the other side moves towards the direction close to the connecting block 16, when one connecting rod 7 moves towards the direction away from the connecting block 16, the pawl 6 on the connecting rod 7 is separated from a ratchet wheel, meanwhile, when the other connecting rod 7 moves towards the direction close to the connecting block 16, the pawl 6 on the connecting rod 7 applies additional force to the ratchet wheel direction, so that contact between the pawl 6 and the ratchet wheel is firmer, the load capacity of the meshed part can be improved, and the pawl 6 is prevented from being tripped under the condition of heavy load.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The auxiliary supporting structure for tunnel lining detection comprises an exoskeleton supporting piece and is characterized in that the exoskeleton supporting piece further comprises a mechanical arm part, the mechanical arm part comprises a mechanical arm (1), a rotating shaft is arranged on the mechanical arm (1), a first clamping jaw arm (2) is rotatably arranged on the rotating shaft, the rotating shaft movably penetrates through the first clamping jaw arm (2) and then extends outwards, and a forward ratchet wheel (4) and a reverse ratchet wheel (5) are arranged on the rotating shaft;
the mechanical arm (1) is provided with a shell (15), the shell (15) is positioned below the rotating shaft, the outer wall of the shell (15) is provided with a connecting block (16), the connecting block (16) is provided with two sleeves (13), the inner wall of each sleeve (13) is sleeved with a connecting rod (7), the two connecting rods (7) are respectively provided with pawls (6) matched with a forward ratchet wheel (4) and a reverse ratchet wheel (5), an acute angle is formed between the two connecting rods (7), a rotating structure is further arranged between the two connecting rods (7), and a driving structure is arranged in the shell (15);
the driving structure drives the rotating structure to rotate, and in the rotating process of the rotating structure, any connecting rod (7) is driven to move;
or the driving structure drives the rotating structure to rotate, and in the rotating process of the rotating structure, the two connecting rods (7) are driven to relatively move in the sleeve (13);
be provided with second clamping jaw arm (3) on first clamping jaw arm (2), be connected through elevation structure between first clamping jaw arm (2) and second clamping jaw arm (3), and be provided with on second clamping jaw arm (3) and carry out spacing clamping device to the object.
2. The auxiliary supporting structure for tunnel lining detection according to claim 1, wherein the driving structure comprises a first conical gear (11) rotatably arranged on the inner bottom wall of the shell (15), a second conical gear (10) matched with the first conical gear (11) is arranged on the side wall of the shell (15), a rotating rod (9) is arranged on the second conical gear (10), the rotating rod (9) movably penetrates through the shell (15) and extends outwards, the rotating rod (9) rotates to drive the rotating structure to rotate, a rocker (12) is arranged on the first conical gear (11), and the rocker (12) movably penetrates through the shell (15) and extends outwards.
3. The auxiliary supporting structure for tunnel lining detection according to claim 2, wherein when the rotating structure drives any connecting rod (7) to move, the rotating structure comprises a cam (8) rotatably arranged on the outer wall of the shell (15), the cam (8) is connected with the rotating rod (9), and the bottoms of the two connecting rods (7) are connected with the inner wall of the sleeve (13) through compression springs.
4. A tunnel lining inspection auxiliary support structure according to claim 3, characterized in that trigger bars (14) are provided on opposite side walls of the two connecting bars (7).
5. The auxiliary supporting structure for tunnel lining detection according to claim 2, wherein when the rotating structure drives the two connecting rods (7) to move relatively in the sleeve (13), the rotating structure comprises a through hole (17) formed in the sleeve (13), racks (18) are arranged on the connecting rods (7), the racks (18) are partially arranged outside the through hole (17), and gears (19) meshed with the two racks (18) are rotatably arranged on the shell (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410283495.7A CN117863160B (en) | 2024-03-13 | 2024-03-13 | Auxiliary supporting structure for tunnel lining detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410283495.7A CN117863160B (en) | 2024-03-13 | 2024-03-13 | Auxiliary supporting structure for tunnel lining detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117863160A true CN117863160A (en) | 2024-04-12 |
| CN117863160B CN117863160B (en) | 2024-05-31 |
Family
ID=90590421
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410283495.7A Active CN117863160B (en) | 2024-03-13 | 2024-03-13 | Auxiliary supporting structure for tunnel lining detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117863160B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4968077A (en) * | 1989-06-09 | 1990-11-06 | The United States Of America As Represented By The Administrator National Aeronautics And Space Administration | Portable hand hold device |
| CN201086264Y (en) * | 2007-09-10 | 2008-07-16 | 乔国昌 | Socket wrench |
| JP5485429B1 (en) * | 2013-01-22 | 2014-05-07 | 中国電力株式会社 | Insulation operation rod |
| CN205799512U (en) * | 2016-07-18 | 2016-12-14 | 佛山市联智新创科技有限公司 | A kind of six axle all-purpose robots with reverse self-locking device |
| CN209189205U (en) * | 2018-09-21 | 2019-08-02 | 武汉城开新兴建材有限责任公司 | Jarring formula standard sieving machine |
| CN111923017A (en) * | 2020-07-03 | 2020-11-13 | 苏州市职业大学 | Power-assisted walking device based on ratchet wheel-pawl mechanism and worm and gear speed reduction motor |
| CN212738272U (en) * | 2020-08-05 | 2021-03-19 | 河南跃薪智能机械有限公司 | Automobile steering angle detection potentiometer capable of improving detection precision |
| CN215789841U (en) * | 2021-08-25 | 2022-02-11 | 广州视源电子科技股份有限公司 | Exoskeleton waist width adjusting mechanism and exoskeleton system |
| CN216030833U (en) * | 2021-07-06 | 2022-03-15 | 江苏新聚源环保科技有限公司 | Manipulator for paper bowls and paper cups |
| CN115016562A (en) * | 2022-05-30 | 2022-09-06 | 湖南大学 | Device and method for realizing Bang-Bang semi-active control |
-
2024
- 2024-03-13 CN CN202410283495.7A patent/CN117863160B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4968077A (en) * | 1989-06-09 | 1990-11-06 | The United States Of America As Represented By The Administrator National Aeronautics And Space Administration | Portable hand hold device |
| CN201086264Y (en) * | 2007-09-10 | 2008-07-16 | 乔国昌 | Socket wrench |
| JP5485429B1 (en) * | 2013-01-22 | 2014-05-07 | 中国電力株式会社 | Insulation operation rod |
| CN205799512U (en) * | 2016-07-18 | 2016-12-14 | 佛山市联智新创科技有限公司 | A kind of six axle all-purpose robots with reverse self-locking device |
| CN209189205U (en) * | 2018-09-21 | 2019-08-02 | 武汉城开新兴建材有限责任公司 | Jarring formula standard sieving machine |
| CN111923017A (en) * | 2020-07-03 | 2020-11-13 | 苏州市职业大学 | Power-assisted walking device based on ratchet wheel-pawl mechanism and worm and gear speed reduction motor |
| CN212738272U (en) * | 2020-08-05 | 2021-03-19 | 河南跃薪智能机械有限公司 | Automobile steering angle detection potentiometer capable of improving detection precision |
| CN216030833U (en) * | 2021-07-06 | 2022-03-15 | 江苏新聚源环保科技有限公司 | Manipulator for paper bowls and paper cups |
| CN215789841U (en) * | 2021-08-25 | 2022-02-11 | 广州视源电子科技股份有限公司 | Exoskeleton waist width adjusting mechanism and exoskeleton system |
| CN115016562A (en) * | 2022-05-30 | 2022-09-06 | 湖南大学 | Device and method for realizing Bang-Bang semi-active control |
Non-Patent Citations (2)
| Title |
|---|
| SHIHAO FANG: "Design and Implementation of a New Spherical Robot with an Elastic Pawl", 《2023 WRC SYMPOSIUM ON ADVANCED ROBOTICS AND AUTOMATION》, 27 September 2023 (2023-09-27) * |
| 李也: "上肢外骨骼康复机器人的轨迹规划研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》, 15 February 2024 (2024-02-15) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117863160B (en) | 2024-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH0696394B2 (en) | Swing movement type automatic pipe group inspection device | |
| EP2702225A1 (en) | Auxiliary arm for drilling equipment | |
| EP3168841B1 (en) | Positioning and inspection apparatuses for use in nuclear reactors | |
| CN117863160B (en) | Auxiliary supporting structure for tunnel lining detection | |
| EP1963580B1 (en) | Foundation pile driver | |
| JP2009057763A (en) | Movable work device | |
| US20240207987A1 (en) | Machines, systems, and methods for truss installation and assembly | |
| JP7359965B2 (en) | Apparatus and method for automatically placing tunnel lining segments | |
| JP4472504B2 (en) | Ground strength test apparatus and ground strength test method | |
| JP7328659B2 (en) | Shoring erection device and shoring erection method using the same | |
| KR100538757B1 (en) | The drain pipe laying device which relates with the excavator control method besides | |
| TWI788409B (en) | Positioning and inspection apparatuses for use in nuclear reactors | |
| KR20120030187A (en) | Cutting device using concrete pile | |
| CN112694022B (en) | Underwater square block mounting device | |
| JP3536033B2 (en) | Steel pipe pile press-in and pull-out machine | |
| CN112554812A (en) | Auxiliary rod changing system capable of automatically leveling and control method thereof | |
| JP3984610B2 (en) | Ground strength test apparatus and ground strength test method | |
| JP5111411B2 (en) | Sheet pile press-in device | |
| JP2019151994A (en) | U-shaped member installation device and U-shaped member installation method | |
| CN214035575U (en) | Auxiliary rod replacing system capable of automatically leveling | |
| CN219889154U (en) | Rebound intensity detection device | |
| CN117804943B (en) | Cement soil penetration test method and detection device thereof | |
| CN114483119A (en) | Method for positioning and grabbing duct piece of erector, erector and heading machine | |
| CN115420621A (en) | Bending resistance test device and method for fixing nail for waterproof coiled material roof | |
| CN116748745A (en) | Automatic field welding equipment and welding method for tubular pile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |