CN209742972U - highway tunnel is patrolled and examined and is managed with developments and support integration robot - Google Patents
highway tunnel is patrolled and examined and is managed with developments and support integration robot Download PDFInfo
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- CN209742972U CN209742972U CN201920483277.2U CN201920483277U CN209742972U CN 209742972 U CN209742972 U CN 209742972U CN 201920483277 U CN201920483277 U CN 201920483277U CN 209742972 U CN209742972 U CN 209742972U
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Abstract
The utility model provides a highway tunnel is patrolled and examined and is managed and support integrated robot with developments, include: the robot comprises a robot body, wherein the bottom of the robot body is connected with a walking part; the walking part is also connected with a positioning part, and the positioning part is used for detecting the position of the robot body in real time and transmitting the position to the signal processing part; the robot body is also provided with a mechanical arm, the tail end of the mechanical arm is provided with a sensing part and a maintenance part, and the sensing part is used for acquiring routing inspection data of a preset region of the highway tunnel and transmitting the routing inspection data to the signal processing part; and the maintenance part is used for performing maintenance operation on the road tunnel under the control action of the signal processing part.
Description
Technical Field
the utility model belongs to the robot field especially relates to a highway tunnel is patrolled and examined and is managed and support integration robot with developments.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
at present, the operation and maintenance management and maintenance place of the highway operation tunnel is not paid attention, so that the tunnel is subjected to water leakage, cracks and other diseases which affect the health and safety of the tunnel structure under the erosion action of long-term underground water, toxic gas and the like. The operation and maintenance management of the common road tunnel at the present stage mainly depends on manual static inspection or assists a small amount of inspection instruments to carry out dynamic inspection, but the problems of low inspection efficiency, large potential safety hazard of working environment, long path occupation time in the working process, influence on traffic flow in the tunnel and the like mainly exist.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the disclosure provides a highway tunnel inspection and dynamic management integrated robot which has self-walking capability, intelligent accurate positioning, autonomous inspection of preset highway tunnel areas and real-time data interaction function.
in order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the utility model provides a highway tunnel is patrolled and examined and is managed and support integrated robot with developments, includes:
The robot comprises a robot body, wherein the bottom of the robot body is connected with a walking part; the walking part is also connected with a positioning part, and the positioning part is used for detecting the position of the robot body in real time and transmitting the position to the signal processing part;
The robot body is also provided with a mechanical arm, the tail end of the mechanical arm is provided with a sensing part and a maintenance part, and the sensing part is used for acquiring routing inspection data of a preset region of the highway tunnel and transmitting the routing inspection data to the signal processing part; and the maintenance part is used for performing maintenance operation on the road tunnel under the control action of the signal processing part.
the beneficial effects of this disclosure are:
The robot integrates the road tunnel inspection and the dynamic management and maintenance, and the bottom of a robot body is connected with a walking part; the walking part is still continuous with location portion, still installs the arm on the robot body, and perception portion and maintenance portion are installed to the arm end, utilize perception portion to acquire highway tunnel preset region's the data of patrolling and examining and convey to signal processing portion, and maintenance portion carries out the maintenance operation to highway tunnel under signal processing portion's control action, realizes that highway tunnel patrols and examines and manages the integration with the developments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic structural view of a road tunnel inspection and dynamic management and maintenance integrated robot provided by an embodiment of the disclosure.
Fig. 2 is a schematic structural diagram of a positioning portion provided in the embodiment of the present disclosure.
Fig. 3 is a schematic structural diagram of a robot body provided in the embodiment of the present disclosure.
Fig. 4 is a schematic view of a connection structure of a robot arm and a work platform provided in the embodiment of the present disclosure.
Wherein, 1-tunnel lining profile; 2-cover plate of cable trench and sidewalk in tunnel; 3-a guide rail; 4, inspecting the vehicle body; 5, a mechanical arm; 6-a working platform; 301-guide rail groove; 302-RFID locator card; 303-a telescopic arm; 304-a rail shim; 401-road wheels; 402-a vehicle body mounting platform; 403-bottom constraint frame; 404-carrying a working platform; 405-support bar restraint frames; 406-mechanical arm bearing shaft; 407-support bar; 408-a robotic arm anchor platform; 501-a mechanical arm; 502-steering shaft; 503-a work platform anchor end; 601-telescoping rod member; 602-LED lamp source and CCD industrial camera integrated platform; 603-geological radar antenna.
Detailed Description
the present disclosure is further described with reference to the following drawings and examples.
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 disclosure 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 disclosure. 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.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
along with the development of the whole life cycle of tunnel construction operation and maintenance towards digitization and intellectualization, the reasonable operation and maintenance management and maintenance of the constructed tunnel is the basic guarantee for ensuring the healthy and efficient operation of the tunnel. In order to improve the working mode of tunnel inspection, the design and research of the tunnel inspection robot are one of means for realizing intelligent management and maintenance of tunnels, the tunnel inspection robot can efficiently finish daily inspection work in the operation and maintenance management work, and a part of appointed work is finished based on the function setting of the robot.
In order to solve the defects of the conventional tunnel inspection robot, the disclosure provides a road tunnel inspection and dynamic management integrated robot.
fig. 1 is a schematic structural view of a road tunnel inspection and dynamic management and maintenance integrated robot provided by an embodiment of the disclosure.
A highway tunnel is patrolled and examined and is managed with developments of this embodiment and support integrated robot includes:
the robot comprises a robot body, wherein the bottom of the robot body is connected with a walking part; the walking part is also connected with a positioning part, and the positioning part is used for detecting the position of the robot body in real time and transmitting the position to the signal processing part;
The robot body is also provided with a mechanical arm, the tail end of the mechanical arm is provided with a sensing part and a maintenance part, and the sensing part is used for acquiring routing inspection data of a preset region of the highway tunnel and transmitting the routing inspection data to the signal processing part; and the maintenance part is used for performing maintenance operation on the road tunnel under the control action of the signal processing part.
In specific implementation, the signal processing portion may employ a programmable logic chip or other data processing chip, such as a single chip microcomputer of an existing model.
As shown in fig. 1, the robot body of the present embodiment is a patrol car 4, and a robot arm 5 is mounted on the patrol car 4, and a work platform 6 is mounted on the robot arm 5.
As shown in fig. 3, the traveling unit of the present embodiment includes: the walking wheel 401 is arranged below the robot body and is connected with a driving mechanism, and the driving mechanism is used for driving the walking wheel to move;
The travelling wheels 401 walk along the cable trench cover plate in the tunnel and the sidewalk 2, and the working platform 6 carried on the mechanical arm 5 is used for polling and managing the tunnel lining contour 1.
It should be noted that the running part may also take other forms, such as a crawler belt structure.
As shown in fig. 2, the positioning part includes an RFID positioning card 302 embedded in the guide rail 3; the guide rails are laid at preset positions in the highway tunnel (for example, the guide rails are positioned at the arches at the two sides of the tunnel); an RFID reader-writer provided on the traveling wheel; the RFID reader-writer is used for reading and exchanging information with the RFID positioning card;
And the information reading and exchange between the RFID reader-writer and the RFID positioning card are used for realizing the accurate positioning in the advancing process of the tunnel.
The guide rail 3 is provided with a guide rail groove 301, a telescopic arm 303 is clamped in the guide rail groove 301, the telescopic arm 303 can move along the guide rail groove 301, the RFID positioning clamp is arranged at the end part of the telescopic arm 303, and the end part is clamped in the guide rail groove 301; the other end of the telescopic arm 303 is connected with the robot body.
Specifically, a guide rail pad 304 is further connected between the RFID locator card 302 and the retractable arm 303.
In this embodiment, the robot body is in a polling car form, and the whole body is composed of a bearing rod piece and a protective frame, and the carrying platform is integrated with a storage battery pack, a wireless signal transmitter, a data memory and a driving brake device. The control instrument controls the running of the vehicle body, the storage of data and the exchange of the data and the remote management system.
As shown in fig. 3, the inspection vehicle includes a vehicle body carrying platform 402, a traveling wheel 401 is arranged at the bottom of the vehicle body carrying platform 402, the vehicle body carrying platform 402 is provided with a constraint frame 403, the constraint frame 403 is provided with a support rod constraint frame 405, the support rod constraint frame 405 is used for constraining a support rod 407, the vehicle body carrying platform 402 is further provided with a mechanical arm bearing shaft 406, and the mechanical arm bearing shaft 406 is connected with a mechanical arm anchoring platform 408; the mechanical arm bearing shaft 406 is also connected with a working platform 404.
in this embodiment, the arm is fixed in the robot through the anchor joint end, makes work platform location in tunnel vault, hunch shoulder and hunch foot survey line department through the operation of signal processing portion, realizes the attached formula overall detection along the operation period tunnel.
It is understood that the robot arm may be fixed to the robot body by other connection means (e.g., snap-fit), and those skilled in the art may select the connection means according to the specific situation.
Fix through the anchor joint end of intelligent arm like this, reach appointed survey line under the control of intelligent arm, realize the full section's in tunnel survey through the geological radar antenna who carries on.
As an embodiment, the sensing part includes:
The image scanning device is used for scanning full-section image information in the highway tunnel;
A geological radar antenna for detecting geological structure information within a highway tunnel.
Wherein, the image scanning device can be realized by adopting a scanner.
both the image scanning device and the geological radar antenna are of existing structures.
In one embodiment, the maintenance portion includes, but is not limited to, a grouting device and a cleaning device.
The grouting device is used for performing local grouting operation on cracks in the highway tunnel;
The cleaning device is used for cleaning the highway tunnel.
Wherein, slip casting device and belt cleaning device all can adopt current structure to realize.
As an embodiment, the sensing part and the maintenance part are disposed on a working platform, as shown in fig. 4, the working platform 6 is connected to a working platform anchoring end 503 through a telescopic rod 601, and the working platform anchoring end 503 is connected to the end of the mechanical arm 501 through a steering shaft 502.
it should be noted that, the arm 501 is not limited to be mounted on the geological radar antenna 603, and further includes an LED light source and CCD industrial camera integrated platform 602, for example, a scanning system of a tunnel lining surface integrated by an LED light source and a CDD industrial camera, so as to realize identification and positioning of diseases such as cracks and leakage water of a tunnel lining.
In one embodiment, the sensing part and the maintenance part are communicated with each other through the wireless transmission part and the signal processing part.
It should be noted that the wireless transmission unit may be implemented by using a wifi module or other wireless network transmission structures.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (9)
1. The utility model provides a highway tunnel is patrolled and examined and is managed and support integrated robot with developments which characterized in that includes:
The robot comprises a robot body, wherein the bottom of the robot body is connected with a walking part; the walking part is also connected with a positioning part, and the positioning part is used for detecting the position of the robot body in real time and transmitting the position to the signal processing part;
The robot body is also provided with a mechanical arm, the tail end of the mechanical arm is provided with a sensing part and a maintenance part, and the sensing part is used for acquiring routing inspection data of a preset region of the highway tunnel and transmitting the routing inspection data to the signal processing part; and the maintenance part is used for performing maintenance operation on the road tunnel under the control action of the signal processing part.
2. The integrated robot for road tunnel inspection and dynamic management according to claim 1, wherein the walking part comprises:
The walking wheel is arranged below the robot body and connected with a driving mechanism, and the driving mechanism is used for driving the walking wheel to move.
3. the integrated robot for road tunnel inspection and dynamic management according to claim 2, wherein the positioning part comprises:
the RFID positioning card is embedded in the guide rail; the guide rail is laid at a preset position in the highway tunnel;
An RFID reader-writer provided on the traveling wheel; the RFID reader-writer is used for reading and exchanging information with the RFID positioning card.
4. The road tunnel inspection and dynamic management integrated robot according to claim 3, wherein a guide rail groove is formed in the guide rail, a telescopic arm is clamped in the guide rail groove and can move along the guide rail groove, the RFID positioning card is arranged at the end part of the telescopic arm, and the end part is clamped in the guide rail groove; the other end of the telescopic arm is connected with the robot body.
5. The integrated robot for road tunnel inspection and dynamic management according to claim 1, wherein the sensing part comprises:
the image scanning device is used for scanning full-section image information in the highway tunnel;
A geological radar antenna for detecting geological structure information within a highway tunnel.
6. the road tunnel inspection and dynamic management integrated robot according to claim 1, wherein the maintenance part comprises:
and the grouting device is used for performing local grouting operation on the cracks in the highway tunnel.
7. The road tunnel inspection and dynamic management integrated robot according to claim 1 or 6, wherein the maintenance part comprises:
And the cleaning device is used for cleaning the highway tunnel.
8. The road tunnel inspection and dynamic pipe maintenance integrated robot according to claim 1, wherein the sensing part and the maintenance part are arranged on a working platform, the working platform is connected with an anchoring end of the working platform through a telescopic rod piece, and the anchoring end of the working platform is connected with the tail end of the mechanical arm through a steering shaft.
9. the integrated robot for road tunnel inspection and dynamic management and maintenance according to claim 1, wherein the sensing part and the maintenance part are communicated with the signal processing part through a wireless transmission part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920483277.2U CN209742972U (en) | 2019-04-10 | 2019-04-10 | highway tunnel is patrolled and examined and is managed with developments and support integration robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920483277.2U CN209742972U (en) | 2019-04-10 | 2019-04-10 | highway tunnel is patrolled and examined and is managed with developments and support integration robot |
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| CN209742972U true CN209742972U (en) | 2019-12-06 |
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| CN201920483277.2U Active CN209742972U (en) | 2019-04-10 | 2019-04-10 | highway tunnel is patrolled and examined and is managed with developments and support integration robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915211A (en) * | 2019-04-10 | 2019-06-21 | 山东省交通规划设计院 | A kind of vcehicular tunnel inspection and dynamic pipe cultivating one robot and its method |
-
2019
- 2019-04-10 CN CN201920483277.2U patent/CN209742972U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915211A (en) * | 2019-04-10 | 2019-06-21 | 山东省交通规划设计院 | A kind of vcehicular tunnel inspection and dynamic pipe cultivating one robot and its method |
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Address after: 250031 Shandong Province Flyover District of Ji'nan city Shanxi Road No. 576. Patentee after: Shandong transportation planning and Design Institute Co.,Ltd. Address before: 250031 Shandong Province Flyover District of Ji'nan city Shanxi Road No. 576. Patentee before: SHANDONG PROVINCIAL COMMUNICATIONS PLANNING AND DESIGN INSTITUTE |
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Address after: 250031 No. 576 Wushanxi Road, Tianqiao District, Jinan City, Shandong Province Patentee after: Shandong transportation planning and Design Institute Group Co.,Ltd. Address before: 250031 No. 576 Wushanxi Road, Tianqiao District, Jinan City, Shandong Province Patentee before: Shandong transportation planning and Design Institute Co.,Ltd. |