CN210070997U - Tunnel detection vehicle and tunnel detection robot - Google Patents
Tunnel detection vehicle and tunnel detection robot Download PDFInfo
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- CN210070997U CN210070997U CN201920777188.9U CN201920777188U CN210070997U CN 210070997 U CN210070997 U CN 210070997U CN 201920777188 U CN201920777188 U CN 201920777188U CN 210070997 U CN210070997 U CN 210070997U
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Abstract
The utility model relates to a tunnel detects car and tunnel inspection robot, this tunnel detect car include the U-shaped support body, the shape adaptation tunnel inner wall of U-shaped support body, and its opening sets up down, and the both ends of U-shaped support body are equipped with first walking part, and first walking part is used for driving the U-shaped support body and removes along the tunnel direction, can dismantle on the U-shaped support body and be connected with a plurality of support, and all supports set up along U-shaped support body interval, and every support is used for setting up detection device. Application the utility model discloses a tunnel detects car through the U-shaped support body with tunnel inner wall shape adaptation, reserves tunnel inner space and passageway, satisfies the current of inside other operation personnel in tunnel and equipment, and the distribution sets up the support on the U-shaped support body, and the support is used for installing detection device, and at the U-shaped support body along with first walking part removal in-process, detection device sweeps the tunnel inner wall, this tunnel detects car simple structure, convenient operation, respond well.
Description
Technical Field
The utility model relates to a tunnel field, especially a tunnel detects car and tunnel inspection robot.
Background
At present, the infrastructure traffic construction is adjusted from high-speed development to high-quality development, in order to ensure the construction quality and the operation safety of the tunnel, the detection of the tunnel lining and the back of the tunnel lining is indispensable work, and the related matched maintenance equipment is an important guarantee of the detection work; the convenient check out test set of intelligence can provide high-efficient, reliable, safe detection means for tunnel detection work in construction or operation, provides reliable quality assurance for the quick construction of tunnel, provides reliable safety guarantee for later stage operation.
At present, the general detection mode at home and abroad adopts the modes of occupying larger space such as automobiles, elevators, scaffolds and the like to detect the tunnel, and the mode has the defects of inconvenient operation, low working efficiency, large safety risk, poor detection effect and great influence on line traffic.
SUMMERY OF THE UTILITY MODEL
The invention of the utility model aims to: to the current general tunnel quality detection mode that prior art exists adopt modes such as car, lift, scaffold frame that occupy great space to detect the tunnel, this kind of mode operation is inconvenient, work efficiency is low, the safety risk is big, detection effect is poor, very big influence the line traffic problem, provide a tunnel detection car and tunnel detection robot.
In order to realize the purpose, the utility model discloses a technical scheme be:
the utility model provides a tunnel detects car, includes the U-shaped support body, the shape adaptation tunnel inner wall of U-shaped support body, and its opening sets up down, the both ends of U-shaped support body are equipped with first walking part, first walking part is used for driving the U-shaped support body removes along the tunnel direction, can dismantle on the U-shaped support body and be connected with a plurality of support, all the support is followed U-shaped support body interval sets up, every the support is used for setting up detection device.
Adopt a tunnel detects car, through with tunnel inner wall shape adaptation the U-shaped support body keeps away tunnel inner space and passageway, satisfies the current of inside other operation personnel in tunnel and equipment, the distribution sets up on the U-shaped support body the support, the support is used for installing detection device the U-shaped support body follows first walking part removes the in-process, and detection device sweeps the tunnel inner wall, this tunnel detects car simple structure, convenient operation, respond well.
Preferably, one end of each support is connected with a support in a universal mode, and the supports are used for arranging the detection devices.
Preferably, each of said brackets is disposed radially of said U-shaped frame.
Preferably, all the brackets are uniformly arranged along the U-shaped frame body.
Preferably, the U-shaped frame body is connected with a guide component, the guide component comprises a plurality of guide wheels, all the guide wheels are arranged at intervals along the U-shaped frame body, and all the guide wheels are used for acting on the inner wall of the tunnel.
By adopting the structure, when the first walking part drives the U-shaped frame body to move along the tunnel direction, the guide part can guide the U-shaped frame body, so that the U-shaped frame body is prevented from impacting the inner wall of the tunnel and even being clamped in the tunnel.
The utility model also provides a tunnel inspection robot, include:
the U-shaped frame body is matched with the inner wall of the tunnel in shape, the opening of the U-shaped frame body faces downwards, and a circumferential track is arranged along the U-shaped frame body;
the first walking parts are arranged at two ends of the U-shaped frame body and are used for driving the U-shaped frame body to move along the tunnel direction;
the second walking parts are connected to the U-shaped frame body in a sliding mode, each second walking part is used for starting, stopping and walking along the annular track, each second walking part is connected with one support, and each support is used for being provided with a detection device;
a control component for controlling the movement of the first walking component and the second walking component.
Adopt a tunnel inspection robot, through predetermine operating procedure in the control unit, realize tunnel inspection robot work's automation and intellectuality, promote detection efficiency by a wide margin, reduce manual work volume and machines use amount, reduce detection achievement's intensity of labour and safety risk, can avoid occuping tunnel traffic in the testing process, guarantee tunnel normal construction and operation, accomplish tunnel lining thickness, lining cutting evacuation, lining cutting appearance quality, all-round detection field work such as lining cutting crack under unmanned on duty's the condition, provide the guarantee for tunnel construction stage quality control and operation stage's periodic maintenance, this tunnel inspection robot simple structure, safety and reliability, respond well.
Preferably, the control component comprises a control panel, and the control panel is arranged on the U-shaped frame body or the first walking component.
Preferably, the control panel comprises a touch screen.
Preferably, the tunnel detection robot further comprises a guide component, the guide component is connected to the U-shaped frame body, the guide component comprises a plurality of guide wheels, all the guide wheels are arranged at intervals along the U-shaped frame body, and all the guide wheels are used for acting on the inner wall of the tunnel.
By adopting the structure, when the first walking part drives the U-shaped frame body to move along the tunnel direction, the guide part can guide the U-shaped frame body, so that the U-shaped frame body is prevented from impacting the inner wall of the tunnel and even being clamped in the tunnel.
Preferably, the two ends of the U-shaped frame body are connected with height adjusting parts, each height adjusting part is connected with the corresponding first walking part, and the tunnel is suitable for tunnels with different heights by adjusting the height adjusting parts.
Preferably, each first walking part comprises a base, a first driving assembly and a plurality of walking wheels, the base is connected to the end of the U-shaped frame body, all the walking wheels are connected to the base, the first driving assembly is arranged on the base, and the first driving assembly is connected with one of the walking wheels.
Preferably, the tunnel detection robot further comprises a power box, the power box is arranged on the base, and the power box is connected with the first walking component, the second walking component and the control component.
Preferably, the first drive assembly comprises a first motor, the first motor being connected to the road wheel.
Preferably, the first motor is a servo motor.
Preferably, each second walking part comprises a seat body, a second driving assembly and a driving wheel, the seat body is slidably connected to the outer edge of the U-shaped frame body, the second driving assembly and the driving wheel are arranged on the seat body, and the second driving assembly is connected to the driving wheel.
Preferably, the circular track is a rack, and the driving wheel is a gear matched with the driving wheel.
Preferably, the second drive assembly comprises a second motor, the second motor being connected to the drive wheel.
Preferably, the second motor is a servo motor.
Preferably, each one end of support is equipped with universal connector, every universal connector is connected with the support, the support is used for setting up detection device, control unit is used for controlling universal connector's rotation.
By adopting the structure, the first walking part drives the U-shaped frame body to move longitudinally along the tunnel, the second walking part moves along the inner wall of the tunnel, the support rotates around the corresponding support, so that the detection device arranged on the support can detect the quality of the tunnel lining thickness, lining hollowing, lining appearance quality, lining cracks and the like in an all-around dead angle-free manner, the efficiency is high, and the inspection quality is good.
Preferably, each support comprises a pressing plate, a telescopic rod and a spring, one end of each telescopic rod is connected to the corresponding second walking part, the other end of each telescopic rod is connected to the pressing plate, the spring is sleeved outside the telescopic rod, one end of each spring abuts against the corresponding second walking part, the other end of each spring abuts against the pressing plate, and the pressing plate is connected with the universal connector.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. the tunnel detection vehicle has the advantages that the U-shaped frame body matched with the shape of the inner wall of the tunnel leaves the space and the channel inside the tunnel to meet the passing of other operating personnel and equipment inside the tunnel, the supports are distributed on the U-shaped frame body and used for installing the detection device, and the detection device sweeps the inner wall of the tunnel in the moving process of the U-shaped frame body along with the first walking part;
2. when the first walking part drives the U-shaped frame body to move along the tunnel direction, the guide part can guide the U-shaped frame body, so that the U-shaped frame body is prevented from impacting the inner wall of the tunnel and even being stuck in the tunnel;
3. the tunnel detection robot has the advantages that the tunnel detection robot realizes automation and intellectualization of the work of the tunnel detection robot by presetting operation programs in the control part, greatly improves detection efficiency, reduces the workload of workers and the use amount of machines, reduces the labor intensity and the safety risk of detection work, can avoid occupying tunnel traffic in the detection process, ensures normal construction and operation of tunnels, completes all-round detection field work such as tunnel lining thickness, lining void, lining appearance quality and lining crack under the unattended condition, and provides guarantee for quality control in the tunnel construction stage and regular maintenance in the operation stage, and is simple in structure, safe, reliable and good in effect;
4. when the first walking part drives the U-shaped frame body to move along the tunnel direction, the guide part can guide the U-shaped frame body, so that the U-shaped frame body is prevented from impacting the inner wall of the tunnel and even being stuck in the tunnel;
5. application a tunnel inspection robot, through first walking part drives U-shaped framework is along tunnel longitudinal movement, second walking part removes along the tunnel inner wall, the support is around corresponding the support rotates, makes the detection device who sets up on the support can all-round no dead angle detect tunnel lining thickness, lining cutting take off the sky, lining cutting appearance quality, lining cutting crack etc. the quality, efficient, inspection quality is good.
Drawings
Fig. 1 is a schematic structural view of a tunnel inspection vehicle according to the present invention;
fig. 2 is a schematic structural view of a tunnel inspection robot according to the present invention;
FIG. 3 is a schematic structural view of the first traveling unit;
fig. 4 is a schematic structural view of the second traveling unit.
The labels in the figure are: the device comprises a U-shaped frame body, 11-a circumferential track, 12-a height adjusting component, 2-a first walking component, 21-a walking wheel, 22-a first driving component, 3-a support, 31-a pressing plate, 32-a telescopic rod, 33-a spring, 4-a support, 41-a universal connector, 5-a second walking component, 51-a driving wheel, 6-a control component and 7-a power box.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Example 1
As shown in figure 1, the tunnel detection vehicle comprises a U-shaped frame body 1, wherein the U-shaped frame body 1 is matched with the inner wall of a tunnel in shape, and the opening of the U-shaped frame body is arranged downwards.
The utility model discloses a detection device, including U-shaped support body 1, support 3, support 4, U-shaped support body 1, the both ends of U-shaped support body 1 are equipped with first walking part 2, first walking part 2 is used for driving U-shaped support body 1 removes along the tunnel direction, can dismantle on the U-shaped support body 1 and be connected with a plurality of support 3, all support 3 is followed U-shaped support body 1 evenly sets up, every support 3 follows U-shaped support body 1 radially sets up, every the one end universal connection of support 3 has support 4, support 4 is used for setting up detection device.
As a preferred scheme of this embodiment, be connected with guide part on the U-shaped support body 1, guide part includes a plurality of leading wheel, all the leading wheel is followed 1 interval settings of U-shaped support body, all the leading wheel is used for acting on the tunnel inner wall, adopts this kind of structure setting, first walking part 2 drives when the U-shaped support body 1 removes along the tunnel direction, guide part can be for 1 direction of U-shaped support body avoids 1 striking tunnel inner wall of U-shaped support body blocks even in the tunnel.
Application a tunnel detects car, through with tunnel inner wall shape adaptation U-shaped support body 1 keeps away tunnel inner space and passageway, satisfies the current of other inside operation personnel in tunnel and equipment, distribute the setting on the U-shaped support body 1 support 3, support 3 is used for installing detection device U-shaped support body 1 follows 2 removal in-process of first walking part, detection device sweeps the tunnel inner wall, this tunnel detects car simple structure, convenient operation, respond well.
Example 2
As shown in fig. 2 to 4, a tunnel inspection robot includes:
the tunnel comprises a U-shaped frame body 1, wherein the shape of the U-shaped frame body is matched with that of the inner wall of a tunnel, the opening of the U-shaped frame body is arranged downwards, a circumferential track 11 is arranged along the U-shaped frame body 1, and two ends of the U-shaped frame body 1 are connected with height adjusting parts 12;
the first walking parts 2 are arranged at two ends of the U-shaped frame body 1, each height adjusting part 12 is connected with the corresponding first walking part 2, tunnels with different heights are adapted by adjusting the height adjusting parts 12, and the first walking parts 2 are used for driving the U-shaped frame body 1 to move along the tunnel direction;
the second walking parts 5 are connected to the outer edge of the U-shaped frame body 1 in a sliding mode, each second walking part 5 is used for starting, stopping and walking along the circular rail 11, each second walking part 5 is connected with one support 3, one end of each support 3 is provided with a universal connector 41, each universal connector 41 is connected with a support 4, and the support 4 is used for arranging the detection device;
the guide part is connected to the U-shaped frame body 1 and comprises a plurality of guide wheels, the guide wheels are arranged at intervals along the U-shaped frame body 1, all the guide wheels are used for acting on the inner wall of a tunnel, and by adopting the structure, when the first walking part 2 drives the U-shaped frame body 1 to move along the tunnel direction, the guide part can guide the U-shaped frame body 1, so that the U-shaped frame body 1 is prevented from impacting the inner wall of the tunnel and even being clamped in the tunnel;
the control component 6 is used for controlling the movement of the first walking component 2 and the second walking component 5 and controlling the rotation of the universal connector 41, the control component 6 comprises a control panel, the control panel is arranged on the first walking component 2, and the control panel comprises a touch screen;
and the power box 7 is arranged on the first walking part 2, and the power box 7 is connected with the first walking part 2, the second walking part 5, the universal connector 41 and the control part 6.
As a preferable scheme of this embodiment, each of the first walking parts 2 includes a base, a first driving assembly 22 and a plurality of walking wheels 21, an end of the U-shaped frame body 1 is connected to a middle portion of the base, at least one walking wheel 21 is connected to a lower portion of each of two ends of the base, the power box 7 is disposed on the base, the first driving assembly 22 is disposed on the base, and the first driving assembly 22 is connected to one of the walking wheels 21; the first driving assembly 22 comprises a first motor, the first motor is connected with the traveling wheel 21, and the first motor is a servo motor.
As a preferable solution of this embodiment, each of the second traveling units 5 includes a seat body, a second driving assembly and a driving wheel 51, the seat body is slidably connected to an outer edge of the U-shaped frame body 1, the second driving assembly and the driving wheel 51 are disposed on the seat body, and the second driving assembly is connected to the driving wheel 51; the circular track 11 is a rack, and the driving wheel 51 is a gear matched with the rack; the second driving assembly comprises a second motor, and the second motor is connected with the driving wheel 51; the second motor is a servo motor.
As a preferable scheme of this embodiment, each of the brackets 3 includes a pressing plate 31, an expansion link 32 and a spring 33, one end of the expansion link 32 is connected to the corresponding second traveling unit 5, and the other end is connected to the pressing plate 31, the spring 33 is sleeved outside the expansion link 32, one end of the spring 33 abuts against the corresponding second traveling unit 5, and the other end abuts against the pressing plate 31, and the pressing plate 31 is connected to the universal connector 41.
By presetting operation programs in the control component 6, the tunnel detection robot realizes automation and intellectualization of work, greatly improves detection efficiency, reduces the workload of workers and the use amount of machines, reduces the labor intensity and the safety risk of detection work, can avoid occupying tunnel traffic in the detection process, ensures normal construction and operation of tunnels, drives the U-shaped frame body 1 to move longitudinally along the tunnels through the first walking component 2, moves the second walking component 5 along the inner walls of the tunnels, rotates the support 4 around the corresponding support 3, completes all-round detection field work such as tunnel lining thickness, lining emptying, lining appearance quality, lining cracks and the like under the unattended condition, and provides guarantee for quality control in the tunnel construction stage and regular maintenance in the operation stage, the tunnel detection robot is simple in structure, safe, reliable and good in effect.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a tunnel detects car, its characterized in that, includes U-shaped support body (1), the shape adaptation tunnel inner wall of U-shaped support body (1), and its opening sets up down, the both ends of U-shaped support body (1) are equipped with first walking part (2), first walking part (2) are used for driving U-shaped support body (1) is removed along the tunnel direction, can dismantle on U-shaped support body (1) and be connected with a plurality of support (3), all support (3) are followed U-shaped support body (1) interval sets up, every support (3) are used for setting up detection device.
2. The tunnel inspection vehicle according to claim 1, characterized in that a support (4) is connected to one end of each support (3) in a universal manner, said support (4) being used for arranging the inspection device.
3. The tunnel inspection vehicle according to claim 1, characterized in that each of said brackets (3) is arranged radially along said U-shaped frame (1).
4. The tunnel inspection vehicle according to claim 1, characterized in that all the brackets (3) are arranged uniformly along the U-shaped frame (1).
5. The tunnel inspection vehicle according to any one of claims 1 to 4, characterized in that a guide member is connected to the U-shaped frame body (1), the guide member comprises a plurality of guide wheels, all the guide wheels are arranged at intervals along the U-shaped frame body (1), and all the guide wheels are used for acting on the inner wall of the tunnel.
6. A tunnel inspection robot, comprising:
the U-shaped frame body (1) is matched with the inner wall of the tunnel in shape, the opening of the U-shaped frame body is arranged downwards, and a circumferential track (11) is arranged along the U-shaped frame body (1);
the first walking parts (2) are arranged at two ends of the U-shaped frame body (1), and the first walking parts (2) are used for driving the U-shaped frame body (1) to move along the tunnel direction;
the device comprises a plurality of second walking parts (5), wherein all the second walking parts (5) are connected to the U-shaped frame body (1) in a sliding mode, each second walking part (5) is used for starting, stopping and walking along the circular rail (11), each second walking part (5) is connected with one support (3), and each support (3) is used for being provided with a detection device;
a control member (6) for controlling the movement of the first walking member (2) and the second walking member (5).
7. The tunnel detection robot according to claim 6, wherein height adjusting parts (12) are connected to both ends of the U-shaped frame body (1), and each height adjusting part (12) is connected to the corresponding first walking part (2).
8. The tunnel inspection robot according to claim 6, characterized in that each of the first traveling members (2) includes a base connected to an end of the U-shaped frame body (1), a first driving assembly (22) and a plurality of traveling wheels (21), all the traveling wheels (21) being connected to the base, the first driving assembly (22) being disposed on the base, the first driving assembly (22) being connected to one of the traveling wheels (21).
9. The tunnel detection robot according to any one of claims 6-8, characterized in that one end of each of said supports (3) is provided with a universal connector (41), a support (4) is connected to each of said universal connectors (41), said support (4) is used for arranging said detection means, and said control means (6) is used for controlling the rotation of said universal connectors (41).
10. The tunnel detection robot according to claim 9, wherein each of the brackets (3) comprises a pressing plate (31), a telescopic rod (32) and a spring (33), one end of the telescopic rod (32) is connected to the corresponding second traveling unit (5), the other end of the telescopic rod is connected to the pressing plate (31), the spring (33) is sleeved outside the telescopic rod (32), one end of the spring (33) abuts against the corresponding second traveling unit (5), the other end of the spring abuts against the pressing plate (31), and the pressing plate (31) is connected to the universal connector (41).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920777188.9U CN210070997U (en) | 2019-05-27 | 2019-05-27 | Tunnel detection vehicle and tunnel detection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920777188.9U CN210070997U (en) | 2019-05-27 | 2019-05-27 | Tunnel detection vehicle and tunnel detection robot |
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| CN210070997U true CN210070997U (en) | 2020-02-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112763516A (en) * | 2020-12-23 | 2021-05-07 | 铁科润诚成都工程技术咨询有限公司 | Tunnel stereo reconstruction imaging method, system and application thereof |
| CN114113122A (en) * | 2021-12-17 | 2022-03-01 | 江苏华设远州交通科技有限公司 | Tunnel defect detection system and detection method |
-
2019
- 2019-05-27 CN CN201920777188.9U patent/CN210070997U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112763516A (en) * | 2020-12-23 | 2021-05-07 | 铁科润诚成都工程技术咨询有限公司 | Tunnel stereo reconstruction imaging method, system and application thereof |
| CN114113122A (en) * | 2021-12-17 | 2022-03-01 | 江苏华设远州交通科技有限公司 | Tunnel defect detection system and detection method |
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