CN210335965U - Long water diversion tunnel and water quality state inspection and treatment robot - Google Patents
Long water diversion tunnel and water quality state inspection and treatment robot Download PDFInfo
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- CN210335965U CN210335965U CN201920990990.6U CN201920990990U CN210335965U CN 210335965 U CN210335965 U CN 210335965U CN 201920990990 U CN201920990990 U CN 201920990990U CN 210335965 U CN210335965 U CN 210335965U
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Abstract
The utility model discloses a long diversion tunnel, quality of water state are patrolled and examined and are administered robot has solved among the prior art that the work efficiency is low for patrol and examine in the artificial tunnel, problem that factor of safety is low. The utility model discloses a frame is equipped with detection device and power supply system in the frame, and the both ends of frame all are equipped with shank mechanism, and the lower part of frame is equipped with desilting mechanism, and desilting mechanism, detection device and shank mechanism all are connected with power supply system. The two ends of the rack are provided with at least two leg mechanisms, the leg mechanisms are hinged to the rack at equal angles, and the leg mechanisms can be tightly supported on the wall of the hole in a matched mode. The utility model discloses utilize the robot to carry out all-round many-sided patrolling and examining to the long diversion tunnel health status of major diameter to utilize desilting mechanism to carry out the interior desilting of hole and administer, inside whole process need not the staff and gets into the tunnel, improved construction safety factor greatly.
Description
Technical Field
The utility model relates to a tunnel construction technical field especially indicates a long diversion tunnel state of major diameter patrols and examines and manages and administer robot.
Background
Along with the development of tunnel technology and the increase of the requirements of water diversion and power generation, the number of large-diameter long diversion tunnels in large-scale hydropower stations and large-scale diversion projects is increased. The common diversion tunnel is not a horizontal straight line and is often bent and inclined, the tunnel wall is mostly poured by cement or is simply supported by cement, the water in the upper warehouse and the water in the lower warehouse flow upstream and downstream in the tunnel, and the functions of power generation, water pumping and energy storage, diversion flow and the like are realized. The health condition detection and maintenance of the tunnel become an important work of the diversion tunnel; the major requirement of regular inspection of the diversion tunnel is more and more prominent, the major requirement becomes a normal work of the diversion tunnel, if inspection is not carried out, the change trend of the health state of the diversion tunnel is difficult to master, the quality change is possibly caused by quantitative change, and the phenomena of tunnel collapse, water leakage and the like occur, so that great economic loss is caused. However, the existing tunnel detection means still depend on manual operation and need shutdown detection, so that a detector can go deep into the high-water-pressure tunnel with the diameter of several meters and black paint for detection, great operation risks exist, and the naked eyes can hardly detect all details without errors, such as whether the tunnel wall has cracks or not, whether aquatic organisms breed in large quantities or not and the like, and in addition, the normal operation of the tunnel is greatly disturbed by water shutdown inspection.
SUMMERY OF THE UTILITY MODEL
To not enough among the above-mentioned background art, the utility model provides a long diversion tunnel state of major diameter patrols and examines treatment robot has solved among the prior art problem that work efficiency is low, and factor of safety is low for the artificial tunnel.
The technical scheme of the utility model is realized like this: the utility model provides a long diversion tunnel, quality of water state patrol and examine treatment robot, includes the frame, is equipped with detection device and power supply system in the frame, and the both ends of frame all are equipped with shank mechanism, and the lower part of frame is equipped with desilting mechanism, and desilting mechanism, detection device and shank mechanism all are connected with power supply system.
The two ends of the rack are provided with at least two leg mechanisms, the leg mechanisms are hinged to the rack at equal angles, and the leg mechanisms can be tightly supported on the wall of the hole in a matched mode.
The leg mechanism comprises a first telescopic piece and a connecting rod piece, one end of the first telescopic piece is hinged with the rack, the other end of the first telescopic piece is hinged with the connecting rod piece, one end of the connecting rod piece is hinged with the rack, the other end of the connecting rod piece is hinged with a column base, and the column base is connected with the connecting rod piece through a buffer mechanism; the column base is provided with a wheel base in a rotating mode, the wheel base is connected with the column base through a transmission mechanism, the wheel base is provided with a roller in a rotating mode, and the roller is connected with a first driving piece arranged on the wheel base.
Buffer gear includes buffer beam and buffer spring, and the buffer spring cover is established on the buffer beam, and the both ends of buffer beam are articulated with connecting rod spare, post seat respectively.
The transmission mechanism comprises an upper bevel gear and a lower bevel gear, the upper bevel gear is fixedly arranged at the lower part of the wheel seat, a second driving piece is fixedly arranged on the column seat, the lower bevel gear is arranged on a driving shaft of the second driving piece, and the upper bevel gear is meshed with the lower bevel gear.
Detection device is including solid fixed ring, gu fixed ring passes through glide machanism and frame swing joint, gu rotate on the fixed ring and be equipped with rotatory ring, rotatory ring rotates with solid fixed ring through rotary drive mechanism to be connected, and fixed being equipped with at least one detection arm and a plurality of laser range finder on rotatory outer circumference of ring detects the visual device of the wall of a hole condition on the arm.
The rotary driving mechanism comprises a driving element fixed on the fixed ring, a small gear is arranged on the driving element, a large gear ring is arranged on the inner wall of the fixed ring, and the small gear is matched with the large gear ring.
The dredging mechanism comprises a middle supporting column, a bucket type dredging machine and/or a clamping jaw type dredging machine, and the bucket type dredging machine and the clamping jaw type dredging machine are respectively connected with the rear slag and sludge collecting system.
The frame is provided with a camera, a liquid level meter, a flowmeter, a temperature sensor and/or a water pressure sensor and a water quality detector.
A method for patrolling and managing a robot in a state of a large-diameter long diversion tunnel comprises the following steps:
s1: hoisting the robot into the tunnel;
s2: adjusting a first telescopic piece, wherein the first telescopic piece is combined with a buffer device to enable a roller to be tightly supported on the wall of the hole, and then starting a first driving piece to drive the roller to rotate so as to drive a rack to move along the wall of the hole;
s3: when the turning tunnel is encountered in the moving process, the second driving piece drives the wheel seat to rotate through the transmission mechanism, so that the moving direction of the roller is changed;
s4: in the movement process of the rack, the rotary driving mechanism drives the rotary ring to rotate along the fixed ring, the laser range finder on the rotary ring detects the settlement condition of the tunnel, and the hole wall condition visualization device on the detection mechanical arm displays whether the hole wall is damaged or not;
s5: during the movement process of the rack, a camera, a liquid level meter, a flow meter and/or a temperature sensor on the rack detect that sludge is deposited in the tunnel in multiple aspects; if sludge deposition exists, starting a dredging mechanism to clean the sludge;
s6: and repeating the steps S2-S5 until the inspection and the treatment of the whole tunnel are completed.
The utility model discloses utilize the robot to carry out all-round many-sided patrolling and examining to the long diversion tunnel health status of major diameter to utilize desilting mechanism to carry out the interior desilting of hole and administer, inside whole process need not the staff and gets into the tunnel, improved construction safety factor greatly. The utility model discloses can carry out the hole wall condition from many aspects and detect, degree of automation is high, detects the precision height, has improved detection efficiency, shortens the check period, is a big innovation that the tunnel detected, has higher spreading value.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive work.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the leg mechanism of the present invention.
Fig. 3 is a schematic structural diagram of the detection device of the present invention.
Fig. 4 is a schematic view of the connection state between the detection device and the frame of the present invention.
Fig. 5 is a schematic structural view of the dredging mechanism of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without any creative effort belong to the protection scope of the present invention.
Preferably, both ends of frame 1 all are equipped with two at least leg mechanism 2, can set up 3 or 4 as required to can stably support the frame as the standard. Leg mechanisms 2 are hinged on the rack 1 at equal angles, so that the stability of the rack is ensured, when a plurality of leg mechanisms are arranged, the leg mechanisms can be arranged at different angles, and all leg mechanisms 2 can be matched with each other to be used and can be tightly propped on the wall of the hole as long as the operation stability of the rack can be met.
Further, as shown in fig. 2, the leg mechanism 2 includes a first telescopic member 201 and a connection rod member 207, the first telescopic member 201 may adopt an oil cylinder or an air cylinder, one end of the first telescopic member 201 is hinged to the frame 1, and the other end of the first telescopic member is hinged to the connection rod member 207, and the adjustment of the swing angle of the connection rod member is realized by the extension and retraction of the first telescopic member. One end of the connecting rod 207 is hinged with the frame 1, the other end is hinged with the column base 208, and the connecting rod swings to drive the column base to move up and down. The column base 208 is connected with the connecting rod 207 through a buffer mechanism 206, and the buffer mechanism 206 plays roles of supporting the column base and buffering. Rotate on the post seat 208 and be equipped with wheel seat 209, wheel seat accessible bearing rotates with the post seat to be connected, wheel seat 209 is connected with post seat 208 through drive mechanism 205, realize the relative rotation of wheel seat and post seat through drive mechanism, it is equipped with gyro wheel 204 to rotate on the wheel seat 209, the gyro wheel can prop tightly on the tunnel cave wall, gyro wheel 204 is connected with the first driving piece 203 that sets up on wheel seat 209, first driving piece can adopt motor or motor, the rotation through first driving piece drives the gyro wheel rotation, realize the motion of frame.
Further, the buffering mechanism 206 includes a buffering rod 210 and a buffering spring 211, the buffering spring 211 is sleeved on the buffering rod 210, and two ends of the buffering rod 210 are hinged to the connecting rod 207 and the column base 208 respectively. The buffer rods 210 are used for supporting the column bases, and the buffer springs are used for buffering the vibration of the leg mechanisms, so that the stable movement of the rack is guaranteed. The transmission mechanism 205 includes an upper bevel gear 212 and a lower bevel gear 213, the upper bevel gear 212 is fixedly disposed at the lower portion of the wheel seat 209, the column seat 208 is fixedly disposed with a second driving member 202, the second driving member 202 adopts a motor or a motor, the lower bevel gear 213 is disposed on a driving shaft of the second driving member 202, and the upper bevel gear 212 is engaged with the lower bevel gear 213. The second driving piece rotates to drive the upper bevel gear to rotate through the lower bevel gear, and the advancing direction of the roller is driven to change, so that the robot turns.
Embodiment 2, as shown in fig. 3, a long water tunnel, quality of water state patrol and examine treatment robot, detection device 3 includes solid fixed ring 301, and solid fixed ring 301 passes through glide machanism 310 and frame 1 swing joint, and glide machanism 310 can adopt hydro-cylinder or gear rack subassembly, drives solid fixed ring frame and carries out axial motion. The fixed ring 301 is provided with a rotating ring 303 in a rotating mode, the rotating ring 303 is rotatably connected with the fixed ring 301 through a rotating driving mechanism 302, and circumferential motion of the rotating ring around the fixed ring is achieved through the rotating driving mechanism. Fixed at least one detection arm 304 and a plurality of laser range finder 306 of being equipped with on the outer circumference of rotatory ring 303, a plurality of laser range finder 306 sets up on rotatory ring along the circumferencial direction, can wait the angle setting for detect the settlement condition of tunnel, be equipped with hole wall condition visualization device 305 on detecting arm 304, visualization device 305 can adopt visual form tissue such as camera, can whether damaged by image recognition tunnel hole wall.
Further, as shown in fig. 4, the rotation driving mechanism 302 includes a driving element 307 fixed on the fixed ring 301, the driving element may be a motor or a motor, a small gear 308 is provided at an output end of the driving element 307, a large gear ring 309 is fixedly provided on an inner wall of the rotating ring 303, the small gear 308 is matched with the large gear ring 309, the driving element rotates to drive the large gear ring to rotate through the small gear, so as to realize rotation around the fixed ring, so that the detecting device on the rotating ring performs 360-degree all-directional detection on the tunnel wall, thereby improving the detection efficiency and the detection precision.
Preferably, as shown in fig. 5, the dredging mechanism 4 comprises an intermediate supporting column 402, a bucket type dredging machine 401 and/or a jaw type dredging machine 403, the intermediate supporting column 402 can adopt a telescopic supporting column dredging mechanism, which plays a role of supporting the bucket type dredging machine 401 and the jaw type dredging machine 402 and simultaneously ensures stable dredging of the bucket type dredging machine 401 and/or the jaw type dredging machine 403, the bucket type dredging machine 401 and the jaw type dredging machine 403 can be used in cooperation or independently, and the bucket type dredging machine 401 and the jaw type dredging machine 403 are respectively connected with the rear slag and sludge collecting system. When the sludge in the tunnel is detected, dredging is carried out through the bucket type silt remover 401 and/or the jaw type silt remover 403, and a vacuum suction pump in the bucket type silt remover 401 and/or the jaw type silt remover 403 pumps the sludge to a rear sludge and silt collecting system for sludge dredging.
The other structure is the same as embodiment 1.
Embodiment 3, a method for patrolling and examining a management robot in a state of a large-diameter long diversion tunnel includes the following steps:
s1: hoisting the robot into the tunnel;
s2: adjusting a first telescopic piece, wherein the first telescopic piece is combined with a buffer device to enable a roller to be tightly supported on the wall of the hole, and then starting a first driving piece to drive the roller to rotate so as to drive a rack to move along the wall of the hole;
s3: when the robot encounters a turning tunnel in the moving process, the second driving piece drives the wheel seat to rotate through the transmission mechanism, so that the moving direction of the idler wheel is changed, and the turning of the robot is further realized;
s4: in the frame motion process, rotary driving mechanism drives rotatory ring and rotates along solid fixed ring, and the laser range finder on the rotatory ring detects the settlement condition in tunnel hole, detects the visual device of the hole wall condition on the arm and shows whether damaged in the hole wall to give background controller with the signal transmission.
S5: during the movement process of the rack, a camera, a liquid level meter, a flow meter and/or a temperature sensor on the rack detect that sludge is deposited in the tunnel in multiple aspects; if sludge deposition exists, starting a dredging mechanism to clean the sludge; the water quality detector is used for detecting the water quality condition in the tunnel.
S6: and repeating the steps S2-S5 until the inspection and the treatment of the whole tunnel are completed.
The other structure is the same as embodiment 2.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a long tunnel that draws water, quality of water state patrol and examine treatment robot which characterized in that: the automatic detection device comprises a rack (1), wherein a detection device (3) and a power supply system (5) are arranged on the rack (1), leg mechanisms (2) are arranged at two ends of the rack (1), a dredging mechanism (4) is arranged at the lower part of the rack (1), and the dredging mechanism (4), the detection device (3) and the leg mechanisms (2) are connected with the power supply system (5); the two ends of the rack (1) are provided with at least two leg mechanisms (2), the leg mechanisms (2) are hinged to the rack (1) at equal angles, and the leg mechanisms (2) can be tightly supported on the wall of the hole in a matching manner.
2. The long water diversion tunnel and water quality state inspection and treatment robot according to claim 1, which is characterized in that: the leg mechanism (2) comprises a first telescopic piece (201) and a connecting rod piece (207), one end of the first telescopic piece (201) is hinged with the rack (1), the other end of the first telescopic piece is hinged with the connecting rod piece (207), one end of the connecting rod piece (207) is hinged with the rack (1), the other end of the connecting rod piece is hinged with a column base (208), and the column base (208) is connected with the connecting rod piece (207) through a buffer mechanism (206); the column base (208) is provided with a wheel base (209) in a rotating mode, the wheel base (209) is connected with the column base (208) through a transmission mechanism (205), the wheel base (209) is provided with a roller (204) in a rotating mode, and the roller (204) is connected with a first driving piece (203) arranged on the wheel base (209).
3. The long water diversion tunnel and water quality state inspection and treatment robot according to claim 2, wherein: buffer gear (206) are including buffer lever (210) and buffer spring (211), and buffer spring (211) cover is established on buffer lever (210), and the both ends of buffer lever (210) are articulated with connecting rod piece (207), post seat (208) respectively.
4. The long water diversion tunnel and water quality state inspection and treatment robot according to claim 2 or 3, which is characterized in that: the transmission mechanism (205) comprises an upper bevel gear (212) and a lower bevel gear (213), the upper bevel gear (212) is fixedly arranged at the lower part of the wheel seat (209), the column seat (208) is fixedly provided with a second driving part (202), the lower bevel gear (213) is arranged on a driving shaft of the second driving part (202), and the upper bevel gear (212) is meshed with the lower bevel gear (213).
5. The long water diversion tunnel, water quality state inspection and treatment robot according to claim 1, 2 or 3, characterized in that: detection device (3) are including solid fixed ring (301), gu fixed ring (301) are through glide machanism (310) and frame (1) swing joint, gu rotate on fixed ring (301) and be equipped with rotatory ring (303), rotatory ring (303) are rotated through rotary drive mechanism (302) and are connected with solid fixed ring (301), gu fixed being equipped with on the outer circumference of rotatory ring (303) at least one detection arm (304) and a plurality of laser range finder (306), be equipped with hole wall condition visualization device (305) on detection arm (304).
6. The long water diversion tunnel and water quality state inspection and treatment robot according to claim 5, wherein: the rotary driving mechanism (302) comprises a driving element (307) fixed on the fixed ring (301), a small gear (308) is arranged on the driving element (307), a large gear ring (309) is arranged on the inner wall of the rotary ring (303), and the small gear (308) is matched with the large gear ring (309).
7. The long water diversion tunnel and water quality state inspection and treatment robot according to claim 1 or 6, which is characterized in that: the dredging mechanism (4) comprises a middle supporting column (402), a bucket type dredging machine (401) and/or a clamping jaw type dredging machine (403), and the bucket type dredging machine (401) and the clamping jaw type dredging machine (403) are respectively connected with the rear slag and sludge collecting system.
8. The long water diversion tunnel and water quality state inspection and treatment robot according to claim 1, which is characterized in that: the frame (1) is provided with a camera, a liquid level meter, a flow meter, a temperature sensor and/or a water pressure sensor and a water quality detector.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920990990.6U CN210335965U (en) | 2019-06-28 | 2019-06-28 | Long water diversion tunnel and water quality state inspection and treatment robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920990990.6U CN210335965U (en) | 2019-06-28 | 2019-06-28 | Long water diversion tunnel and water quality state inspection and treatment robot |
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| CN210335965U true CN210335965U (en) | 2020-04-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171007A (en) * | 2019-06-28 | 2019-08-27 | 中铁工程装备集团有限公司 | Robot and method for inspecting are administered in long seepage tunnel, water quality condition inspection |
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2019
- 2019-06-28 CN CN201920990990.6U patent/CN210335965U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171007A (en) * | 2019-06-28 | 2019-08-27 | 中铁工程装备集团有限公司 | Robot and method for inspecting are administered in long seepage tunnel, water quality condition inspection |
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