CN215759213U - Robot system for monitoring deep horizontal displacement of foundation pit - Google Patents
Robot system for monitoring deep horizontal displacement of foundation pit Download PDFInfo
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- CN215759213U CN215759213U CN202121177122.XU CN202121177122U CN215759213U CN 215759213 U CN215759213 U CN 215759213U CN 202121177122 U CN202121177122 U CN 202121177122U CN 215759213 U CN215759213 U CN 215759213U
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- guide rail
- horizontal displacement
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Abstract
The utility model provides a robot system for monitoring the horizontal displacement of a deep layer of a foundation pit, wherein the system comprises a toothed guide rail and a robot driven by a motor, the toothed guide rail is arranged in a guide groove in an inclinometer, and the robot is provided with the motor, a gear combination, a dynamic inclination sensor, a tooth number counter, a data acquisition and storage module and a data transmission module; the gear combination is matched with the guide rail with teeth, the gear combination is driven to run through the motor, the robot can move up and down in the inclinometer pipe, and the dynamic inclination angle sensor records the angle values of the robot at different positions; the tooth number counter positions and records the up-down crawling distance of the robot; the data is stored in the storage module; the data transmission module transmits the data to the handheld mobile equipment terminal; the monitoring system provided by the utility model realizes cable-free measurement and has portability; and all data acquisition is automatically completed by the measuring device, so that the error of manual measurement is reduced, and the efficiency and the accuracy are improved.
Description
Technical Field
The utility model relates to the field of measurement, in particular to a robot system for monitoring horizontal displacement of a deep layer of a foundation pit.
Background
In modern foundation pit engineering, foundation pit excavation develops towards the trend of large and deep, and the horizontal displacement of the deep layer of the foundation pit is an important factor for measuring the engineering safety of the foundation pit, so that higher requirements are provided for monitoring the horizontal displacement of the deep foundation pit.
At present, the traditional manual measurement method is mostly adopted in China, and the inclination measurement principle is that the inclination angle change of an inclination measurement pipe arranged in a building envelope or a soil body is measured through an inclination angle sensor, after the inclination angle is obtained, the rod length is subjected to trigonometric function conversion to obtain the transverse distance, and then the displacement is obtained through accumulation.
The existing automatic inclinometer divides an inclinometer into a plurality of measurement sections, an inclination angle sensor is arranged on each measurement section, the inclination angle of each section is measured simultaneously, and the sections are converted into displacement and then superposed to obtain deflection. The instrument is relatively expensive and cannot be used universally.
Most inclinometers in the current market mainly adopt one end of a cable to be connected with a sensor probe, and the other end of the cable is connected with a measuring instrument through a wire spool. The cable mainly plays a role in communication and connection. Meanwhile, the specific position of the probe can be determined through the digital label on the cable. The field measurement needs two people's cooperative operation to accomplish, and wherein, is responsible for operating instrument alone and carries out data acquisition, is responsible for alone upwards pulling up the sensor probe, and two people cooperate each other, measure the deviational survey pipe axis after the production displacement and the contained angle of plumb line section by section in succession, and horizontal displacement is solved to the subdivision, accumulates at last and reachs total displacement volume and the situation of change along the whole hole site of pipe axis. There are the following disadvantages:
1. the measurement process needs two persons for matching operation, has no automatic measurement function, and has low measurement efficiency, time consumption and labor consumption;
2. the diameter of the cable is thick and is generally 10-12 mm; the cable is heavy and inconvenient to carry because the interior of the cable contains a plurality of steel wire ropes;
3. the position of the probe is determined in a visual inspection mode, so that the positioning error is large, and the accuracy of measurement is influenced.
The existing automatic inclinometer divides an inclinometer into a plurality of measurement sections, an inclination angle sensor is arranged on each measurement section, the inclination angle of each section is measured simultaneously, and the sections are converted into displacement and then superposed to obtain deflection. The automatic inclinometer can better solve the problem of manual measurement, but has higher instrument cost, large using amount of field instruments, incapability of being generally used and larger workload of instrument installation.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to overcome the defects in the prior art, provides a robot system for monitoring the horizontal displacement of the deep layer of the foundation pit, realizes the automation of the measurement process and improves the measurement precision; the data acquisition module is integrated in a small measuring device capable of automatically lifting, so that cable-free measurement is realized, and the device is portable; and all data acquisition is automatically completed by the measuring device, so that the error of manual measurement is reduced, and the efficiency and the accuracy are improved. Meanwhile, data acquisition of all measuring points can be realized by means of a single measuring device, and cost is greatly reduced.
The utility model adopts the following technical scheme:
a deep horizontal displacement of foundation ditch monitors and uses robotic system includes: the robot is driven by a toothed guide rail and a motor, and the toothed guide rail is arranged in a guide groove in the inclinometer pipe; the robot is provided with a motor, a gear combination, a dynamic tilt angle sensor, a tooth number counter, a data acquisition and storage module and a data transmission module; the gear combination is matched with the toothed guide rail, the gear combination is driven to run through the motor to enable the robot to move up and down in the inclinometer pipe, and the gear combination is connected with the robot through the movable spring to adapt to the curvature of the inclinometer pipe; the dynamic tilt angle sensor records angle values of the robot at different positions; the tooth number counter positions and records the up-down crawling distance of the robot; keeping time synchronization between the angle value and the tooth number count, and storing data in a storage module; when the robot climbs out the inclinometer, the data transmission module automatically transmits the angle value, the tooth number count and the corresponding time to the handheld mobile equipment terminal, and monitoring data can be checked at mobile terminal equipment.
Specifically, the guide rail is equipped with four altogether, and two liang of symmetric distribution is in the deviational survey intraductal, and gear combination is equipped with 4 simultaneously, with taking the tooth guide rail one-to-one.
Specifically, the bottom of the guide rail with the teeth is provided with a limiting device, when the robot descends to the bottom of the inclinometer pipe and the gear combination senses the limiting device, the motor rotates reversely, and the robot turns to an upward crawling mode.
Specifically, the robot is further provided with a power supply module, and the power supply module supplies power to the motor, the dynamic tilt angle sensor, the tooth number counter, the data acquisition and storage module, the data transmission module and the like.
In particular, the robot is further provided with a waterproof housing.
Specifically, the dynamic tilt sensor may record angle values in two directions.
Specifically, the data transmission module is a bluetooth module, and can be automatically connected with a handheld mobile device terminal to transmit related data.
Specifically, the handheld mobile device terminal is provided with data analysis App application software for viewing and analyzing the collected data.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
(1) the robot system provided by the utility model realizes automation of the measurement process; the data acquisition module is integrated in a small measuring device capable of automatically lifting, so that cable-free measurement is realized, and the device is portable; all data acquisition is automatically completed by the measuring device, so that the error of manual measurement is reduced, and the efficiency and the accuracy are improved; the problems that the existing manual inclination measuring method is low in efficiency and needs to consume certain human resources are solved, and the cost required by the existing automatic inclination measuring method is greatly reduced.
(2) The bottom of the guide rail with teeth is also provided with a limiting device, when the robot descends to the bottom of the inclinometer pipe and the gear combination senses the limiting device, the motor rotates reversely, and the robot is converted into an upward crawling mode; safe and intelligent.
(3) The gear combination is connected with the robot through the movable spring, and when the robot moves along the guide rail, the thrust is provided for the gear, so that the fitting degree of the gear and the guide rail is ensured, the curvature of the inclinometer pipe is adapted, and the antiskid effect is achieved.
Drawings
Fig. 1 is a structural block diagram of an automatic monitoring system for horizontal displacement of a deep foundation pit according to an embodiment of the utility model;
FIG. 2 is a top view of an inclinometer tube according to an embodiment of the utility model;
FIG. 3 is a cross-sectional view of a inclinometer tube according to an embodiment of the utility model.
The utility model is described in further detail below with reference to the figures and specific examples.
Detailed Description
The utility model adopts the following technical scheme:
as shown in fig. 1, a block diagram of a deep foundation pit horizontal displacement automatic monitoring system according to an embodiment of the present invention includes: the robot is driven by a toothed guide rail and a motor, and the toothed guide rail is arranged in a guide groove in the inclinometer pipe; the robot is provided with a motor, a gear combination, a dynamic tilt angle sensor, a tooth number counter, a data acquisition and storage module and a data transmission module; the gear combination is matched with the toothed guide rail, the gear combination is driven to run through the motor to enable the robot to move up and down in the inclinometer pipe, and the gear combination is connected with the robot through the movable spring to adapt to the curvature of the inclinometer pipe; the dynamic tilt angle sensor records angle values of the robot at different positions; the tooth number counter positions and records the up-down crawling distance of the robot; keeping time synchronization between the angle value and the tooth number count, and storing data in a storage module; when the robot climbs out the inclinometer, the data transmission module automatically transmits the angle value, the tooth number count and the corresponding time to the handheld mobile equipment terminal, and monitoring data can be checked at mobile terminal equipment.
The guide groove in the embedded inclinometer pipe is internally provided with a specially-made toothed guide rail for the movement of a robot, and has the functions of providing vertical displacement data and preventing skidding; in addition, the gear combination is connected with the robot through a movable spring, so that thrust is provided for the gear when the robot moves along the guide rail, the fitting degree of the gear and the guide rail is ensured, the curvature of the inclinometer pipe is adapted, and the antiskid effect is achieved.
The tooth guide rail bottom still is provided with stop device, and the robot descends to when deviational survey pipe bottom, when gear combination senses stop device, the motor reversal, the robot truns into the mode of crawling upwards, guarantees the safe handling of robot, prevents to receive too big impact force, and is intelligent high.
The robot is also provided with a power supply module which supplies power for the motor, the dynamic tilt angle sensor, the tooth number counter, the data acquisition and storage module, the data transmission module and the like.
The robot is also provided with a waterproof shell, so that the parts arranged in the robot are guaranteed to be damped, and the service life of the robot is prolonged.
The dynamic tilt sensor can record angle values in two directions.
The data transmission module is a Bluetooth module and can be automatically connected with the handheld mobile equipment terminal to transmit related data; and the handheld mobile equipment terminal is provided with data analysis App application software for checking and analyzing the collected data.
As shown in fig. 2, which is a top view of the inclinometer of the embodiment of the present invention, in the present embodiment, four toothed guide rails are provided in the inclinometer, two of the four toothed guide rails are symmetrically distributed in the inclinometer, an angle formed between two adjacent guide rails and the center of the inclinometer is 90 degrees, and at the same time, 4 gear combinations are provided, and correspond to the toothed guide rails one by one.
Fig. 3 is a cross-sectional view of an inclinometer tube according to an embodiment of the utility model, which shows the inclinometer tube and a toothed guide rail 110 in the inclinometer tube, wherein teeth of the toothed guide rail are triangular, but also can be trapezoidal, a robot 20 and a gear combination 220 matched with the toothed guide rail are arranged in the diagram, the gear combination according to the embodiment of the utility model is a ball in the middle, teeth matched with the teeth of the toothed guide rail are arranged on the periphery, the shape is also triangular, the number of the peripheral teeth is determined by the size of the teeth of the toothed guide rail and the size of the ball in the middle of the gear combination, when the teeth of the toothed guide rail are trapezoidal, the teeth on the periphery of the gear combination are also trapezoidal, and the robot can move up and down in the inclinometer tube, and the toothed guide rail is used for moving the robot, and has the functions of providing vertical displacement data and preventing skidding; the gear combination is connected with the robot through the movable spring 210, thrust is provided for the gear when the robot moves along the guide rail, the degree of fit between the gear and the guide rail is guaranteed, the curvature of the inclinometer pipe is adapted, and the antiskid effect is achieved.
The automatic monitoring system provided by the utility model realizes automation of the measurement process; the data acquisition module is integrated in a small measuring device capable of automatically lifting, so that cable-free measurement is realized, and the device is portable; all data acquisition is automatically completed by the measuring device, so that the error of manual measurement is reduced, and the efficiency and the accuracy are improved; the problems that the existing manual inclination measuring method is low in efficiency and needs to consume certain human resources are solved, and the cost required by the existing automatic inclination measuring method is greatly reduced.
The specific working process is as follows:
placing a robot at the pipe orifice of the inclinometer pipe, wherein a gear combination of the robot is arranged on a tooth-shaped guide rail of the inclinometer pipe;
the power supply is turned on, the battery supplies power to the motor, the motor drives the gear to operate, and the robot descends along the tooth-shaped guide rail of the inclinometer pipe;
when the robot descends to the bottom of the inclinometer pipe, the gear combination senses the limiting device, the motor rotates reversely, and the robot is converted into an upward crawling mode;
starting to ascend and starting data acquisition at the same time, and acquiring real-time inclination angle and tooth number data by the dynamic inclination angle sensor and the tooth number counter;
the data acquisition module is automatically connected with the handheld mobile equipment terminal to realize automatic data acquisition and transmit data to the handheld mobile equipment terminal, and the data acquisition module is a Bluetooth module.
In order to improve the measurement precision, the robot is taken out when rising to the pipe orifice, and is put down again, and the average value of the two measurements is taken.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.
Claims (8)
1. The utility model provides a deep horizontal displacement of foundation ditch is robot system for monitoring which characterized in that includes: the robot is driven by a toothed guide rail and a motor, and the toothed guide rail is arranged in a guide groove in the inclinometer pipe; the robot is provided with a motor, a gear combination, a dynamic tilt angle sensor, a tooth number counter, a data acquisition and storage module and a data transmission module; the gear combination is matched with the toothed guide rail, the gear combination is driven to run through the motor to enable the robot to move up and down in the inclinometer pipe, and the gear combination is connected with the robot through a movable spring; the dynamic tilt angle sensor records angle values of the robot at different positions; the tooth number counter positions and records the up-down crawling distance of the robot; keeping time synchronization between the angle value and the tooth number count, and storing data in a storage module; when the robot climbs out the inclinometer, the data transmission module automatically transmits the angle value, the tooth number count and the corresponding time to the handheld mobile equipment terminal, and monitoring data can be checked at mobile terminal equipment.
2. The foundation pit deep horizontal displacement monitoring robot system as claimed in claim 1, wherein the number of the toothed guide rails is four, the toothed guide rails are symmetrically distributed in the inclinometer in pairs, and the number of the gear combinations is 4, and the gear combinations correspond to the toothed guide rails one by one.
3. The foundation pit deep horizontal displacement monitoring robot system as claimed in claim 1, wherein a limiting device is arranged at the bottom of the toothed guide rail, when the robot descends to the bottom of the inclinometer pipe and the gear combination senses the limiting device, the motor rotates reversely, and the robot is switched to an upward crawling mode.
4. The foundation pit deep horizontal displacement monitoring robot system as claimed in claim 1, wherein the robot further comprises a power supply module, and the power supply module supplies power to the motor, the dynamic tilt sensor, the tooth number counter, the data acquisition and storage module, and the data transmission module.
5. The foundation pit deep horizontal displacement monitoring robot system as claimed in claim 1, wherein the robot is further provided with a waterproof housing.
6. The system of claim 1, wherein the dynamic tilt sensor is capable of recording angular values in two directions.
7. The foundation pit deep horizontal displacement monitoring robot system as claimed in claim 1, wherein the data transmission module is a bluetooth module, and can be automatically connected with a handheld mobile device terminal to transmit related data.
8. The foundation pit deep horizontal displacement monitoring robot system as claimed in claim 1, wherein the hand-held mobile device terminal is equipped with data analysis App application software for viewing and analyzing the collected data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121177122.XU CN215759213U (en) | 2021-05-28 | 2021-05-28 | Robot system for monitoring deep horizontal displacement of foundation pit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121177122.XU CN215759213U (en) | 2021-05-28 | 2021-05-28 | Robot system for monitoring deep horizontal displacement of foundation pit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215759213U true CN215759213U (en) | 2022-02-08 |
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ID=80098483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121177122.XU Expired - Fee Related CN215759213U (en) | 2021-05-28 | 2021-05-28 | Robot system for monitoring deep horizontal displacement of foundation pit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215759213U (en) |
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2021
- 2021-05-28 CN CN202121177122.XU patent/CN215759213U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220208 |