CN217672750U - Ground penetrating radar device car with automatic mechanical arm - Google Patents
Ground penetrating radar device car with automatic mechanical arm Download PDFInfo
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- CN217672750U CN217672750U CN202221549699.3U CN202221549699U CN217672750U CN 217672750 U CN217672750 U CN 217672750U CN 202221549699 U CN202221549699 U CN 202221549699U CN 217672750 U CN217672750 U CN 217672750U
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Abstract
A ground penetrating radar device vehicle with an automatic mechanical arm comprises a vehicle body, a ground penetrating radar detection main body arranged in the vehicle body, a roller arranged at the lower end of the vehicle body, and a push handle connected with the vehicle body through a connecting rod; the ground penetrating radar detection main body is detachably connected to the vehicle body; the connecting rod on still be provided with mechanical arm mechanism, mechanical arm mechanism can press from both sides and get ground penetrating radar detection main part and remove it to a distance. The utility model discloses in current ground penetrating radar device car structure, added arm mechanism, ground penetrating radar detects the main part simultaneously and needs can form the cooperation of relapse dismouting with the automobile body, and then when meetting special topography and automobile body and can't reach appointed detection position, can remove ground penetrating radar detection main part to the detection position through arm mechanism, realizes the geological exploration function of complicated topography.
Description
Technical Field
The utility model belongs to the technical field of the ground penetrating equipment and specifically relates to a ground penetrating radar device car with automatic arm.
Background
The ground penetrating radar is an effective means for detecting underground targets developed in recent decades, is a nondestructive detection technology, has the advantages of high detection speed, continuous detection process, high resolution, convenient and flexible operation, low detection cost and the like compared with other conventional underground detection methods, and is increasingly widely applied to the field of engineering exploration.
The ground penetrating radar mainly adopts an antenna to transmit high-frequency pulse electromagnetic waves to a detection target for detection. The depth of the detected target is usually satisfied with the far-field condition, and can be approximately regarded as plane wave propagation. The polarization of the plane wave refers to the time-dependent change of the field vector direction at a given point in space. Generally, the polarization can be classified into linear polarization, circular polarization, and elliptical polarization. Wave polarization is an important characteristic of electromagnetic waves, and waves with different polarization modes have different engineering applications. When the underground medium has anisotropy, plane waves are incident in a linear polarization mode, and reflection echoes of the plane waves can be converted into an elliptical polarization mode. Therefore, information on the physical properties of the underground medium can be obtained by studying the change in the polarization mode of the radar wave. Due to the characteristics of high precision, high efficiency and no damage of ground penetrating radar detection, the method is mainly used in many fields such as archaeology, mineral exploration, disaster geological investigation, geotechnical engineering exploration, engineering quality detection, building structure detection, military target detection and the like.
The utility model discloses a portable ground penetrating radar car as patent document CN205263307U, it discloses a shallow handrail including base and corresponding connection the bottom of base is equipped with a plurality of wheels be equipped with display screen installation pole on the shallow handrail be equipped with display screen installation draw-in groove on the display screen installation pole it has the display screen to correspond the joint on the display screen installation draw-in groove correspond the joint be equipped with the sensor on the base be equipped with the battery mount pad above the base be equipped with the battery on the battery mount pad, sensor and display screen all correspond the electricity through the wire and are connected with the battery.
Because the use scene of ground penetrating radar car is mostly outdoor, the scene that needs to survey is different, and the structure of above-mentioned patent product is comparatively crude on the whole, therefore it has certain defect, for example: at the positions of ground collapse, cliff or rock culvert, geological detection cannot be carried out due to the fact that the ground penetrating radar vehicle cannot directly reach.
Disclosure of Invention
In order to overcome the above-mentioned not enough of prior art, the utility model provides a ground penetrating radar device car with automatic arm.
The technical proposal of the utility model for solving the technical problem is that: a ground penetrating radar device vehicle with an automatic mechanical arm comprises a vehicle body, a ground penetrating radar detection main body arranged in the vehicle body, rollers arranged at the lower end of the vehicle body, and a push handle connected with the vehicle body through a connecting rod;
the ground penetrating radar detection main body is detachably connected to the vehicle body; the connecting rod on still be provided with mechanical arm mechanism, mechanical arm mechanism can press from both sides and get ground penetrating radar detection main part and remove it to a distance.
The technical scheme is further characterized in that a support seat is arranged on the connecting rod, and the mechanical arm mechanism is arranged on the support seat.
The mechanical arm mechanism comprises a first motor, a circular turntable driven by the first motor and arranged in the horizontal direction, a plurality of electric oscillating bar assemblies arranged on the circular turntable and connected end to end, a steering motor positioned on the foremost electric oscillating bar assembly, and a clamping arm assembly driven by the steering motor.
The electric swing rod assembly comprises a second motor and a swing rod driven by the second motor, the second motor is provided with a bidirectional output shaft, and the swing rod is in transmission connection with the bidirectional output shaft.
The technical scheme is further provided that the clamping arm assembly comprises a clamping arm mounting seat, a third motor, a first clamping jaw and a second clamping jaw, wherein the first clamping jaw and the second clamping jaw are symmetrically arranged, the first clamping jaw is fixed on the clamping arm mounting seat, and the second clamping jaw is driven by the third motor and is rotationally arranged on the clamping arm mounting seat.
The technical scheme is further characterized in that a driven gear is arranged at the tail end of the first clamping jaw, a driving gear is arranged at the tail end of the second clamping jaw, and the driving gear and the driven gear are meshed with each other and form transmission fit.
The technical scheme is further characterized in that a containing cavity is formed in the vehicle body, the ground penetrating radar detection main body is installed in the containing cavity, a cover plate capable of being combined is arranged on the containing cavity, and the cover plate covers the vehicle body to shield the ground penetrating radar detection main body in the containing cavity.
The ground penetrating radar detection main body is provided with a locking block, and the locking block is inserted into the locking hole so as to lock the ground penetrating radar detection main body on the vehicle body.
The technical scheme is further characterized in that a key slot is further formed in the lock block, and a key matched with the key slot is arranged on the mechanical arm mechanism.
In the technical scheme, the key slot is in a honeycomb shape, a pentagram shape or a triangular shape.
The utility model discloses a theory of operation does: when meetting the detection region that the automobile body can't arrive, aim at the key slot on the locking piece with the unblock in order to realize the apron with the key on the arm mechanism earlier, the staff opens the relative automobile body of apron after the unblock for ground penetrating radar detection main part in the holding chamber exposes outside, then starts arm mechanism and gets ground penetrating radar detection main part clamp and stretch out ground penetrating radar detection main part to the appointed detection position in a distance, in order to realize the geological detection function.
The beneficial effects of the utility model reside in that: in current ground penetrating radar device car structure, mechanical arm mechanism has been added, and ground penetrating radar detects the main part simultaneously and can form the cooperation of dismouting of relapseing with the automobile body, and then when meetting special topography and automobile body and can't arrive appointed detection position, can move ground penetrating radar detection main part to the detection position through mechanical arm mechanism, realize the geological exploration function of complicated topography.
Drawings
Fig. 1 is a schematic structural diagram of the first embodiment.
Fig. 2 is a schematic structural diagram of the mechanical arm mechanism of the present invention.
Figure 3 is the structural schematic diagram of the middle clamping arm component of the present invention.
Fig. 4 is a schematic structural view of a second embodiment (hidden robot arm mechanism).
FIG. 5 is a schematic view of another angle of the second embodiment (hiding the robot arm mechanism).
In the figure: 1. a vehicle body; 2. a ground penetrating radar detection main body; 3. a roller; 4. a connecting rod; 5. a push handle; 6. a mechanical arm mechanism; 7. a supporting seat; 8. a first motor; 9. a circular turntable; 10. a steering motor; 11. a second motor; 12. a swing lever; 13. a bidirectional output shaft; 14. a clamp arm mounting seat; 15. a third motor; 16. a first jaw; 17. a second jaw; 18. a driven gear; 19. a driving gear; 20. a rack; 21. an accommodating cavity; 22. a cover plate; 23. a lock hole; 24. a locking block; 25. a key slot; 26. a key; 27. arm lock subassembly.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
Referring to fig. 1 to 3, a ground penetrating radar apparatus vehicle with an automatic mechanical arm comprises a vehicle body 1, a ground penetrating radar detection main body 2 placed in the vehicle body 1, a roller 3 arranged at the lower end of the vehicle body 1, and a push handle 5 connected with the vehicle body 1 through a connecting rod 4;
the ground penetrating radar detection main body 2 is detachably connected to the vehicle body 1; the connecting rod 4 on still be provided with arm mechanism 6, arm mechanism 6 can press from both sides and get ground penetrating radar detection main part 2 and remove it to a distance.
The above-mentioned content does the utility model discloses a basic scheme, it is in current ground penetrating radar device car structure, mechanical arm mechanism 6 has been added, ground penetrating radar detects main part 2 simultaneously and needs can form the cooperation of dismouting repeatedly with automobile body 1, and then when meetting special topography and automobile body 1 can' T reach appointed detection position, start mechanical arm mechanism 6 in order to press from both sides ground penetrating radar detection main part 2, and stretch out ground penetrating radar detection main part 2 to the appointed detection position in a distance, realize the detection function, and satisfy each item detection standard specification, include but not be limited to railway bridge and culvert engineering construction quality acceptance standard TB 10415-2018, concrete structure field test technical standard GB/T50784-2013, the ultrasonic method detects concrete defect technical specification CECS 21-2000, highway tunnel construction technical specification JTG/T3660-2020.
In order to realize stable and reliable installation and use between the robot arm mechanism 6 and the vehicle body 1, the present embodiment adopts a structural manner that: the connecting rod 4 is provided with a supporting seat 7, and the mechanical arm mechanism 6 is arranged on the supporting seat 7.
In order to realize the multi-dimensional clamping action of the mechanical arm, a specific structural scheme is provided: the mechanical arm mechanism 6 comprises a first motor 8, a circular turntable 9 driven by the first motor 8 and arranged in the horizontal direction, a plurality of electric swing rod assemblies arranged on the circular turntable 9 and connected end to end, a steering motor 10 positioned on the foremost electric swing rod assembly, and a clamping arm assembly 27 driven by the steering motor 10. The electric swing rod assembly is preferably arranged to comprise a second motor 11 and a swing rod 12 driven by the second motor 11, the second motor 11 is provided with a bidirectional output shaft 13, and the swing rod 12 is in transmission connection with the bidirectional output shaft 13, so that the output is more reliable, and the operation of the swing rod 12 is more stable.
The utility model discloses in, the preferred setting about arm lock subassembly 27 is: the clamping arm assembly 27 comprises a clamping arm mounting seat 14, a third motor 15, and a first clamping jaw 16 and a second clamping jaw 17 which are symmetrically arranged, wherein the first clamping jaw 16 is fixed on the clamping arm mounting seat 14, and the second clamping jaw 17 is driven by the third motor 15 and is rotatably arranged on the clamping arm mounting seat 14. The tail end of the first clamping jaw 16 is provided with a driven gear 18, the tail end of the second clamping jaw 17 is provided with a driving gear 19, and the driving gear 19 and the driven gear 18 are mutually meshed and form transmission fit. During the use, mechanical arm mechanism 6 moves, make ground penetrating radar detect main part 2 be located between first clamping jaw 16 and the second clamping jaw 17, start third motor 15 after that, make second clamping jaw 17 and first clamping jaw 16 move in opposite directions in order to press from both sides tight ground penetrating radar detect main part 2, then rotate through first motor 8 drive circular carousel 9, can also remove whole arm lock subassembly 27 through electronic pendulum rod subassembly simultaneously, so that arm lock subassembly 27 takes ground penetrating radar to detect main part 2 and removes to the unable department that reaches of automobile body 1, in order to realize geological exploration.
Preferably, the top of connecting rod 4 still is equipped with supporter 20 for place computer control system, with ground penetrating radar detect main part 2 and mechanical arm mechanism 6 control.
Example two
In order to provide reliable protection for the ground penetrating radar detection main body 2, referring to fig. 4 to 5, an accommodating cavity 21 is formed in the vehicle body 1, the ground penetrating radar detection main body 2 is installed in the accommodating cavity 21, an engageable cover plate 22 is arranged on the accommodating cavity 21, and when the cover plate 22 is covered on the vehicle body 1, the ground penetrating radar detection main body 2 is shielded inside the accommodating cavity 21. Before the ground penetrating radar detection main body 2 needs to be clamped by the mechanical arm mechanism 6, the cover plate 22 needs to be opened first, so that the accommodating cavity 21 is exposed to the outside, and the clamping operation is facilitated.
Further, in order to improve the safety protection performance, this embodiment has still increased the locking structure, specifically is: the ground penetrating radar detection device is characterized in that a lock hole 23 is formed in the vehicle body 1, a lock block 24 is arranged on the ground penetrating radar detection main body 2, and the lock block 24 is inserted into the lock hole 23 so as to lock the ground penetrating radar detection main body 2 on the vehicle body 1.
In the above technical solution, a key slot 25 is further formed in the lock block 24, and a key 26 adapted to the key slot 25 is provided on the robot arm mechanism 6. Preferably, the key slot 25 is in a honeycomb shape, a pentagram shape or a triangular shape, and the structural shapes of the special-shaped key slot 25 and the special-shaped key 26 are adopted, so that the cover plate 22 is prevented from being easily opened by non-working personnel, and the protection performance of the ground penetrating radar detection main body 2 is further improved.
The above, only be the utility model discloses a preferred embodiment, it is not right the utility model discloses do any restriction, all according to utility model technical entity to any simple modification, change and the equivalent structure change of doing above embodiment, all still belong to the utility model discloses technical scheme's within the scope of protection.
Claims (10)
1. A ground penetrating radar device vehicle with an automatic mechanical arm comprises a vehicle body (1), a ground penetrating radar detection main body (2) placed in the vehicle body (1), a roller (3) arranged at the lower end of the vehicle body (1), and a push handle (5) connected with the vehicle body (1) through a connecting rod (4);
the method is characterized in that: the ground penetrating radar detection main body (2) is detachably connected to the vehicle body (1); the ground penetrating radar detection device is characterized in that a mechanical arm mechanism (6) is further arranged on the connecting rod (4), and the mechanical arm mechanism (6) can clamp the ground penetrating radar detection main body (2) and move the ground penetrating radar detection main body to a far place.
2. The ground penetrating radar apparatus vehicle having the robot arm as set forth in claim 1, wherein: the connecting rod (4) is provided with a supporting seat (7), and the mechanical arm mechanism (6) is arranged on the supporting seat (7).
3. The ground penetrating radar apparatus vehicle having a robot arm according to claim 1, wherein: the mechanical arm mechanism (6) comprises a first motor (8), a circular turntable (9) driven by the first motor (8) and arranged in the horizontal direction, a plurality of electric swing rod assemblies arranged on the circular turntable (9) and connected end to end, a steering motor (10) positioned on the foremost electric swing rod assembly, and a clamping arm assembly (27) driven by the steering motor (10).
4. The ground penetrating radar apparatus vehicle with a robot arm according to claim 3, wherein: the electric swing rod assembly comprises a second motor (11) and a swing rod (12) driven by the second motor (11), the second motor (11) is provided with a bidirectional output shaft (13), and the swing rod (12) is in transmission connection with the bidirectional output shaft (13).
5. The ground penetrating radar apparatus vehicle having a robot arm according to claim 3, wherein: the clamping arm assembly (27) comprises a clamping arm mounting seat (14), a third motor (15), and two first clamping jaws (16) and second clamping jaws (17) which are symmetrically arranged, wherein the first clamping jaws (16) are fixed on the clamping arm mounting seat (14), and the second clamping jaws (17) are driven by the third motor (15) and are rotationally arranged on the clamping arm mounting seat (14).
6. The ground penetrating radar apparatus vehicle having a robot arm according to claim 5, wherein: the tail end of the first clamping jaw (16) is provided with a driven gear (18), the tail end of the second clamping jaw (17) is provided with a driving gear (19), and the driving gear (19) and the driven gear (18) are mutually meshed and form transmission fit.
7. The ground penetrating radar apparatus vehicle having the robot arm as set forth in claim 1, wherein: the ground penetrating radar detection device is characterized in that a containing cavity (21) is formed in the vehicle body (1), the ground penetrating radar detection main body (2) is installed in the containing cavity (21), a cover plate (22) capable of being combined is arranged on the containing cavity (21), and when the cover plate (22) is covered on the vehicle body (1), the ground penetrating radar detection main body (2) is shielded inside the containing cavity (21).
8. The ground penetrating radar apparatus vehicle having a robot arm according to claim 7, wherein: the ground penetrating radar detection device is characterized in that a lock hole (23) is formed in the vehicle body (1), a lock block (24) is arranged on the ground penetrating radar detection main body (2), and the lock block (24) is inserted into the lock hole (23) so as to lock the ground penetrating radar detection main body (2) on the vehicle body (1).
9. The ground penetrating radar apparatus vehicle having a robot arm according to claim 8, wherein: the lock block (24) is further provided with a key groove (25), and the mechanical arm mechanism (6) is provided with a key (26) matched with the key groove (25).
10. The ground penetrating radar apparatus vehicle having a robot arm according to claim 9, wherein: the key slot (25) is in a honeycomb shape, a pentagram shape or a triangle shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221549699.3U CN217672750U (en) | 2022-06-20 | 2022-06-20 | Ground penetrating radar device car with automatic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221549699.3U CN217672750U (en) | 2022-06-20 | 2022-06-20 | Ground penetrating radar device car with automatic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217672750U true CN217672750U (en) | 2022-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221549699.3U Active CN217672750U (en) | 2022-06-20 | 2022-06-20 | Ground penetrating radar device car with automatic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217672750U (en) |
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2022
- 2022-06-20 CN CN202221549699.3U patent/CN217672750U/en active Active
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