CN220471103U

CN220471103U - Urban tunnel defect detection device

Info

Publication number: CN220471103U
Application number: CN202321879554.4U
Authority: CN
Inventors: 李峰; 魏鑫; 王登; 陆贞; 何伟
Original assignee: Zhejiang Dadongwu Group Construction Co Ltd
Current assignee: Zhejiang Dadongwu Group Construction Co Ltd
Priority date: 2023-07-18
Filing date: 2023-07-18
Publication date: 2024-02-09
Anticipated expiration: 2033-07-18

Abstract

City tunnel defect detection device includes: the vehicle body comprises a first vehicle body and a second vehicle body; the disease detection device comprises a master controller, a mechanical arm arranged on the second vehicle body and a radar antenna arranged on the end part of the mechanical arm, wherein the mechanical arm and the radar antenna are both connected with the master controller, and the mechanical arm is a multi-stage telescopic mechanical arm; the angle adjusting structure comprises a fixed seat arranged on the second vehicle body, an arc-shaped track arranged on the fixed seat, a mounting seat rotationally connected with the arc-shaped track, and a driving piece for driving the mounting seat to rotate along the arc-shaped track; the number of degrees of central angles of the arc-shaped tracks is larger than 90 degrees, and the mechanical arm is detachably arranged on the mounting seat. The utility model can complete the circular scanning detection of the whole surface of the tunnel at one time, greatly reduces the detection time and has the advantages of low cost and high detection efficiency.

Description

Urban tunnel defect detection device

Technical Field

The utility model belongs to the technical field of tunnel detection, and particularly relates to an urban tunnel defect detection device.

Background

At present, aiming at hidden defect detection of a tunnel, a tunnel detection vehicle is often adopted to scan the tunnel, however, the existing tunnel diagnosis vehicle is generally integrated with more modules, has larger volume and is generally used for scanning a fixed test line and a global situation, a large tunnel detection vehicle is generally used for scanning the fixed test line and the global situation, when a part of the tunnel needs to be detected, the large tunnel diagnosis vehicle is more inconvenient to use, more resources are consumed, the cost is higher, and the tunnel diagnosis vehicle needs to be transported or driven to a designated place in advance, and the modularized spliced, flexible and adjustable tunnel hidden defect light full-section detection vehicle is lacking at present.

The utility model discloses a light-weight detection dolly of hidden trouble of tunnel of authorized bulletin number CN219197403U, this light-weight detection dolly of hidden trouble of tunnel includes the automobile body and hides disease check out test set, the automobile body is including continuous first automobile body and second automobile body, first automobile body is equipped with the master controller, one side of first automobile body is located to the second automobile body, be equipped with detection space on the second automobile body, it includes arm and radar antenna to hide disease check out test set, the master controller is all connected to arm and radar antenna, arm detachably locates in the detection space, the arm is multistage flexible arm, the end connection radar antenna of automobile body is kept away from to the arm, the arm stretches or contracts step by step in order to change the distance between radar antenna and the tunnel surface. The hidden disease detection equipment further comprises a connecting column and a jacking mechanism, wherein the connecting column is detachably connected with the mounting platform, the first-stage mechanical arm is rotatably connected with one end of the connecting column, which is far away from the body of the mounting platform, of the connecting column, the jacking mechanism is connected with the body of the vehicle and is electrically connected with the main controller, and the output end of the jacking mechanism is connected with the first-stage mechanical arm so as to change the included angle between the first-stage mechanical arm and the horizontal plane.

The working principle of the device is as follows: the main controller is arranged on the first vehicle body to carry out integrated control on the whole vehicle, the detection space is arranged on the second vehicle body, the mechanical arm is detachably arranged in the detection space, and the end part, far away from the vehicle body, of the mechanical arm is connected with the radar antenna so as to detect a tunnel. Through climbing mechanism's motion, the upper end that the arm can the spliced pole is rotated as the fulcrum to can make the arm correspond the different detection positions in the tunnel, make things convenient for the radar antenna to the detection of tunnel, or under climbing mechanism's motion, the arm constantly changes with the contained angle of horizontal plane, and drives the radar antenna and carry out the disease detection of hoop.

But this device also has the following problems: the jacking structure limits the included angle range of the adjusting mechanical arm to be within the range of 0-90 degrees, so that the detection of the inner ring surface of the half tunnel can be completed at one time, the vehicle body needs to be turned when the other half inner ring surface is detected, or the mechanical arm with opposite rotation directions is additionally arranged, and the time cost and the economic cost are increased.

Disclosure of Invention

Aiming at the problems, the utility model aims to provide the urban tunnel defect detection device, which can finish the circular scanning detection of the whole surface of a tunnel at one time by arranging a vehicle body, defect detection equipment and an angle adjusting structure, thereby greatly reducing the detection time and having the advantages of low cost and high detection efficiency.

In order to achieve the above object, the technical scheme of the present utility model is as follows:

city tunnel defect detection device includes:

the vehicle body comprises a first vehicle body and a second vehicle body which is arranged on one side of the first vehicle body and connected with the first vehicle body;

the disease detection device comprises a main controller arranged on the first vehicle body, a mechanical arm arranged on the second vehicle body and a radar antenna arranged on the end part of the mechanical arm far away from the second vehicle body, wherein the mechanical arm and the radar antenna are both connected with the main controller, the mechanical arm is a multi-stage telescopic mechanical arm, and the mechanical arm is stretched or contracted step by step to change the distance between the radar antenna and the tunnel surface;

the angle adjusting structure comprises a fixed seat arranged on the second vehicle body, an arc-shaped track arranged on the fixed seat, an installation seat rotationally connected with the arc-shaped track, and a driving piece for driving the installation seat to rotate along the arc-shaped track; the number of degrees of central angles of the arc-shaped tracks is larger than 90 degrees, and the mechanical arm is detachably arranged on the mounting seat.

As a further preferable mode of the utility model, the fixing seat comprises a fixing block and two fixing plates which are arranged on the fixing block and are arranged in parallel, wherein the arc-shaped track is arranged on each of the two fixing plates; the mounting seat comprises a rotating block inserted between the two fixed plates, two sliding rods arranged on two sides of the rotating block and respectively inserted into the two arc-shaped tracks, and a mounting groove arranged on one end of the rotating block away from the fixed block.

As a further preferred aspect of the present utility model, the driving member includes two clamping plates disposed between the two fixing plates and located at both sides of the fixing block, a driving lever for connecting the two clamping plates, a gear disposed on the driving lever, a mounting cavity disposed in the fixing block and located at a lower end of the gear, a driving motor disposed in the mounting cavity, and a driving gear disposed on an output end of the driving motor and engaged with the gear, the driving motor being connected to the main controller.

As a further preferred aspect of the present utility model, the driving member further includes a riser provided at an upper end of the clamping plate, and a fixing hole provided on the riser for passing through the sliding rod.

As a further preferred aspect of the present utility model, the driving member further includes two rotation posts provided on both sides of the driving lever, and two rotation grooves provided on one side surface of the two fixing plates near the fixing block, respectively, for inserting the rotation posts.

As a further preferred aspect of the present utility model, the mechanical arm includes a base plate, a connection block provided at a lower end of the base plate and inserted into the installation groove, fixing screw holes provided at both sides of the base plate, two fixing screw grooves provided at an upper end of the rotation block and corresponding to the two fixing screw holes, and a bolt penetrating through the fixing screw holes and screw-coupled with the fixing screw grooves.

As a further preferred aspect of the present utility model, the robot arm further includes: the device comprises at least one primary mechanical arm arranged on the bottom plate, at least one secondary mechanical arm sleeved with the primary mechanical arm, and the secondary mechanical arm moves along the extending direction of the primary mechanical arm.

As a further preferred aspect of the present utility model, the driving member further includes balls provided on an outer ring side of the rotation column or an inner wall of the rotation groove.

As a further preferable mode of the utility model, wheels are arranged at the lower ends of the first car body and the second car body, and a motor which drives the wheels to rotate and is electrically connected with the main controller is arranged on the first car body or the second car body.

In summary, the utility model has the following beneficial effects:

the device provided by the utility model can complete the circular scanning detection of the whole surface of the tunnel at one time, greatly reduces the detection time, and has the advantages of low cost and high detection efficiency.

Drawings

Fig. 1 is a schematic cross-sectional view of the present utility model at a front view angle.

Fig. 2 is a schematic cross-sectional view of the present utility model from a side view.

Fig. 3 is a schematic view of a partial structure of the present utility model.

Fig. 4 is a schematic view of an operating state of the present utility model.

Description of the drawings: tunnel a, first automobile body 1, second automobile body 2, master controller 3, arm 4, radar antenna 5, wheel 7;

the device comprises a bottom plate 401, a connecting block 402, a fixed screw hole 403, a fixed screw groove 404, a bolt 405, a first-stage mechanical arm 406, a second-stage mechanical arm 407 and a last-stage mechanical arm 408;

the device comprises a fixed seat 601, an arc-shaped track 602, a mounting seat 603 and a driving piece 604;

a fixed block 601a, a fixed plate 601b and a balancing weight 601c;

a rotating block 603a, a slide rod 603b, and a mounting groove 603c;

the clamping plate 604a, the driving rod 604b, the gear 604c, the mounting cavity 604d, the driving motor 604e, the driving gear 604f, the riser 604g, the fixing hole 604h, the rotating post 604i, the rotating groove 604j, and the ball 604k.

Detailed Description

Examples

The city tunnel disease detection device that this embodiment provided, as shown in fig. 1~4, includes:

a vehicle body including a first vehicle body 1, a second vehicle body 2 provided on one side of the first vehicle body 1 and connected to the first vehicle body 1;

the disease detection device comprises a main controller 3 arranged on the first vehicle body 1, a mechanical arm 4 arranged on the second vehicle body 2 and a radar antenna 5 arranged on the end part of the mechanical arm 4 far away from the second vehicle body 2, wherein the mechanical arm 4 and the radar antenna 5 are both connected with the main controller 3, the mechanical arm 4 is a multi-stage telescopic mechanical arm, and the mechanical arm is stretched or contracted step by step to change the distance between the radar antenna and the tunnel surface;

the angle adjusting structure comprises a fixed seat 601 arranged on the second vehicle body 2, an arc-shaped track 602 arranged on the fixed seat 601, a mounting seat 603 rotationally connected with the arc-shaped track 602, and a driving piece 604 for driving the mounting seat 603 to rotate along the arc-shaped track 602; the number of central angles of the arc-shaped track 602 is greater than 90 degrees, and the mechanical arm 4 is detachably mounted on the mounting seat 603.

It can be understood that the first vehicle body 1 and the second vehicle body 2 may be detachably connected, and the connection manner may be a clamping connection manner, a bolt connection manner, or may be a rotation connection manner, and the detachable connection manner of the first vehicle body 1 and the second vehicle body 2 does not affect the electrical connection relationship between the devices on the first vehicle body 1 and the second vehicle body 2, so as to facilitate control. Normally, cable interfaces are arranged on the first car body 1 and the second car body 2, and when the first car body 1 and the second car body 2 are connected, the two cable interfaces are in butt joint connection, so that the electrical conduction of a circuit between the first car body 1 and the second car body 2 is completed.

It can be understood that the master controller 3 is configured to collect signals and send out instructions to control the whole vehicle; the main controller 3 may include a controller and a wireless receiver, and may further include an interaction device, where the wireless receiver is electrically connected to the controller and is configured to receive a control signal and send the control signal to the controller, and the controller is configured to collect the control signal and send a corresponding instruction according to the control signal, for example, send an instruction by using a handheld remote controller or a remote control device, so as to achieve an effect of wireless control, and the interaction device is also electrically connected to the controller, where the interaction device includes at least a display screen and/or an operation lever, and information such as detected data and result data may be displayed through the display screen, and an operator may input the corresponding instruction directly through the operation lever or directly touching the screen, so that the whole device is more intelligent and easy to use.

It can be understood that the radar antenna 5 is configured to transmit a high-frequency electromagnetic pulse with a strong penetrating power, then receive the reflected electromagnetic pulse, and perform an analysis method to detect the hidden disease of the tunnel a, for example, the radar antenna can detect the hidden disease by using a set frequency of 600mhz, so as to ensure that the data image is complete and clear to a large extent; in addition, the radar antenna 5 may further include a range finder facing the surface of the tunnel a, where the range finder is configured to detect and record in real time the distance between the radar antenna 5 and the surface of the tunnel a, and may be used as a basis for determining abnormal tunnel a data.

In this embodiment, the mechanical arm 4 includes: at least one first-stage mechanical arm 406, at least one secondary mechanical arm 407 sleeved with the first-stage mechanical arm 406, wherein the secondary mechanical arm 407 moves along the extending direction of the first-stage mechanical arm 406. A final mechanical arm 408 coupled to the secondary mechanical arm 407 may be further included, where the final mechanical arm 408 moves along the extension direction of the secondary mechanical arm 407. Typically, the mechanical arm is hydraulically telescopic.

In this embodiment, wheels 7 are disposed at the lower ends of the first vehicle body 1 and the second vehicle body 2, a motor for driving the wheels 7 to rotate and electrically connected with the master controller 3 is disposed on the first vehicle body 1 or the second vehicle body 2, and a battery is also disposed and electrically connected with the master controller 3. Typically, the wheels 7 may be rail wheels to move along the rail, or rubber wheels to travel on a common road surface; the output shaft of the motor is connected with the rotating shaft of the wheel 7 through chain transmission, so that the transmission efficiency is high and the power is high. The batteries are symmetrically arranged on two sides of the motor, so that sufficient electric energy and uniform counterweight are ensured, the batteries can be lithium iron phosphate batteries, the service life is long, the capacity is large, and the long-time operation of the whole equipment can be supported.

In this embodiment, the fixing base 601 includes a fixing block 601a, two fixing plates 601b disposed on the fixing block 601a and disposed in parallel, and the arc-shaped rails 602 are disposed on both fixing plates 601 b. Typically, the number of central angles of the arc-shaped track 602 is more than 180 degrees, so as to facilitate circumferential disease detection on the surface of the whole track a. Considering the design of the light weight of the car body, the structure is simple and light, when the mounting seat rotates to a limit angle, the car body is easy to overturn, so the balancing weights 601c are arranged on the two side ends of the fixing block 601a, and the function of lowering the gravity center and enabling the car body to be more stable is achieved.

In this embodiment, the mounting seat 603 includes a rotating block 603a interposed between the two fixing plates 601b, two sliding rods 603b disposed on both sides of the rotating block 603a and respectively inserted into the two arc-shaped rails 602, and a mounting groove 603c disposed on an end of the rotating block 603a remote from the fixing block 601 a.

In this embodiment, the driving member 604 includes two clamping plates 604a disposed between the two fixing plates 601b and located at both sides of the fixing block 601a, a driving rod 604b for connecting the two clamping plates 604a, a gear 604c disposed on the driving rod 604b, a mounting cavity 604d disposed in the fixing block 601a and located at a lower end of the gear 604c, a driving motor 604e disposed in the mounting cavity 604d, a driving gear 604f disposed on an output end of the driving motor 604e and engaged with the gear 604c, a riser 604g disposed at an upper end of the clamping plate 604a, a fixing hole 604h disposed on the riser 604g and for passing through the sliding rod 603b, two rotation posts 604i disposed on both sides of the driving rod 604b, two rotation grooves 604j disposed on one side surfaces of the two fixing plates 601b near the fixing block 601a and for inserting the rotation posts 604i, and a ball bearings 604j disposed on one side or the outer ring 604j, and a ball bearings 604j disposed on the rotation posts 604 j.

The present embodiment provides a multi-stage stabilizing structure for the angle adjusting structure in order to make the mount 603 rotate along the arc-shaped track 602 more accurately and stably. The multistage stabilization structure includes a side position restricting action of the two fixing plates 601b on the rotating block 603a, a rotation stabilizing action of the two clamping plates 604a on the rotating block 603a, and a rotation stabilizing action of the fixing block 601a on the two clamping plates 604a, which improves stabilizing actions on the mounting seat 603 in both the horizontal plane direction and the vertical plane direction, so as to ensure efficiency and accuracy of detecting angle adjustment.

In this embodiment, the mechanical arm 4 further includes a base plate 401, a connection block 402 disposed at a lower end of the base plate 401 and inserted into the installation groove 603c, fixing screw holes 403 disposed at both sides of the base plate 401, two fixing screw grooves 404 disposed at an upper end of the rotating block 603a and corresponding to the two fixing screw holes 403, and a bolt 405 passing through the fixing screw holes 403 and screwed with the fixing screw grooves 404.

The advantages of this embodiment compared to the prior art device include at least: the device can realize detection of the tunnel on the basis of integrated control of the whole vehicle, and the connection between the modules forming the device is detachable, small in size and convenient to detach, and applicable to tunnel types and sizes with various different specifications and sizes, and has strong flexibility and practicability. Meanwhile, the device can finish the circular scanning detection of the whole surface of the tunnel at one time, greatly reduces the detection time and has the advantages of low cost and high detection efficiency.

The specific embodiments described herein are offered by way of example only to illustrate the spirit of the utility model. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the utility model or exceeding the scope of the utility model as defined in the accompanying claims.

Claims

1. City tunnel defect detection device, its characterized in that includes:

the vehicle body comprises a first vehicle body (1) and a second vehicle body (2) which is arranged on one side of the first vehicle body (1) and is connected with the first vehicle body (1);

the disease detection device comprises a main controller (3) arranged on the first vehicle body (1), a mechanical arm (4) arranged on the second vehicle body (2) and a radar antenna (5) arranged on the end part, far away from the second vehicle body (2), of the mechanical arm (4), wherein the mechanical arm (4) and the radar antenna (5) are both connected with the main controller (3), the mechanical arm (4) is a multi-stage telescopic mechanical arm, and the mechanical arm stretches or contracts step by step to change the distance between the radar antenna and the tunnel surface;

the angle adjusting structure comprises a fixed seat (601) arranged on the second vehicle body (2), an arc-shaped track (602) arranged on the fixed seat (601), a mounting seat (603) rotationally connected with the arc-shaped track (602), and a driving piece (604) for driving the mounting seat (603) to rotate along the arc-shaped track (602); the central angle degree of the arc-shaped track (602) is larger than 90 degrees, and the mechanical arm (4) is detachably arranged on the mounting seat (603).

2. The urban tunnel defect detection device according to claim 1, characterized in that the fixed seat (601) comprises a fixed block (601 a), two fixed plates (601 b) arranged on the fixed block (601 a) in parallel, and the arc-shaped tracks (602) are arranged on the two fixed plates (601 b); the mounting seat (603) comprises a rotating block (603 a) inserted between the two fixing plates (601 b), two sliding rods (603 b) arranged on two sides of the rotating block (603 a) and respectively inserted into the two arc-shaped tracks (602), and a mounting groove (603 c) arranged on one end, far away from the fixing block (601 a), of the rotating block (603 a).

3. The urban tunnel defect detection device according to claim 2, characterized in that said driving member (604) comprises two clamping plates (604 a) disposed between two of said fixing plates (601 b) and located on both sides of said fixing block (601 a), a driving lever (604 b) for connecting two of said clamping plates (604 a), a gear (604 c) disposed on said driving lever (604 b), a mounting cavity (604 d) disposed in said fixing block (601 a) and located at a lower end of said gear (604 c), a driving motor (604 e) disposed in said mounting cavity (604 d), and a driving gear (604 f) disposed on an output end of said driving motor (604 e) and engaged with said gear (604 c), said driving motor (604 e) being connected to said master controller (3).

4. A city tunnel defect detecting device according to claim 3, wherein the driving member (604) further comprises a riser (604 g) provided at an upper end of the clamping plate (604 a), and a fixing hole (604 h) provided on the riser (604 g) for passing through the slide rod (603 b).

5. A city tunnel defect detecting device according to claim 3, wherein the driving member (604) further comprises two rotating posts (604 i) provided on both sides of the driving lever (604 b), and two rotating grooves (604 j) provided on one side surfaces of the two fixing plates (601 b) near the fixing block (601 a) respectively for inserting the rotating posts (604 i).

6. The urban tunnel defect detection device according to claim 2, wherein the mechanical arm (4) comprises a bottom plate (401), a connecting block (402) arranged at the lower end of the bottom plate (401) and inserted into the mounting groove (603 c), fixing screw holes (403) arranged at both sides of the bottom plate (401), two fixing screw grooves (404) arranged at the upper end of the rotating block (603 a) and corresponding to the two fixing screw holes (403), and bolts (405) penetrating through the fixing screw holes (403) and being screwed with the fixing screw grooves (404).

7. Urban tunnel defect detection device according to claim 6, characterized in that said mechanical arm (4) further comprises: the device comprises at least one primary mechanical arm (406) arranged on a bottom plate (401), at least one secondary mechanical arm (407) sleeved with the primary mechanical arm (406), and the secondary mechanical arm (407) moves along the extending direction of the primary mechanical arm (406).

8. The urban tunnel defect detection device according to claim 5, characterized in that said driving member (604) further comprises balls (604 k) provided on the outer ring side of the rotating column (604 i) or on the inner groove wall of the rotating groove (604 j).

9. The urban tunnel defect detection device according to claim 1, wherein wheels (7) are arranged at the lower ends of the first vehicle body (1) and the second vehicle body (2), and a motor for driving the wheels (7) to rotate and electrically connected with the main controller (3) is arranged on the first vehicle body (1) or the second vehicle body (2).