CN221507153U - Mobile robot ranging device used in tunnel - Google Patents
Mobile robot ranging device used in tunnel Download PDFInfo
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- CN221507153U CN221507153U CN202323037551.9U CN202323037551U CN221507153U CN 221507153 U CN221507153 U CN 221507153U CN 202323037551 U CN202323037551 U CN 202323037551U CN 221507153 U CN221507153 U CN 221507153U
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- 238000009434 installation Methods 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000001681 protective effect Effects 0.000 claims description 8
- 238000004080 punching Methods 0.000 abstract description 5
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000006978 adaptation Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a mobile robot ranging device used in a tunnel, and relates to the technical field of railway tunnels. Including mobile robot subassembly, mobile robot subassembly includes base platform, removal leg, removes wheel, revolving stage, spacing pipe, jacking rod and lift cover, is provided with the moving structure on the lift cover, and the moving structure is including setting up the fixed plate in lift cover one side top, is provided with range finding mounting structure on the fixed plate, and range finding mounting structure is including sliding the installation of inserting and locating fixed plate upper portion and falling the U template. According to the utility model, through the arrangement of the distance measurement installation structure and the moving structure, when the tunnel operation is carried out, the laser distance measuring device is used for measuring the distance between the executing mechanism and the operation end of the inner wall of the tunnel, so that the operation moving distance of the moving bar block in the moving structure is ensured, the auxiliary moving robot can more accurately and rapidly execute related operations such as punching and installation, and the working efficiency is accelerated, and the automation degree is improved.
Description
Technical Field
The utility model relates to the technical field of railway tunnels, in particular to a mobile robot ranging device used in a tunnel.
Background
Railway tunnels refer to channels dedicated for train transportation and travel, and can be divided into three main categories according to the positions of the railway tunnels: mountain tunnels, underwater tunnels and urban tunnels, when railway tunnel operation is performed, automatic mobile robots are required to be used for performing operations such as punching and installation.
The camera for the existing movable robot and the movable robot (authorized bulletin number: CN 205660739U) have the following defects: the camera of the mobile robot is used as a module of the identification system, and is convenient to install and disassemble, but when the mobile robot works on the inner wall of the railway tunnel, the distance between the mobile robot and the working surface of the inner wall of the tunnel is not constant, and the flatness of the tunnel surface and the distance between the railway of the mobile robot and the inner wall of the tunnel are error, so that the distance between the execution end and the working end of the inner wall of the tunnel should be measured and known before each operation of the mobile robot, thereby ensuring the working precision.
Disclosure of utility model
The present utility model is directed to a mobile robot ranging device for use in a tunnel, which solves the above-mentioned problems of the prior art.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a mobile robot rangefinder for in tunnel, including mobile robot subassembly, mobile robot subassembly includes the base platform, the movable leg, remove the wheel, the revolving stage, spacing pipe, jacking rod and lift cover, be provided with the moving structure on the lift cover, moving structure is including setting up the fixed plate in lift cover one side top, be provided with range finding mounting structure on the fixed plate, range finding mounting structure is including sliding the installation of inserting in fixed plate upper portion and fall the U template, install and fall the locking bolt between U template and the fixed plate top, install and fall and be provided with actuating mechanism on the U template lateral surface, the fixed plate lateral surface lower part is provided with laser rangefinder for measure the distance between actuating mechanism position and the operation position, laser rangefinder back symmetry is fixed with T type piece, the transverse slot has been seted up to the fixed plate lateral surface symmetry.
Preferably, the vertical groove is set up to horizontal groove middle part downward intercommunication, and rectangular groove has been set up to horizontal groove lower part intercommunication, and the laser range finder outside is provided with the slip protective housing, and the slip protective housing slides with the fixed plate mutually and sets up.
Preferably, be connected with electric telescopic handle between slip protective housing and the fixed plate for drive the slip protective housing and carry out the lateral sliding, T type piece and horizontal groove, perpendicular groove and rectangular channel looks slip adaptation, be used for conveniently dismantling laser range finder.
Preferably, the circumference of the movable leg is uniformly fixed on the bottom surface of the base table, the movable wheel is arranged at the bottom end of the movable leg, the rotary table is arranged on the base table, the limiting pipe is fixed on the top surface of the rotary table, the lifting cover is arranged on the limiting pipe in a sliding manner, and the lifting rod is connected between the lifting cover and the rotary table.
Preferably, the movable structure further comprises a movable bar block arranged above the lifting cover, a rack is fixed on one side of the middle of the bottom surface of the movable bar block, connecting plates are symmetrically fixed on the upper portion of one side of the lifting cover, a rotating rod is inserted between the connecting plates in a rotating mode, and a rotating gear matched with the rack is sleeved and fixed on the rotating rod.
Preferably, the moving structure further comprises sliding blocks symmetrically fixed on one side of the bottom surface of the moving bar, sliding grooves matched with the sliding blocks are symmetrically formed in the top surface of the lifting cover, one end of the rotating rod is connected with a rotating motor arranged on the connecting plate, and limiting inverted L-shaped plates fixed on the lifting cover and in limiting fit with the moving bar are symmetrically arranged on two sides of the moving bar.
Compared with the prior art, the utility model has the beneficial effects that:
This a mobile robot rangefinder for in tunnel, through range finding mounting structure, moving structure's setting, when carrying out tunnel operation, use laser rangefinder to carry out distance measurement to actuating mechanism and tunnel inner wall operation end to guarantee the operation travel distance of moving the strip piece in the moving structure, thereby be convenient for assist mobile robot more accurate, quick execution relative operations such as punching, installation, accelerate work efficiency and promote degree of automation.
Drawings
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a cross-sectional view of the present utility model;
FIG. 3 is a schematic view of a first perspective split structure of the lift cap, moving structure and ranging installation structure of the present utility model;
Fig. 4 is a schematic diagram of a second three-dimensional split structure of the lifting cover, the moving structure and the ranging installation structure of the present utility model.
In the figure: 1. a base table; 101. a moving leg; 102. a rotary table; 103. a limiting tube; 104. a lifting rod; 105. a lifting cover; 2. moving the bar; 201. a rack; 202. rotating the gear; 203. a rotating lever; 204. a slide block; 205. a chute; 206. limiting inverted L-shaped plates; 207. a fixing plate; 3. installing an inverted L-shaped plate; 301. a locking bolt; 302. an actuator; 4. a laser range finder; 401. a transverse groove; 402. a vertical groove; 403. a T-shaped block; 404. and a sliding protective shell.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the operation process of the railway tunnel, related operations such as punching, installation and the like are required to be performed by using an automatic mobile robot, and the distance measuring device provided by the utility model is specially used for measuring the distance between the actuating mechanism 302 and the operation position of the inner wall of the tunnel before the device is used, so that the moving operation precision of the actuating mechanism 302 is ensured, and in the operation process of the device, preparation works such as checking and the like are required to be performed in advance, so that the normal use of the device is ensured.
As shown in fig. 1 to 4, the present utility model provides a technical solution: the utility model provides a mobile robot rangefinder for in tunnel, including mobile robot subassembly, mobile robot subassembly includes base station 1, mobile leg 101, the removal wheel, revolving stage 102, spacing pipe 103, jacking rod 104 and lift cover 105, be provided with the moving structure on the lift cover 105, the moving structure is including setting up the fixed plate 207 in lift cover 105 one side top, be provided with the range finding mounting structure on the fixed plate 207, the range finding mounting structure is including sliding the installation of inserting in fixed plate 207 upper portion falls U template 3, install and fall to lock between U template 3 and the fixed plate 207 top and have locking bolt 301, be provided with actuating mechanism 302 on the installation falls U template 3 lateral surface, fixed plate 207 lateral surface lower part is provided with laser range finder 4, be used for measuring the distance between actuating mechanism 302 position and the operation position, laser range finder 4 back symmetry is fixed with T type piece 403, the lateral slot 401 has been seted up to the fixed plate 207 lateral surface symmetry, wherein, laser range finder 4 adopts prior art's laser range finding sensor preferentially.
In the embodiment, vertical groove 402 has been seted up to horizontal groove 401 middle part downward intercommunication, the rectangular channel has been seted up to horizontal groove 401 lower part intercommunication, the laser rangefinder 4 outside is provided with slide protection shell 404, slide protection shell 404 and fixed plate 207 looks slip setting, be connected with electric telescopic handle between slide protection shell 404 and the fixed plate 207, be used for driving slide protection shell 404 and transversely slide, T type piece 403 and horizontal groove 401, vertical groove 402 and rectangular channel looks slip adaptation, be used for conveniently dismantling laser rangefinder 4, the removal leg 101 circumference is evenly fixed in base platform 1 bottom surface, the removal wheel is installed in removal leg 101 bottom, revolving stage 102 is installed on base platform 1, spacing pipe 103 is fixed at revolving stage 102 top surface, lift cap 105 slides and sets up on spacing pipe 103, jacking rod 104 connects between lift cap 105 and revolving stage 102, wherein, the automatic removal of the device is guaranteed to remove to the robot assembly, rotatory, the lift operation is applicable to the operation to tunnel inner wall different positions.
In the embodiment, the moving structure further comprises a moving bar 2 arranged above the lifting cover 105, a rack 201 is fixed on one side of the middle of the bottom surface of the moving bar 2, connecting plates are symmetrically fixed on one side upper portion of the lifting cover 105, a rotating rod 203 is rotatably inserted between the connecting plates, and a rotating gear 202 matched with the rack 201 is sleeved and fixed on the rotating rod 203, wherein the rotating gear 202 drives the rack 201 and the moving bar 2 to move when rotating.
In the embodiment, the moving structure further comprises a sliding block 204 symmetrically fixed on one side of the bottom surface of the moving bar 2, a sliding groove 205 matched with the sliding block 204 is symmetrically formed in the top surface of the lifting cover 105, one end of the rotating rod 203 is connected with a rotating motor installed on the connecting plate, two sides of the moving bar 2 are symmetrically provided with limiting inverted-L-shaped plates 206 fixed with the lifting cover 105 and in limiting adaptation with the moving bar 2, the distance measurement is carried out on the actuating mechanism 302 and the working end of the inner wall of the tunnel by using the laser distance measuring device 4 during tunnel operation through the distance measuring installation structure and the setting of the moving structure, so that the working moving distance of the moving bar 2 in the moving structure is ensured, the auxiliary moving robot is convenient to more accurately and rapidly execute related operations such as punching and installation, and the like, and the automatic degree of the work efficiency improvement is accelerated.
Working principle: when the device is used, after the laser range finder 4 is installed at a fixed position on the fixed plate 207 on the mobile robot, the current distance value is calibrated after the device is started through the aviation plug connection power line and the communication line in the prior art, the sliding protective shell 404 is controlled to be far away from the laser range finder 4, the mobile robot is controlled to enable the actuating mechanism 302 to be closely attached to the inner wall of the tunnel to calibrate the working distance value, namely, the position value of the current actuating mechanism 302 and the working point is recorded, automatic distance measurement operation during the operation of the mobile robot can be realized after the calibration is completed, and the mobile structure is controlled to enable the actuating mechanism 302 to operate.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made hereto without departing from the spirit and scope of the utility model as defined by the appended embodiments and equivalents thereof.
Claims (6)
1. A mobile robot ranging device for use in a tunnel, comprising a mobile robot assembly, characterized in that: the mobile robot assembly comprises a base table (1), mobile legs (101), mobile wheels, a rotary table (102), a limiting pipe (103), a lifting rod (104) and a lifting cover (105), wherein a mobile structure is arranged on the lifting cover (105), the mobile structure comprises a fixed plate (207) arranged above one side of the lifting cover (105), a ranging installation structure is arranged on the fixed plate (207), the ranging installation structure comprises an installation inverted U-shaped plate (3) which is slidably inserted on the upper portion of the fixed plate (207), a locking bolt (301) is locked between the installation inverted U-shaped plate (3) and the top of the fixed plate (207), an actuating mechanism (302) is arranged on the outer side face of the installation inverted U-shaped plate (3), a laser range finder (4) is arranged on the lower portion of the outer side face of the fixed plate (207) and used for measuring the distance between the position of the actuating mechanism (302), a T-shaped block (403) is symmetrically fixed on the back face of the laser range finder (4), and transverse grooves (401) are symmetrically arranged on the outer side face of the fixed plate (207).
2. A mobile robotic ranging apparatus for use in a tunnel as defined in claim 1, wherein: vertical groove (402) has been seted up to horizontal groove (401) middle part downward intercommunication, and rectangular groove has been seted up to horizontal groove (401) lower part intercommunication, and laser range finder (4) outside is provided with slip protective housing (404), and slip protective housing (404) and fixed plate (207) are slided mutually and are set up.
3. A mobile robotic ranging apparatus for use in a tunnel as claimed in claim 2, wherein: an electric telescopic rod is connected between the sliding protection shell (404) and the fixing plate (207) and used for driving the sliding protection shell (404) to transversely slide, and the T-shaped block (403) is matched with the transverse groove (401), the vertical groove (402) and the rectangular groove in a sliding mode and used for conveniently disassembling the laser range finder (4).
4. A mobile robotic ranging apparatus for use in a tunnel as defined in claim 1, wherein: the circumference of the movable leg (101) is uniformly fixed on the bottom surface of the base table (1), the movable wheel is arranged at the bottom end of the movable leg (101), the rotary table (102) is arranged on the base table (1), the limiting pipe (103) is fixed on the top surface of the rotary table (102), the lifting cover (105) is arranged on the limiting pipe (103) in a sliding mode, and the lifting rod (104) is connected between the lifting cover (105) and the rotary table (102).
5. A mobile robotic ranging apparatus for use in a tunnel as defined in claim 1, wherein: the movable structure further comprises a movable bar (2) arranged above the lifting cover (105), a rack (201) is fixed on one side of the middle of the bottom surface of the movable bar (2), connecting plates are symmetrically fixed on the upper portion of one side of the lifting cover (105), a rotating rod (203) is inserted between the connecting plates in a rotating mode, and a rotating gear (202) matched with the rack (201) is fixedly sleeved on the rotating rod (203).
6. A mobile robotic ranging apparatus for use in a tunnel as defined in claim 5, wherein: the movable structure further comprises sliding blocks (204) symmetrically fixed on one side of the bottom surface of the movable bar block (2), sliding grooves (205) matched with the sliding blocks (204) are symmetrically formed in the top surface of the lifting cover (105), one end of a rotating rod (203) is connected with a rotating motor arranged on the connecting plate, and limiting inverted-L-shaped plates (206) fixed on the lifting cover (105) and in limiting fit with the movable bar block (2) are symmetrically arranged on two sides of the movable bar block (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323037551.9U CN221507153U (en) | 2023-11-10 | 2023-11-10 | Mobile robot ranging device used in tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323037551.9U CN221507153U (en) | 2023-11-10 | 2023-11-10 | Mobile robot ranging device used in tunnel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221507153U true CN221507153U (en) | 2024-08-09 |
Family
ID=92139477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323037551.9U Active CN221507153U (en) | 2023-11-10 | 2023-11-10 | Mobile robot ranging device used in tunnel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221507153U (en) |
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2023
- 2023-11-10 CN CN202323037551.9U patent/CN221507153U/en active Active
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Address after: Unit 1, Building 31, No. 11 Changning Road, Zhengding Digital Economy Industrial Park, Zhengding Area, China (Hebei) Pilot Free Trade Zone, Shijiazhuang City, Hebei Province, China 050800 Patentee after: Hebei Liankong Technology Co.,Ltd. Country or region after: China Address before: No. 29 Chongyin Road, Zhengding High tech Zone, Shijiazhuang City, Hebei Province, China 050800 Patentee before: Hebei Liankong Technology Co.,Ltd. Country or region before: China |