WO2021098342A1 - 一种黄土地质信息原位检测机器人 - Google Patents

一种黄土地质信息原位检测机器人 Download PDF

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Publication number
WO2021098342A1
WO2021098342A1 PCT/CN2020/113449 CN2020113449W WO2021098342A1 WO 2021098342 A1 WO2021098342 A1 WO 2021098342A1 CN 2020113449 W CN2020113449 W CN 2020113449W WO 2021098342 A1 WO2021098342 A1 WO 2021098342A1
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WIPO (PCT)
Prior art keywords
robot
loess
hole
driving
tensioning
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PCT/CN2020/113449
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English (en)
French (fr)
Inventor
董忠红
杨浩奕
任世轩
刘森森
刘晓明
兰恒星
晏长根
包含
许江波
刘鑫
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长安大学
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Publication date
Application filed by 长安大学 filed Critical 长安大学
Publication of WO2021098342A1 publication Critical patent/WO2021098342A1/zh
Priority to US17/671,474 priority Critical patent/US20220171403A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Definitions

  • the invention relates to loess quality information detection, in particular to an in-situ loess quality information detection robot.
  • Loess itself is a special kind of disaster-prone soil. It has strong catastrophic sensitivity, which is mainly manifested by extremely strong water sensitivity, fragile structure, unique strength attenuation, complex degradation process, and impact on dynamic disturbances. Sensitivity, etc.; this also makes this type of soil prone to a series of engineering disasters, such as road subsidence, housing, tilt, and dam cracks on the Loess Plateau. Therefore, the detection of loess quality information and soil mechanical properties becomes particularly important.
  • the existing testing methods mainly rely on manually taking soil samples and using professional instruments for testing, which is also called indoor test. This kind of indoor test needs to take soil samples in the field. This test method not only destroys the original structure of the soil. At the same time, it is difficult to guarantee the reliability and accuracy of the test parameters. Compared with the indoor test, the in-situ detection can complete the test without destroying the original structure of the soil, and the experimental data obtained by it is more reliable.
  • the mainstream pipeline robots at home and abroad mainly include wheeled and crawler types.
  • loess holes often have cavities, bulges, and local collapsibility. Obstacle-crossing ability and passing performance are poor, so wheeled pipeline inspection robots are not suitable for such holes.
  • crawler-type pipeline robots with stronger obstacle-climbing ability and passability should be selected.
  • the diameter of the loess hole after the existing loess drilling equipment is generally 100-150mm, and the hole is smaller than other pipelines.
  • due to the large radial size of the current crawler hole robot it is difficult to adapt to such small hole detection.
  • the purpose of the present invention is to provide an in-situ detection robot for loess quality information, which aims to solve the problem of the large size of the existing crawler pipeline robot, and it is difficult to complete any designated position in the loess hole
  • the relevant parameters are detected and the three-dimensional geological information in the loess cavities is detected and transmitted to make up for the existing technical gaps.
  • An in-situ detection robot for loess quality information includes a shell, the shell includes a first shell, and a second shell connected to the first shell, and the first shell and the second shell are respectively provided with Crawler; also includes a tensioning system, the tensioning system is used to provide the robot walking in the loess hole in the direction of the hole diameter required for the tensioning force, including an active tensioning system; the active tensioning system includes a tensioning motor , The driving camshaft, the driving cam group, the driven cam group and the connecting base frame; the tensioning motor is located inside the housing, and the tensioning motor is connected with the driving camshaft to provide driving force for the active tensioning system; the driving cam The shaft is used to support the driving cam group and transmit the driving force of the tensioning motor; the driving cam group is used to transmit the driving force from the driving camshaft to the driven cam group; the driven cam group is used to transfer the driving cam group The driving force is transformed into a tension force for the crawler along the direction of the hole diameter; the connecting base
  • the tensioning motor is fixed inside the second housing, and the tensioning motor is connected to the driving camshaft via a coupling; both ends of the driving camshaft are fixed inside the first housing and the second housing, respectively
  • the active cam group contains 6 active cams, and the 6 cams are axially positioned by the form of fixed shoulders, and are positioned circumferentially through flat keys to ensure that each active cam can operate accurately; the connection
  • the base frame includes three, and the three connecting base frames are separated by 120° in the circumferential direction.
  • the connecting base frame supports the crawler in the form of a simply supported beam; any connecting base frame includes a first end sliding block and a second sliding block And an intermediate connecting shaft, the first sliding block is fixed to the first housing through a sliding groove guide rail, and an elastic body is arranged between the end surface of the first sliding block and the upper end surface of the first housing groove; the second sliding block
  • the block connection method is the same as that of the first slider. It is used to fix the simply supported structure in the circumferential direction, and is allowed to move along the groove where each first or second slider is located.
  • the elastic body is the first or second slider.
  • the sliding block provides the functions of vibration reduction and reset;
  • the intermediate connecting shaft fixes the first sliding block or the second sliding block to provide support for the driven cam group;
  • the driven cam group includes three groups, any one The group includes two driven cams, each group is spaced apart in the circumferential direction, and each group is fixed on the intermediate connecting shaft.
  • auxiliary tensioning system which is used to provide pre-tightening force for the robot to walk in the loess hole, and to measure the travel distance of the robot in the loess hole.
  • the auxiliary tensioning system includes an elastic sleeve, a connecting body connected with the elastic sleeve, and a mileage wheel;
  • the elastic sleeve includes six, and the first housing and the second housing each include three and a circumferential direction Spaced by 120°, it is used to provide pre-tightening force for the robot to walk in the loess hole;
  • the mileage wheel is fixed with the elastic sleeve through the connecting body, and is used to transmit the pre-tightening force from the elastic sleeve and to measure the robot's driving in the hole distance.
  • the robot further includes a control system and a driving system, the control system is used to control the movement mode of the robot according to the different driving environment of the robot in the loess hole; the driving system is used to provide the robot to travel in the loess hole power.
  • control system includes a control circuit board, located on the inner wall of the second housing, for receiving the information output by the detection system, and at the same time processing and computing the information output by the detection system, and calculating the moisture content, soil density, and modulus.
  • the three-dimensional geological information in the hole is transmitted to the ground data collection center through the communication module mounted on the control circuit board; it is also used to output electrical signals for controlling the tensioning motor and the driving motor according to the received obstacle information and pressure information.
  • the drive system includes three single-sided crawlers with a circumferential included angle of degrees, and the single-sided crawler includes a drive motor, a bevel gear, a spur gear, a crawler side plate, a drive pulley, a driven pulley, and an elastic crawler.
  • the driving motor is connected to the side plate of the crawler, and is used to provide driving force for the one-sided crawler walking;
  • the bevel gear is fixed on the output shaft of the motor, and the bevel gear meshes with the bevel gear on the transmission shaft for The power of the drive motor is transmitted to the drive shaft, and the spur gear on the drive shaft meshes with the spur gear on the shaft where the drive pulley is located, so that the drive pulley obtains torque and speed and drives the crawler belt to rotate;
  • the bearing is supported by the bearing end cover fixed on the side plate of the track.
  • it also includes a detection system for detecting relevant parameters of loess quality information.
  • the detection system includes an optical moisture content detector, an ultrasonic sensor, a camera, a gamma spectrum density measuring instrument, a spiral displacement sensor, a mileage wheel, a thin film pressure sensor, and a data processing center;
  • the optical moisture content detector It is used to detect the soil moisture content in the specified position of the loess hole;
  • the ultrasonic sensor is used to detect the distance between the robot and the obstacle in front of the loess hole;
  • the camera is used to construct the three-dimensional geological information in the loess hole and identify the loess and paleosol
  • the interface information of the ⁇ spectrum density meter is used to detect the density of the soil at the specified position in the loess hole;
  • the pressure sensor is used to monitor the pressure between the track and the inner wall of the loess hole;
  • the spiral displacement sensor is used to record the robot in the loess hole The deformation of the soil at any time when driving in the middle; the mileage wheel is used to record the distance the robot travels in
  • the present invention has the following beneficial effects:
  • the pipeline robot provided by the present invention has a simple structure, can adapt to the 100-150mm aperture change through the set tensioning system, and can effectively solve the problem that the radial size of the crawler pipeline robot is too large due to the space occupied by the traditional tensioning device.
  • the crawler pipeline robot with strong obstacle crossing ability and passability can be used for the detection of geological information in the loess hole, which makes up for the existing technical gap.
  • the invention is equipped with a variety of detection instruments, which can respectively complete the collection of soil density, moisture content, modulus and other parameters in the loess pores, and can also complete the identification of soil three-dimensional geological information. Furthermore, a spherical hinge connection joint is provided at the end of the right shell. This robot can be connected with other inspection instruments in the hole in the form of a spherical hinge connection, and can be used with other instruments to complete related test tests, and this robot can be used as a multifunctional The experimental platform, on which a variety of professional testing instruments can be connected to complete the omni-directional detection of the parameters in the loess hole.
  • Figure 1 is an isometric side view of the present invention.
  • Figure 2 is a front view of the present invention.
  • Figure 3 is a left side view of the present invention.
  • Figure 4 is a structural diagram of a preferred embodiment of the present invention.
  • Figure 5 is a cross-sectional view of section A of the present invention.
  • Figure 6 is a cross-sectional view of section B of the present invention.
  • Figure 7 is a schematic diagram of the overall structure of the crawler part of the present invention.
  • Figure 8 is a schematic diagram of the internal structure of the crawler part of the present invention.
  • Fig. 9 is a partial schematic diagram of the present invention.
  • Figure 10 is a schematic diagram of the structure of the auxiliary supporting part of the present invention.
  • a layer/element when referred to as being "on" another layer/element, the layer/element may be directly on the other layer/element, or there may be an intermediate layer/element between them. element.
  • the layer/element may be located "under” the other layer/element when the orientation is reversed.
  • the loess quality information in the present invention refers to water content, soil density, modulus, three-dimensional geological information in the hole, and the like.
  • this embodiment provides an in-situ loess quality information detection robot, including a robot shell composed of a left shell, an active camshaft, and a right shell; including an optical moisture content detector 501, ultrasonic A detection system consisting of sensor 101, high-definition camera 103, gamma spectral density meter 102, helical displacement sensor 703, mileage wheel 702, and thin-film pressure sensor 701, said detection system is mainly used to detect relevant parameters of loess quality information; including A tensioning system composed of an active tensioning mechanism and an auxiliary tensioning mechanism.
  • the active tensioning mechanism is composed of a tensioning motor 12, a driving camshaft 8, a driving cam 6, a driven cam 4, and a connection base frame 2.
  • the system consists of an elastic sleeve 704, a connecting body connected with the elastic sleeve, and a mileage wheel 702.
  • the tensioning system is mainly used to provide the robot with the pressure in the direction of the aperture required for walking in the hole, also called tension Tightening force; includes a drive system (single side) composed of track side plate 301, drive motor 305, bevel gear 306 and gear 308, gear 309, drive pulley 303, driven pulley 307, bearing 302, and rubber track, Its function is mainly to provide power for the robot to travel in the loess hole; it includes a control system composed of a tensioning motor 12, three driving motors 305, various detection elements and a control circuit board 505, and its function is mainly based on what the robot encounters. The different driving environments to control the movement of the robot.
  • the robot housing is mainly composed of a left housing 1, a driving camshaft 8, and a right housing 5. Both the left housing 1 and the right housing 5 are revolving bodies with grooves inside, and both ends of the active camshaft 8 are supported by two bearings fixed to the left housing 1 and the right housing 5 respectively.
  • the detection system fixes the optical moisture content detector 501 on the groove of the right housing 5, and its function is to detect the moisture content of the soil at a specified position in the loess hole, and transmit the detected data to the control circuit
  • the board 505 is transmitted to the data collection center on the ground via wired communication; in order to detect the distance between the robot and the obstacle in front, three ultrasonic sensors 101 are fixed on the end surface of the left housing of the robot in the form of screw connection.
  • the distance information between the robot 10 and the obstacle in front is transmitted to the control circuit board 505; a high-definition camera 103 is fixed on the groove of the left housing 1 of the robot in the form of a screw connection, and its function is to construct the three-dimensional geological information inside the hole.
  • the transmitted three-dimensional geological information, the ground data collection center can complete the identification of interface information such as loess and paleosol through machine vision processing;
  • the gamma spectral density measuring instrument 102 is fixed on the groove of the left casing 1 through a screw connection, and The function is to detect the density of the soil at the specified position in the loess hole; fix the pressure sensor 506 on the upper end surface of the right slider 201 to monitor the pressure between the robot track and the inner wall of the hole; set the spiral displacement sensor 703 on the elastic sleeve Between the cylinder 704 and the mileage wheel 702, the mileage sensor is fixed on the mileage wheel 702 by precision welding, and the film pressure sensor 701 is fixed between the mileage wheel and its axis.
  • the mileage wheel is used to record the distance the robot travels in the hole
  • the spiral displacement sensor 703 is used to record the deformation of the soil at any time when the robot is driving in the hole
  • the membrane pressure sensor 701 is used to record the soil at any time. Under the pressure, the data collection center can analyze the modulus information of the soil based on the parameters output by the above-mentioned sensors.
  • the robot in order for the robot to walk in the hole normally, the robot needs to have a certain pressure in the direction of the aperture, so this robot is equipped with a tensioning system.
  • the tensioning system includes an active tensioning mechanism and an auxiliary tensioning mechanism.
  • the active tensioning mechanism is composed of a tensioning motor, a driving camshaft, a driving cam group, a driven cam group, and a connection base frame.
  • the tensioning motor 12 is fixed on the motor support 504, and the motor support 504 is fixed to the inside of the right housing 5 through a threaded connection.
  • the motor 12 is connected to the driving camshaft 8, and its function is to provide driving force for the tensioning system;
  • the two ends of the active camshaft 8 are respectively supported by two bearings fixed inside the left and right housings.
  • the active cam group contains a total of 6 active cams, which pass through the shoulder
  • the 6 cams are positioned axially in a fixed form, and the 6 active cams 6 are positioned circumferentially through the flat key 9, so as to ensure that the active cams 6 can operate accurately at their respective working positions.
  • the power of the driving camshaft is transmitted to the driven cam group; among them, there are three connecting base frames 2, and the three connecting base frames are separated by 120 degrees in the circumferential direction.
  • the single-sided connecting base frame is composed of a left end slider 203, a right end slider 201, and an intermediate connecting shaft 202.
  • the left end slider 203 passes through the chute guide 13 It is fixed to the left housing, and a spring 503 is arranged between the end surface of the slider and the upper end surface of the groove of the housing.
  • the right sliding block is fixed to the right shell in the same way. Its function is to fix the simple support structure in the circumferential direction, and allow to move along the groove where each sliding block is located, and the spring provides the function of damping and resetting.
  • the middle connecting shaft 202 fixes the two sliders together by welding, and its function is to connect the left and right sliders and provide support for the driven cam group; among them, there are three groups of driven cams 4, each group Two and each group are separated by 120 degrees in the circumferential direction. Each group of cams is fixed on the intermediate connecting shaft 202 of the unilateral connection base frame.
  • the fixing form is similar to the active cam group, and its function is to transmit the power from the active cam group. , And convert this power into displacement in the direction of the chute, and in this way, the crawler 3 can obtain pressure in the direction of the aperture.
  • the auxiliary tensioning system is mainly composed of an auxiliary support body 7, wherein the auxiliary support body 7 is composed of an elastic sleeve 704, a connecting body connected with the elastic sleeve 704, and a mileage wheel 702, wherein the elastic sleeves share Six, three on each of the left and right shells and 120 degrees apart in the circumferential direction, of which a single elastic sleeve 704 is fixed to one side of the shell by welding, and its function is to provide a certain pretension for the robot 10 to walk in the hole Force;
  • the mileage wheel 702 is fixed together with the elastic sleeve 704 through the connecting body, and its function is to transmit the pre-tightening force from the elastic sleeve and measure the distance traveled by the robot in the hole.
  • the driving system is composed of three single-sided crawler belts 3 with a circumferential included angle of 120 degrees, wherein the two side plates 301 of the single-sided crawler belt 3 are fixed to the connecting base frame 2 by screw connection.
  • the single-sided crawler 3 includes two crawler side plates 301, a driving motor 305, a pair of bevel gears 306 and a pair of spur gears (308 and 309), a driving pulley 303, and a driven pulley. 307, and 4 bearings 304, and a rubber track.
  • the driving motor 305 is fixed on the crawler side plate 301 by threaded connection, and its function is to provide driving force for the crawler walking mechanism.
  • a bevel gear is fixed on the motor output shaft and meshes with the bevel gear 306 on the transmission shaft.
  • the power of the driving motor 501 is transmitted to the transmission shaft; the other spur gear 309 on the transmission shaft meshes with the spur gear 308 on the shaft where the driving pulley 303 is located, so that the driving pulley 303 obtains a certain torque and speed. Its function It drives the track to rotate; wherein the drive shaft and the pulley shaft are supported by bearings 304 at both ends, and the bearings 304 at both ends are fixed by bearing end covers fixed on both side plates 301.
  • control system is mainly composed of a control circuit board 505, various components of the detection system, three driving motors 305 and a tensioning motor 12.
  • the control circuit board 305 is the core component of the control system. As shown in Figure 6, the control circuit board 305 is fixed on the inner wall of the right housing in the form of threaded connection.
  • the data information transmitted by the detection system is processed and calculated, and the water content, soil density, modulus, and three-dimensional geological information in the hole are transmitted to the ground data collection center through its communication module; (3)
  • electrical signals for controlling the tensioning motor and the driving motor are output.
  • a spherical hinge joint is provided at the end of the right shell, and the robot can be connected with other inspection instruments in the hole in the form of a spherical hinge connection to cooperate with other instruments to complete relevant test tests, and then this robot can be used as a multifunctional experimental platform , Connect and carry a variety of professional testing instruments on this platform to realize the refined detection of the parameters in the loess hole.
  • the robot 10 is released into the hole through a cable.
  • the auxiliary tensioning mechanism of the tensioning system starts to move.
  • the robot 10 Under the support of the pretensioning force of the elastic sleeves 704 arranged on both sides of the housing, the robot 10 is fixed in the hole, and due to the use of three auxiliary supporting structures and The circumferential direction is separated by 120 degrees, and the centering accuracy is high, so that the axis of the robot 10 basically coincides with the axis of the hole.
  • the left housing 1 and the right housing 5 of the robot 10 are used as the base, and the active tensioning mechanism starts to move, as shown in Fig. 4.
  • the tensioning motor 12 starts to rotate and drives the active camshaft 8 to rotate through the coupling.
  • the key 9 transmits the rotating power of the driving camshaft 8 to the driving cam af.
  • the driving cam af obtains a certain speed and torque; after that, the rotary motions of the driving cams a and f are converted into a straight line along the chute direction by the cam transmission Movement to make the connecting base frame 2 and the single-sided crawler 3 move a certain distance in the direction of the chute.
  • the single-sided crawler 3 is in contact with the inner wall of the hole and obtains a certain contact pressure; at the same time, the active cams b and e rotate and pass The cam drive makes the driven cams h and i drive the connecting base frame 2 to move linearly along the chute direction, so that the second side crawler also contacts the wall surface and obtains a certain contact pressure; in the same way, driven by the driving cams c, d , The third track is also in contact with the inner wall of the hole;
  • the pressure sensor 506 transmits the pressure data signal between the track and the hole wall to the control circuit board 505, and the control circuit board 505 completes the judgment of whether the pressure is sufficient. If the pressure is insufficient, the control circuit board 505 sends a signal to control the tensioning. The motor 12 continues to rotate.
  • the components of the detection system start to work, the ultrasonic sensor 101 starts to detect the distance information between the obstacle and the robot 10, the gamma spectrum density meter 102 starts to detect the soil density at the relevant position, and the high-definition camera 103 starts to capture the three-dimensional image in the hole.
  • Each component transmits the information to the control circuit board 505 in the form of wired communication, and then is processed by the control circuit board 505 and then transmitted to the data collection center on the ground.
  • the driving system starts to operate under the instruction of the electrical signal sent by the control circuit board 13.
  • the drive motor 305 starts to rotate.
  • the bevel gear 306 drives the spur gear 309 to obtain the speed and torque.
  • the spur gear 308 meshes with it.
  • the shaft on which the drive pulley 303 is located obtains power, which drives the drive pulley 303 to rotate.
  • the track rotates. Driven by the three-sided crawler, the robot began to move along the hole.
  • the spiral displacement sensor 703 starts to operate to measure the deformation of the part of the soil in contact with the mileage wheel 702, and the membrane pressure sensor 701 also starts to work to record the pressure between the soil and the mileage wheel 702.
  • These two kinds of information are transmitted to the control circuit board 505 via wired communication, and then transmitted to the data collection center via the control circuit board 505, and the modulus information of the soil can be obtained by data analysis.
  • the mileage wheel 702 also starts to record the mileage of the robot 10 walking in the hole.
  • the control circuit board 505 sends instructions to make the three-side drive motor 305 rotate at different speeds, and the robot travels through the curve smoothly through the three-side crawler differential speed. .
  • the control circuit board 505 sends an electric signal to drive the tension motor 12 to reverse to shrink it, and to retract it through a cable.

Abstract

本发明公开了一种黄土地质信息原位检测机器人，包括壳体、主动张紧系统，辅助张紧系统、控制系统、驱动系统以及探测系统；所述主动张紧系统用于提供机器人在黄土孔洞内行走所需的沿孔洞孔径方向的张紧力；辅助张紧系统用于为机器人在黄土孔洞中的行走提供预紧力；所述控制系统用于根据机器人在黄土孔洞中不同的行驶环境控制机器人的运动模式；所述驱动系统用于提供机器人在黄土孔洞内的行驶动力。探测系统用于探测黄土地质信息相关参数。本发明提供的机器人结构简单，可适应100-150mm的孔径变换，同时能有效解决履带式管道机器人径向尺寸偏大问题，越障能力和通过性较强，可以用于黄土孔内的地质信息检测，弥补了现存的技术空白。

Description

一种黄土地质信息原位检测机器人 【技术领域】
本发明涉及黄土地质信息检测，尤其涉及一种原位黄土地质信息检测机器人。
【背景技术】
黄土本身是一种特殊的易灾土体，自身具有强烈的灾变敏感性，主要表现为极强的水敏性、脆弱的结构性、独特的强度衰减性、复杂的劣化过程，对动力扰动的敏感性等；这也导致了此类土体容易发生一系列工程灾害，如黄土高原上道路塌陷、住宅，倾斜、堤坝裂缝等都与之相关。因此对黄土地质信息以及土体力学性能的检测变得尤为重要。目前现有的检测方法主要依靠人工采取土壤样品并且采用专业仪器进行检测，也称室内试验，而这种室内试验由于需要在野外采取土壤样品，这样的试验方式不仅破环了土体的原始结构，同时导致试验参数的可靠性与准确性难以保证。与室内试验相比，原位探测可在不破坏土体原始结构的基础下完成检测，其获取的实验数据更具有可靠性。
目前国内外主流的管道机器人主要有轮式以及履带式两类，但由于黄土孔洞与一般管道相比，其内部经常具有空洞，凸起，局部湿陷等孔内缺陷，由于轮式管道机器人的越障能力以及通过性能较差，因此轮式管道检测机器人不适用于此类孔洞，针对于此类孔洞，应选用越障能力以及通过性更强的履带式管道机器人。考虑到对原始土壤的破坏等因素，为了减少对土体的扰动，现有的黄土钻孔设备加工完成后的黄土孔洞的直径一般在100-150mm,孔洞相较于其他管道来说偏小，而目前的履带式孔洞机器人由于径向尺寸偏大，难以适应此类小孔径的孔洞探测。
【发明内容】
鉴于上述现有技术的不足，本发明的目的在于提供一种针对于黄土地质信息的原位检测机器人，旨在解决现有履带式管道机器人尺寸偏大的问题，难以完成黄土孔洞内任意指定位置的相关参数检测并且输送黄土孔洞内的三维地质信息，弥补现存的技术空白。
本发明的技术方案如下：
一种黄土地质信息原位检测机器人，包括壳体，所述壳体包括第一壳体，以及与第一壳体连接的第二壳体，第一壳体和第二壳体上分别设置有履带；还包括张紧系统，所述张紧系统用于提供机器人在黄土孔洞内行走所需的沿孔洞孔径方向的张紧力，包括主动张紧系统；所述主动张紧系统包括张紧电机，主动凸轮轴，主动凸轮组，从动凸轮组以及连接基架；所述张紧电机位于壳体内部，张紧电机与主动凸轮轴相连，用于为主动张紧系统提供驱动力；主动凸轮轴用于对主动凸轮组提供支撑以及传递张紧电机的驱动力；主动凸轮组用于将来自主动凸轮轴的驱动力传递给从动凸轮组；所述从动凸轮组用于将主动凸轮组的驱动力，转化为使履带获得沿孔洞孔径方向的张紧力；所述连接基架，用于支撑履带，同时用于实现减振复位功能。
进一步，所述张紧电机固定于第二壳体的内部，张紧电机经联轴器与主动凸轮轴相连；所述主动凸轮轴两端分别由固定于第一壳体和第二壳体内部的两个轴承支撑；所述主动凸轮组包含6个主动凸轮，6个凸轮通过轴肩固定的形式进行轴向定位，通过平键进行周向定位，保证各个主动凸轮能准确运行；所述连接基架包括三个，且三个连接基架周向相隔120°，所述连接基架，以简支梁的形式支撑履带；任意一个连接基架均包括第一端滑块，第二滑块以及中间连接轴，所述第一滑块通过滑槽导轨与第一壳体固定，且在第一滑块的端面与第一壳体凹槽 的上端面之间设置有弹性体；第二滑块连接方式与第一滑块相同，用于为简支结构做周向固定，且允许沿各第一滑块或第二滑块所在凹槽移动，通过弹性体为第一滑块或第二滑块提供减振以及复位的功能；所述中间连接轴将第一滑块或第二滑块进行固定，用于为从动凸轮组提供支撑；所述从动凸轮组包括三组，任意一组包括两个从动凸轮，各组之间周向相隔度，每一组均固定于中间连接轴上。
此外，还包括辅助张紧系统，用于为机器人在黄土孔洞中的行走提供预紧力，同时计量机器人在黄土孔洞中的行驶距离。
进一步，所述辅助张紧系统包括弹性套筒，与弹性套筒相连的连接体以及里程轮；所述弹性套筒包括六个，第一壳体和第二壳体分别包含三个且周向相隔120°，用于为机器人在黄土孔洞中行走提供预紧力；所述里程轮通过连接体与弹性套筒固定，用于传递来自弹性套筒的预紧力以及计量机器人在孔洞中的行驶距离。
尤其是，所述机器人还包括控制系统以及驱动系统，所述控制系统用于根据机器人在黄土孔洞中不同的行驶环境控制机器人的运动模式；所述驱动系统用于提供机器人在黄土孔洞内的行驶动力。
进一步，所述控制系统包括控制电路板，位于第二壳体的内壁，用于接收由检测系统输出的信息，同时对检测系统输出的信息进行处理运算，将含水率，土壤密度，模量，孔内三维地质信息通过控制电路板上搭载的通信模块传输至地面数据采集中心；也用于根据接收的障碍物信息以及压力信息，输出控制张紧电机与驱动电机的电信号。
进一步，所述驱动系统包括三个周向夹角为度的单侧履带，所述单侧履带包括驱动电机、锥齿轮、直齿轮、履带侧板，驱动带轮、从动带轮、弹性履带、以 及多个轴承；所述驱动电机连接于履带侧板上，用于为单侧履带行走提供驱动力；所述电机输出轴上固定有锥齿轮，与传动轴上的锥齿轮啮合，用于将驱动电机的动力传递至传动轴上，再通过传动轴上的直齿轮与驱动带轮所在轴上的直齿轮啮合，从而使驱动带轮获得扭矩和转速，驱动履带转动；所述传动轴由轴承支撑，轴承由固定于履带侧板上的轴承端盖固定。
同时，还包括探测系统，用于探测黄土地质信息相关参数。
进一步，所述探测系统包括光学式含水率检测仪、超声波传感器、摄像头、γ谱密度测量仪、螺线式位移传感器、里程轮、薄膜压力传感器以及数据处理中心；所述光学式含水率检测仪用于检测黄土孔洞中指定位置土壤含水率；所述超声波传感器用于检测机器人与黄土空洞内前方障碍物之间的距离；所述摄像头用于构建黄土孔洞内三维地质信息、识别黄土与古土壤的界面信息；γ谱密度测量仪用于检测黄土孔洞中指定位置土壤的密度；所述压力传感器用于监测履带与黄土孔洞内壁之间的压力；螺线式位移传感器用于记录机器人在黄土孔洞中行驶时土壤在任意时刻发生的形变；所述里程轮用于记录机器人在黄土孔洞中行驶的距离；所述薄膜压力传感器用于记录任意时刻土壤所受压力；所述数据采集中心根据上述输出的各个参数，对土壤模量信息进行分析。
与现有技术相比，本发明具有以下有益效果：
本发明提供的管道机器人结构简单，通过设置的张紧系统，可适应100-150mm的孔径变换，同时能有效解决由于传统张紧装置所占空间导致履带式管道机器人径向尺寸偏大的问题，使得越障能力和通过性较强的履带式管道机器人可以用于黄土孔内的地质信息检测，弥补了现存的技术空白。
本发明搭载多种检测仪器，可分别完成对黄土孔洞内的土壤密度，含水率， 模量等参数的采集，同时可完成对土壤三维地质信息进行识别。进一步的，在右壳体末端设置一球铰连接接头，可将此机器人与其他孔内检测仪器以球铰连接的形式连接，可配合其余仪器完成相关试验检测，即可将此机器人作为多功能实验平台，在此平台上连接搭载多种专业检测仪器进而可完成黄土孔内参数的全方位探测。
【附图说明】
图1为本发明的正等轴侧视图。
图2为本发明的主视图。
图3为本发明的左视图。
图4为本发明较佳实施例的结构图。
图5为本发明截面A的剖视图。
图6为本发明截面B的剖视图。
图7为本发明履带部分整体结构示意图。
图8为本发明履带部分内部结构示意图。
图9为本发明的局部示意图。
图10为本发明辅助支撑部分的结构示意图。
图中，各个标号的含义为：
1—第一壳体；2—连接基架；3—单侧履带；4—从动凸轮；5—第二壳体；6—主动凸轮；7—辅助支撑体；8—主动凸轮轴；9—键；10—机器人；11—连接轴承；12—张紧电机；13—滑槽导轨；101—超声波传感器；102—γ谱密度测量仪；103—摄像头；104—轴承；201—第二滑块；202—中间连接轴；203—第一滑块；301—履带侧板；302—轴承端盖；303—驱动带轮；304—驱动系统轴承；305 —驱动电机；306—锥齿轮；307—从动带轮；308—直齿轮Ⅰ；309—直齿轮Ⅱ；501—光学式含水率检测仪；502—球铰连接头；503—弹性体；504—电机支座；505—控制电路板；506—压力传感器；701—薄膜压力传感器；702—里程轮；703—螺线式位移传感器；704—弹性套筒。
【具体实施方式】
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，不是全部的实施例，而并非要限制本发明公开的范围。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要的混淆本发明公开的概念。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
在附图中示出了根据本发明公开实施例的各种结构示意图。这些图并非是按比例绘制的，其中为了清楚表达的目的，放大了某些细节，并且可能省略了某些细节。图中所示出的各种区域、层的形状及它们之间的相对大小、位置关系仅是示例性的，实际中可能由于制造公差或技术限制而有所偏差，并且本领域技术人员根据实际所需可以另外设计具有不同形状、大小、相对位置的区域/层。
本发明公开的上下文中，当将一层/元件称作位于另一层/元件“上”时，该层/元件可以直接位于该另一层/元件上，或者它们之间可以存在居中层/元件。另外，如果在一种朝向中一层/元件位于另一层/元件“上”，那么当调转朝向时，该层/元件可以位于该另一层/元件“下”。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、 “第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
下面结合附图对本发明做进一步详细描述：
本发明所述的黄土地质信息是指含水率，土壤密度，模量，孔内三维地质信息等。
实施例1：
参见图1-10，本实施例提供一种原位黄土地质信息检测机器人，包括由左壳体，主动凸轮轴，以及右壳体组成的机器人外壳；包括由光学式含水率检测仪501，超声波传感器101，高清摄像头103，γ谱密度测量仪102，螺线式位移传感器703，里程轮702，薄膜压力传感器701组成的探测系统，所述探测系统主要用于探测黄土地质信息的相关参数；包括由主动张紧机构以及辅助张紧机构组成的张紧系统，其中主动张紧机构由张紧电机12，主动凸轮轴8，主动凸轮6，从动凸轮4，连接基架2组成，辅助张紧系统由弹性套筒704，以及与弹性套筒相连的连接体以及里程轮702组成，所述张紧系统主要用于为机器人提供在孔洞内行走所需的沿孔径方向上的压力，也称张紧力；包括由履带侧板301，驱动电机305，锥齿轮306以及齿轮308，齿轮309，驱动带轮303，从动带轮307，轴承302，以及橡胶履带组成的驱动系统(单侧)，其作用主要是为机器人提供在黄土孔洞 内行驶的动力；包括由张紧电机12，三个驱动电机305以及各类检测元件和控制电路板505组成的控制系统，其作用主要是根据机器人所遇到的不同行驶环境控制机器人的运动。
具体的，机器人外壳主要由左壳体1，主动凸轮轴8，以及右壳体5组成。左壳体1以及右壳体5均为内部有凹槽的回转体，主动凸轮轴8两端分别通过固定于左壳体1以及右壳体5的两个轴承支撑。
具体的，所述探测系统将光学式含水率检测仪501固定于右壳体5的凹槽上，其功能是检测黄土孔洞中指定位置土壤的含水率，并将检测到的数据传输至控制电路板505经有线通信传输至地面的数据采集中心；为了检测机器人与前方障碍物之间的距离，在机器人左壳体的端面上以螺纹连接的形式固定了3个超声波传感器101，其功能是将机器人10与前方障碍物的距离信息传输至控制电路板505；在机器人左壳体1的凹槽上以螺纹连接的形式固定一个高清摄像头103，其功能是构建孔洞内部的三维地质信息，通过其传输的三维地质信息，地面数据采集中心通过机器视觉处理这些信息可以完成黄土与古土壤等界面信息的识别；将γ谱密度测量仪102通过螺纹连接固定于左壳体1的凹槽上，其功能是检测黄土孔洞中指定位置土壤的密度；将压力传感器506固定于右滑块201的上端面，用于监测机器人履带与孔洞内壁之间的压力；将螺线式位移传感器703设置于弹性套筒704与里程轮702之间，里程传感器通过精密焊接的形式固定于里程轮702上，薄膜压力传感器701固定于里程轮与其所在轴之间。所述里程轮用于记录机器人在孔洞中行驶的距离，螺线式位移传感器703用于记录机器人在孔洞中行驶时土壤在任意时刻发生的形变，而薄膜压力传感器701用于记录任意时刻土壤所受到的压力，数据采集中心根据上述传感器所输出的参数，可分析出土壤的模量信息。
同时，为了使机器人能够正常在孔洞内行走，机器人需要在沿孔径方向上有一定的压力，因此本机器人搭载张紧系统。
具体的，所述张紧系统包括主动张紧机构以及辅助张紧机构。所述主动张紧机构由张紧电机，主动凸轮轴，主动凸轮组，从动凸轮组，连接基架组成。其中张紧电机12固定于电机支座504上，电机支座504通过螺纹连接固定于右壳体5的内部，电机12与主动凸轮轴8相连，其功能是为张紧系统提供驱动力；其中主动凸轮轴8两端分别由固定于左右壳体内部的两个轴承支撑，其作用是为主动凸轮提供支撑以及传递张紧电机的动力；其中主动凸轮组共含有6个主动凸轮，通过轴肩固定的形式对6个凸轮的进行轴向定位，通过平键9对6个主动凸轮6进行周向定位，以此保证各个主动凸轮6能在各自的工作位置上准确运行，其功能是将来自主动凸轮轴的动力传递到从动凸轮组；其中连接基架2共三个，且三侧连接基架周向相隔120度。单侧连接基架由左端滑块203，右端滑块201，以及中间连接轴202组成，其功能是以简支梁的形式作为单侧履带3的支撑；其中左端滑块203通过滑槽导轨13与左壳体固定，且在滑块的端面与壳体凹槽的上端面之间设置一根弹簧503。右端滑块通过相同的方式与右壳体固定在一起，其功能是为简支结构做周向固定，且允许沿各滑块所在凹槽移动，且由弹簧为其提供减振，复位的功能；其中中间连接轴202通过焊接的方式将两端滑块固定在一起，其功能是将左右两端滑块连接且为从动凸轮组提供支撑；其中从动凸轮4共三组，每一组两个且各组之间周向相隔120度，每一组凸轮均固定于单侧连接基架的中间连接轴202上，固定形式与主动凸轮组类似，其功能是传递来自主动凸轮组的动力，并且将此动力转化为沿滑槽方向的位移，并以此形式使履带3获得沿孔径方向上的压力。
更具体的，所述辅助张紧系统主要由辅助支撑体7构成，其中辅助支撑体7由弹性套筒704，以及与弹性套筒704相连的连接体以及里程轮702组成，其中弹性套筒共六个，左右壳体各三个且周向相隔120度，其中单个弹性套筒704通过焊接的形式固定于一侧的壳体上，其功能是为机器人10在孔洞中行走提供一定的预紧力；所述里程轮702通过连接体与弹性套筒704固定在一起，其功能是传递来自弹性套筒的预紧力以及计量机器人在孔洞中行驶的距离。
具体的，所述驱动系统由三个周向夹角为120度的单侧履带3组成，其中，单侧履带3的两侧板301通过螺纹连接固定于连接基架2上。
更具体的，所述单侧履带3包括两个履带侧板301，一个驱动电机305，一对锥齿轮306以及一对直齿轮(308和309)，一个驱动带轮303，一个从动带轮307，以及4个轴承304，以及一条橡胶履带。其中驱动电机305通过螺纹连接固定于履带侧板301上，其功能是为履带行走机构提供驱动力；其中电机输出轴上固定一个锥齿轮，与传动轴上的锥齿轮306啮合，其功能是将驱动电机501的动力传递至传动轴上；再通过传动轴上的另一直齿轮309与驱动带轮303所在轴上的一直齿轮308啮合，从而使驱动带轮303获得一定的扭矩和转速，其功能是驱动履带转动；其中所述传动轴以及带轮轴均由两端的轴承304支撑，两端的轴承304由固定于两侧板301上的轴承端盖固定。
具体的，所述控制系统主要由控制电路板505，检测系统的各元件以及3个驱动电机305和一个张紧电机12组成。其中控制电路板305为该控制系统的核心元件，如图6所示，将控制电路板305以螺纹连接的形式固定于右壳体的内壁上，其功能是：(1)接收由检测系统各元件传输的信息；(2)对检测系统传输过来的数据信息进行处理运算，将含水率，土壤密度，模量，孔内三维地质信息等 通过其通信模块传输至地面数据采集中心；(3)根据超声波传感器101以及压力传感器506发送的障碍物信息以及履带与孔壁的压力信息，输出控制张紧电机与驱动电机的电信号。
优选的，在右壳体末端设置一球铰连接头，可将此机器人与其他孔内检测仪器以球铰连接的形式连接配合其余仪器完成相关试验检测，即可将此机器人作为多功能实验平台，在此平台上连接搭载多种专业检测仪器进而是实现黄土孔内参数的精细化探测。
上述原位黄土地质信息检测机器人的具体工作过程为：
首先，在实验区域完成钻孔后，将该机器人10通过缆线释放入孔内。
进一步的，张紧系统的辅助张紧机构开始动作，在两侧壳体布置的弹性套筒704的预紧力的支撑作用下，机器人10固定于孔内，且由于采用三个辅助支撑结构且周向相隔120度，定心精度较高，使得机器人10的轴线基本与孔洞的轴线保持重合。
进一步的，机器人10的左壳体1，右壳体5作为机座，主动张紧机构开始动作，如图4所示；首先张紧电机12开始旋转经联轴器带动主动凸轮轴8转动，键9将主动凸轮轴8旋转的动力传递至主动凸轮a-f,此时主动凸轮a-f均获得一定的转速与扭矩；此后，主动凸轮a以及f的旋转运动经凸轮传动转化为沿滑槽方向的直线运动，使连接基架2和单侧履带3沿滑槽方向移动一定的距离，此时单侧履带3与孔洞内壁接触，并获得一定的接触压力；同时的，主动凸轮b和e旋转，通过凸轮传动使从动凸轮h和i带动连接基架2沿着滑槽方向直线运动，使第二侧履带也与壁面接触并获得一定的接触压力；同理，在主动凸轮c,d的驱动下，第三侧履带也与孔洞内壁接触；
进一步的，压力传感器506将履带与孔壁之间的压力数据信号传递至控制电路板505，由控制电路板505完成压力是否充足的判断，如果压力不足，则控制电路板505发出信号控制张紧电机12继续旋转。
进一步的，检测系统各元件开始工作，超声波传感器101开始检测障碍物与机器人10的距离信息，γ谱密度测量仪102开始检测相关位置的土壤密度，高清摄像头103开始拍摄孔内的三维影像。各元件通过有线通信的形式将这些信息输送至控制电路板505，再通过控制电路板505处理后传输至地面的数据采集中心。
进一步的，三侧履带均获得接触压力之后，在控制电路板13发送的电信号的指令下，驱动系统开始动作。首先驱动电机305开始旋转，经锥齿轮306的传动，使得直齿轮309也获得转速和扭矩，然后直齿轮308与之啮合，驱动带轮303所在轴获得动力，带动驱动带轮303旋转，进而使得履带旋转。在三侧履带的驱动下，机器人开始沿着孔洞移动。
进一步的，螺线式位移传感器703开始动作，测量与里程轮702接触部分土壤的变形，同时薄膜压力传感器701也开始工作，记录土壤与里程轮702之间的压力。这两种信息经有线通信传输至控制电路板505，然后经控制电路板505传输至数据采集中心，经数据分析可得出土壤的模量信息。同时的，里程轮702也开始记录机器人10在孔洞中行走的里程。
进一步的，当超声波传感器101和高清摄像头103配合使用得知前方即将转弯时，控制电路板505发送指令使三侧驱动电机305以不同的速度旋转，机器人通过三侧履带差速行驶顺利通过弯道。
特别的，当机器人在孔洞中行走时遇到凸起，空洞以及湿陷等缺陷时，由于 机器人采用履带式行走机构，此类障碍可通过橡胶履带的自适应完成。当距离前方有较大障碍物或陷入湿陷区时，控制电路板505发送电信号驱动张紧电机12反转使其收缩，并通过缆线将其收回。
以上内容仅为说明本发明的技术思想，不能以此限定本发明的保护范围，凡是按照本发明提出的技术思想，在技术方案基础上所做的任何改动，均落入本发明权利要求书的保护范围之内。

Claims (9)

  1. 一种黄土地质信息原位检测机器人，包括壳体，所述壳体包括第一壳体(1)，以及与第一壳体(1)连接的第二壳体(5)，第一壳体(1)和第二壳体(5)上分别设置有履带；
    其特征在于，还包括张紧系统，所述张紧系统用于提供机器人在黄土孔洞内行走所需的沿孔洞孔径方向的张紧力，包括主动张紧系统；
    所述主动张紧系统包括张紧电机(12)，主动凸轮轴(8)，主动凸轮组，从动凸轮组以及连接基架(2)；
    所述张紧电机(12)位于壳体内部，张紧电机(12)与主动凸轮轴(8)相连，用于为主动张紧系统提供驱动力；
    所述主动凸轮轴(8)用于对主动凸轮组提供支撑以及传递张紧电机(12)的驱动力；
    所述主动凸轮组用于将来自主动凸轮轴(8)的驱动力传递给从动凸轮组；
    所述从动凸轮组用于将主动凸轮组的驱动力，转化为使履带获得沿孔洞孔径方向的张紧力；
    所述连接基架(2)，用于支撑履带，同时用于实现减振复位功能。。
  2. 如权利要求1所述机器人，其特征在于，所述张紧电机(12)固定于第二壳体(5)的内部，张紧电机(12)经联轴器与主动凸轮轴(8)相连；
    所述主动凸轮轴(8)两端分别由固定于第一壳体(1)和第二壳体(5)内部的两个连接轴承(11)支撑；所述主动凸轮组包含六个主动凸轮(6)，六个主动凸轮(6)通过轴肩固定的形式进行轴向定位，通过键(9)进行周向定位，保证主动凸轮(6)能准确运行；
    所述连接基架(2)包括三个周向相隔120°的连接基架(2)，所述连接基架 (2)以简支梁的形式支撑履带；任意一个连接基架(2)均包括第一端块(203)，第二滑块(201)以及中间连接轴(202)，所述第一滑块(203)通过滑槽导轨(13)与第一壳体(1)固定，且在第一滑块(203)的端面与第一壳体(1)凹槽的上端面之间设置有弹性体(503)；第二滑块(201)连接方式与第一滑块(203)相同，用于为简支结构做周向固定，且沿第一滑块(203)或第二滑块(201)所在凹槽移动，通过弹性体(503)为第一滑块(203)或第二滑块(201)提供减振以及复位功能；
    所述中间连接轴(202)将第一滑块(203)或第二滑块(201)进行固定，用于为从动凸轮组提供支撑；所述从动凸轮组包括三组，任意一组包括两个从动凸轮(4)，各组之间周向相隔120度，每一组均固定于中间连接轴(202)上。
  3. 如权利要求1所述机器人，其特征在于，还包括辅助张紧系统，用于为机器人在黄土孔洞中的行走提供预紧力，同时计量机器人在黄土孔洞中的行驶距离。
  4. 如权利要求3所述机器人，其特征在于，所述辅助张紧系统包括弹性套筒(704)，与弹性套筒(704)相连的连接体以及里程轮(702)；
    所述弹性套筒(704)包括六个，第一壳体(1)和第二壳体(5)分别包含三个且周向相隔120°，用于为机器人在黄土孔洞中行走提供预紧力；所述里程轮(702)通过连接体与弹性套筒(704)固定，用于传递来自弹性套筒(704)的预紧力以及计量机器人在孔洞中的行驶距离。
  5. 如权利要求1所述机器人，其特征在于，所述机器人还包括控制系统以及驱动系统，所述控制系统用于根据机器人在黄土孔洞中不同的行驶环境控制机器人的运动模式；所述驱动系统用于提供机器人在黄土孔洞内的行驶动力。
  6. 如权利要求5所述机器人，其特征在于，所述控制系统包括控制电路板(505)，位于第二壳体(5)的内壁，用于接收由检测系统输出的信息，同时对检测系统输出的信息进行处理，将采集的黄土地质信息通过控制电路板(505)上搭载的通信模块传输至地面数据采集中心；也用于根据接收的障碍物信息以及压力信息，输出控制电机的电信号。
  7. 如权利要求5所述机器人，其特征在于，所述驱动系统包括三个周向夹角为120°的单侧履带(3)，所述单侧履带(3)包括驱动电机(305)、锥齿轮(306)、直齿轮、履带侧板(301)，驱动带轮(303)、从动带轮(307)、弹性履带、以及多个驱动系统轴承(304)；
    所述驱动电机(305)连接于履带侧板(301)上，用于为单侧履带(3)行走提供驱动力；所述驱动电机(305)的输出轴上固定有锥齿轮(306)，用于将驱动电机(305)的动力传递至传动轴上，再通过传动轴上的直齿轮Ⅱ(309)与驱动带轮(303)所在轴上的直齿轮Ⅰ(308)啮合，从而使驱动带轮(303)获得扭矩和转速，驱动单侧履带(3)转动；所述传动轴由驱动系统轴承(304)支撑，驱动系统(304)轴承由固定于履带侧板(301)上的轴承端盖(302)固定。
  8. 如权利要求1所述机器人，其特征在于，还包括探测系统，用于探测黄土地质信息相关参数。
  9. 如权利要求8所述机器人，其特征在于，所述探测系统包括光学式含水率检测仪(501)、超声波传感器(101)、摄像头(103)、γ谱密度测量仪(102)、螺线式位移传感器(703)、薄膜压力传感器(701)、压力传感器(506)以及数据处理中心；
    所述光学式含水率检测仪(501)用于检测黄土孔洞中任意指定位置土壤含 水率；所述超声波传感器(101)用于检测机器人与黄土空洞内前方障碍物之间的距离；所述摄像头(103)用于构建黄土孔洞内三维地质信息、识别黄土与古土壤的界面信息；γ谱密度测量仪(102)用于检测黄土孔洞中指定位置土壤的密度；所述压力传感器(506)用于监测履带与黄土孔洞内壁之间的压力；螺线式位移传感器(703)用于记录机器人在黄土孔洞中行驶时土壤在任意时刻发生的形变；所述薄膜压力传感器(701)用于记录任意时刻土壤所受压力；所述数据采集中心根据上述输出的各个参数，对土壤模量信息进行分析。
PCT/CN2020/113449 2019-11-22 2020-09-04 一种黄土地质信息原位检测机器人 WO2021098342A1 (zh)

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