Tunnel detection robot

Abstract

The invention discloses a tunnel detection robot, which belongs to the technical field of tunnel detection, and comprises a base capable of longitudinally displacing along a tunnel, a detection support arm rotationally mounted on the base, and a first rotation driving assembly for driving the detection support arm to rotate, the detection support arm comprises a near-end detection frame, two groups of far-end detection rods which are in sliding fit with the near-end detection frame along the radial direction, and an elastic support device for connecting the near-end detection frame with the far-end detection rods, the two groups of far-end detection rods are parallel to each other, and rollers which are in rolling fit with tunnel shield segments are mounted on the outer sides of the far-end detection rods; a screw rod and a limiting rod are rotationally installed between the two sets of far-end detection rods at the same time, a first servo motor is installed on one far-end detection rod, the output end of the first servo motor is connected with the screw rod, the screw rod is in threaded fit with a sliding block, a ground penetrating radar is installed on the sliding block, and a limiting groove matched with the limiting rod is formed in the sliding block. The robot can improve the tunnel detection efficiency and quality.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel detection, and in particular relates to a tunnel detection robot. Background Art

[0002] With the continuous improvement of transportation infrastructure, a large number of railway and highway tunnel projects have been built. For example, in the construction of highways in mountainous areas, tunnels are often key projects that cross complex geological conditions, shorten mileage, and improve driving safety. The long-term and stable operation of these tunnels is crucial to ensuring smooth transportation, and the lining, as an important supporting structure of the tunnel, is directly related to the safety and durability of the tunnel, so effective testing technology is needed to ensure that the lining quality meets the requirements. The lining is a permanent supporting structure of the tunnel, which can withstand stratum pressure, prevent deformation of the surrounding rock, and prevent groundwater leakage. A good lining structure can provide a relatively stable space inside the tunnel, ensuring the safe passage of personnel and vehicles in the tunnel and the normal operation of various equipment.

[0003] During routine inspection, workers need to hold a detection radar and use special inspection vehicles, scaffolding and other equipment to detect and obtain information on the lining and the disease behind the lining. This method has a low detection efficiency. There are also some devices that can be automatically inspected in the prior art, such as a tunnel inspection robot and a tunnel inspection method disclosed in CN113126088A. The device controls the rotation speed of the rotor and uses a ground-penetrating radar to measure the tunnel lining data when the inspection robot crawls. However, since the scale of the tunnel is generally large, the use of such devices requires frequent return to the base station for charging, the device has high operating costs, and the detection efficiency is low. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a tunnel inspection robot that can improve the efficiency and quality of tunnel inspection.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: A tunnel detection robot disclosed in the present invention comprises a base capable of longitudinal displacement along a tunnel, a detection arm rotatably mounted on the base, and a first rotation drive assembly driving the detection arm to rotate, wherein the detection arm comprises a proximal detection frame, two groups of distal detection rods radially slidingly matched with the proximal detection frame, and an elastic support device connecting the proximal detection frame and the distal detection rod, the two groups of distal detection rods are parallel to each other, and rollers rollingly matched with tunnel shield segments are mounted on the outer sides of the distal detection rods; a screw rod and a limit rod are rotatably mounted between the two groups of distal detection rods, a first servo motor is mounted on one of the distal detection rods, a screw rod is connected to the output end of the first servo motor, a slider is threadedly matched with the screw rod, a ground penetrating radar is mounted on the slider, and a limit groove matching with the limit rod is provided on the slider.

[0006] Furthermore, the output end of the first servo motor is connected to a first shaft rod, the first shaft rod is connected to one end of the screw rod through a first universal joint, the other end of the screw rod is connected to a second shaft rod through a second universal joint, and the second shaft rod is slidably arranged in a sliding hole opened on another distal detection rod.

[0007] Furthermore, a first ball sleeve and a second ball sleeve are rotatably mounted on the two distal detection rods, respectively, and both ends of the limit rod slide through the center holes of the first ball sleeve and the second ball sleeve, respectively.

[0008] Furthermore, a cleaning arm is rotatably mounted on the base, and the cleaning arm is connected to a second rotating drive assembly. The cleaning arm includes a proximal cleaning frame, two groups of distal cleaning rods that slide radially with the proximal cleaning frame, and an elastic supporting device that connects the proximal cleaning frame and the distal cleaning rods. The two groups of distal cleaning rods are parallel to each other, and a cleaning assembly is installed between the two groups of distal cleaning rods.

[0009] Furthermore, the cleaning assembly includes a second servo motor, a rotating rod and a brush, wherein a second servo motor is installed on a distal cleaning rod, an output end of the second servo motor is connected to the rotating rod, and the brushes are evenly spaced and installed on the rotating rod.

[0010] Furthermore, a proximity switch corresponding to the proximal cleaning frame is installed on the proximal detection frame, and the proximal switch is used to control the action of the second rotation drive assembly. An elastic buffer device is also installed between the proximal detection frame and the proximal cleaning frame.

[0011] Furthermore, a stable support assembly is provided on the proximal detection frame and the proximal cleaning frame, and the stable support assembly includes an inner support rod and an outer support rod slidably installed on the outer side of the lower end of the inner support rod, a sliding pin is fixed to the lower end of the inner support rod, and the sliding pin is slidably arranged in a sliding groove opened on the outer side of the outer support rod, and the sliding pin is connected with a locking piece.

[0012] Furthermore, the first rotation drive assembly includes a third servo motor installed on the base, the output end of the third servo motor is connected to a turntable, a drive rod is eccentrically connected to the turntable, and a guide groove cooperating with the drive rod is provided on the detection arm.

[0013] The beneficial effects of the present invention are: The present invention discloses a tunnel inspection robot, which can detect segment defects in the entire circumference of the tunnel by arranging a ground-penetrating radar that can move along the circumferential wall of the tunnel without manual operation. Under the movement of the base, rollers are used for guidance, and the entire tunnel can be inspected in all directions, thereby improving the inspection efficiency and quality.

[0014] In the device disclosed in the present invention, two groups of distal detection rods slide and cooperate with the proximal detection frame along the radial direction respectively, so that the rollers corresponding to the two end ends of the two groups of distal detection rods can always be close to the tunnel segment to adapt to its slope changes. The corresponding slope of the screw and the detection slope of the bottom penetrating radar can also change accordingly without being affected by local depressions or protrusions on the inner wall of the segment, thereby improving the stability and detection accuracy during the detection process.

[0015] In the device disclosed in the present invention, the limit rod is used to limit the deflection of the slider, so that the movement of the slider is more stable. The length of the screw rod corresponds to the length of the pipe segment, so that the detection of the entire pipe segment can become more continuous, reducing the error problem caused by recalibration.

[0016] Other advantages, objectives and features of the present invention will be described in the following description and will be apparent to those skilled in the art to some extent, or those skilled in the art may be taught from the practice of the present invention. The objectives and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration: Figure 1 It is a structural schematic diagram of the detection robot of the present invention; Figure 2 for Figure 1 The enlarged view of point A in the middle; Figure 3 To detect the side view of the robot; Figure 4 for Figure 3 The enlarged view of point B in the middle; Figure 5 It is a schematic diagram of the structure of the detection arm; Figure 6 This is the main view of the detection robot.

[0018] The markings in the accompanying drawings are as follows: base 1, detection arm 2, first rotation drive assembly 3, proximal detection frame 4, distal detection rod 5, elastic support device 6, roller 7, screw 8, limit rod 9, first servo motor 10, slider 11, ground penetrating radar 12, limit groove 13, first shaft rod 14, first universal joint 15, second universal joint 16, second shaft rod 17, first ball sleeve 18, second ball sleeve 19, cleaning arm 20, second rotation drive assembly 21, cleaning frame 22, distal cleaning rod 23, second servo motor 24, rotating rod 25, brush 26, proximity switch 27, elastic buffer device 28, inner support rod 29, outer support rod 30, sliding pin 31, slide groove 32, locking piece 33, third servo motor 34, turntable 35, drive rod 36. DETAILED DESCRIPTION

[0019] like Figures 1 to 6 As shown, a tunnel inspection robot disclosed in the present invention includes a base 1 capable of longitudinal displacement along the tunnel, an inspection arm 2 rotatably mounted on the base 1, and a first rotation drive assembly 3 driving the inspection arm 2 to rotate. The longitudinal direction of the tunnel is also the extension direction of the tunnel. At this time, the base 1 is located at the center of the tunnel. Under the action of the first rotation drive assembly 3, the inspection arm 2 can rotate within a cross section of the tunnel. At this time, the inspection assembly at the outer end cooperates with the inner wall of the tunnel segment to inspect it. Under the movement of the base 1, the roller 7 rolls on the inner wall of the tunnel for guidance. Each inspection cycle can correspond to a group of longitudinal segments. After the base 1 moves, it can perform all-round inspection on the entire tunnel, thereby improving the inspection efficiency and quality.

[0020] Specifically, the detection arm 2 disclosed in the present invention includes a proximal detection frame 4, two groups of distal detection rods 5 that slide and cooperate with the proximal detection frame 4 along the radial direction, and an elastic support device 6 that connects the proximal detection frame 4 and the distal detection rod 5. The proximal detection frame 4 is formed by connecting two proximal detection rods arranged in parallel, and the two proximal detection rods are connected by a cross bar to ensure the synchronization of rotation. Each distal detection rod 5 cooperates with a proximal detection rod, and the elastic support device 6 is used to provide an outward elastic support force, which can be extended and retracted along its length direction to adapt to the needs of different tunnel radii or segment installation errors.

[0021] In the embodiment of the present invention, the elastic support device 6 adopts a support spring, which is installed on the inner side of the proximal detection rod, and its two ends are respectively connected to the distal detection rod 5 and the proximal detection rod, thereby providing an outward elastic support force for the distal detection rod 5.

[0022] Furthermore, the two groups of distal detection rods 5 disclosed in the present invention are parallel to each other, and rollers 7 that roll with the tunnel shield segment are installed on the outer sides of the distal detection rods 5. During detection, under the elastic support of the elastic support device 6, the rollers 7 cooperate with the inner wall of the segment, so that the detection arm 2 is convenient to detect close to the inner wall of the tunnel; screws 8 and limit rods 9 are simultaneously rotatably installed between the two groups of distal detection rods 5, and a first servo motor 10 is installed on one of the distal detection rods 5, and the output end of the first servo motor 10 is connected to the screw 8, and the screw 8 is threadedly engaged with a slider 11, and a ground penetrating radar 12 is installed on the slider 11, and a limit groove 13 that cooperates with the limit rod 9 is opened on the slider 11.

[0023] The two groups of distal detection rods 5 disclosed in the present invention are respectively slidably matched with the proximal detection frame 4 along the radial direction. When the tunnel segment has a slope according to the design requirements, under the action of the elastic support device 6, the extension lengths of the two corresponding groups of distal detection rods 5 will also be different. The rollers 7 corresponding to the two end ends of the two groups of distal detection rods 5 can always be close to the tunnel segment and adapt to its slope changes. The slope of the corresponding screw 8 and the detection slope of the bottom penetrating radar can also change accordingly without being affected by the local depression or protrusion of the inner wall of the segment, thereby improving the stability and detection accuracy of the detection process.

[0024] In this embodiment, the output end of the first servo motor 10 is connected to the first shaft 14, the axis of the first shaft 14 is parallel to the plane where the detection arm 2 is located, the first shaft 14 is connected to one end of the screw 8 through the first universal joint 15, the other end of the screw 8 is connected to the second shaft 17 through the second universal joint 16, and the second shaft 17 is slidably arranged in the sliding hole opened on the other distal detection rod 5. The first servo motor 10 drives the screw 8 to rotate through the first shaft 14 and the first universal joint 15, and the screw 8 can drive the slider 11 to move along the axial direction of the screw 8, so as to detect the position of a shield segment in the entire length direction. In the device disclosed in the present invention, according to the construction design requirements of the tunnel, when the base 1 moves to the bottom of the shield segment with a slope, the extension lengths of the two sets of remote detection rods 5 will also be different, and the corresponding screw 8 will also present a slope, and the detection direction of the slider 11 and the ground penetrating radar 12 can be along the axial direction of the screw 8, avoiding the influence of local depression or protrusion of the inner wall of the segment on the ground penetrating radar 12, thereby improving the detection efficiency and accuracy.

[0025] In this embodiment, the first ball sleeve 18 and the second ball sleeve 19 are rotatably installed on the two distal detection rods 5, and the two ends of the limit rod 9 slide through the center holes of the first ball sleeve 18 and the second ball sleeve 19 respectively, which can adapt to the telescopic changes of the distal detection rod 5, and at the same time play a limiting role in the movement of the slider 11, thereby ensuring the stability of the ground penetrating radar 12 during detection.

[0026] In this embodiment, a cleaning arm 20 is rotatably mounted on the base 1, and the cleaning arm 20 is connected to a second rotation drive assembly 21. The cleaning arm 20 includes a proximal cleaning frame 22, two groups of distal cleaning rods 23 that slide with the proximal cleaning frame 22 along the radial direction, and an elastic support device 6 that connects the proximal cleaning frame 22 and the distal cleaning rods 23. The two groups of distal cleaning rods 23 are parallel to each other, and a cleaning assembly is installed between the two groups of distal cleaning rods 23. By providing the cleaning arm 20 and the cleaning assembly, the inner wall of the pipe segment can be cleaned, the detection interference of the ground penetrating radar 12 can be reduced, and the stability of the device can be increased.

[0027] In the embodiment of the present invention, the cleaning arm 20 and the detection arm 2 adopt a similar structure. Through the symmetrical design, the two can balance each other when working, thereby increasing the stability of the device when in use.

[0028] In this embodiment, the cleaning assembly includes a second servo motor 24, a rotating rod 25 and a brush 26, wherein the second servo motor 24 is mounted on one of the distal cleaning rods 23, the output end of the second servo motor 24 is connected to the rotating rod 25, and the brushes 26 are evenly spaced and mounted on the rotating rod 25. Multiple groups of brushes 26 can more easily clean dead corners.

[0029] In this embodiment, a proximity switch 27 corresponding to the proximal cleaning frame 22 is installed on the proximal detection frame 4, and the proximity switch 27 is used to control the action of the second rotation drive assembly 21. An elastic buffer device 28 is also installed between the proximal detection frame 4 and the proximal cleaning frame 22. By designing the proximity switch 27, the rotation range of the proximal cleaning frame 22 can be limited to avoid interference with the proximal detection frame 4, and at the same time, the cleaning assembly can automatically rotate and clean, and the cleaning is more thorough.

[0030] In this embodiment, a stable support assembly is provided on the proximal detection frame 4 and the proximal cleaning frame 22, and the stable support assembly includes an inner support rod 29, an outer support rod 30 slidably mounted on the outer side of the lower end of the inner support rod 29, a sliding pin 31 is fixed to the lower end of the inner support rod 29, and the sliding pin 31 is slidably arranged in a slide groove 32 provided on the outer side of the outer support rod 30, and the sliding pin 31 is connected to a locking member 33. When a suspicious position needs to be scanned and cleaned intensively, the locking member 33 can be locked to fix the stable support assembly on the ground, which can increase the accuracy of detection.

[0031] In this embodiment, the first rotation drive assembly 3 includes a third servo motor 34 installed on the base 1, the output end of the third servo motor 34 is connected to a turntable 35, a drive rod 36 is eccentrically connected to the turntable 35, and a guide groove cooperating with the drive rod 36 is opened on the detection arm 2.

[0032] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A tunnel inspection robot, characterized in that: It includes a base capable of longitudinal displacement along the tunnel, a detection arm rotatably mounted on the base, and a first rotation drive component that drives the detection arm to rotate. The detection arm includes a proximal detection frame, two groups of distal detection rods that slide and cooperate with the proximal detection frame along the radial direction, and an elastic support device that connects the proximal detection frame and the distal detection rod. The two groups of distal detection rods are parallel to each other, and rollers that roll with the tunnel shield segments are installed on the outer sides of the distal detection rods; screw rods and limit rods are rotatably mounted between the two groups of distal detection rods, and a first servo motor is installed on one of the distal detection rods. The output end of the first servo motor is connected to a screw rod, and the screw rod thread is matched with a slider, a ground penetrating radar is installed on the slider, and a limit groove that cooperates with the limit rod is opened on the slider.

2. A tunnel inspection robot according to claim 1, characterized in that: The output end of the first servo motor is connected to a first shaft rod, which is connected to one end of a screw rod through a first universal joint, and the other end of the screw rod is connected to a second shaft rod through a second universal joint, and the second shaft rod is slidably arranged in a sliding hole opened on another distal detection rod.

3. A tunnel inspection robot according to claim 2, characterized in that: A first ball sleeve and a second ball sleeve are rotatably mounted on the two distal detection rods respectively, and two ends of the limit rod slide through the center holes of the first ball sleeve and the second ball sleeve respectively.

4. A tunnel inspection robot according to any one of claims 1 to 3, characterized in that: A cleaning arm is rotatably mounted on the base, the cleaning arm is connected to a second rotating drive assembly, the cleaning arm includes a proximal cleaning frame, two groups of distal cleaning rods that slide with the proximal cleaning frame along a radial direction, and an elastic supporting device connecting the proximal cleaning frame and the distal cleaning rods, the two groups of distal cleaning rods are parallel to each other, and a cleaning assembly is installed between the two groups of distal cleaning rods.

5. A tunnel inspection robot according to claim 4, characterized in that: The cleaning assembly comprises a second servo motor, a rotating rod and a brush, wherein the second servo motor is installed on a distal cleaning rod, the output end of the second servo motor is connected to the rotating rod, and the brushes are evenly spaced and installed on the rotating rod.

6. A tunnel inspection robot according to claim 5, characterized in that: A proximity switch corresponding to the proximal cleaning frame is installed on the proximal detection frame, and the proximity switch is used to control the action of the second rotation drive assembly. An elastic buffer device is installed between the proximal detection frame and the proximal cleaning frame.

7. A tunnel inspection robot according to claim 6, characterized in that: A stable support assembly is arranged on the proximal detection frame and the proximal cleaning frame, and the stable support assembly includes an inner support rod and an outer support rod slidably mounted on the outer side of the lower end of the inner support rod. A sliding pin is fixed to the lower end of the inner support rod, and the sliding pin is slidably arranged in a sliding groove opened on the outer side of the outer support rod, and the sliding pin is connected with a locking piece.

8. The tunnel inspection robot according to claim 1, characterized in that: The first rotation drive assembly includes a third servo motor installed on the base, the output end of the third servo motor is connected to a turntable, a driving rod is eccentrically connected to the turntable, and a guide groove cooperating with the driving rod is provided on the detection arm.

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