Tunneling hole detection snake robot and operation method thereof
By designing a combined structure of elastic probe and telescopic arm, the snake robot for tunnel boring hole detection was able to conduct full-angle exploration, solving the problem that existing exploration robots cannot adapt to uneven and curved environments, and achieving efficient and low-cost exploration results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- NO 1 ENG CO LTD OF FHEC OF CCCC
- Filing Date
- 2026-03-30
- Publication Date
- 2026-06-12
AI Technical Summary
Existing exploration robots cannot conduct full-angle exploration of holes and caves inside tunnels, especially holes located at the top and bottom of tunnels, and cannot adapt to the harsh environment of uneven, winding and extended tunnels.
A snake-like robot for tunnel boring hole exploration was designed, which adopts a combination structure of elastic probe and telescopic arm. By utilizing the elastic bending of the elastic probe and the reel steering device, the robot can move flexibly and explore in the tunnel.
It can conduct exploration within the entire angular range inside the tunnel, adapt to uneven ground, and complete the exploration of holes and caves within the circumferential range of 0° to 360° of the tunnel cross section. It has a simple structure, low cost, and is easy to operate.
Smart Images
Figure CN122185141A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of robot application technology and relates to a snake-like robot for tunnel boring hole detection and its operation method. Background Technology
[0002] During the excavation of mountains and tunnels, cavities (diameter greater than 25cm) and rock caves are frequently encountered. These cavities and caves vary in size and type, and many are long and winding. Especially during tunnel excavation, cavities can appear at the top, sidewalls, and bottom of the tunnel. To ensure the normal progress and safe use of mountain and tunnel excavation, it is necessary to explore the morphology, orientation, and length of these cavities and caves to provide a basis for their treatment.
[0003] Existing methods for cave exploration include manual exploration or exploration robots. For example, Chinese patent document CN108732319A discloses a mobile robot for cave exploration, comprising a robot body with several rollers on its upper and lower sides, a detection light and camera at the front, an ultrasonic generator and receiver, and a battery compartment inside the robot body, all designed for cave exploration. However, practical experience has shown that if the exploration robot uses a tracked or wheeled structure for propulsion, it cannot effectively explore holes or caves. This is because the ground in holes and caves is uneven, winding, and the geological conditions are harsh. Furthermore, current exploration robots are unable to explore holes at the top and bottom of tunnels. In other words, existing mobile exploration robots cannot complete the task of exploring holes or caves distributed within the circumferential range of 0° to 360° of the tunnel cross-section. Summary of the Invention
[0004] The purpose of this invention is to provide a snake-shaped robot for tunnel boring hole exploration and its operation method, so as to solve the problems mentioned in the background art. It can adapt to the harsh environment of holes or caves distributed at all angles in the tunnel and the ground is uneven and curved, and complete the purpose of exploring holes or caves.
[0005] To address this, a tunnel boring hole detection snake robot includes a base and a control box. The base has a telescopic arm support at its upper front end, and an arm shaft seat at its upper front end. The lower end of the telescopic arm's base arm is connected to the arm shaft seat via an arm shaft. Hydraulic cylinder supports are located between the lower front end of the telescopic arm support and the lower front side of the base arm, with a variable amplitude hydraulic cylinder between the two hydraulic cylinder supports. A support body is located at the rear end of the telescopic arm support. An elastic probe feeding and receiving device is located on the middle of the front and rear sides of the upper end of the support body. A guide tube is located between and at the outer end of each elastic probe feeding and receiving device. A coiled probe storage tank and a power supply box are located in the middle of the upper end of the base. A control box is located on the base at the rear end of the coiled probe storage tank. The middle part of the elastic probe is coiled in the coiled probe storage tank. The front end of the elastic probe passes longitudinally through the telescopic arm via the elastic probe feeding and receiving device and is located outside the front end of the telescopic arm. The rear end of the elastic probe is fixed to the front end face of a reel base on the side wall of the control box. A steering device for controlling the direction of the front end of the elastic probe is located on the rear end face of the reel base. The telescopic boom is used to support and guide the elastic probe into the hole or cave. The telescopic boom camera and telescopic boom lighting are installed on the front side wall of the telescopic boom. The elastic probe is used to support and guide the detection device into holes or caves for detection. It consists of a supporting helical spring coil, guide spring coils, and a wear-resistant elastic rubber layer. The supporting helical spring coil forms an elastic skeleton that runs through the front and rear ends of the probe. One side of each of the four guide spring coils is fixed to the upper, lower, left, and right ends of the outer wall of the supporting helical spring coil. The wear-resistant elastic rubber layer covers the outer and inner walls of the supporting helical spring coil and each guide spring coil. Each guide spring coil contains a steel wire rope. The supporting helical spring coil, the steel wire ropes, and the guide spring coils run through the front and rear ends of the elastic probe. The rear end of the probe is fixed to a fixed steel pipe at the front end of the reel base on the lower side of the front wall of the control box by a clamp. The rear ends of each steel wire rope pass through the corresponding... The guide hole is wound on the reel steering device. A guide plate is provided on the front end face of the elastic probe. The front ends of the supporting spiral spring ring, each wire rope, and the guide spring ring are fixed at corresponding positions on the rear side of the guide plate. A vertical sensor is provided on the rear side of the guide plate and the inner rear side of the elastic probe. A semi-circular transparent cover is provided on the front end face of the guide plate. A circuit board is provided on the front end face of the guide plate inside the semi-circular transparent cover. A camera and a ring scan sonar are provided in the middle of the front end face of the circuit board. Lighting is provided around the camera. Fiber optic cables and power cables are respectively run through the middle of the elastic probe and their front ends pass through the hole in the guide plate to electrically connect to each vertical sensor, camera, ring scan sonar, and lighting. The rear ends of the fiber optic cables and power cables are respectively electrically connected to the power supply box on the base and the control unit, image, and signal storage and display device in the control box.
[0006] As a further description of the above technical solution: a foam rubber column is provided in the middle of the elastic probe, and a colored line marking the top of the elastic probe section when it is in a vertical state is provided on the outer wall of the elastic probe.
[0007] As a further description of the above technical solution: the elastic probe can be composed of a supporting helical spring ring, an outer supporting helical spring ring located at intervals outside the supporting helical spring ring, four guide spring rings located at the middle of the upper, lower, left, and right ends between the supporting helical spring ring and the outer supporting helical spring ring, and a wear-resistant elastic rubber layer covering the outer wall surface of the supporting helical spring ring and each guide spring ring and the inner wall surface of the supporting helical spring ring.
[0008] As a further description of the above technical solution: the feeding and receiving device of the elastic probe is provided with two supports distributed at intervals on the feeding and receiving base. The upper and lower parts of the two supports are provided with a drive shaft and a driven shaft through a bearing pair shaft. The drive shaft and the driven shaft between the two supports are respectively fixed with a drive roller and a driven roller with a grooved surface in the middle. The drive shaft and the driven shaft on one side are respectively fixed with a drive gear and a driven gear that mesh with each other. One side of the drive shaft is connected to the feeding and receiving stepper motor shaft. The feeding and receiving base is fixed on both sides of the upper end of the support body.
[0009] As a further description of the above technical solution: The control box is equipped with a control unit, which is electrically connected to each reel stepper motor, each feed and take-up stepper motor, luffing hydraulic cylinder, telescopic arm telescopic hydraulic cylinder, each vertical sensor, circumferential sonar, camera, lighting, telescopic arm camera and telescopic arm lighting on the snake robot.
[0010] As a further description of the above technical solution: the reel turning device consists of a reel base, an upper turning structure, a lower turning structure, a left turning structure, and a right turning structure. The reel base has a central hole in the middle, and guide holes are provided on the reel base at the middle of the upper, lower, left, and right ends of the central hole. The rear end face of the reel base has an upper turning structure, a lower turning structure, a left turning structure, and a right turning structure corresponding to each guide hole. A fixed steel pipe is fixed around the central hole in the middle of the front end face of the reel base. The rear end of the elastic probe is fixed to the fixed steel pipe by a clamp. The rear ends of each steel wire rope of the elastic probe pass through the corresponding guide holes on the reel base and are wound on the reels of each turning structure.
[0011] As a further description of the above technical solution: the steering structure consists of a reel stepper motor, a reel mounting bracket, and a reel. The reel mounting bracket and the reel stepper motor are fixed on the reel base. A guide hole of a corresponding part is aligned in the middle between the two reel mounting brackets. A reel is provided between the middle of the two reel mounting brackets through a bearing sub-shaft. A reel is fixed on the reel between the two reel mounting brackets. The reel on one side is connected to the shaft of the reel stepper motor.
[0012] A method for operating a snake-like robot for tunnel boring borehole detection includes the following steps: (1) Horizontally straighten the elastic probe column. In the natural vertical state of the elastic probe column section, make the colored line marking the top of the elastic probe column located at its top. Fix the rear end of the elastic probe column to the fixed steel pipe at the front end of the reel base with a clamp. The rear ends of each steel wire rope on the elastic probe column pass through the corresponding guide holes on the reel base and are wound around the corresponding reels on the corresponding upper turning structure, lower turning structure, left turning structure, and right turning structure. The middle part of the elastic probe column is wound in the reel column storage box. After the front end of the elastic probe column passes through the elastic probe column feeding and receiving devices provided on both sides of the upper end of the support body, it passes longitudinally from the bottom to the top through the telescopic arm and is located outside the top of the telescopic arm. Connect the fiber optic cable to the control unit of the power supply box. The control unit is electrically connected to each reel stepper motor, each feed and take-up stepper motor, luffing hydraulic cylinder, telescopic arm telescopic hydraulic cylinder, each vertical sensor, circumferential sonar, camera, lighting, telescopic arm camera and telescopic arm lighting on the snake robot. The power supply box at the top of the base provides power to the control unit, each reel stepper motor, each feed and take-up stepper motor, each vertical sensor, circumferential sonar, camera, lighting, telescopic arm camera and telescopic arm lighting through power cables, and provides power to the telescopic mechanism inside the telescopic arm. (2) Place the base of the detection snake robot on a trolley, a lifting platform, a scaffold in front of the hole, or the ground near the hole as needed. Start the variable amplitude hydraulic cylinder of the telescopic arm through the control unit so that the front end of the telescopic arm is aligned with the hole opening. At the same time, the control unit controls the telescopic arm to slowly extend into the hole. Start the elastic probe delivery and retraction device to drive the elastic probe and the telescopic arm to extend synchronously. The cameras and lights on the front side wall of the telescopic arm and the front end of the elastic probe are turned on to illuminate the hole. The cameras transmit the information detected in the hole back to the control unit through fiber optic cables. The control unit obtains the image and boundary information of the cave through the analysis and processing of the camera images and the sonar data. The cave is reconstructed through three-dimensional modeling to obtain the shape and structure information of the cave. (3) Hole detection snake robot’s operation inside holes, including straight movement, turning, and pitching up and down; The snake-like robot moves in a straight line. The control unit controls the telescopic arm and the elastic probe to extend synchronously inside the cave. After the telescopic arm extends to its maximum length, the control unit controls the telescopic arm to stop running. At the same time, the elastic probe delivery and retrieval device continues to start, so that the elastic probe continues to move forward along the inside of the telescopic arm. The camera and lighting at the front end of the moving elastic probe complete the cave exploration. When the snake-like robot needs to turn right, the telescopic arm extends to 1.5m from the front of the right-turn entrance inside the tunnel. The control unit stops the telescopic arm and simultaneously activates the elastic probe delivery and retrieval device, extending the elastic probe to the right-turn entrance. Simultaneously, the control unit starts the synchronous motor in the right-turn mechanism of the reel steering device, causing the reel in the right-turn mechanism to rotate. This reel tightens the steel cable fixed within the right-end guide spring coil, and the tightened right-end steel cable pulls the elastic... The guide disc inside the probe simultaneously applies force to the right side of the elastic probe, causing the front end of the elastic probe extending from the telescopic arm to turn to the right and align with the right-turn opening. The control unit adjusts and loosens the steel wire rope in the guide spring coil on the right end of the reel according to the status signal of the elastic probe front end, so that the elastic probe is close to the side wall of the right-turn opening. Under the action of the elastic probe delivery and retrieval device, the front end of the elastic probe enters the right-turn opening. The camera and lighting at the front end of the forward-moving elastic probe complete the exploration inside the tunnel. Similarly, the snake robot can turn to the left. The snake-like robot can tilt upwards or downwards. When tilting upwards, the front end of the telescopic arm extends to 1.5m in front of the obstacle inside the tunnel. The control unit stops the telescopic arm and simultaneously activates the elastic probe delivery and retrieval device, extending the front end of the elastic probe to 1m from the front wall of the obstacle inside the tunnel. Simultaneously, the control unit activates the synchronous motor in the upper steering structure of the reel steering device, causing the reel in the upper steering structure to rotate. This reel tightens the steel cable fixed to it within the upper guide spring coil. The tightened upper steel cable pulls the upper end of the guide disc inside the elastic probe, simultaneously causing the elastic probe... When the upper side of the column is subjected to force, the front end of the elastic probe extending from the telescopic arm is lifted upward and placed against the front wall of the obstacle inside the tunnel. The control unit adjusts and loosens the steel wire rope in the upper guide spring ring on the reel according to the status signal of the elastic probe front end, so that the elastic probe is against the front wall of the obstacle inside the tunnel. Under the action of the elastic probe delivery and retrieval device, the front end of the elastic probe rises to the top of the obstacle inside the tunnel. The same operation is then performed to make the front end of the elastic probe climb over the top of the obstacle inside the tunnel and move forward. The camera and light at the front end of the moving elastic probe complete the tunnel exploration. Similarly, the snake robot can descend into the tunnel. (4) The return of the hole exploration snake robot: After the snake robot completes the hole exploration task, the control unit controls the telescopic arm to retract and at the same time starts the elastic probe delivery and retrieval device to reverse and drive the elastic probe and telescopic arm to retract synchronously and be stored in the plate column storage box, thus completing the return of the snake robot.
[0013] As a further description of the above technical solution: when the snake robot tilts downwards or explores holes located at the bottom of the tunnel, it can rely solely on the elastic probe.
[0014] As a further description of the above technical solution: the snake robot's pitching up, tilting down, turning left, and turning right can be alternated as needed during one stroke.
[0015] The present invention has the following beneficial effects: 1. This invention solves the problem that existing tracked and wheeled robots, which are driven by tracks, cannot adapt to the harsh environment of uneven ground in holes or caves, and are even less able to complete the circumferential 0-degree rotation of tunnel cross-sections. o ~360 o This invention is designed for the exploration of holes or caves distributed within a certain area. It uses an elastic probe combined with a telescopic arm as the robot's operating unit inside the cave. The elastic probe delivery and retrieval device and the telescopic force within the telescopic arm serve as the robot's driving force. Combined with the elastic bending and straightening function of the elastic probe and the reel steering device, the robot can move, turn, and overcome obstacles effectively within the central space of the cave without contacting the cave floor. This allows it to operate in harsh environments with uneven cave floors and to explore the circumferential tunnel sections. o ~360 o This invention allows for the exploration of holes or caves distributed within a certain range. Its detection range extends to holes within an 80m radius of the tunnel, adapting to harsh environments with uneven ground and accommodating holes at any angle, thus achieving the purpose of exploring holes or caves.
[0016] 2. The present invention has a simple structure and a manufacturing cost that is about 70% lower than that of traditional robots. The process of the present invention is simple and easy to master. The present invention has a good effect and has the advantages of saving labor and effort, being simple, efficient and practical. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 A schematic diagram of the AA cross-sectional structure in the diagram; Figure 3 This is a schematic diagram of the structure of the elastic probe of the present invention; Figure 4 This is a schematic diagram of the front end structure of the elastic probe of the present invention; Figure 5 This is another structural schematic diagram of the elastic probe of the present invention; Figure 6 for Figure 1 Schematic diagram of the BB cross-sectional structure in the middle; Figure 7 This is a schematic diagram of the reel steering device of the present invention; Figure 8 for Figure 1 Schematic diagram of the CC cross-section structure in the image; Figure 9 This is a schematic diagram of the time-probing structure of the inner hole located at the top of the tunnel according to the present invention. Detailed Implementation
[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. To facilitate understanding of the technical means, creative features, and achieved objectives and effects of the present invention, the present invention will be further elaborated below with reference to specific embodiments. However, the following embodiments are merely preferred embodiments of the present invention and not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments without creative effort are all within the protection scope of the present invention. Unless otherwise specified, the construction methods in the following embodiments are conventional methods. Unless otherwise specified, the materials, devices, equipment, etc., used in the following embodiments can be obtained commercially.
[0019] Example 1: As Figure 1 As shown, a snake-like robot for tunnel boring and borehole exploration includes a base 1 and a control box 24. A telescopic arm support 27 is provided at the front upper part of the base 1. An arm shaft seat 93 is provided at the front upper part of the telescopic arm support 27. The lower end of the base arm 9 is connected to the arm shaft seat 93 via a base arm shaft 90. Hydraulic cylinder supports 92 are respectively provided between the lower front end of the telescopic arm support 27 and the lower front side of the base arm. A variable amplitude hydraulic cylinder 91 is provided between the two hydraulic cylinder supports 92. A support body 5 is provided at the rear end of the telescopic arm support. An elastic probe feeding and receiving device 8 is provided at the middle of the front and rear sides of the upper end of the support body 5. A guide tube 7 is provided between each elastic probe feeding and receiving device 8 and at its outer end. The elastic probe 6 passes through the guide tube 7, which guides the elastic probe. A coiled probe storage tank 3 and a power supply box 4 are provided at the middle upper part of the base. The coiled probe storage tank 3 is used to coil and store the elastic probe, and the power supply box 4 is used to provide power to the snake-like robot.
[0020] A control box 2 is provided on the base at the rear end of the column storage tank. The middle part of the elastic probe 6 is stored in the column storage tank. The front end of the elastic probe passes through the telescopic arm longitudinally from the bottom through the elastic probe feeding and receiving device 8 and is located outside the front end of the telescopic arm (i.e. outside the front end of the four-section arm 96). The rear end of the elastic probe 6 is fixed on the front end surface of the reel base 20 on the side wall of the control box. A steering device for controlling the front end of the elastic probe 6 is provided on the rear end surface of the reel base.
[0021] The telescopic boom 9 is used to support and guide the elastic probe into the hole or cave. The front side wall of the telescopic boom 9 is equipped with a telescopic boom camera 97 and a telescopic boom light to illuminate and collect the status of the front end of the telescopic boom 9 in the cave. The telescopic structure of the telescopic boom is the same as that of a traditional crane telescopic structure, which includes a telescopic cylinder, a telescopic wire rope row and pulleys. The telescopic boom consists of a base boom 90, a two-section boom 94 located in the base boom, a three-section boom 95 located in the two-section boom 94, and a four-section boom 96 located in the three-section boom 95. Since the telescopic boom is used to support and guide the elastic probe into the hole or cave, its load-bearing capacity is limited. The average inner diameter of the telescopic boom is 15-20 cm, and the extension distance is 40-50 m.
[0022] like Figure 6 As shown, the delivery and receiving device 8 for the elastic probe consists of: a delivery and receiving base 88 with two supports 81 spaced apart; a drive shaft 85 and a driven shaft 86 are mounted on the upper and lower parts of the two supports 81 via a bearing pair 84; a drive roller 82 and a driven roller 87 with a grooved center are fixed to the drive shaft and driven shaft between the two supports, respectively; a drive gear 83 and a driven gear 89 meshing with each other are fixed to the drive shaft and driven shaft on one side, respectively; one side of the drive shaft is connected to the delivery and receiving stepper motor 80; and the delivery and receiving base is fixed to both sides of the upper end of the support body 5. In use, the elastic probe 6 is located between the drive roller and the driven roller within the guide cylinder 7. The stepper motor, according to the control unit's instructions, moves according to the required speed of the telescopic arm and the elastic probe, driving the drive and driven gears to rotate in both directions, thus completing the delivery and receiving of the elastic probe.
[0023] like Figures 2 to 5As shown, the elastic probe 6 is used to support and guide the detection device into the hole or cave for detection. The elastic probe 6 is composed of a supporting spiral spring coil 63, guide spring coils 11, and a wear-resistant elastic rubber layer 62. The supporting spiral spring coil 63 is an elastic skeleton that runs through the front and rear ends of the elastic probe 6. One side of each of the four guide spring coils 11 is respectively attached to the middle of the upper, lower, left, and right ends of the outer wall of the supporting spiral spring coil. The wear-resistant elastic rubber layer 62 covers the outer wall surface of the supporting spiral spring coil and each guide spring coil, as well as the inner wall surface of the supporting spiral spring coil. Each guide spring coil has a steel wire rope 10 threaded inside it. The upper, lower, left, and right guide spring coils and the steel wire ropes 10 inside them constitute the upper conduction structure 65, the lower conduction structure 64, the left conduction structure 67, and the right conduction structure 66. Each conduction structure is used to transmit the traction force of the steel wire rope, causing the elastic probe to bend and turn towards the end of the force transmission steel wire rope. The supporting helical spring coil, each wire rope, and the guide spring coil pass through the front and rear ends of the elastic probe column. The rear end of the elastic probe column is fixed to the fixed steel pipe 25 at the front end of the reel base 20 on the lower part of the front side wall of the control box 2 by clamping clips 25 and clamping bolts inserted in clamping bolt holes 26. The rear ends of each wire rope pass through the corresponding guide holes 22 on the reel base and are wound on the reel steering device. A guide plate 17 is provided on the front end face of the elastic probe column. The front ends of the supporting helical spring coil 63, each wire rope 10, and the guide spring coil 11 are fixed at corresponding positions on the rear side of the guide plate 17. A vertical sensor 16 is provided on the rear side of the guide plate and the inner rear side of the elastic probe column to display the vertical status of the elastic probe column.
[0024] A semi-circular transparent cover 15 is provided on the front face of the guide plate at the front end of the elastic probe 61. A circuit board is provided on the front face of the guide plate inside the semi-circular transparent cover 15. A camera 14 and a ring-scan sonar 12 are provided in the middle of the front face of the circuit board. An illumination lamp 13 is provided around the camera. Fiber optic cable 68 and power cable 69 are respectively passed through the middle of the elastic probe and their front ends pass through the hole in the guide plate to electrically connect to each vertical sensor, camera, ring-scan sonar and illumination lamp. The rear ends of the fiber optic cable and power cable are respectively electrically connected to the power supply box on the base and the control unit, image and signal storage and display device in the control box.
[0025] A foam rubber column 60 can be installed in the middle of the elastic probe to increase the straightness and elasticity of the elastic probe. A colored line 610 indicating the top of the elastic probe section when it is in a vertical state is provided on the outer wall of the elastic probe.
[0026] The control box 2 contains a control unit 24, which is electrically connected to each reel stepper motor, each feed and take-up stepper motor, luffing hydraulic cylinder, telescopic arm telescopic hydraulic cylinder, each vertical sensor, circumferential sonar, camera, lighting, telescopic arm camera and telescopic arm lighting on the snake robot.
[0027] like Figure 7 and Figure 8 As shown, the reel steering device consists of a reel base 20, an upper steering structure, a lower steering structure, a left steering structure, and a right steering structure. The upper steering structure corresponds to the upper transmission structure 65 on the elastic probe, the lower steering structure corresponds to the lower transmission structure 64 on the elastic probe, the left steering structure corresponds to the left transmission structure 67 on the elastic probe, and the right steering structure corresponds to the right transmission structure 66 on the elastic probe. Each steering structure consists of a reel stepper motor 21, a reel fixing frame 18, and a reel 19. The reel fixing frame 18 and the reel stepper motor 21 are fixed on the reel base 20. A guide hole 22 is aligned in the middle between the two reel fixing frames. A reel is provided between the two reel fixing frames through a bearing shaft. A reel 19 is fixed to the reel between the two reel fixing frames. One side of the reel is connected to the shaft of the reel stepper motor 21. The reel base has a central hole in the middle. Guide holes 22 are provided on the reel base at the upper, lower, left and right ends of the central hole. The rear end face of the reel base is provided with an upper turning structure, a lower turning structure, a left turning structure and a right turning structure corresponding to each guide hole. A fixed steel pipe 23 is fixed around the central hole in the middle of the front end face of the reel base. The rear end of the elastic probe 6 is fixed to the fixed steel pipe by a clamp 25. The rear ends of each steel wire rope of the elastic probe pass through the corresponding guide holes 22 on the reel base and are wound on each reel of each turning structure.
[0028] In use, if it is necessary to turn the front end of the elastic probe upward, downward, left, or right, the control unit starts the reel stepper motor on the steering structure at the steering end to drive the reel to rotate, so that the rear end of the steel wire rope at the steering end is wound on the reel, tightening the steel wire rope at the steering end inside the elastic probe. Since the elastic probe located inside the telescopic arm is restricted by the telescopic arm and cannot bend, the elastic probe extending outside the front end of the telescopic arm is driven by the contraction force of the steel wire rope at the steering end, thus causing the front end of the elastic probe to bend and turn towards the steering end.
[0029] like Figure 9 As shown, Figure 9 The image shows a snake-like robot probing inside a hole located at the top of a tunnel. A method for operating a snake-like robot for hole probing in tunnel excavation includes the following steps: (1) Horizontally straighten the elastic probe column. With the cross-section of the elastic probe column naturally vertical, make the colored line marking the top of the elastic probe column 6 located at its top. Fix the rear end of the elastic probe column to the fixed steel pipe 23 at the front end of the reel base through two clamps and fixing bolts inserted in the clamp bolt holes. The rear ends of each steel wire rope on the elastic probe column pass through the corresponding guide holes 22 on the reel base and are wound onto the corresponding reels 19 on the corresponding upper steering structure, lower steering structure, left steering structure, and right steering structure. The middle part of the elastic probe column is wound inside the reel column storage box. After the front end of the elastic probe column passes through the elastic probe column feeding and receiving devices provided on both sides of the upper end of the support body, it passes longitudinally from the bottom to the top through the telescopic arm and is located outside the top of the telescopic arm.
[0030] Connect the fiber optic cable to the control unit of the power supply box. The control unit is electrically connected to each reel stepper motor 21, each feed and take-up stepper motor 80, each vertical sensor 16, the ring scan sonar 12, the camera 14, the lighting 13, the telescopic arm camera, and the telescopic arm lighting on the snake robot. The power supply box at the top of the base provides power to the control unit, each reel stepper motor, each feed and take-up stepper motor, each vertical sensor, the ring scan sonar, the camera, the lighting, the telescopic arm camera, and the telescopic arm lighting through power cables, and provides power to the telescopic mechanism inside the telescopic arm.
[0031] (2) The base of the snake-like robot is placed on a trolley, a lifting platform, a scaffold in front of the hole, or on the ground near the hole, as needed. The control unit activates the variable-amplitude hydraulic cylinder 91 of the telescopic arm 9 to align the front end of the telescopic arm with the hole opening. At the same time, the control unit controls the telescopic arm to slowly extend into the hole, and activates the elastic probe delivery and retrieval device to drive the elastic probe 6 to extend synchronously with the telescopic arm. Obviously, the telescopic arm and the elastic probe move forward in the middle space of the hole, avoiding uneven ground, and the lower end of the telescopic arm can also be supported on the top of the high convex surface protruding from the ground. The camera, lighting, telescopic arm camera, and telescopic arm lighting installed on the front side wall of the telescopic arm and the front end of the elastic probe are turned on to illuminate the hole. Each camera transmits the detected information of the hole back to the control unit through fiber optic cables. The control unit obtains the image and boundary information of the cave by analyzing and processing the camera images and the sonar data. The cave is reconstructed through three-dimensional modeling to obtain the shape and structure information of the cave.
[0032] (3) When the telescopic arm reaches its telescopic limit or the hole turns, the control unit stops the telescopic arm from running. The control unit of the hole detection snake robot controls the elastic probe to run in the hole, including the elastic probe running in a straight line, turning, and tilting up and down. The snake-like robot moves in a straight line. The control unit controls the telescopic arm and the elastic probe to extend synchronously inside the cave. After the telescopic arm extends to its maximum length, the control unit controls the telescopic arm to stop running. At the same time, the elastic probe delivery and retrieval device continues to start, so that the elastic probe continues to move forward along the inside of the telescopic arm. The camera and lighting at the front end of the moving elastic probe complete the cave exploration. When the snake-like robot needs to turn right, the telescopic arm extends to 1.5m from the front of the right-turn entrance inside the tunnel. The control unit stops the telescopic arm and simultaneously activates the elastic probe delivery and retrieval device. The elastic probe extends within the telescopic arm until its front end reaches the right-turn entrance. Simultaneously, the control unit activates the synchronous motor in the right-turn mechanism of the reel steering device, causing the reel to rotate. This reel tightens the steel cable fixed within the right-end guide spring coil. The tightened right-end steel cable pulls the right end of the guide disc inside the elastic probe... Simultaneously, the right side of the elastic probe is subjected to force. Due to the restriction of the elastic probe located inside the telescopic arm, the force on the right side of the elastic probe can only cause the front end of the elastic probe extending out of the telescopic arm to turn to the right and align into the right-turn opening. The control unit adjusts and loosens the steel wire rope in the guide spring ring on the right end of the reel according to the status signal of the front end of the elastic probe, so that the elastic probe is close to the side wall of the right-turn opening. Under the action of the elastic probe delivery and retrieval device, the front end of the elastic probe enters the right-turn opening and moves forward. The camera and lighting at the front end of the forward-moving elastic probe complete the exploration inside the opening. Similarly, the snake robot can turn to the left.
[0033] The snake-like robot can tilt upwards or downwards. When tilting upwards, the front end of the telescopic arm extends to 1.5m in front of the obstacle inside the tunnel. The control unit stops the telescopic arm and simultaneously activates the elastic probe delivery and retrieval device, extending the front end of the elastic probe to 1m from the front wall of the obstacle inside the tunnel. Simultaneously, the control unit activates the synchronous motor in the upper steering structure of the reel steering device, causing the reel in the upper steering structure to rotate. This reel tightens the steel cable fixed to it within the upper guide spring coil. The tightened upper steel cable pulls the upper end of the guide disc inside the elastic probe, simultaneously causing the elastic probe... When the upper side of the column is subjected to force, the front end of the elastic probe extending from the telescopic arm is lifted upward and placed against the front wall of the obstacle inside the tunnel. The control unit adjusts and loosens the steel wire rope in the upper guide spring ring on the reel according to the status signal of the elastic probe front end, so that the elastic probe is placed against the front wall of the obstacle inside the tunnel. Under the action of the elastic probe delivery and retrieval device, the front end of the elastic probe rises to the top of the obstacle inside the tunnel. The same operation is then performed to make the front end of the elastic probe climb over the top of the obstacle inside the tunnel and move forward. The camera and light at the front end of the moving elastic probe complete the tunnel exploration. Similarly, the snake robot can descend into the tunnel.
[0034] When the snake-like robot is tilting downwards or exploring holes located at the bottom of a tunnel, it can be done using only an elastic probe.
[0035] The snake-like robot can alternate between tilting up, tilting down, turning left, and turning right within a single stroke. For example, after the elastic probe turns right into a right-facing hole, the forward-moving elastic probe moves along the left side wall of the hole and is limited in its movement. If a left turn is needed after the elastic probe has moved forward in the right-facing hole, the steel cable located in the guide spring coil at the left end is tightened, causing the front end of the elastic probe to turn left. The elastic probe in the right-facing hole is then restricted by the inner side wall of the right-facing hole and will not bend or coil.
[0036] (4) The return of the hole exploration snake robot: After the snake robot completes the hole exploration task, the control unit controls the telescopic arm to retract and at the same time starts the elastic probe delivery and retrieval device to reverse and drive the elastic probe and telescopic arm to retract synchronously and be stored in the plate column storage box, thus completing the return of the snake robot.
[0037] Example 2 differs from Example 1 in that: Figure 5 As shown, the elastic probe is composed of a supporting helical spring coil, an outer supporting helical spring coil spaced apart outside the supporting helical spring coil, four guide spring coils located at the middle of the upper, lower, left, and right ends between the supporting helical spring coil and the outer supporting helical spring coil, and a wear-resistant elastic rubber layer covering the outer wall surface of the supporting helical spring coil and each guide spring coil, as well as the inner wall surface of the supporting helical spring coil, to increase the restoring elasticity of the elastic probe. The diameter of the elastic probe is 4-6 cm. The rest is the same as in Example 1, so it will not be described again.
[0038] The simulation experiment comparison data of the snake robot and the traditional robot in the embodiments of the present invention are as follows: (1). Test method: Under the same conditions, the simulation experimental comparison data are as follows: Table 1:
[0039] Table 1 shows that all indicators of the present invention are superior to those of traditional cave exploration robots. The manufacturing cost of the present invention is only about 30% of that of traditional cave exploration robots, and it is not limited by the angle of hole distribution. Since the present invention mainly operates in the central part of the cave, it is not limited by the complex geological conditions and uneven ground inside the cave. It can explore holes or caves distributed in the circumferential range of 0° to 360° of the tunnel cross section. It can meet the requirements of adapting to the harsh environment of uneven ground inside the hole and the hole orientation at any angle, so as to complete the purpose of exploring holes or caves. The present invention also has the advantages of simple structure and strong practicality.
[0040] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A snake-like robot for tunnel boring and borehole exploration, comprising a base and a control box, characterized in that: The base has a telescopic arm support at the front upper end, and an arm shaft seat at the front upper end of the telescopic arm support. The lower end of the telescopic arm base is connected to the arm shaft seat via an arm shaft. Hydraulic cylinder supports are provided between the lower front end of the telescopic arm support and the lower front end of the base arm. A luffing hydraulic cylinder is provided between the two hydraulic cylinder supports. A support body is provided at the rear end of the telescopic arm support. An elastic probe feeding and receiving device is provided at the middle of the front and rear sides of the upper end of the support body. A guide tube is provided between and at the outer end of each elastic probe feeding and receiving device. A coil storage tank and a power supply box are provided at the middle upper end of the base. A control box is provided on the base at the rear end of the coil storage tank. The middle part of the elastic probe is coiled in the coil storage tank. The front end of the elastic probe passes longitudinally through the telescopic arm via the elastic probe feeding and receiving device and is located outside the front end of the telescopic arm. The rear end of the elastic probe is fixed to the front end face of the reel base on the side wall of the control box. A steering device for controlling the direction of the front end of the elastic probe is provided on the rear end face of the reel base. The telescopic boom is used to support and guide the elastic probe into the hole or cave. The telescopic boom camera and telescopic boom lighting are installed on the front side wall of the telescopic boom. The elastic probe is used to support and guide the detection device into holes or caves for detection. It consists of a supporting helical spring coil, guide spring coils, and a wear-resistant elastic rubber layer. The supporting helical spring coil forms an elastic skeleton that runs through the front and rear ends of the probe. One side of each of the four guide spring coils is fixed to the upper, lower, left, and right ends of the outer wall of the supporting helical spring coil. The wear-resistant elastic rubber layer covers the outer and inner walls of the supporting helical spring coil and each guide spring coil. Each guide spring coil contains a steel wire rope. The supporting helical spring coil, the steel wire ropes, and the guide spring coils run through the front and rear ends of the elastic probe. The rear end of the probe is fixed to a fixed steel pipe at the front end of the reel base on the lower side of the front wall of the control box by a clamp. The rear ends of each steel wire rope pass through the corresponding... The guide hole is wound on the reel steering device. A guide plate is provided on the front end face of the elastic probe. The front ends of the supporting spiral spring ring, each wire rope, and the guide spring ring are fixed at corresponding positions on the rear side of the guide plate. A vertical sensor is provided on the rear side of the guide plate and the inner rear side of the elastic probe. A semi-circular transparent cover is provided on the front end face of the guide plate. A circuit board is provided on the front end face of the guide plate inside the semi-circular transparent cover. A camera and a ring scan sonar are provided in the middle of the front end face of the circuit board. Lighting is provided around the camera. Fiber optic cables and power cables are respectively run through the middle of the elastic probe and their front ends pass through the hole in the guide plate to electrically connect to each vertical sensor, camera, ring scan sonar, and lighting. The rear ends of the fiber optic cables and power cables are respectively electrically connected to the power supply box on the base and the control unit, image, and signal storage and display device in the control box.
2. The snake-like robot for tunnel boring and hole exploration according to claim 1, characterized in that: The elastic probe has a foam rubber column in the middle, and a colored line marking the top of the probe when the cross-section is in a vertical state is provided on the outer wall of the elastic probe.
3. The snake-like robot for tunnel boring and hole detection according to claim 1, characterized in that: The elastic probe is composed of a supporting helical spring coil, an outer supporting helical spring coil spaced apart outside the supporting helical spring coil, four guide spring coils located at the middle of the upper, lower, left, and right ends between the supporting helical spring coil and the outer supporting helical spring coil, and a wear-resistant elastic rubber layer covering the outer wall surface of the supporting helical spring coil and each guide spring coil, and the inner wall surface of the supporting helical spring coil.
4. The snake-like robot for tunnel boring and hole detection according to claim 1, characterized in that: The aforementioned elastic probe feeding and receiving device consists of two supports spaced apart on the feeding and receiving base. The upper and lower parts of the two supports are equipped with a drive shaft and a driven shaft via a bearing pair shaft. The drive shaft and driven shaft between the two supports are respectively fixed with a drive roller and a driven roller with a grooved surface in the middle. The drive shaft and driven shaft on one side are respectively fixed with a drive gear and a driven gear that mesh with each other. One side of the drive shaft is connected to the feeding and receiving stepper motor shaft. The feeding and receiving base is fixed on both sides of the upper end of the support body.
5. The snake-like robot for tunnel boring and hole detection according to claim 1, characterized in that: The control box contains a control unit, which is electrically connected to each reel stepper motor, each feed and take-up stepper motor, luffing hydraulic cylinder, telescopic arm telescopic hydraulic cylinder, each vertical sensor, circumferential sonar, camera, lighting, telescopic arm camera, and telescopic arm lighting on the snake robot.
6. The snake-like robot for tunnel boring and hole exploration according to claim 1, characterized in that: The reel steering device consists of a reel base, an upper steering structure, a lower steering structure, a left steering structure, and a right steering structure. The reel base has a central hole in the middle, and guide holes are provided on the reel base at the middle of the upper, lower, left, and right ends of the central hole. The rear end face of the reel base has an upper steering structure, a lower steering structure, a left steering structure, and a right steering structure corresponding to each guide hole. A fixed steel pipe is fixed around the central hole in the middle of the front end face of the reel base. The rear end of the elastic probe is fixed to the fixed steel pipe by a clamp. The rear ends of each steel wire rope of the elastic probe pass through the corresponding guide holes on the reel base and are wound on the reels of each steering structure.
7. A snake-like robot for tunnel boring and hole exploration according to claim 6, characterized in that: The steering structure consists of a reel stepper motor, a reel mounting bracket, and a reel. The reel mounting bracket and the reel stepper motor are fixed on the reel base. A guide hole is aligned with the middle of the two reel mounting brackets. A reel is provided between the middle of the two reel mounting brackets through a bearing shaft. A reel is fixed to the reel between the two reel mounting brackets. The reel on one side is connected to the shaft of the reel stepper motor.
8. A method for operating a snake-like robot for tunnel boring hole detection, characterized in that, Includes the following steps: (1) Horizontally straighten the elastic probe column. In the natural vertical state of the elastic probe column section, make the colored line marking the top of the elastic probe column located at its top. Fix the rear end of the elastic probe column to the fixed steel pipe at the front end of the reel base with a clamp. The rear ends of each steel wire rope on the elastic probe column pass through the corresponding guide holes on the reel base and are wound around the corresponding reels on the corresponding upper turning structure, lower turning structure, left turning structure, and right turning structure. The middle part of the elastic probe column is wound in the reel column storage box. After the front end of the elastic probe column passes through the elastic probe column feeding and receiving devices provided on both sides of the upper end of the support body, it passes longitudinally from the bottom to the top through the telescopic arm and is located outside the top of the telescopic arm. Connect the fiber optic cable to the control unit of the power supply box. The control unit is electrically connected to each reel stepper motor, each feed and take-up stepper motor, luffing hydraulic cylinder, telescopic arm telescopic hydraulic cylinder, each vertical sensor, circumferential sonar, camera, lighting, telescopic arm camera and telescopic arm lighting on the snake robot. The power supply box at the top of the base provides power to the control unit, each reel stepper motor, each feed and take-up stepper motor, each vertical sensor, circumferential sonar, camera, lighting, telescopic arm camera and telescopic arm lighting through power cables, and provides power to the telescopic mechanism inside the telescopic arm. (2) Place the base of the detection snake robot on a trolley, a lifting platform, a scaffold in front of the hole, or the ground near the hole as needed. Start the variable amplitude hydraulic cylinder of the telescopic arm through the control unit so that the front end of the telescopic arm is aligned with the hole opening. At the same time, the control unit controls the telescopic arm to slowly extend into the hole. Start the elastic probe delivery and retraction device to drive the elastic probe and the telescopic arm to extend synchronously. The cameras and lights on the front side wall of the telescopic arm and the front end of the elastic probe are turned on to illuminate the hole. The cameras transmit the information detected in the hole back to the control unit through fiber optic cables. The control unit obtains the image and boundary information of the cave through the analysis and processing of the camera images and the sonar data. The cave is reconstructed through three-dimensional modeling to obtain the shape and structure information of the cave. (3) Hole detection snake robot’s operation inside holes, including straight movement, turning, and pitching up and down; The snake-like robot moves in a straight line. The control unit controls the telescopic arm and the elastic probe to extend synchronously inside the cave. After the telescopic arm extends to its maximum length, the control unit controls the telescopic arm to stop running. At the same time, the elastic probe delivery and retrieval device continues to start, so that the elastic probe continues to move forward along the inside of the telescopic arm. The camera and lighting at the front end of the moving elastic probe complete the cave exploration. When the snake-like robot needs to turn right, the telescopic arm extends to 1.5m from the front of the right-turn entrance inside the tunnel. The control unit stops the telescopic arm and simultaneously activates the elastic probe delivery and retrieval device, extending the elastic probe to the right-turn entrance. Simultaneously, the control unit starts the synchronous motor in the right-turn mechanism of the reel steering device, causing the reel in the right-turn mechanism to rotate. This reel tightens the steel cable fixed within the right-end guide spring coil, and the tightened right-end steel cable pulls the elastic... The guide disc inside the probe simultaneously applies force to the right side of the elastic probe, causing the front end of the elastic probe extending from the telescopic arm to turn to the right and align with the right-turn opening. The control unit adjusts and loosens the steel wire rope in the guide spring coil on the right end of the reel according to the status signal of the elastic probe front end, so that the elastic probe is close to the side wall of the right-turn opening. Under the action of the elastic probe delivery and retrieval device, the front end of the elastic probe enters the right-turn opening. The camera and lighting at the front end of the forward-moving elastic probe complete the exploration inside the tunnel. Similarly, the snake robot can turn to the left. The snake-like robot can tilt upwards or downwards. When tilting upwards, the front end of the telescopic arm extends to 1.5m in front of the obstacle inside the tunnel. The control unit stops the telescopic arm and simultaneously activates the elastic probe delivery and retrieval device, extending the front end of the elastic probe to 1m from the front wall of the obstacle inside the tunnel. Simultaneously, the control unit activates the synchronous motor in the upper steering structure of the reel steering device, causing the reel in the upper steering structure to rotate. This reel tightens the steel cable fixed to it within the upper guide spring coil. The tightened upper steel cable pulls the upper end of the guide disc inside the elastic probe, simultaneously causing the elastic probe... When the upper side of the column is subjected to force, the front end of the elastic probe extending from the telescopic arm is lifted upward and placed against the front wall of the obstacle inside the tunnel. The control unit adjusts and loosens the steel wire rope in the upper guide spring ring on the reel according to the status signal of the elastic probe front end, so that the elastic probe is against the front wall of the obstacle inside the tunnel. Under the action of the elastic probe delivery and retrieval device, the front end of the elastic probe rises to the top of the obstacle inside the tunnel. The same operation is then performed to make the front end of the elastic probe climb over the top of the obstacle inside the tunnel and move forward. The camera and light at the front end of the moving elastic probe complete the tunnel exploration. Similarly, the snake robot can descend into the tunnel. (4) The return of the hole exploration snake robot: After the snake robot completes the hole exploration task, the control unit controls the telescopic arm to retract and at the same time starts the elastic probe delivery and retrieval device to reverse and drive the elastic probe and telescopic arm to retract synchronously and be stored in the plate column storage box, thus completing the return of the snake robot.
9. The method according to claim 8, characterized in that: When the snake-like robot tilts downwards or explores holes located at the bottom of the tunnel, it can rely solely on the elastic probe.
10. The method according to claim 8, characterized in that: The snake-like robot can alternate between tilting up, tilting down, turning left, and turning right during a single stroke.