Tunnel construction monitoring and measuring work robot

Abstract

The application provides a tunnel construction monitoring and measuring work mechanical arm, which comprises a mechanical arm body, a connecting base at the bottom of the mechanical arm body for fixing on a vehicle body, a connecting end head at the upper end of the mechanical arm body for connecting a drilling device or a detection device, the detection device being a rod-shaped structure, one end of the detection device being a connecting head for being connected and fixed with the connecting end head, the other end of the detection device being an anchor rod connecting head, a tension detection sensor for measuring the axial tension of the detection device and a distance sensor for measuring the exposed length of the anchor rod being further fixed on the detection device. The application solves the problems of high labor intensity and large consumption of manpower and material resources in the existing tunnel monitoring and measuring work and belongs to the field of tunnel construction detection.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of tunnel construction monitoring measurement work mechanical arm, belong to tunnel construction technical field. BACKGROUND

[0002] In the construction process of tunnel, the subsidence of tunnel top needs to be measured, and the shrinkage of tunnel section also needs to be measured, before testing, measuring point needs to be arranged at specific position of tunnel section, and punching operation is also needed, and the length of anchor rod punched into each position of tunnel section also needs to be measured, currently, these works need to be completed manually, with great labor intensity, and consume a lot of manpower and material resources. SUMMARY

[0003] The present application provides a kind of tunnel construction monitoring measurement work mechanical arm, to solve the problem of great labor intensity in the existing tunnel monitoring measurement work, and consume a lot of manpower and material resources.

[0004] To achieve the above-mentioned purpose, a kind of tunnel construction monitoring measurement work mechanical arm is adopted, including mechanical arm body, the bottom of mechanical arm body has a connecting base for fixing on vehicle body, the upper end of mechanical arm body has a connecting end head for connecting drilling device or detection device, detection device is rod-shaped structure, one end of detection device is a connecting head for connecting and fixing with connecting end head, the other end of detection device is anchor rod connecting head, tension detection sensor for measuring axial tension of detection device and distance sensor for measuring exposed length of anchor rod are also fixed on detection device.

[0005] In the aforementioned monitoring measurement work mechanical arm, tension detection sensor is connected to the middle part of detection device.

[0006] In the aforementioned monitoring measurement work mechanical arm, anchor rod connecting head is provided with a rod hole for inserting tail end of anchor rod along the length direction of detection device, distance sensor is fixed on the outer surface of detection device, distance sensor is infrared distance sensor, the probe of distance sensor points to one end of anchor rod connecting head along the axial direction of detection device, and the probe of distance sensor is flush with the bottom of rod hole along the radial direction of detection device.

[0007] Compared with the prior art, after connecting drilling device, the present application can conveniently and quickly realize the punching operation of measuring point in tunnel, and after replacing drilling device with detection device, the anchor rod pulling force and length of measuring point can also be effectively and quickly measured, which can greatly reduce the working intensity of detection personnel, improve work efficiency, reduce detection error rate, and is suitable for popularization and application. BRIEF DESCRIPTION OF DRAWINGS

[0008] Fig. 1 It is the structure diagram of connecting drilling device of the present application;

[0009] Fig. 2 This is a schematic diagram of the structure of the detection device of the present invention;

[0010] Fig. 3 This is a schematic diagram of the detection device. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0012] Example

[0013] See attached document Figs. 1-3 This embodiment provides a tunnel construction monitoring and measurement robotic arm, including a robotic arm body 1. The bottom of the robotic arm body 1 has a connecting base 11 for fixing to a vehicle body. The connecting base 11 can be fixedly connected to the steel plate inside the bed of the rail vehicle in the tunnel by means of threaded connection and is detachable. Alternatively, it can be fixed to the vehicle body by welding to achieve a non-detachable fixed connection. The upper end of the robotic arm body 1 has a connecting end 12 for connecting a drill 2 or a detection device 3. The connection method can be a threaded connection method with a screw and a corresponding screw hole. For example, the connecting end 12 has a threaded hole, and the drill 2 or the detection device 3 has a corresponding matching threaded rod end to achieve threaded connection and fixation, and it is detachable. The detection device 3 has a rod-shaped structure. One end of the detection device 3 is a connecting head 31 for connecting and fixing to the connecting end 12, and the other end of the detection device 3 is an anchor bolt connecting head 32. The detection device 3 is also fixed with a tension detection sensor 33 for measuring the axial tension of the detection device 3 and a distance sensor 34 for measuring the exposed length of the anchor bolt.

[0014] The detection device 3 is cut off in the middle and threads are machined at both ends of the cut-off point. The tension detection sensor 33 is connected to the threads at both ends of the cut-off point through the internal threads at both ends to realize the installation of the tension detection sensor 33 on the detection device 3. The power terminal of the tension detection sensor 33 is led out and connected to the joint drive motor of the robotic arm body 1, or connected to the power supply of the vehicle. The anchor bolt connector 32 has a rod hole 35 for inserting the tail end of the anchor bolt along the length direction of the detection device 3. The distance sensor 34 is fixed on the outer surface of the detection device 3. The distance sensor 34 is an infrared distance sensor. The probe of the distance sensor 34 points to the end of the anchor bolt connector 32 along the axial direction of the detection device 3, and the probe of the distance sensor 34 is flush with the bottom of the rod hole 35 along the radial direction of the detection device 3.

[0015] In use, the mechanical arm body 1 is first fixed on a rail car or other suitable vehicle in the tunnel, and the mechanical arm body 1 is transported to the detection point in the tunnel, the connecting end head 12 at the upper end of the mechanical arm body 1 is connected to the drill 2, the drill 2 is sent to the specified detection point by the mechanical arm body 1 for drilling, and after the drilling is completed, the drill 2 is removed.

[0016] When measuring the anchor rod pulling force and the driving length, the detection device 3 is connected to the mechanical arm body 1 through the connecting end head 12, the detection device 3 is sent to the anchor rod to be detected by the mechanical arm body 1, the tail end of the anchor rod is manually connected to the anchor rod connecting head 32 at the end of the detection device 3, and the tail end of the anchor rod is stretched to the bottom of the anchor rod connecting head 32 and is tightly pressed, the anchor rod connecting head 32 is fixed with the anchor rod, and the fixing mode is that the anchor rod is fixed with the sleeve in a fixed connection mode, the distance sensor 34 is started, the distance between the distance sensor 34 and the wall surface where the anchor rod is located is measured by the distance sensor 34, that is, the outer length of the anchor rod, and then the driving length of the anchor rod is calculated according to the original total length of the anchor rod minus the measured outer length, and then the mechanical arm body 1 is started to pull the anchor rod outward, and the pulling force of the anchor rod is measured. It should be noted here that the tensile strength of the pulling force detection sensor 33 is required to be high, and a product with high tensile strength of the pulling force detection sensor 33 needs to be selected.

[0017] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A tunnel construction monitoring and measuring work robot arm, characterized by: The utility model relates to a kind of tunnel anchor rod detection device, including mechanical arm body (1), the bottom of mechanical arm body (1) has the connecting pedestal (11) for being fixed to vehicle body, the upper end of mechanical arm body (1) has the connecting end head (12) for connecting drill (2) or detection device (3), detection device (3) is pole-like structure, one end of detection device (3) is the connecting head (31) for being connected with the fixed connection end head (12), the other end of detection device (3) is anchor rod connecting head (32), tension detection sensor (33) for measuring the axial tension of detection device (3) and distance sensor (34) for measuring the exposed length of anchor rod are further fixed on detection device (3); When using, first, mechanical arm body (1) is fixed on track car or other suitable vehicle in tunnel, and mechanical arm body (1) is transported to detection point in tunnel, and connecting end head (12) of the upper end of mechanical arm body (1) is connected drill (2), and drill (2) is sent to the specified measuring point by mechanical arm body (1) and drilled, and after drilling, drill (2) is removed; When measuring anchor rod pulling force and driving length, detection device (3) is connected on mechanical arm body (1) by connecting end head (12), and detection device (3) is sent to the anchor rod to be detected by mechanical arm body (1), and anchor rod tail end is manually connected to anchor rod connecting head (32) at the end of detection device (3), and anchor rod tail end is stretched to the bottom of anchor rod connecting head (32) and is tightly pressed, and anchor rod connecting head (32) is fixed with anchor rod, and the fixed mode uses the fixed connection mode of anchor rod and sleeve first, start distance sensor (34), and the distance between distance sensor (34) and the wall where anchor rod is located is measured, i.e. the exposed length of anchor rod, and the driving length of anchor rod is calculated according to the original total length of anchor rod minus the measured exposed length, and mechanical arm body (1) is started to pull anchor rod outward, and the pulling force of anchor rod is measured.

2. The mechanical arm for tunnel construction monitoring and measuring according to claim 1, characterized in that: Tension detection sensor (33) is connected to the middle part of detection device (3).

3. The mechanical arm for tunnel construction monitoring and measuring according to claim 1, characterized in that: Anchor rod connecting head (32) is provided with rod hole (35) for placing anchor rod tail end along the length direction of detection device (3), distance sensor (34) is fixed on the outer surface of detection device (3), distance sensor (34) is infrared distance sensor, the probe of distance sensor (34) points to the end where anchor rod connecting head (32) is located along the axial direction of detection device (3), and the probe of distance sensor (34) and the bottom of rod hole (35) are flush along the radial direction of detection device (3).

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