A lining detection radar bracket end fine-tuning device

Abstract

The invention discloses a fine-tuning device at the end of a lining detection radar bracket, comprising a rotating pan-tilt, a plane fine-tuning mechanism, an axial adjustment mechanism, a plane rotating mechanism, and a pan-tilt control box; the radar is installed on the plane fine-tuning mechanism. The device is connected to the end of a mechanical arm, and the mechanical arm is used to lift the entire device to the approximate position to be detected, and then the controller in the pan-tilt control box is used to roughly adjust the pan-tilt left and right and front and back, so that the radar is closer to the tunnel arc surface; after adjusting the approximate position, the distance from the radar to the top of the tunnel is detected by laser rangefinders distributed on three sides of the radar, and the lead screw stepper motor is automatically adjusted according to the data fed back by the laser rangefinder to determine a plane through three height points, so that the radar better fits the tunnel arc surface; the invention makes the tunnel wall and the radar on the same coplanar, the radar better fits the tunnel wall, avoids human interference, makes the frequency modulation more accurate, and thus improves the accuracy of detection.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel lining detection equipment, and in particular to an end fine-tuning device for a lining detection radar bracket. Background Art

[0002] Lining inspection is a technology used to evaluate the structural integrity and safety of tunnel linings. Its purpose is to detect cracks, voids, leaks or other potential structural problems in the tunnel lining. In the inspection of tunnel lining structures, the radar system needs to scan the exact location to ensure the accuracy and reliability of the data. However, due to the complexity of the internal environment of the tunnel and the irregularities of the lining surface, the precise positioning and stable support of the radar equipment has become a challenge. Traditional radar brackets often lack flexibility and fine adjustment mechanisms, which limits the accuracy and efficiency of radar detection.

[0003] When the radar is mounted on a vehicle and is detecting along a tunnel, it is necessary to adjust the radar to be closer to the tunnel surface for detection at any time due to the turns of the tunnel, etc. However, the radar adjustment freedom in the existing technology is insufficient, resulting in poor and untimely radar adjustment.

[0004] When the radar needs to be aimed at a specific lining area for detailed inspection, the insufficient fine-tuning capability of the bracket may cause deviations in the detection angle and position, thus affecting the accuracy of the inspection results.

[0005] Due to the different curved surfaces of the tunnel, when the radar has just completed the detection of one side of the tunnel, it needs to be adjusted in time to detect the other side. In this process, it is necessary to consider the rotation of the radar along the tunnel axis to get close to the tunnel wall, the flatness of the tunnel surface, and the impact of the tunnel turning on the adjustment. This process is a comprehensive process. The existing technology adjustment is difficult to achieve multi-dimensional precise adjustment on the one hand, and it is difficult to ensure that the radar is closer to the tunnel wall on the other hand.

[0006] For example, the patent with publication number CN211148913U discloses a multi-directional detection vehicle device for tunnel lining radar detection, which belongs to the technical field of tunnel lining radar detection devices. The multi-directional detection vehicle device for tunnel lining radar detection includes a rail car and an antenna support rod. The bottom of the rail car is connected to the rail through a rail wheel. The rail car is provided with a triangular bracket, and the bottom of the triangular bracket is respectively connected to the upper surface of the rail car; when in use, the rail wheel under the rail car can be used to move forward and backward on the track, and the antenna can be flexibly rotated to contact any position of the tunnel lining through the antenna support rod and the rotating bearing device; finally, by adjusting the tightness of the control line, ensure that the detection radar antenna maintains balance and close to the concrete lining surface, and ensure the safety of the detection personnel and equipment. The disadvantage of this device is that the tightness of the control line is fully subjectively judged, there is no practical actuator, and there is no specific adjustment strategy. In the actual control process, it is affected by many factors such as tunnel curves, ground flatness, and tunnel surface smoothness, and the adjustment is an overall movement in one dimension, which cannot be effectively implemented.

[0007] For example, the patent with publication number CN214068901U discloses a support for geological radar for tunnel lining detection, which involves the field of radar supports. The patent for the support for geological radar for tunnel lining detection includes a base, a rotating rod, a rotating shaft, a hydraulic cylinder, a moving rod, a support seat, a motor, a threaded slider, and a clamp. When in use, the radar antenna is first placed on the support seat, and then the motor is started. The motor drives the threaded rod to rotate, so that the threaded rod drives the threaded slider to move, thereby clamping the radar antenna. After the radar antenna is fixed, the movable rod can be pulled to disengage the fixed gear from the fixed block, and then the handle is turned. The engagement of the bevel gear 1 and the bevel gear 2 drives the rotation of the rotating shaft, so that the angle of the radar antenna can be adjusted, the hydraulic cylinder can adjust the height of the radar antenna, and the hydraulic telescopic rod can adjust the curvature of the radar antenna. The defect of this patent is that when the hydraulic cylinder adjusts the height of the radar antenna, it will actively change the angle between the radar and the tunnel surface, and the radar and the tunnel surface cannot be well approached.

[0008] For example, the patent with publication number CN209822851U discloses a portable geological radar antenna bracket for tunnel lining detection, which belongs to the field of non-destructive testing of tunnel lining projects. The patent of the portable geological radar antenna bracket for tunnel lining detection consists of a square bottom plate and baffles on all sides to form a box without a top cover for loading the geological radar antenna. Fixed buckle strips are arranged at the four corners of the box. Three support rods are connected by hinges under the bottom plate of the box, and the main support rods are connected by connecting parts. When in use, the inspector adjusts the position of the baffles on all sides according to the size of the geological radar antenna, puts the geological radar antenna into the box, and fixes it with fixed buckle strips. Then, the cable of the geological radar antenna is passed through the reserved hole for the cable, and connected to the geological radar host, and the number of extension rods is selected according to the height position. Finally, four inspectors hold the support rods and change the angle of the geological radar antenna by adjusting the position to be suitable for detecting concrete linings in all directions, thereby improving the utilization efficiency of the entire device. The disadvantage of this device is that it requires four inspectors to operate it by holding the support rod, which may make the assembly and adjustment process complicated and time-consuming. In addition, the portable bracket may be more easily damaged during repeated use and transportation, and manual adjustment of the support rod to change the antenna angle may result in insufficient precision, affecting the accuracy of the test results.

[0009] In summary, the technical problem to be solved by the present invention is that the existing lining detection radar bracket cannot comprehensively consider factors such as the turning of the tunnel, the flatness of the tunnel floor, the curvature and smoothness of the tunnel wall during use, and adjust the radar in real time, effectively and accurately, so that the radar rotates according to the required dimensions and angles and approaches the tunnel wall to detect the tunnel. In particular, the problem in the prior art that when the lining detection radar bracket and the radar are moving to detect the tunnel, the radar cannot be adjusted as needed to approach the tunnel for detection in combination with the tunnel bends and other special features is solved. Summary of the invention

[0010] The technical problem to be solved by the present invention is to provide a fine-tuning device for the end of a lining detection radar bracket in view of the above-mentioned technical deficiencies. The fine-tuning device for the end of a radar lining detection radar bracket can be installed on a vehicle roof, a lifting mechanism or a mechanical arm, and the radar bracket is moved to the approximate detection position. The controller on the pan-tilt control box is used to control the pan-tilt to perform multi-dimensional adjustments of left and right, front and back, and plane rotation, so that the radar bracket is closer to the tunnel ground; and the three laser rangefinders set on the radar capture the positions of the three points corresponding to the top surface of the tunnel, and then automatically adjust the stepper motor on the side to realize the rotation of the end of the radar bracket to a specific number of circles, thereby leveling the three points and ensuring that these points are at the same height as the position detected by the laser rangefinder. The device not only improves the accuracy of radar positioning, but also greatly improves the efficiency and fit of the detection work, thereby ensuring the reliability of the detection results and the stability of the radar system. In addition, the design of the device takes into account the convenience and safety of operation, and is suitable for various complex tunnel environments.

[0011] In order to solve the above technical problems, the technical solution adopted by the present invention is: including a rotating pan-tilt platform, a plane fine-tuning mechanism, an axial adjustment mechanism, a plane rotating mechanism, and a pan-tilt platform control box; the radar is installed on the plane fine-tuning mechanism.

[0012] The plane fine-tuning mechanism comprises a laser rangefinder, a telescopic adjustment device, an elastic fixing device and a fixing plate.

[0013] The elastic fixing device is arranged on the side of the radar, at least two sets are arranged on each side, and at least arranged on two sides of the radar.

[0014] The telescopic adjustment device is arranged on the side of the radar, with at least one set arranged on each side; and is arranged on at least two mutually perpendicular sides of the radar.

[0015] The lower part of the fixed plate is fixedly connected with two mutually parallel gear brackets and a shaft fixing cylinder, and the gear brackets are parallelly provided with first transmission gears; there are two or four first transmission gears, which are symmetrically arranged with respect to the center point below the fixed plate.

[0016] The axial adjustment mechanism includes a rotating pan-tilt platform, an annular plate, a rotating shaft, a large gear, a first pan-tilt platform transmission motor and a first transmission gear on a gear bracket; two annular plates are fixed above the rotating pan-tilt platform, two large gears are installed close to the inner side of the annular plates, the rotating shaft passes through the annular plates and the large gears, fixes the annular plates and the large gears together, and allows the first transmission gear to mesh with the large gears; the gear bracket is at least fixed with a first pan-tilt platform transmission motor; the motor shaft of a first pan-tilt platform transmission motor passes through the shaft hole of a first transmission gear to drive the first transmission gear; when there are more than one first pan-tilt platform transmission motors, each installed first pan-tilt platform transmission motor moves in coordination with each other, and allows the fixed plate to achieve unified, coordinated and unidirectional movement relative to the base; when the first pan-tilt platform transmission motor rotates, the first transmission gear moves relative to the large gear to achieve rotation of the fixed plate and the radar above the fixed plate along a vertical plane.

[0017] The plane rotation mechanism includes a rotating main shaft, a base, a gear box, a second transmission gear, a second pan-tilt transmission motor, and a bearing; an internal gear is arranged inside the base, the rotating pan-tilt is arranged above the base, and a bearing is arranged between the base and the rotating pan-tilt to ensure that the rotating pan-tilt can rotate along the plane above the base; the second pan-tilt transmission motor and the gear box are fixed below the rotating pan-tilt through the rotating main shaft, and two mutually meshing bevel gears are arranged inside the gear box, one of which is connected to the shaft of the second pan-tilt transmission motor, and the other is connected to the second transmission gear through the center shaft, and the second transmission gear is meshed with the internal gear; when the second pan-tilt transmission motor is rotating, the second transmission gear and the internal gear produce relative motion, thereby driving the rotating pan-tilt to achieve plane rotation.

[0018] To further optimize the technical solution, three laser rangefinders are provided and distributed and fixed on three sides of the radar, which can respectively detect the distance between the radar and the top of the tunnel. By cooperating with the stepper motor, a plane can be determined to achieve fine-tuning of the radar plane.

[0019] To further optimize the technical solution, the telescopic adjustment device includes a ball joint and a stepper motor. The stepper motor is arranged on a fixed plate, the ball joint is arranged on the motor shaft of the stepper motor, and the motor shaft is connected to the mounting ear on the radar through the ball joint; an internal thread that cooperates with the motor shaft of the stepper motor is arranged inside the ball joint. When the stepper motor rotates, the ball joint can drive the mounting ear to move upward or downward, thereby realizing fine-tuning of the radar plane.

[0020] To further optimize the technical solution, the ball joint is embedded in the mounting ear and has a certain movable gap with the mounting ear, so as to achieve fine adjustment of the radar plane and allow corresponding free movement when the radar is offset to the left and right to adapt to the left and right movement of the radar.

[0021] To further optimize the technical solution, the elastic fixing device includes a spring, a folding buckle, and an optical axis; the spring is arranged on the optical axis, one end of the optical axis is fixed on the fixing plate, and the other end extends upward; the upper part of the folding buckle is connected to the radar, and the lower part is arranged on the fixing plate, and the spring is clamped from the upper and lower ends to fix the radar on the fixing plate through the elastic force of the spring. When the stepper motor drives the radar to fine-tune the angle in the plane, the spring is extended or compressed while the folding buckle is extended or folded, thereby always ensuring that the radar is firmly fixed.

[0022] To further optimize the technical solution, the fixed plate includes an upper fixed plate and a lower fixed plate, and the upper fixed plate and the lower fixed plate are connected by hexagonal copper columns, and the hexagonal copper columns are vertically distributed around the top of the lower fixed plate, the folding buckle and the bottom of the optical axis are fixed on the upper fixed plate, the stepper motor is fixed on the top of the lower fixed plate, and the gear bracket and the rotating shaft fixing cylinder are fixed on the bottom of the lower fixed plate, so that the structure can be made more compact.

[0023] To further optimize the technical solution, three sets of the telescopic adjustment device are provided, and are arranged on the same side as the laser rangefinder. The cooperation between the laser rangefinder and the stepper motor increases the fine-tuning effect of the radar plane.

[0024] To further optimize the technical solution, the radar controller is arranged under the radar, a heat dissipation hole is provided at the lower right side of the radar controller, and two transmission signal interfaces are provided in the middle of the front side.

[0025] To further optimize the technical solution, the gimbal control box is located between the upper fixed plate and the lower fixed plate, and the three motor bodies are surrounded therearound. The gimbal control box is composed of a controller, a connector and a housing. The housing is located outside the gimbal control box to protect the internal circuits and components. The controller is usually located inside the gimbal control box to manage and control the movement and functions of the gimbal. The three sides of the gimbal control box are connected to the wires through connectors.

[0026] To further optimize the technical solution, two first pan-tilt transmission motors are provided, and the two first pan-tilt transmission motors are arranged in parallel and opposite directions on both sides of the shaft fixing cylinder, and the two driven first transmission gears are symmetrical relative to the center point below the fixing plate. In this way, the center of gravity of the entire mechanism is more stable, and the driving rotation effect is better, smoother, and more stable.

[0027] The working mode of the present invention is as follows:

[0028] In the present invention, the rotating pan-tilt head, the plane fine-tuning mechanism, the axial adjustment mechanism, the plane rotating mechanism, and the pan-tilt head control box work in coordination. The pan-tilt head control box receives signals input by intelligent devices such as a laser rangefinder, a camera connected to the pan-tilt head control box for determining the relative position of a radar and a tunnel wall, and staff, and controls the motors in the plane fine-tuning mechanism, the axial adjustment mechanism, and the plane rotating mechanism to work.

[0029] The radar lining detection radar bracket end fine-tuning device can be installed on the roof, lifting mechanism or mechanical arm, move the radar bracket to the approximate detection position, and use the controller on the pan / tilt control box to control the pan / tilt to make multi-dimensional adjustments in left and right, front and back, and plane rotation, so that the radar bracket is closer to the tunnel ground. At the same time, it can also be used in conjunction with smart cameras and road radars that determine the shape and direction of the tunnel.

[0030] When encountering situations such as tunnel turns, or the curves of the tunnel sides or top are inconsistent with the ground road, the radar can be rotated arbitrarily on the plane in time through real-time adjustment of the plane rotation mechanism. Specifically: according to the signals input by the intelligent devices such as the camera connected to the pan-tilt control box that judges the relative position of the radar and the tunnel wall, and the staff, the second pan-tilt transmission motor rotates to drive the bevel gear in the gear box to move, and then drives the second transmission gear and the internal gear to produce relative movement, driving the rotating pan-tilt to achieve plane rotation.

[0031] When the radar needs to be swung along the tunnel axis, the first pan-tilt transmission motor rotates according to the signals input by the staff and other intelligent devices connected to the pan-tilt control box for judging the relative position of the radar and the tunnel wall; when the first pan-tilt transmission motor rotates, the first transmission gear moves relative to the large gear, so that the fixed plate and the radar above the fixed plate rotate along the vertical plane.

[0032] When the device is used to detect the tunnel, the device is connected to the end of the mechanical arm through the four screw holes set on the top of the base, and the whole device is lifted to the approximate position to be detected by the mechanical arm. Then, the controller in the pan-tilt control box is used to make rough adjustments to the left and right and front and back so that the radar is closer to the curved surface of the tunnel. After adjusting the approximate position, the distance from the radar to the top of the tunnel is detected by the laser rangefinders distributed on the three sides of the radar. According to the data fed back by the laser rangefinder, the stepper motor is automatically adjusted to determine a plane through three height points, so that the radar can better fit the curved surface of the tunnel, ensuring that the radar better fits the curved surface of the tunnel, thereby achieving accurate detection and positioning of the tunnel.

[0033] Compared with the prior art, the beneficial effects of the present invention include at least:

[0034] 1. A lining detection radar bracket end fine-tuning device, which can be installed on the roof, lifting mechanism or mechanical arm, moves the radar bracket to the approximate detection position, and uses the controller on the pan-tilt control box to control the pan-tilt to perform multi-dimensional adjustment of left and right, front and back and plane rotation, so that the radar bracket is closer to the tunnel ground; and through the three laser rangefinders set on the radar to capture the positions of three points corresponding to the tunnel top surface, and then automatically adjust the stepping motor on the side to realize the rotation of the radar bracket end to a specific number of circles, so as to level the three points and ensure that these points are at the same height as the position detected by the laser rangefinder. The device not only improves the accuracy of radar positioning, but also greatly improves the efficiency and fit of the detection work, thereby ensuring the reliability of the detection results and the stability of the radar system, and overcomes the problem that the existing lining detection radar bracket cannot comprehensively consider the turning of the tunnel, the flatness of the tunnel ground, the curvature and smoothness of the tunnel wall, etc., and adjust the radar in real time, effectively and accurately, so that the radar rotates according to the required dimensions and angles and detects the tunnel close to the tunnel wall. In particular, the problem in the prior art that, when the lining detection radar bracket and the radar move to detect the tunnel, the radar cannot be adjusted as needed to be close to the tunnel for detection in combination with the tunnel curves, etc., is solved.

[0035] 2. The rotating gimbal, plane fine-tuning mechanism, axial adjustment mechanism, plane rotating mechanism and gimbal control box work together. The gimbal control box receives signals from intelligent devices such as the laser rangefinder, the camera connected to the gimbal control box for judging the relative position of the radar and the tunnel wall, and the staff to control the motors in the plane fine-tuning mechanism, axial adjustment mechanism and plane rotating mechanism to work, achieving better results.

[0036] 3. The plane fine-tuning mechanism includes a laser rangefinder, a telescopic adjustment device, an elastic fixing device, and a fixing plate. The elastic fixing device includes a spring, a folding buckle, and an optical axis. The spring is arranged on the optical axis, one end of the optical axis is fixed on the fixing plate, and the other end extends upward. The upper part of the folding buckle is connected to the radar, and the lower part is arranged on the fixing plate, and the spring is clamped from the upper and lower ends to fix the radar on the fixing plate through the elastic force of the spring. When the stepper motor drives the radar to fine-tune the plane angle, the spring is extended or compressed while the folding buckle is extended or compressed, so as to always ensure that the radar is fixed firmly. There are three laser rangefinders, which are distributed and fixed on the three sides of the radar, and can respectively detect the distance between the radar and the top of the tunnel. By cooperating with the stepper motor, a plane can be determined to achieve fine-tuning of the radar plane.

[0037] 4. The ball joint is embedded in the mounting ear and has a certain movable gap with the mounting ear. At the same time, an internal thread that cooperates with the motor shaft of the stepper motor is arranged inside the ball joint. When the stepper motor rotates, the ball joint can drive the mounting ear to move up or down, thereby realizing fine-tuning of the radar plane and allowing corresponding free movement when the radar is offset left or right to adapt to the left and right movement of the radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A positive triaxial side view of a fine-tuning device at the end of a lining inspection radar bracket

[0039] Figure 2 A partial cross-sectional view of a fine-tuning device at the end of a lining inspection radar bracket

[0040] Figure 3 A front view of a fine-tuning device at the end of a lining detection radar bracket

[0041] Figure 4 A side view of a fine-tuning device at the end of a lining inspection radar bracket

[0042] Figure 5 A top view of a fine-tuning device at the end of a lining inspection radar bracket

[0043] Figure 6 Bottom view of a fine-tuning device at the end of a lining inspection radar bracket

[0044] In the figure: 1. radar; 2. radar controller; 3. transmission signal interface; 4. stepper motor; 5. ball joint; 6. laser rangefinder; 7. wire; 8. optical axis; 9. ear; 10. folding buckle; 11. spring; 12. pan / tilt control box; 13. upper fixed plate; 14. hexagonal copper column; 15. lower fixed plate; 16. gear bracket; 17. first pan / tilt transmission motor; 18. first transmission gear; 19. large gear; 20. rotating shaft; 21. annular plate; 22. base; 23. bearing; 24. gear box; 25. second transmission gear; 26. internal gear; 27. second pan / tilt transmission motor; 28. rotating pan / tilt; 29. ​​rotating main shaft; 30. shaft fixing cylinder. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0046] Embodiment 1: Combination Figure 1-6As shown, a lining detection radar bracket end fine-tuning device includes a rotating pan-tilt 28, a plane fine-tuning mechanism, an axial adjustment mechanism, a plane rotating mechanism, and a pan-tilt control box 12; a radar 1 is installed on the plane fine-tuning mechanism; the plane fine-tuning mechanism includes a laser rangefinder 6, a telescopic adjustment device, an elastic fixing device, and a fixing plate; the telescopic adjustment device includes a ball joint 5 and a stepping motor 4, the stepping motor 4 is arranged on the fixing plate, the ball joint 5 is arranged on the motor shaft of the stepping motor 4, and the motor shaft is connected to the hanging ear 9 on the radar 1 through the ball joint 5; the ball joint 5 is embedded in the hanging ear 9 and has a certain movable gap with the hanging ear 9, and at the same time, an inner screw that matches the motor shaft of the stepping motor 4 is arranged inside the ball joint 5 When the stepper motor 4 rotates, the ball joint 5 can drive the ear 9 to move upward or downward to achieve fine-tuning of the plane of the radar 1; the elastic fixing device includes a spring 11, a folding buckle 10, and an optical axis 8; the spring 11 is arranged on the optical axis 8, one end of the optical axis 8 is fixed on the fixing plate, and the other end extends upward; the upper part of the folding buckle 10 is connected to the radar 1, and the lower part is arranged on the fixing plate, and the spring 11 is clamped from the upper and lower ends to fix the radar 1 on the fixing plate through the elastic force of the spring 11. When the stepper motor 4 drives the radar 1 to fine-tune the angle of the plane, the spring 11 is extended or compressed while the folding buckle 10 is extended or folded, so as to always ensure that the radar 1 is fixed firmly; the elastic fixing device is arranged At least two sets are arranged on each side of the radar 1, and at least two sets are arranged on the two sides of the radar 1; the telescopic adjustment device is arranged on the side of the radar 1, and at least one set is arranged on each side; and at least two mutually perpendicular surfaces of the radar 1 are arranged; the laser rangefinder 6 is arranged in three pieces, which are distributed and fixed on the three sides of the radar 1, and can respectively detect the distance between the radar 1 and the top of the tunnel. By cooperating with the stepper motor 4, a plane can be determined to achieve fine adjustment of the plane of the radar 1; the lower part of the fixed plate is fixedly connected with two mutually parallel gear brackets 16 and a rotating shaft fixing cylinder 30, and the first transmission gear 18 is arranged in parallel on the gear bracket 16; the first transmission gear 18 is two or four, and is parallel to the center of the lower part of the fixed plate. The axial adjustment mechanism includes a rotating pan-tilt platform 28, an annular plate 21, a rotating shaft 20, a large gear 19, a first pan-tilt platform transmission motor 17 and a first transmission gear 18 on a gear bracket 16; two annular plates 21 are fixed above the rotating pan-tilt platform 28, two large gears 19 are installed close to the inner side of the annular plate 21, and the rotating shaft 20 passes through the annular plate 21 and the large gear 19 to fix the annular plate 21 and the large gear 19 together, and the first transmission gear 18 is meshed with the large gear 19; the gear bracket 16 is fixed with at least one first pan-tilt platform transmission motor 17; the motor shaft of a first pan-tilt platform transmission motor 17 passes through the shaft hole of a first transmission gear 18 to drive the first transmission gear 18;When there is more than one first pan-tilt transmission motor 17, each installed first pan-tilt transmission motor 17 moves in coordination with each other, and the fixed plate realizes a unified and coordinated unidirectional movement relative to the base 22; when the first pan-tilt transmission motor 17 rotates, the first transmission gear 18 moves relative to the large gear 19, so that the fixed plate and the radar 1 above the fixed plate rotate along the vertical plane; the plane rotation mechanism includes a rotating spindle 29, a base 22, a gear box 24, a second transmission gear 25, a second pan-tilt transmission motor 27, and a bearing 23; an internal gear 26 is arranged inside the base 22, and a rotating pan-tilt 28 is arranged above the base 22, and the base 22 is connected to the rotating pan-tilt 28. A bearing 23 is provided between the rotating platform 28 to ensure that the rotating platform 28 can rotate along the plane above the base 22; a second platform transmission motor 27 and a gear box 24 are fixed below the rotating platform 28 through a rotating main shaft 29, and two mutually meshing bevel gears are provided inside the gear box 24, one of which is connected to the shaft of the second platform transmission motor 27, and the other is connected to the second transmission gear 25 through a central shaft, and the second transmission gear 25 is meshed with the internal gear 26; when the second platform transmission motor 27 rotates, the second transmission gear 25 and the internal gear 26 generate relative motion, thereby driving the rotating platform 28 to achieve plane rotation. ;

[0047] In the present invention, the rotating pan-tilt head 28, the plane fine-tuning mechanism, the axial adjustment mechanism, the plane rotating mechanism, and the pan-tilt head control box 12 work together. The pan-tilt head control box 12 receives signals from intelligent devices such as the laser rangefinder 6, the camera connected to the pan-tilt head control box 12 for judging the relative position of the radar 1 and the tunnel wall, and the staff, and controls the motors in the plane fine-tuning mechanism, the axial adjustment mechanism, and the plane rotating mechanism to work.

[0048] The radar 1 lining detection radar 1 bracket end fine-tuning device can be installed on the roof, lifting mechanism or mechanical arm, and the radar 1 bracket is moved to the approximate detection position, and the controller on the pan-tilt control box 12 is used to control the pan-tilt to perform multi-dimensional adjustment of left and right, front and back, and plane rotation, so that the radar 1 bracket is closer to the tunnel ground. At the same time, it can also be used in conjunction with the intelligent camera and road radar 1 for determining the shape and direction of the tunnel.

[0049] When encountering situations such as a tunnel turn, or a tunnel side or top curve that is inconsistent with the ground road, the radar 1 can be rotated arbitrarily on the plane in time through real-time adjustment of the plane rotation mechanism. Specifically: according to the signals input by the intelligent devices such as the camera connected to the pan-tilt control box 12 for judging the relative position of the radar 1 and the tunnel wall, and the staff, the second pan-tilt transmission motor 27 rotates to drive the bevel gear in the gear box 24 to move, thereby driving the second transmission gear 25 and the internal gear 26 to produce relative movement, and driving the rotating pan-tilt 28 to realize plane rotation.

[0050] When it is necessary to swing the radar 1 along the tunnel axis, the first pan-tilt drive motor 17 rotates according to the signals input by the staff and other intelligent devices such as the camera connected to the pan-tilt control box 12 for judging the relative position of the radar 1 and the tunnel wall; when the first pan-tilt drive motor 17 rotates, the first transmission gear 18 moves relative to the large gear 19, so that the fixed plate and the radar 1 above the fixed plate rotate along the vertical plane.

[0051] When the device is used to detect a tunnel, the device is connected to the end of the mechanical arm through four screw holes provided on the top of the base 22, and the entire device is lifted to the approximate position to be detected by the mechanical arm. Then, the controller in the pan / tilt control box 12 is used to perform rough adjustments to the left and right and front and back, so that the radar 1 is closer to the curved surface of the tunnel. After adjusting the approximate position, the distance from the radar 1 to the top of the tunnel is detected by the laser rangefinders 6 distributed on the three sides of the radar 1. According to the data fed back by the laser rangefinder 6, the stepper motor 4 is automatically adjusted to determine a plane through three height points, so that the radar 1 can better fit the curved surface of the tunnel, ensuring that the radar 1 better fits the curved surface of the tunnel, thereby achieving accurate detection and positioning of the tunnel.

[0052] Embodiment 2, combined with Figure 1-6 As shown, on the basis of Example 1, the technical solution is further optimized: the fixed plate includes an upper fixed plate 13 and a lower fixed plate 15, and the upper fixed plate 13 and the lower fixed plate 15 are connected by hexagonal copper columns 14, and the hexagonal copper columns 14 are vertically distributed around the upper part of the lower fixed plate 15, the folding buckle 10 and the bottom of the optical axis 8 are fixed on the upper fixed plate 13, the stepper motor 4 is fixed above the lower fixed plate 15, and the gear bracket 16 and the shaft fixing cylinder 30 are fixed below the lower fixed plate 15, which can make the structure more compact.

[0053] Embodiment 3, combined with Figure 1-6 As shown, based on the first or second embodiment, the technical solution is further optimized: three sets of the telescopic adjustment device are provided, and are arranged on the same side as the laser rangefinder 6. The cooperation between the laser rangefinder and the stepper motor 4 increases the fine-tuning effect of the radar 1 plane.

[0054] Embodiment 4, combined with Figure 1-6 As shown, based on any of the above embodiments, the technical solution is further optimized: the radar controller 2 is arranged below the radar 1, a heat dissipation hole is provided at the lower right side of the radar controller 2, and two transmission signal interfaces 3 are provided in the middle of the front side.

[0055] Embodiment 5, combined with Figure 1-6As shown, based on any of the above embodiments, the technical solution is further optimized: the pan-tilt control box 12 is located between the upper fixed plate 13 and the lower fixed plate 15, and the three motor bodies are surrounded therearound. The pan-tilt control box 12 is composed of a controller, a connector and a housing; the housing is located outside the pan-tilt control box 12 to protect the internal circuits and components, and the controller is usually located inside the pan-tilt control box 12 to manage and control the movement and functions of the pan-tilt. The three sides of the pan-tilt control box 12 are connected to the wires 7 through connectors.

[0056] Embodiment 6, combined Figure 1-6 As shown, based on any of the above embodiments, the technical solution is further optimized: two first pan-tilt transmission motors 17 are provided, and the two first pan-tilt transmission motors 17 are arranged in parallel and opposite directions on both sides of the shaft fixing cylinder 30, and the two driven first transmission gears 18 are symmetrical relative to the center point below the fixing plate. In this way, the center of gravity of the entire mechanism is more stable, and the effect of driving rotation is better, smoother and more stable.

[0057] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

Claims

1. A lining detection radar bracket end fine-tuning device, characterized in that: It comprises a rotating pan-tilt platform (28), a plane fine-tuning mechanism, an axial adjustment mechanism, a plane rotating mechanism, and a pan-tilt platform control box (12); the radar (1) is mounted on the plane fine-tuning mechanism; The plane fine-tuning mechanism comprises a laser rangefinder (6), a telescopic adjustment device, an elastic fixing device, and a fixing plate; The elastic fixing device is arranged on the side of the radar (1), with at least two sets arranged on each side, and at least arranged on two sides of the radar (1); The telescopic adjustment device is arranged on the side of the radar (1), with at least one set arranged on each side; and is arranged on at least two mutually perpendicular sides of the radar (1); The lower part of the fixed plate is fixedly connected with two mutually parallel gear brackets (16) and a rotating shaft fixing cylinder (30), and the gear brackets (16) are provided with first transmission gears (18) in parallel; there are two or four first transmission gears (18) and they are symmetrically arranged with respect to the center point below the fixed plate; The axial adjustment mechanism comprises a rotating platform (28), an annular plate (21), a rotating shaft (20), a large gear (19), a first platform transmission motor (17) and a first transmission gear (18) on a gear bracket (16); two annular plates (21) are fixed above the rotating platform (28); two large gears (19) are installed close to the inner side of the annular plates (21); the rotating shaft (20) passes through the annular plates (21) and the large gear (19) to fix the annular plates (21) and the large gear (19) together, and the first transmission gear (18) is meshed with the large gear (19); the gear bracket (16) is at least fixedly provided with a first transmission motor (17) and a first transmission gear (18) on the first transmission motor (17). a pan / tilt transmission motor (17); a motor shaft of a first pan / tilt transmission motor (17) passes through an axial hole of a first transmission gear (18) to drive the first transmission gear (18); when there are more than one first pan / tilt transmission motor (17), each installed first pan / tilt transmission motor (17) moves in coordination with each other, so that the fixed plate can achieve uniform, coordinated and unidirectional movement relative to the base (22); when the first pan / tilt transmission motor (17) rotates, the first transmission gear (18) moves relative to the large gear (19), so that the fixed plate and the radar (1) above the fixed plate can rotate along a vertical plane; The plane rotation mechanism comprises a rotating main shaft (29), a base (22), a gear box (24), a second transmission gear (25), a second pan-tilt drive motor (27), and a bearing (23); an internal gear (26) is arranged inside the base (22); a rotating pan-tilt platform (28) is arranged above the base (22), and a bearing (23) is arranged between the base (22) and the rotating pan-tilt platform (28) to ensure that the rotating pan-tilt platform (28) can rotate along a plane above the base (22); the rotating pan-tilt platform (28) is fixed below the rotating main shaft (29) A second pan-tilt drive motor (27) and a gear box (24) are provided inside the gear box (24), wherein two mutually meshing bevel gears are arranged, wherein one bevel gear is connected to the shaft of the second pan-tilt drive motor (27), and the other bevel gear is connected to the second transmission gear (25) via a central shaft, and the second transmission gear (25) is meshed with an internal gear (26); when the second pan-tilt drive motor (27) rotates, the second transmission gear (25) and the internal gear (26) generate relative motion, thereby driving the rotating pan-tilt (28) to realize planar rotation.

2. According to claim 1, a lining detection radar bracket end fine-tuning device is characterized in that: The laser rangefinders (6) are provided in three numbers and are distributed and fixed on three sides of the radar (1). They can respectively detect the distance between the radar (1) and the top of the tunnel. By cooperating with the stepper motor (4), a plane can be determined to achieve fine adjustment of the plane of the radar (1).

3. The lining detection radar bracket end fine-tuning device according to claim 2 is characterized in that: The telescopic adjustment device comprises a ball joint (5) and a stepping motor (4); the stepping motor (4) is arranged on a fixed plate; the ball joint (5) is arranged on a motor shaft of the stepping motor (4); the motor shaft is connected to a hanging ear (9) on the radar (1) through the ball joint (5); an internal thread matching the motor shaft of the stepping motor (4) is arranged inside the ball joint (5); when the stepping motor (4) is rotating, the ball joint (5) can drive the hanging ear (9) to move upward or downward, thereby realizing fine adjustment of the plane of the radar (1).

4. The lining detection radar bracket end fine-tuning device according to claim 3 is characterized in that: The ball joint (5) is embedded in the hanging ear (9) and has a certain movable gap with the hanging ear (9).

5. The lining detection radar bracket end fine-tuning device according to claim 4 is characterized in that: The elastic fixing device comprises a spring (11), a folding buckle (10), and an optical axis (8); the spring (11) is arranged on the optical axis (8), one end of the optical axis (8) is fixed on a fixing plate, and the other end extends upward; the upper part of the folding buckle (10) is connected to the radar (1), and the lower part is arranged on the fixing plate, and the spring (11) is clamped from the upper and lower ends, and the radar (1) is fixed to the fixing plate by the elastic force of the spring (11); when the stepping motor (4) drives the radar (1) to fine-tune the angle of the plane, the spring (11) is extended or compressed, and the folding buckle (10) is extended or compressed at the same time, so as to always ensure that the radar (1) is fixed firmly.

6. The lining detection radar bracket end fine-tuning device according to claim 5, characterized in that: The fixing plate comprises an upper fixing plate (13) and a lower fixing plate (15), the upper fixing plate (13) and the lower fixing plate (15) are connected via hexagonal copper columns (14), the hexagonal copper columns (14) are vertically distributed around the upper part of the lower fixing plate (15), the folding buckle (10) and the bottom of the optical axis (8) are fixed on the upper fixing plate (13), the stepping motor (4) is fixed on the upper part of the lower fixing plate (15), and the gear bracket (16) and the rotating shaft fixing cylinder (30) are fixed on the lower part of the lower fixing plate (15), so that the structure can be made more compact.

7. The lining detection radar bracket end fine-tuning device according to claim 5, characterized in that: The telescopic adjustment device is provided in three sets and is arranged on the same side as the laser rangefinder (6). The cooperation between the laser rangefinder and the stepper motor (4) increases the fine-tuning effect of the radar (1) plane.

8. The lining detection radar bracket end fine-tuning device according to claim 5, characterized in that: The radar controller (2) is arranged below the radar (1), a heat dissipation hole is arranged below the right side of the radar controller (2), and two transmission signal interfaces (3) are arranged in the middle of the front side.

9. The lining detection radar bracket end fine-tuning device according to claim 5, characterized in that: The pan-tilt control box (12) is located between the upper fixing plate (13) and the lower fixing plate (15), and the three motor bodies are surrounded therearound. The pan-tilt control box (12) is composed of a controller, a connector and a shell; the shell is located outside the pan-tilt control box (12) and is used to protect the internal circuits and components. The controller is usually located inside the pan-tilt control box (12) and is used to manage and control the movement and function of the pan-tilt. The three sides of the pan-tilt control box (12) are connected to the wires (7) through connectors.

10. The lining detection radar bracket end fine-tuning device according to claim 5, characterized in that: Two first pan / tilt drive motors (17) are provided, and the two first pan / tilt drive motors (17) are arranged in parallel and opposite directions on both sides of the shaft fixing cylinder (30), and the two driven first transmission gears (18) are symmetrical relative to the center point below the fixing plate.

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