A radar antenna detection robot for tunnels

Abstract

The present invention relates to the field of tunnel detection technology, and in particular to a radar antenna detection robot for tunnels. It comprises a symmetrically distributed first fixed shell, a second fixed shell is hinged between the symmetrically distributed first fixed shells, the second fixed shell is sleeved with a first transmission belt, a symmetrically distributed fixed plate is fixed in the second fixed shell, the fixed plate is fixed with equidistantly distributed electric telescopic rods and equidistantly distributed tension springs, the equidistantly distributed tension springs are jointly fixed with a transmission plate, a radar detector is fixed between the symmetrically distributed transmission plates, and the radar detector is sleeved with an annular sleeve. The present invention moves the radar detector through the first transmission belt, and uses the annular sleeve and the first transmission belt to fill the space between the ground and the radar detector to prevent gaps on the path of the radar detector, and adapts to detection of different positions through the annular sleeve, so that the first transmission belt is always in contact with the wall.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel detection, and in particular to a radar antenna detection robot for tunnels. Background Art

[0002] Tunnel detection radar, also known as ground penetrating radar, is a device that uses electromagnetic waves for non-destructive testing. It is widely used in the detection of tunnel lining quality. In order to ensure the safety and normal use of the tunnel, it is necessary to conduct regular safety inspections on the tunnel. Tunnel detection radar is mainly used to detect key parts such as the tunnel vault, left and right arch waists, left and right side walls and tunnel bottom to ensure that all areas of the tunnel can be fully covered. The existing detection method is usually that the staff holds the ground coupling antenna of the radar equipment, attaches the ground coupling antenna to the wall and drives it to move along the tunnel direction to detect the tunnel data. This method has the following problems: There are arcs on the vault and left and right arch waists of the tunnel. The surface causes the radar antenna box (ground coupling antenna) of the equipment to be unable to accurately contact the tunnel surface, which in turn causes a cavity between the radar antenna box (ground coupling antenna) and the tunnel surface. When the radar signal passes through the air or materials such as plastic, it usually does not have much impact on the signal. However, if the radar signal passes through the air gap, the radar signal will be reflected at the interface between different media. If there is an air gap between the radar and the detection surface, an additional reflection interface will be formed between the air and the detection surface. The signal is reflected multiple times between the air gap and the detection surface, forming a multipath effect, thereby affecting the propagation and reception of the radar signal and making the radar measurement results inaccurate. Summary of the invention

[0003] In order to overcome the disadvantage that when detecting tunnels in the existing way, there will be a cavity between the radar antenna box and the wall, which affects the propagation of radar signals, the present invention provides a radar antenna detection robot for tunnels.

[0004] A radar antenna detection robot for a tunnel comprises a symmetrically distributed first fixed shell, a second fixed shell is hinged between the symmetrically distributed first fixed shells, a first transmission belt is sleeved on the second fixed shell, a power mechanism for driving the first transmission belt to rotate is commonly arranged on the symmetrically distributed first fixed shells, a symmetrically distributed fixed plate is fixedly connected in the second fixed shell, an equidistantly distributed electric telescopic rod and an equidistantly distributed tension spring are fixedly connected to the fixed plate, a transmission plate is commonly fixedly connected to one end of the equidistantly distributed tension spring away from the adjacent fixed plate, the transmission plate is extruded and matched with the telescopic end of the adjacent electric telescopic rod, a radar detector is fixedly connected between the symmetrically distributed transmission plates, a gravity sensing module electrically connected to both the two electric telescopic rods is arranged in the radar detector, an annular sleeve is sleeved on the radar detector, the annular sleeve is limitedly matched with the second fixed shell, a rectangularly distributed friction wheel is rotatably connected to the second fixed shell, the friction wheel is transmission matched with the first transmission belt, and the friction wheel is transmission matched with the annular sleeve; the annular sleeve has a portion of an arc-shaped cross section and a portion of a square-shaped cross section corresponding to the upper and lower sides of the radar detector.

[0005] Further description, the power mechanism includes two groups of symmetrically distributed electric wheels, the symmetrically distributed electric wheels are all arranged in the adjacent first fixed shells, the symmetrically distributed electric wheels are commonly covered with a transmission belt, the transmission belt is fixedly connected to the first transmission belt, and the symmetrically distributed first fixed shells are commonly provided with an auxiliary mechanism, and the auxiliary mechanism is used to assist the transmission belt to fit against the wall.

[0006] Further description, the auxiliary mechanism includes a symmetrically distributed connecting tube, the connecting tube is fixedly connected to the adjacent first fixed shell, the symmetrically distributed connecting tubes are commonly connected to an air suction member, a third fixed shell is fixedly connected inside the first fixed shell, the connecting tube passes through the adjacent first fixed shell and is connected to the adjacent third fixed shell, the third fixed shell is sleeved with a second transmission belt, the second transmission belt is fixedly connected with equidistantly distributed fixed tubes, the fixed tube is sealed and matched with the adjacent third fixed shell, the first fixed shell is fixedly connected with a rectangularly distributed transmission shaft, the transmission shaft is transmission-matched with the adjacent electric wheel, the transmission shaft is transmission-matched with the adjacent second transmission belt, the transmission belt is provided with evenly distributed adsorption holes, and the fixed tube is slidingly matched with the adjacent adsorption holes.

[0007] It is further explained that the transmission belt is fixedly connected with staggered isolation strips, and the staggered isolation strips isolate adjacent adsorption holes, and the hardness of the transmission belt is greater than the hardness of the isolation strips.

[0008] Further description, the air suction member is provided with an air outlet hole, the air outlet hole of the air suction member is fixedly connected to and communicated with a duct, the duct is fixedly connected to and communicated with an air outlet plate, and the air outlet plate is used to clean dust on the path.

[0009] Further explanation: the suction member is fixedly connected to an electric two-way telescopic rod, the two telescopic ends of the electric two-way telescopic rod are respectively fixedly connected to the adjacent connecting pipes, the connecting pipe between the electric two-way telescopic rod and the suction member is a hose, and the rest of the connecting pipe is a hard pipe, the suction member is slidably connected to a fixing member through a cylindrical connection, a first spring sleeved on the cylinder is fixedly connected between the fixing member and the suction member, and inclined surfaces are provided at the hinged positions of the second fixed shell and the symmetrically distributed first fixed shell.

[0010] It is further explained that the fixing member is composed of a square plate and four rotating wheels rotatably connected to the square plate, the fixing member is extruded and matched with the first transmission belt, and the four rotating wheels correspond to adjacent friction wheels respectively.

[0011] Further description, it also includes a supporting mechanism, which is used to support the air suction member, and the supporting mechanism is arranged on the outer side of the first fixed shell that is symmetrically distributed. The supporting mechanism includes a fixing frame, and the fixing frame is arranged at the first fixed shell that is symmetrically distributed. The fixing frame is slidably connected to a sliding frame, and the fixing frame is fixed with an elastic telescopic rod, and the telescopic end of the elastic telescopic rod is fixed with a supporting plate, and the support plate is in contact and cooperate with the air suction member.

[0012] Further description, the sliding frame is slidably connected with support rods distributed in a rectangular shape, the support rods are spherically connected with the adjacent first fixed shells, and a second spring sleeved on the support rods is fixedly connected between the first fixed shell and the sliding frame.

[0013] The present invention has the following beneficial effects: the present invention moves the radar detector through the first transmission belt, uses the annular sleeve and the first transmission belt to fill the space between the ground and the radar detector to prevent gaps from existing on the path of the radar detector, and adapts to detection of different positions through the annular sleeve, so that the first transmission belt is always in contact with the wall.

[0014] The present invention absorbs the air in the third fixed shell through the air suction member, utilizes the negative pressure to make the device adsorb on the wall surface, and the adsorption position remains unchanged, so as to better fix the device, and utilizes the isolation strip to improve the stability during the adsorption process on the wall surface.

[0015] When detecting the position of the arc, the present invention causes the two second fixed shells to deflect, so that the transmission belt can better fit the wall surface, thereby improving the adsorption force on the wall surface, and further improving the stability during detection.

[0016] The present invention drives the movement of the device through a spring, thereby reducing the labor of the staff. Even if the mechanical arm shakes in a downward direction, it will not affect the moving direction of the radar detector, thereby improving the stability during detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the second fixed shell and the connecting pipe of the present invention;

[0019] Figure 3 It is a three-dimensional structural exploded diagram of the first fixed shell and the second fixed shell of the present invention;

[0020] Figure 4 It is an exploded view of the three-dimensional structure of the second fixed shell, the first transmission belt and the fixing member of the present invention;

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure inside the first transmission belt of the present invention;

[0022] Figure 6 It is a three-dimensional structural schematic diagram of the annular sleeve and the friction wheel of the present invention;

[0023] Figure 7 It is a three-dimensional structural schematic diagram of the auxiliary mechanism of the present invention;

[0024] Figure 8 It is a three-dimensional structural schematic diagram of the third fixed housing and transmission shaft and other parts of the present invention;

[0025] Fig. 9 It is a schematic diagram of the three-dimensional structure of the air suction member and the electric two-way telescopic rod of the present invention;

[0026] Fig.10 It is a three-dimensional structural exploded diagram of the auxiliary mechanism of the present invention;

[0027] Fig.11 It is a schematic diagram of the three-dimensional structure of the support mechanism of the present invention.

[0028] Parts names and serial numbers in the figure: 1-first fixed shell, 11-first transmission belt, 12-fixed plate, 13-electric telescopic rod, 14-tension spring, 15-transmission plate, 16-radar detector, 17-annular sleeve, 18-friction wheel, 2-second fixed shell, 21-electric wheel, 22-transmission belt, 3-connecting pipe, 31-air suction member, 32-third fixed shell, 33-second transmission belt, 34-fixed pipe, 35-transmission shaft, 36-adsorption hole, 37-isolation strip, 4-duct, 41-air outlet plate, 5-electric two-way telescopic rod, 51-fixed member, 52-first spring, 6-fixed frame, 61-sliding frame, 62-elastic telescopic rod, 63-support plate, 64-support rod, 65-second spring. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described below in conjunction with the accompanying drawings. The transmission coordination in the present invention does not limit the specific transmission mode, and can be gear transmission, chain transmission, or belt transmission.

[0030] The existing process of detecting tunnel safety through tunnel detection radar has the following problems: the arched top and left and right arch waists of the tunnel have curved surfaces, which make it impossible for the radar antenna box to accurately contact the tunnel surface, which in turn causes a cavity between the radar antenna box and the tunnel surface. The radar signal will be reflected multiple times in the cavity between the radar antenna box and the tunnel surface, forming a multipath effect, thereby affecting the propagation and reception of the radar signal, interfering with the radar signal, and causing inaccurate radar measurement results.

[0031] The electrical components in the present invention are all connected to the remote control terminal via radio, and the movement of the device can be controlled by the remote control terminal.

[0032] Embodiment 1: A radar antenna detection robot for tunnels, such as Figure 1-Figure 6As shown, it includes two first fixed shells 1 symmetrically distributed front and back, a second fixed shell 2 is hinged between the two symmetrically distributed first fixed shells 1, the second fixed shell 2 is sleeved with a first transmission belt 11, the first transmission belt 11 slides on the second fixed shell 2, and the two first fixed shells 1 are commonly provided with a power mechanism for driving the first transmission belt 11 to rotate, two fixed plates 12 symmetrically distributed left and right are fixedly connected in the second fixed shell 2, two electric telescopic rods 13 equidistantly distributed and three tension springs 14 equidistantly distributed are fixedly connected to the upper sides of the two fixed plates 12, the electric telescopic rods 13 and the tension springs 14 are both located in the second fixed shell 2, and a transmission plate 15 is commonly fixedly connected to the upper ends of the three tension springs 14 equidistantly distributed, the transmission plate 15 is squeezed and matched with the telescopic ends of the two adjacent electric telescopic rods 13, the electric telescopic rods 13 are not in contact with the adjacent transmission plates 15 initially, and a radar detector 16 is fixedly connected between the two symmetrically distributed transmission plates 15. The radar detector 16 is used to detect the state of the tunnel structure. A gravity sensing module electrically connected to the two electric telescopic rods 13 is arranged in the radar detector 16. The gravity sensing module is used to sense the placement state of the device. The radar detector 16 is provided with an annular sleeve 17. The annular sleeve 17 corresponds to the upper and lower parts of the radar detector 16. One part has an arc-shaped cross-section and the other part has a square cross-section. The curvature of the arc is equal to the curvature of the tunnel. The annular sleeve 17 is limitedly matched with the second fixed shell 2. Initially, the tension spring 14 drives the radar detector 16 downward through transmission. The annular sleeve 17 on the radar detector 16 contacts the lower side surface in the second fixed shell 2, squeezes the annular sleeve 17, and limits the sliding of the annular sleeve 17. The second fixed shell 2 is rotatably connected with four friction wheels 18 distributed in a rectangular shape. The friction wheel 18 is located above the annular sleeve 17. The friction wheel 18 is matched with the first transmission belt 11 for transmission, and the friction wheel 18 is matched with the annular sleeve 17 for transmission.

[0033] like Figure 3 and Figure 7 As shown, the power mechanism includes two groups of two electric wheels 21 symmetrically distributed on the left and right. The two electric wheels 21 symmetrically distributed on the left and right are both arranged in adjacent first fixed shells 1. The two electric wheels 21 symmetrically distributed on the left and right are commonly sleeved with a transmission belt 22, and the transmission belt 22 is used to drive the device to move. The two transmission belts 22 are respectively fixed to the front and rear sides of the first transmission belt 11, and are used to drive the transmission belt 22 to move. An auxiliary mechanism is commonly arranged in the symmetrically distributed first fixed shell 1, and the auxiliary mechanism is used to assist the transmission belt 22 to fit the wall.

[0034] like Figure 7-10As shown, the auxiliary mechanism includes two connecting pipes 3 symmetrically distributed front and back, the two connecting pipes 3 are respectively fixed to the adjacent first fixed shells 1, the two connecting pipes 3 symmetrically distributed front and back are commonly connected to a suction member 31, the suction member 31 is a vacuum pump, and the suction member 31 is used to extract air. A third fixed shell 32 is fixedly connected to the interior of the first fixed shell 1, and the connecting pipe 3 passes through the adjacent first fixed shell 1 and is connected to the adjacent third fixed shell 32. After the suction member 31 is started, the suction member 31 extracts the air in the two third fixed shells 32 through the two connecting pipes 3, and the third fixed shell 32 A second transmission belt 33 is sleeved, a notch is opened on the lower side of the third fixed shell 32, and the second transmission belt 33 is fixedly connected with equidistantly distributed fixed tubes 34, which connect the two sides of the second transmission belt 33, and the fixed tubes 34 are sealed with the adjacent third fixed shell 32. The first fixed shell 1 is fixedly connected with four rectangularly distributed transmission shafts 35, and the four rectangularly distributed transmission shafts 35 are located at the four corners of the adjacent second transmission belt 33. The transmission shaft 35 is in transmission cooperation with the adjacent electric wheel 21, and the transmission shaft 35 is in transmission cooperation with the adjacent second transmission belt 33. During rotation, the adjacent second transmission belt 33 is driven to rotate on the adjacent third fixed shell 32 through the adjacent transmission shaft 35. The transmission belt 22 is provided with uniformly distributed adsorption holes 36. The spacing between two adjacent adsorption holes 36 is equal to the spacing between two adjacent fixed tubes 34. The fixed tube 34 is slidably matched with the adjacent adsorption holes 36. When the fixed tube 34 rotates following the adjacent second transmission belt 33, the fixed tube 34 gradually enters the adjacent adsorption hole 36. The transmission belt 22 is fixedly connected with staggered isolation strips 37. The staggered isolation strips 37 separate the adjacent adsorption holes. 36 isolation, the staggered isolation strips 37 form a number of square frames on the adjacent transmission belts 22, the adsorption holes 36 are located in the adjacent square frames, the hardness of the transmission belt 22 is greater than the hardness of the isolation strips 37, so that the isolation strips 37 are more easily squeezed and deformed, and an air outlet is arranged on the right side of the air suction member 31, the air outlet of the air suction member 31 is fixedly connected and connected with a duct 4, the duct 4 is located on the right side of the air suction member 31, the duct 4 is fixedly connected and connected with an air outlet plate 41, the air outlet plate 41 is provided with evenly distributed air outlet holes, and the wind blown out from the air outlet plate 41 is used to clean the dust on the path when in use.

[0035] like Figure 4 and Figure 7As shown, an electric two-way telescopic rod 5 is fixedly connected to the lower side of the suction member 31, and the two telescopic ends of the electric two-way telescopic rod 5 are respectively fixedly connected to the adjacent connecting pipe 3, the connecting pipe 3 between the electric two-way telescopic rod 5 and the suction member 31 is a hose, and the rest of the connecting pipe 3 is a hard tube, and the suction member 31 is slidably connected to a fixing member 51 through a cylindrical, and two first springs 52 respectively sleeved on two cylinders are fixedly connected between the fixing member 51 and the suction member 31, and the first spring 52 is used to squeeze the fixing member 51, and the hinged positions of the second fixed shell 2 and the two symmetrically distributed first fixed shells 1 are both provided with inclined surfaces, and the distance between the two inclined surfaces gradually decreases from bottom to top, and the fixing member 51 consists of a square plate and four rotating wheels rotatably connected to the square plate, the fixing member 51 is extruded and matched with the first transmission belt 11, and the four rotating wheels correspond to the adjacent friction wheels 18 up and down.

[0036] When using the device to perform radar detection on the tunnel ground, the staff first puts the device on the tunnel ground, and the device fits with the ground. Then the staff starts the four electric wheels 21 and the radar detector 16 through the remote control terminal. The four electric wheels 21 drive the two transmission belts 22 to rotate, and the two transmission belts 22 drive the first transmission belt 11 to rotate. The rotation of the transmission belts 22 and the first transmission belt 11 causes the device to move to the right. While the device moves as a whole, the radar detector 16 continuously detects the tunnel, thereby obtaining tunnel data.

[0037] When the radar detector 16 moves to the right along the tunnel, the six tension springs 14 drive the radar detector 16 to move downward through the two transmission plates 15, so that the annular sleeve 17 is tightly fitted with the lower side of the first transmission belt 11, and the lower side of the first transmission belt 11 is tightly fitted with the ground. During the movement of the device, the first transmission belt 11 and the annular sleeve 17 slide against each other, and the signal emitted by the radar detector 16 passes through the annular sleeve 17 and the first transmission belt 11 directly to the ground, avoiding the gap between the first transmission belt 11 and the ground, preventing the multipath effect, and improving the detection accuracy.

[0038] When the top of the tunnel is detected by this device (still Figure 1The direction in the figure shall prevail), the staff lifts the device to assist in moving, the gravity sensing module detects that the device is flipped or tilted, the gravity sensing module transmits an electrical signal to the electric telescopic rod 13, the telescopic end of the electric telescopic rod 13 extends upward, the telescopic ends of the two electric telescopic rods 13 drive the radar detector 16 to move upward through the two transmission plates 15, the radar detector 16 drives the annular sleeve 17 to move upward, the annular sleeve 17 is separated from the first transmission belt 11 and the second fixed shell 2, during the upward movement of the annular sleeve 17, the annular sleeve 17 contacts with the four friction wheels 18 and then stops, the friction wheel 18 is always in contact with the first transmission belt 11, at this time, during the rotation of the first transmission belt 11, the first transmission belt 11 is driven by the four friction wheels 18 The movable annular sleeve 17 rotates, and when the upper arc surface of the annular sleeve 17 rotates to the lower side, the telescopic end of the electric telescopic rod 13 begins to shrink, and the radar detector 16 moves downward through the drive of the six tension springs 14 until the radar detector 16 stops after being reset. At this time, the telescopic end of the electric telescopic rod 13 is separated from the transmission plate 15, and the annular sleeve 17 is fitted with the first transmission belt 11. The arc surface on the lower side of the annular sleeve 17 squeezes the lower side of the first transmission belt 11, so that the lower side of the first transmission belt 11 is an arc surface, so that the first transmission belt 11 is fitted with the tunnel top (the tunnel top is an arc surface), so that the device can intelligently adjust the shape of the first transmission belt 11 according to the measured position, and the first transmission belt 11 is always fitted with the tunnel to prevent the multipath effect and improve the measurement accuracy.

[0039] In the above process, the two first springs 52 squeeze the fixing member 51, so that the four rollers on the fixing member 51 and the four friction wheels 18 squeeze the first transmission belt 11 to prevent the first transmission belt 11 from being separated from the friction wheels 18, thereby ensuring stable transmission of the friction wheels 18.

[0040] In the process of using the device to move to the right, the staff starts the suction piece 31 through the remote control terminal. The suction piece 31 absorbs the air in the two third fixed shells 32 through the two connecting pipes 3, so that there is a negative pressure in the third fixed shell 32. In the process of rotating the electric wheel 21, the electric wheel 21 drives the adjacent second transmission belt 33 to rotate through the adjacent transmission shaft 35. The speed and direction of rotation of the second transmission belt 33 are the same as the speed and direction of rotation of the adjacent transmission belt 22. The second transmission belt 33 drives the fixed tube 34 thereon to rotate during the rotation. Taking one fixed tube 34 as an example, the fixed tube 34 follows the second transmission belt 33 in the process of rotating. As the clockwise direction rotates, the fixed tube 34 gradually enters into the adjacent adsorption hole 36 during the process of moving from the right side of the third fixed shell 32 to the lower right side. When the fixed tube 34 starts to move to the left from the lower right side, it completely enters into the adjacent adsorption hole 36. Then the fixed tube 34 continues to move to the left. The fixed tube 34 gradually disengages from the third fixed shell 32 and communicates with the inside thereof. At this time, the third fixed shell 32 is communicated with the outside through the fixed tube 34. The wall is adsorbed by negative pressure, so that the lower side of the transmission belt 22 fits the wall. When the fixed tube 34 moves to contact with the third fixed shell 32, the third fixed shell 32 gradually blocks the fixed tube 34. Then the fixed tube 34 continues to move and disengages from the adjacent adsorption hole 36. Then the cycle continues.

[0041] When the transmission belt 22 is in contact with the wall, the isolation strip 37 on the transmission belt 22 is also in contact with the wall. The isolation strip 37 is deformed after being squeezed by the wall, so that the wall, the isolation strip 37 and the transmission belt 22 form a sealed space, thereby improving the stability of the adsorption hole 36 during the adsorption process on the wall.

[0042] After starting the air suction member 31, the air discharged from the exhaust port of the air suction member 31 enters the air outlet plate 41 through the duct 4. The air outlet plate 41 cleans the wall in the moving direction of the device through the wind, reducing dust on the wall and further improving the stability of the adsorption hole 36 during the wall adsorption process.

[0043] When detecting a curved position in the tunnel (such as the top of the tunnel), the staff starts the electric two-way telescopic rod 5, and the two telescopic ends of the electric two-way telescopic rod 5 drive the two connecting pipes 3 to approach each other, and the connecting pipe 3 drives the adjacent first fixed shell 1 to rotate around the rotating shaft between the second fixed shell 2, and the first fixed shell 1 gradually fits with the inclined surface on the second fixed shell 2, and the front and rear first fixed shells 1 and the transmission belts 22 thereon rotate upward together, so that the transmission belts 22 can better fit the wall surface and improve the adsorption force on the wall surface, and then the electric two-way telescopic rod 5 is closed.

[0044] After use, the first fixed shell 1 is reset, and the radar detector 16, the air suction member 31 and the electric wheel 21 are turned off.

[0045] Embodiment 2: Based on embodiment 1, Figure 1 and Fig.11 As shown, it also includes a supporting mechanism, which is used to support the suction member 31. The supporting mechanism is arranged on the outside of two symmetrically distributed first fixed shells 1. The supporting mechanism includes a fixed frame 6, which is arranged at the symmetrically distributed first fixed shells 1. The fixed frame 6 is connected to the external mobile vehicle. The lower side of the fixed frame 6 is slidably connected with a sliding frame 61, and the suction member 31 is located in the sliding frame 61. The fixed frame 6 is fixed with an elastic telescopic rod 62, and the telescopic end of the elastic telescopic rod 62 is fixed with a supporting plate 63. The supporting plate 63 contacts and cooperates with the suction member 31. When in use, the suction member 31 is supported by the supporting plate 63 so that the device fits the wall. The sliding frame 61 is slidably connected with four supporting rods 64 distributed in a rectangular shape. The supporting rod 64 is ball-jointed with the adjacent first fixed shells 1. Two second springs 65 respectively mounted on the two supporting rods 64 are fixed between the first fixed shell 1 and the sliding frame 61. The second spring 65 is used to support the adjacent first fixed shells 1.

[0046] In the process of using the present device, the fixed frame 6 is first installed on a movable robotic arm, the robotic arm is connected to the remote control terminal, and then the robotic arm is controlled to move forward through the remote control terminal, and the robotic arm drives the fixed frame 6, the fixed frame 6 drives the sliding frame 61, and the sliding frame 61 drives the two first fixed shells 1 through four support rods 64 and four second springs 65, thereby driving all nearby parts, and the first transmission belt 11 is attached to the wall through the robotic arm.

[0047] When the first transmission belt 11 is in contact with the vertical wall, the sliding frame 61 supports the up and down force of the first fixed shell 1 through the two second springs 65, and squeezes the support plate 63 through the elastic telescopic rod 62, and the support plate 63 squeezes the suction piece 31 to provide a force to fit the wall. During detection, the mechanical arm and the first transmission belt 11 are moved synchronously through the remote control terminal. After the suction piece 31 is started, the suction piece 31 provides suction for the device. When the ground is uneven or there are impurities, even if the mechanical arm shakes up and down in a small range, the shaking force acts on the second spring 65, and the up and down shaking force will not directly act on the first fixed shell 1. Under the suction provided by the second spring 65 and the suction piece 31, the device can still move in a straight line even if the ground is uneven, thereby improving the stability during detection.

[0048] When the first transmission belt 11 is attached to the top, under the joint action of the elastic telescopic rod 62 and the air suction member 31, even if the mechanical arm shakes in the up and down directions, it will not affect the moving direction of the radar detector 16, thereby improving the stability during detection.

[0049] While the disclosure has been described with respect to only a limited number of embodiments, those skilled in the art, having benefit of this disclosure, will appreciate that numerous other embodiments can be devised which do not depart from the scope of the invention.

Claims

1. A radar antenna detection robot for a tunnel, comprising symmetrically distributed first fixed shells (1), wherein a second fixed shell (2) is hingedly connected between the symmetrically distributed first fixed shells (1), characterized in that: The invention also comprises a first transmission belt (11), the first transmission belt (11) being sleeved on the second fixed shell (2), a power mechanism for driving the first transmission belt (11) to rotate being commonly provided on the symmetrically distributed first fixed shells (1), a symmetrically distributed fixed plate (12) being fixedly connected inside the second fixed shell (2), the fixed plate (12) being fixedly connected with equidistantly distributed electric telescopic rods (13) and equidistantly distributed tension springs (14), one end of the equidistantly distributed tension springs (14) being commonly fixedly connected with a transmission plate (15) away from the adjacent fixed plate (12), the transmission plate (15) being pressed and matched with the telescopic ends of the adjacent electric telescopic rods (13), a radar detector (16) being fixedly connected between the symmetrically distributed transmission plates (15), a gravity sensing module being electrically connected to the two electric telescopic rods (13) being provided inside the radar detector (16), the radar detector (16) being sleeved with an annular sleeve (17), The annular sleeve (17) is limitedly matched with the second fixed shell (2); the second fixed shell (2) is rotatably connected with a friction wheel (18) distributed in a rectangular shape; the friction wheel (18) is transmission-matched with the first transmission belt (11); the friction wheel (18) is transmission-matched with the annular sleeve (17); the power mechanism comprises two groups of symmetrically distributed electric wheels (21); the two groups of electric wheels (21) are respectively arranged in adjacent first fixed shells (1); each group of symmetrically distributed electric wheels (21) is commonly sleeved with a transmission belt (22); the transmission belt (22) is fixedly connected to the first transmission belt (11); an auxiliary mechanism is commonly arranged in the symmetrically distributed first fixed shells (1); the auxiliary mechanism is used to assist the transmission belt (22) to fit the wall surface; the annular sleeve (17) and the radar detector (16) have a portion having an arc-shaped cross section and a portion having a square cross section.

2. The radar antenna detection robot for tunnel according to claim 1, characterized in that: The auxiliary mechanism comprises symmetrically distributed connecting pipes (3), the symmetrically distributed connecting pipes (3) are respectively fixed to the outer sides of the adjacent first fixed shells (1), the symmetrically distributed connecting pipes (3) are commonly connected to an air suction member (31), a third fixed shell (32) is fixed inside the first fixed shell (1), the connecting pipe (3) passes through the adjacent first fixed shell (1) and is connected to the adjacent third fixed shell (32), the third fixed shell (32) is sleeved with a second transmission belt (33), and the second transmission belt (33) ) is fixedly connected to an equidistantly distributed fixed tube (34), the fixed tube (34) is sealingly matched with the adjacent third fixed shell (32), the first fixed shell (1) is fixedly connected to a rectangularly distributed transmission shaft (35), the transmission shaft (35) is transmission-matched with the adjacent electric wheel (21), the transmission shaft (35) is transmission-matched with the adjacent second transmission belt (33), the transmission belt (22) is provided with uniformly distributed adsorption holes (36), and the fixed tube (34) is slidingly matched with the adjacent adsorption holes (36).

3. The radar antenna detection robot for tunnel according to claim 2, characterized in that: The transmission belt (22) is fixedly connected with staggered isolation strips (37), the staggered isolation strips (37) isolate adjacent adsorption holes (36), and the hardness of the transmission belt (22) is greater than the hardness of the isolation strips (37).

4. The radar antenna detection robot for tunnel according to claim 2, characterized in that: The air suction member (31) is provided with an air outlet hole, the air outlet hole of the air suction member (31) is fixedly connected to and communicated with a duct (4), the duct (4) is fixedly connected to and communicated with an air outlet plate (41), and the air outlet plate (41) is used to clean dust on a path.

5. The radar antenna detection robot for tunnel according to claim 4, characterized in that: An electric bidirectional telescopic rod (5) is fixedly connected to the lower side of the air suction member (31); two telescopic ends of the electric bidirectional telescopic rod (5) are respectively ball-jointed to the adjacent connecting pipes (3); the connecting pipe (3) between the electric bidirectional telescopic rod (5) and the air suction member (31) is a hose, and the rest of the connecting pipe (3) is a hard pipe; a fixing member (51) is slidably connected to the lower side of the air suction member (31) via a cylinder; a first spring (52) sleeved on the cylinder is fixedly connected between the fixing member (51) and the air suction member (31); inclined surfaces are provided at the hinged positions of the second fixing shell (2) and the symmetrically distributed first fixing shell (1).

6. The radar antenna detection robot for tunnel according to claim 5, characterized in that: The fixing member (51) is composed of a square plate and four rotating wheels rotatably connected to the square plate. The fixing member (51) is extruded and matched with the first transmission belt (11), and the four rotating wheels correspond to adjacent friction wheels (18) respectively.

7. The radar antenna detection robot for tunnel according to claim 5, characterized in that: The invention also comprises a supporting mechanism, the supporting mechanism being used to support the air suction member (31), the supporting mechanism being arranged on the outer side of the symmetrically distributed first fixed shell (1), the supporting mechanism comprising a fixing frame (6), the fixing frame (6) being arranged on the symmetrically distributed first fixed shell (1), the fixing frame (6) being slidably connected to a sliding frame (61), the fixing frame (6) being fixedly connected to an elastic telescopic rod (62), the telescopic end of the elastic telescopic rod (62) being fixedly connected to a supporting plate (63), the supporting plate (63) being in contact and cooperation with the air suction member (31).

8. The radar antenna detection robot for tunnel according to claim 7, characterized in that: The sliding frame (61) is slidably connected to support rods (64) distributed in a rectangular shape, the support rods (64) are ball-jointed with the adjacent first fixed shell (1), and a second spring (65) sleeved on the support rods (64) is fixedly connected between the first fixed shell (1) and the sliding frame (61).

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