A tunnel detection robot

Abstract

The present invention discloses a tunnel detection robot, belonging to the technical field of tunnel detection, which includes a base capable of longitudinal displacement along the tunnel, a detection arm rotatably installed on the base, and a first rotation driving assembly for driving the rotation of the detection arm. The detection arm includes a proximal detection frame, two groups of distal detection rods slidably engaged with the proximal detection frame along the radial direction, and an elastic support device connecting the proximal detection frame and the distal detection rods. The two groups of distal detection rods are parallel to each other, and rollers for rolling cooperation with the tunnel segment are installed on the outer sides of the distal detection rods. A screw rod and a limiting rod are rotatably installed between the two groups of distal detection rods at the same time. A first servo motor is installed on one of the distal detection rods, the output end of the first servo motor is connected with the screw rod, the screw rod is in threaded cooperation with a slider, a ground penetrating radar is installed on the slider, and a limiting groove cooperating with the limiting rod is formed on the slider. The robot of the present invention can improve the efficiency and quality of tunnel detection.

Description

Technical Field

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

[0002] With the continuous improvement of transportation infrastructure, a large number of railway and highway tunnel projects have been constructed. For example, in the construction of mountain expressways, tunnels are often key projects for crossing complex geological conditions, shortening mileage, and improving driving safety. The long-term stable operation of these tunnels is crucial for ensuring smooth transportation. As an important support structure of the tunnel, the quality of the lining is directly related to the safety and durability of the tunnel. Therefore, effective detection technologies are needed to ensure that the lining quality meets the requirements. The lining is a permanent support structure of the tunnel, which can bear the formation pressure, prevent the deformation of the surrounding rock, and prevent the leakage of groundwater. A good lining structure can provide a relatively stable space inside the tunnel, ensuring the safe passage of personnel and vehicles inside the tunnel and the normal operation of various equipment.

[0003] During conventional detection, staff need to hold a detection radar and use special detection vehicles, scaffolding and other equipment to obtain the disease information behind the lining and the lining. The detection efficiency of this method is relatively low. There are also some devices in the prior art that can perform automated detection. For example, a tunnel detection robot and a tunnel detection method disclosed in CN113126088A measure tunnel lining data by controlling the rotation speed of the rotor and using a ground-penetrating radar when the detection robot crawls. However, due to the generally large scale of tunnels, using such devices requires frequent returns to the base station for charging, resulting in high device operation costs and low detection efficiency. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a tunnel detection robot, which can improve the efficiency and quality of tunnel detection.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A tunnel detection robot disclosed by the present invention includes a base capable of longitudinally displacing along the tunnel, a detection arm rotatably mounted on the base, and a first rotation driving assembly for driving the detection arm to rotate. The detection arm includes a proximal detection frame, two groups of distal detection rods slidably engaged with the proximal detection frame along the radial direction, and an elastic support device connecting the proximal detection frame and the distal detection rods. The two groups of distal detection rods are parallel to each other, and rollers rollingly engaged with the tunnel shield segments are installed on the outer sides of the distal detection rods. A screw rod and a limiting rod are rotatably installed between the two groups of distal detection rods. A first servo motor is installed on one of the distal detection rods, the output end of the first servo motor is connected to the screw rod, the screw rod is in threaded engagement with a slider, a ground penetrating radar is installed on the slider, and a limiting groove cooperating with the limiting rod is formed in the slider.

[0007] Further, the output end of the first servo motor is connected to a first shaft rod, the first shaft rod is connected to one end of the screw rod through a first universal joint, and the other end of the screw rod is connected to a second shaft rod through a second universal joint. The second shaft rod is slidably disposed in a sliding hole formed in the other distal detection rod.

[0008] Further, a first ball sleeve and a second ball sleeve are rotatably installed on the two distal detection rods respectively, and both ends of the limiting rod slidably penetrate through the central holes of the first ball sleeve and the second ball sleeve respectively.

[0009] Further, a cleaning arm is rotatably installed on the base, the cleaning arm is connected to a second rotation driving assembly, the cleaning arm includes a proximal cleaning frame, two groups of distal cleaning rods slidably engaged with the proximal cleaning frame along the radial direction, and an elastic support device connecting the proximal cleaning frame and the distal cleaning rods. The two groups of distal cleaning rods are parallel to each other, and a cleaning assembly is installed between the two groups of distal cleaning rods.

[0010] Further, the cleaning assembly includes a second servo motor, a rotating rod, and a brush. A second servo motor is installed on one of the distal cleaning rods, the output end of the second servo motor is connected to the rotating rod, and the brushes are uniformly spaced and installed on the rotating rod.

[0011] Further, a proximity switch corresponding to the proximal cleaning frame is installed on the proximal detection frame, the proximity switch is used to control the operation of the second rotation driving assembly, and an elastic buffer device is installed between the proximal detection frame and the proximal cleaning frame.

[0012] Further, a stable support assembly is provided on the proximal detection frame and the proximal cleaning frame. The stable support assembly includes an inner support rod, an outer support rod slidably installed on the outer side of the lower end of the inner support rod. A sliding pin is fixed to the lower end of the inner support rod, the sliding pin is slidably disposed in a sliding groove formed on the outer side of the outer support rod, and the sliding pin is connected to a locking member.

[0013] Furthermore, the first rotation driving assembly includes a third servo motor installed on the base. The output end of the third servo motor is connected to a turntable, and an eccentric driving rod is connected to the turntable. A guiding groove cooperating with the driving rod is formed on the detection support arm.

[0014] The beneficial effects of the present invention are as follows:

[0015] A tunnel detection robot disclosed by the present invention can detect the segment diseases in the entire circumferential direction of the tunnel by arranging a ground-penetrating radar that can move along the tunnel wall. Without manual operation, under the movement of the base, the rollers are used for guiding, and the entire tunnel can be detected omnidirectionally, thereby improving the detection efficiency and quality.

[0016] In the device disclosed by the present invention, the two groups of distal detection rods are respectively in sliding fit with the proximal detection frame along the radial direction, so that the rollers corresponding to the two ends of the two groups of distal detection rods can always be in close contact with the tunnel segment to adapt to its slope change. Correspondingly, the slopes of the corresponding screws and the detection slopes of the ground-penetrating radar can also change accordingly, and will not be affected by local depressions or protrusions on the inner wall of the segment, thereby improving the stability and detection accuracy during the detection process.

[0017] In the device disclosed by the present invention, the limiting rod is used to limit the deflection of the slider, so as to make the movement of the slider more stable. The length of the screw corresponds to the length of the segment, so that the detection of the entire segment can be made more continuous, reducing the error problem caused by re-calibration.

[0018] Other advantages, objectives, and features of the present invention will be described in the subsequent specification, and to some extent, will be obvious to those skilled in the art, or those skilled in the art can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the following specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To make the objectives, technical solutions, and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0020] Figure 1 is a schematic structural diagram of the detection robot of the present invention;

[0021] Figure 2 is Figure 1 an enlarged view of part A in

[0022] Figure 3 is a side view of the detection robot;

[0023] Figure 4 is Figure 3 an enlarged view of part B in

[0024] Figure 5 Schematic structural diagram of the detection arm

[0025] Figure 6 Front view of the inspection robot

[0026] The markings in the attached drawings are as follows: base 1, detection arm 2, first rotation drive assembly 3, proximal detection frame 4, distal detection rod 5, elastic support device 6, roller 7, screw rod 8, limit rod 9, first servo motor 10, slider 11, ground penetrating radar 12, limit groove 13, first shaft rod 14, first universal joint 15, second universal joint 16, second shaft rod 17, first ball socket 18, second ball socket 19, cleaning arm 20, second rotation drive assembly 21, cleaning frame 22, distal cleaning rod 23, second servo motor 24, rotating rod 25, brush 26, proximity switch 27, elastic buffer device 28, inner support rod 29, outer support rod 30, sliding pin 31, sliding groove 32, locking member 33, third servo motor 34, turntable 35, drive rod 36 Detailed implementation manners

[0027] As Figures 1 to 6 shown, a tunnel inspection robot disclosed by the present invention includes a base 1 capable of longitudinally displacing along the tunnel, a detection arm 2 rotatably mounted on the base 1, and a first rotation drive assembly 3 for driving the detection arm 2 to rotate. The longitudinal direction of the tunnel is also the extending direction of the tunnel. At this time, the base 1 is located at the center of the tunnel. Under the action of the first rotation drive assembly 3, the detection arm 2 can rotate within a cross-section of a tunnel. At this time, the detection assembly at the outer end cooperates with the inner wall of the tunnel segment, so as to detect it. Under the movement of the base 1, the roller 7 rolls and cooperates with the inner wall of the tunnel for guiding. Each detection cycle can correspond to a group of segments in the longitudinal direction. After the base 1 moves, the entire tunnel can be comprehensively detected, thereby improving the detection efficiency and quality

[0028] Specifically, the detection arm 2 disclosed by the present invention includes a proximal detection frame 4, two groups of distal detection rods 5 slidably matched with the proximal detection frame 4 along the radial direction, and an elastic support device 6 connecting the proximal detection frame 4 and the distal detection rod 5. The proximal detection frame 4 is formed by connecting two parallel proximal detection rods, and the two proximal detection rods are connected by a cross bar, which can ensure the synchronism of rotation. Each distal detection rod 5 cooperates with a proximal detection rod, and the elastic support device 6 is used to provide an outward elastic support force, and can expand and contract along its length direction to meet the needs of different tunnel radii or segment installation errors

[0029] In the embodiment of the present invention, the elastic support device 6 adopts a support spring, which is installed inside the proximal detection rod and is connected to the distal detection rod 5 and the proximal detection rod at both ends respectively, so as to provide an outward elastic support force for the distal detection rod 5.

[0030] Further, the two groups of distal detection rods 5 disclosed in the present invention are parallel to each other. A roller 7 that is in rolling fit with the tunnel segment is installed on the outer side of the distal detection rod 5. During detection, under the elastic support of the elastic support device 6, the roller 7 cooperates with the inner wall of the segment, so that it is convenient for the detection arm 2 to closely adhere to the tunnel inner wall for detection; a screw rod 8 and a limiting rod 9 are rotatably installed between the two groups of distal detection rods 5 at the same time. A first servo motor 10 is installed on one of the distal detection rods 5. The output end of the first servo motor 10 is connected to the screw rod 8. The screw rod 8 is in threaded fit with a slider 11. A ground penetrating radar 12 is installed on the slider 11. A limiting groove 13 that cooperates with the limiting rod 9 is formed in the slider 11.

[0031] The two groups of distal detection rods 5 disclosed in the present invention are respectively in sliding fit with the proximal detection frame 4 along the radial direction. When the tunnel segment has a slope according to the design requirements, under the action of the elastic support device 6, the extension lengths of the corresponding two groups of distal detection rods 5 will also be different. The rollers 7 corresponding to the two ends of the two groups of distal detection rods 5 can always closely adhere to the tunnel segment and adapt to its slope change. The slope of the corresponding screw rod 8 and the detection slope of the ground penetrating radar can also change accordingly without being affected by local depressions or protrusions on the inner wall of the segment, thereby improving the stability and detection accuracy during the detection process.

[0032] In this embodiment, the output end of the first servo motor 10 is connected to a first shaft rod 14. The axis of the first shaft rod 14 is parallel to the plane where the detection arm 2 is located. One end of the screw rod 8 is connected to the first shaft rod 14 through a first universal joint 15. The other end of the screw rod 8 is connected to a second shaft rod 17 through a second universal joint 16. The second shaft rod 17 is slidably arranged in a sliding hole formed in the other distal detection rod 5. The first servo motor 10 drives the screw rod 8 to rotate through the first shaft rod 14 and the first universal joint 15. The screw rod 8 can drive the slider 11 to move along the axial direction of the screw rod 8, so as to detect the position of an entire length direction of a shield segment. In the device disclosed in the present invention, according to the construction design requirements of the tunnel, when the base 1 moves to the lower part of the shield segment with a slope, the extension lengths of the two groups of distal detection rods 5 will also be different. The corresponding screw rod 8 also presents a slope, and the detection direction of the slider 11 and the ground penetrating radar 12 can be along the axial direction of the screw rod 8, avoiding the influence of local depressions or protrusions on the inner wall of the segment on the ground penetrating radar 12, and improving the detection efficiency and accuracy.

[0033] In this embodiment, a first ball sleeve 18 and a second ball sleeve 19 are respectively rotatably mounted on two distal detection rods 5. Both ends of the limiting rod 9 respectively slide through the central holes of the first ball sleeve 18 and the second ball sleeve 19, which can adapt to the telescopic change of the distal detection rods 5, and at the same time play a role in limiting the movement of the slider 11, ensuring the stability of the ground penetrating radar 12 during detection.

[0034] In this embodiment, a cleaning support arm 20 is simultaneously rotatably mounted on the base 1. The cleaning support arm 20 is connected to a second rotation driving assembly 21. The cleaning support arm 20 includes a proximal cleaning frame 22, two groups of distal cleaning rods 23 that are slidably matched with the proximal cleaning frame 22 along the radial direction, and an elastic support device 6 that connects the proximal cleaning frame 22 and the distal cleaning rods 23. The two groups of distal cleaning rods 23 are parallel to each other, and a cleaning assembly is installed between the two groups of distal cleaning rods 23. By providing the cleaning support arm 20 and the cleaning assembly, the inner wall of the segment can be cleaned, reducing the detection interference of the ground penetrating radar 12 and increasing the stability of the device.

[0035] In the embodiment of the present invention, the cleaning support arm 20 and the detection support arm 2 adopt a similar structure. Through a symmetrical design, the two can balance each other during operation, increasing the stability of the device during use.

[0036] In this embodiment, the cleaning assembly includes a second servo motor 24, a rotating rod 25, and a brush 26. The second servo motor 24 is installed on one of the distal cleaning rods 23. The output end of the second servo motor 24 is connected to the rotating rod 25, and the brushes 26 are evenly spaced and installed on the rotating rod 25. Multiple groups of brushes 26 can more easily clean dead corners.

[0037] In this embodiment, a proximity switch 27 corresponding to the proximal cleaning frame 22 is installed on the proximal detection frame 4. The proximity switch 27 is used to control the operation of the second rotation driving assembly 21. An elastic buffer device 28 is simultaneously installed between the proximal detection frame 4 and the proximal cleaning frame 22. By designing the proximity switch 27, the rotation range of the proximal cleaning frame 22 can be limited, avoiding interference with the proximal detection frame 4, and at the same time enabling the cleaning assembly to automatically rotate and clean, making the cleaning more thorough.

[0038] In this embodiment, a stable support assembly is provided on the proximal detection frame 4 and the proximal cleaning frame 22. The stable support assembly includes an inner support rod 29 and an outer support rod 30 slidably installed on the outer side of the lower end of the inner support rod 29. A sliding pin 31 is fixed to the lower end of the inner support rod 29. The sliding pin 31 is slidably disposed in a chute 32 opened on the outer side of the outer support rod 30, and the sliding pin 31 is connected to a locking member 33. When it is necessary to focus on scanning and cleaning a suspicious position, the locking member 33 can be locked to fix the stable support assembly on the ground, which can increase the accuracy during detection.

[0039] In this embodiment, the first rotation driving assembly 3 includes a third servo motor 34 installed on the base 1. The output end of the third servo motor 34 is connected to a turntable 35. An eccentric driving rod 36 is connected to the turntable 35. A guide groove cooperating with the driving rod 36 is formed on the detection support arm 2.

[0040] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in terms of form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A tunnel inspection robot, characterized in that: It includes a base capable of longitudinal displacement along the tunnel, a detection support arm rotatably mounted on the base, and a first rotation drive assembly for driving the rotation of the detection support arm. The detection support arm includes a proximal detection frame, two groups of distal detection rods slidably engaged with the proximal detection frame along the radial direction, and an elastic support device connecting the proximal detection frame and the distal detection rods. The two groups of distal detection rods are parallel to each other, and rollers rollingly engaged with the tunnel shield segments are installed on the outer sides of the distal detection rods. A screw rod and a limiting rod are rotatably installed between the two groups of distal detection rods at the same time. A first servo motor is installed on one of the distal detection rods, the output end of the first servo motor is connected to the screw rod, the length of the screw rod corresponds to the length of the segment, the screw rod is in threaded engagement with a slider, a ground penetrating radar is installed on the slider, and a limiting groove engaged with the limiting rod is formed in the slider. The output end of the first servo motor is connected to a first shaft rod, the first shaft rod is connected to one end of the screw rod through a first universal joint, and the other end of the screw rod is connected to a second shaft rod through a second universal joint. The second shaft rod is slidably arranged in a sliding hole formed in the other distal detection rod. First ball sleeves and second ball sleeves are rotatably installed on the two distal detection rods respectively, and both ends of the limiting rod slidably pass through the central holes of the first ball sleeve and the second ball sleeve. The first rotation drive assembly includes a third servo motor installed on the base, the output end of the third servo motor is connected to a turntable, a driving rod is eccentrically connected to the turntable, and a guide groove engaged with the driving rod is formed in the detection support arm.

2. The tunnel inspection robot according to claim 1, characterized in that: A cleaning support arm is rotatably installed on the base at the same time. The cleaning support arm is connected to a second rotation drive assembly. The cleaning support arm includes a proximal cleaning frame, two groups of distal cleaning rods slidably engaged with the proximal cleaning frame along the radial direction, and an elastic support device connecting the proximal cleaning frame and the distal cleaning rods. The two groups of distal cleaning rods are parallel to each other, and a cleaning assembly is installed between the two groups of distal cleaning rods.

3. The tunnel detection robot according to claim 2, characterized in that: The cleaning assembly includes a second servo motor, a rotating rod, and a brush. The second servo motor is installed on one of the distal cleaning rods, the output end of the second servo motor is connected to the rotating rod, and the brushes are evenly spaced and installed on the rotating rod.

4. The tunnel detection robot according to claim 3, characterized in that: A proximity switch corresponding to the proximal cleaning frame is installed on the proximal detection frame. The proximity switch is used to control the action of the second rotation drive assembly. An elastic buffer device is installed between the proximal detection frame and the proximal cleaning frame at the same time.

5. The tunnel detection robot according to claim 4, characterized in that: Stable support components are arranged on the proximal detection frame and the proximal cleaning frame. The stable support components include inner support rods and outer support rods slidably installed on the outer sides of the lower ends of the inner support rods. A sliding pin is fixed to the lower end of the inner support rod. The sliding pin is slidably arranged in a sliding groove formed on the outer side of the outer support rod. The sliding pin is connected to a locking member.

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