Rigid bionic probe suitable for complex site detection

Abstract

The invention relates to the technical field of civil engineering investigation, and discloses a rigid bionic probe suitable for complex site detection, which comprises a cylindrical sleeve and an axial telescopic probe movably connected to the lower end of the cylindrical sleeve, a radial expansion and contraction mechanism is arranged on the side wall of the cylindrical sleeve, and an expansion and contraction adjusting cone is arranged in the cylindrical sleeve. The expansion and contraction adjusting cone is in transmission connection with an output shaft of the first driving motor, the axial telescopic probe is in transmission connection with an output shaft of the second driving motor, the first driving motor drives the expansion and contraction adjusting cone to ascend and descend, and the second driving motor drives the axial telescopic probe to ascend and descend. The lifting motion of the expansion and contraction adjusting cone and the lifting motion of the axial telescopic probe are alternately matched, and tunneling of the rigid bionic probe is achieved. The device is compact in design and small in size, can easily enter narrow spaces and complex terrains, overcomes the limitation that traditional large detection equipment is difficult to enter, and provides a new solution for detection of complex sites.

Description

Technical Field

[0001] The invention relates to the technical field of civil engineering investigation, and more particularly to a rigid bionic probe suitable for complex site investigation. Background Art

[0002] Site detection is the premise and key to civil engineering construction and infrastructure safety. In recent years, with the rapid development of national infrastructure construction and the deployment of major strategic engineering projects, higher requirements have been placed on site detection technology.

[0003] At present, the existing site detection technology generally provides reaction force through large self-weight equipment, which has the disadvantages of high energy consumption and great environmental impact, and does not conform to the concept of low-carbon green development. In addition, in complex sites such as "three depths", forest ecological areas, and rugged mountainous areas, it is difficult for large mechanical equipment to enter, resulting in insufficient reaction force for the detection equipment to penetrate the soil, and limited penetration depth of the detection equipment, making it difficult to conduct site detection and construction scientifically and safely.

[0004] Existing bionic probes mostly use flexible structures. For example, the expansion and contraction of an oil bladder are used to push the probe forward. Although this allows for flexible entry into narrow spaces, the oil bladder needs to be made of soft and elastic materials, such as rubber or polyurethane. These materials are easily deformed or ruptured under high pressure, resulting in limited drilling depth of the probe and making it difficult to apply to complex terrain. Summary of the invention

[0005] In view of this, the present invention provides a light and small detection device that can realize site survey for sites with low accessibility of large detection equipment, so as to solve the problem that existing light detection instruments can only detect shallow structures.

[0006] To achieve the above-mentioned purpose, the present invention provides a rigid bionic probe suitable for complex site detection, comprising a cylindrical sleeve and an axial telescopic probe movably connected to the lower end of the cylindrical sleeve, a radial expansion and contraction mechanism is provided on the side wall of the cylindrical sleeve, an expansion and contraction adjustment cone is provided in the cylindrical sleeve, the expansion and contraction adjustment cone is slidably connected to the radial expansion and contraction mechanism, the expansion and contraction adjustment cone is transmission-connected to the output shaft of a first drive motor, and the axial telescopic probe is transmission-connected to the output shaft of a second drive motor; The first drive motor drives the expansion and contraction adjustment cone to perform lifting and lowering movements along the axial direction of the cylindrical sleeve, so that the radial expansion and contraction mechanism expands and contracts radially. The second drive motor drives the axial telescopic probe to perform lifting and lowering movements, so that the axial telescopic probe extends and retracts axially relative to the cylindrical sleeve. The lifting and lowering movements of the expansion and contraction adjustment cone and the axial telescopic probe are alternately coordinated to realize the excavation of the rigid bionic probe.

[0007] Preferably, the middle part of the cylindrical sleeve is a hollow sleeve structure, a first driving motor is provided at the upper end of the interior of the hollow sleeve structure, a plurality of raised slide rails are axially provided on the inner wall of the hollow sleeve structure, a plurality of expansion and contraction adjustment cones are slidably connected to the raised slide rails, and a circular groove for installing a bearing is provided at the lower end of the hollow sleeve structure.

[0008] Preferably, the output shaft of the first driving motor is connected to the upper end of the expansion transmission shaft, and the lower end of the expansion transmission shaft is screwed to a plurality of expansion and contraction adjustment cones 1 in sequence and then movably connected to the bearing.

[0009] Preferably, the upper part of the expansion and contraction adjustment cone is conical, the lower part is cylindrical, grooves corresponding to the raised slide rails are arranged around it, and a through channel for threading the expansion transmission shaft is arranged in the middle.

[0010] Preferably, the radial expansion and contraction mechanism includes a plurality of expansion retaining plates, the inner side of each of which is provided with a wedge-shaped structure corresponding to the cone of the expansion and contraction adjustment cone, and each of the expansion retaining plates is connected by an annular spring. When the conical surface on the expansion and contraction adjustment cone moves relative to the wedge-shaped surface on the expansion retaining plate, the expansion and contraction adjustment cone causes the plurality of expansion retaining plates to move radially along the cylindrical sleeve, thereby realizing radial expansion and contraction of the radial expansion and contraction mechanism.

[0011] Preferably, the lower part of the cylindrical sleeve is a thin-walled cylindrical structure with four telescopic slide rails inside, and the axial telescopic probe is mounted on the thin-walled cylindrical structure of the lower part of the cylindrical sleeve and can slide along the telescopic slide rails.

[0012] Preferably, a groove corresponding to the telescopic rail is provided inside the axial telescopic probe, and the middle portion of the axial telescopic probe is cylindrical and the lower portion is conical.

[0013] Preferably, a telescopic transmission shaft is provided at the center position of the lower part of the cylindrical sleeve, the upper end of the telescopic transmission shaft is connected to the cylindrical sleeve, the lower end of the telescopic transmission shaft is threadedly connected to the axial telescopic probe, and the second drive motor drives the rotation of the telescopic transmission shaft.

[0014] It can be seen from the above technical solutions that, compared with the prior art, the rigid bionic probe suitable for complex site detection provided by the present invention is inspired by organisms in nature that are good at underground excavation, such as earthworms, clams, plant roots, etc. They all have flexible bodies and strong excavation capabilities, and can freely shuttle in complex underground environments. The bionic probe draws on the advantages of these organisms, has a compact design, and is small in size. It can easily enter narrow spaces and complex terrains, such as "three deep" areas, forest ecological areas, rugged mountains, crowded cities, etc., overcomes the limitations of traditional large-scale detection equipment that are difficult to enter, provides a new solution for the detection of complex sites, and achieves the following beneficial effects: 1. The bionic probe can be remotely controlled without the need for personnel to enter dangerous environments, reducing personnel safety risks such as landslides and mud-rock flows. This design enables the bionic probe to complete detection tasks safely and efficiently, providing safety guarantees for detection work; 2. The bionic probe is easy to operate and only requires simple training, which lowers the threshold for use and improves detection efficiency. The operator can control the movement and detection process of the probe through simple operations, which greatly improves the efficiency and convenience of detection work; 3. The design of the bionic probe is inspired by natural organisms, and its appearance and movement are integrated with the natural environment, such as earthworms, clams, plant roots, etc. This design enables the bionic probe to reduce interference with the ecological environment, achieve ecological integration and harmonious symbiosis, contribute to environmental protection and sustainable development, and comply with the concept of green and low-carbon development. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the overall structure of the rigid bionic probe suitable for complex site detection of the present invention; FIG2 is a cross-sectional view of an axial telescopic probe of the present invention; FIG3 is a schematic diagram of the structure of the expansion and contraction adjustment cone of the present invention, wherein (A) is a front view, (B) is a longitudinal cross-sectional view, (C) is a top view, and (D) is a three-dimensional structure diagram; FIG4 is a schematic structural diagram of a cylindrical sleeve of the present invention, wherein (A) is a front view, (B) is a longitudinal cross-sectional view, and (C) is a three-dimensional structural diagram; FIG5 is a schematic structural diagram of the radial expansion and contraction mechanism of the present invention, wherein (A) is a front view, (B) is a three-dimensional structural diagram, and (C) is a partial three-dimensional structural diagram; FIG6 is a schematic diagram of the structure of the axial telescopic probe of the present invention, wherein (A) is a top view, (B) is a front view, (C) is a cross-sectional view; FIG. 7 is a schematic structural diagram of the expansion and contraction transmission shaft of the present invention.

[0017] Figure 8 The figure is a schematic diagram of the working process of the rigid bionic probe suitable for complex site detection of the present invention.

[0018] Explanation of the accompanying drawings: 1. Expansion and contraction adjustment cone; 2. Cylindrical sleeve; 2-1. First drive motor; 2-2. Telescopic slide rail; 3. Radial expansion and contraction mechanism; 4. Axial telescopic probe; 4-1. Second drive motor; 4-2. Sensor; 5. Expansion transmission shaft; 6. Telescopic transmission shaft. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Please see attached Figure 1-8 , which is a rigid bionic probe suitable for complex site detection disclosed by the present invention.

[0021] The rigid bionic probe suitable for complex site detection provided by the present invention can be used in "three-depth" areas or the toe of a dam where large machinery and equipment are difficult to enter. The bionic probe is light and portable, easy to operate, and the staff only needs to penetrate it into a shallower soil layer, and the bionic probe can autonomously excavate to a large depth of the stratum through bionic movement. In addition, the bionic probe can also be used in scenarios where the reaction force of penetration into the soil is insufficient, such as lunar soil drilling. The bionic probe can provide penetration reaction force through anchor expansion to achieve continuous excavation, including an expansion and contraction adjustment cone 1, a cylindrical sleeve 2, a radial expansion and contraction mechanism 3, and an axial telescopic probe 4.

[0022] like Figure 1-2As shown, the expansion and contraction adjustment cone 1 is arranged inside the cylindrical sleeve 2, the radial expansion and contraction mechanism 3 is arranged on the side wall of the cylindrical sleeve 2, the expansion and contraction adjustment cone 1 is slidably connected to the radial expansion and contraction mechanism 3, the axial telescopic probe 4 is movably connected to the lower end of the cylindrical sleeve 2, the expansion and contraction adjustment cone 1 is transmission-connected to the output shaft of the first drive motor 2-1, and the axial telescopic probe 4 is transmission-connected to the output shaft of the second drive motor 4-1. The first drive motor 2-1 drives the expansion and contraction adjustment cone 1 to perform lifting and lowering movements along the axial direction of the cylindrical sleeve 2, so that the radial expansion and contraction mechanism 3 expands and contracts radially, and the second drive motor 4-2 drives the axial telescopic probe 4 to perform lifting and lowering movements, so that the axial telescopic probe 4 extends and retracts axially relative to the cylindrical sleeve 2. The lifting and lowering movements of the expansion and contraction adjustment cone 1 and the lifting and lowering movements of the axial telescopic probe 4 are alternately coordinated to realize the excavation of the rigid bionic probe. Specifically: like Figure 3 As shown, the expansion and contraction adjustment cone 1: the upper part is a conical structure, the lower part is cylindrical, there are grooves around, and there is a threaded through channel in the middle for screwing the expansion drive shaft 5. There are four expansion and contraction adjustment cones 1, and the spacing between the four expansion and contraction adjustment cones 1 is constant. It is not difficult for technical personnel in this field to understand that the number of expansion and contraction adjustment cones 1 can be adjusted according to actual needs.

[0023] like Figure 4 As shown, the cylindrical sleeve 2 is divided into three parts: upper, middle and lower parts, wherein: The upper part is a multi-end connectable cylindrical shape, used to connect ground equipment; The middle part is a hollow sleeve structure, the upper part of the hollow sleeve structure is reserved for setting the first drive motor 2-1, the middle part of the hollow sleeve structure is reserved for four empty slots and there are four raised slide rails corresponding to the grooves on the expansion and contraction adjustment cone 1 inside, which is convenient for the subsequent installation of the expansion and contraction adjustment cone 1, as well as the installation of the expansion and contraction transmission shaft 5 and the radial expansion and contraction mechanism 3 matched with the expansion and contraction adjustment cone 1. The lower part of the hollow sleeve structure has a circular groove, which is convenient for the subsequent installation of the bearing; The lower part is a thin-walled cylindrical structure, and four telescopic slide rails 2 - 2 are arranged inside to facilitate the subsequent installation of the telescopic transmission shaft 6 and the axial telescopic probe 4 .

[0024] It should be noted that the first drive motor 2-1 is arranged in the reserved space at the upper part of the hollow sleeve structure, the raised slide rail is axially arranged on the inner wall of the hollow sleeve structure, the expansion and contraction adjustment cone 1 is slidably connected to the raised slide rail, and the bearing is installed in the circular groove at the lower end of the hollow sleeve structure. The output shaft of the first drive motor 2-1 is connected to the upper end of the expansion transmission shaft 5, and the lower end of the expansion transmission shaft 5 is screwed with the expansion and contraction adjustment cone 1 in turn and then movably connected to the bearing.

[0025] like Figure 5As shown, the radial expansion and contraction mechanism 3 includes a plurality of expansion retaining plates, which are irregular long strip structures, and a wedge-shaped structure corresponding to the cone of the expansion and contraction adjustment cone 1 is provided on the inner side thereof. Each expansion retaining plate is connected by an annular spring. When the wedge-shaped surface on the expansion retaining plate moves relative to the cone surface on the expansion and contraction adjustment cone 1, the expansion and contraction adjustment cone 1 causes the plurality of expansion retaining plates to move radially along the cylindrical sleeve 2, respectively, to realize the radial expansion and contraction of the radial expansion and contraction mechanism 3. In this embodiment, there are four expansion retaining plates.

[0026] like Figure 2 , 6 As shown, the axial telescopic probe 4 is divided into three parts: upper, middle and lower. Specifically: The upper part is separated into two parts, the outer part is a thin-walled cylindrical structure, the inner part is a cylindrical structure with a slide groove, and there is a hollow gap between the inner and outer parts. The groove on the inner cylindrical structure can fit with the four telescopic slides on the lower part of the cylindrical sleeve 2. The middle part of the cylinder is a reserved threaded channel for the telescopic transmission shaft 6. The thin-walled cylindrical structure on the upper part of the axial telescopic probe 4 is sleeved on the thin-walled cylindrical structure on the lower part of the cylindrical sleeve 2, and the axial telescopic probe 4 can slide along the telescopic slide 2-2; The middle part is cylindrical and has a sensor 4-2 inside; The lower part is conical with a cone tip angle of 60 degrees.

[0027] Expansion and contraction transmission shaft 5: Located at the axial center position in the middle of the cylindrical sleeve 2, the upper and lower ends of the expansion and contraction transmission shaft 5 are smooth cylinders, the upper end of which is connected to the first drive motor 2-1, and the lower end is connected to the fixed bearing, with a thread in the middle. The expansion and contraction transmission shaft 5 passes through the threaded holes of the four expansion and contraction adjustment cones 1, and the two are connected by threads, and balls can be added between the threads to reduce friction.

[0028] like Figure 7 As shown, the telescopic transmission shaft 6 is located at the center of the lower part of the cylindrical sleeve 2 and is provided with threads.

[0029] It should be noted that the upper end of the telescopic transmission shaft 6 is connected to the cylindrical sleeve 2 , the lower end of the telescopic transmission shaft 6 is threadedly connected to the axial telescopic probe 4 , and the second drive motor 4 - 1 drives the telescopic transmission shaft 6 to rotate.

[0030] In this embodiment, the various parts of the rigid bionic probe can be made of 42CrMo steel. The diameter of the cylindrical part of the axial telescopic probe 4 is 4.4 cm, the top angle of the conical part is 60 degrees, and the length of the entire axial telescopic probe can be selected to be 15-25 cm. Sensors are set inside to measure the side friction, tip resistance and pore water pressure. CGKX-W micro pore water pressure sensor, ZNNJ-502 series soil force sensor, etc. can be used. The radial expansion and contraction mechanism 3 can be selected to be 20-30 cm long, the diameter of the cylindrical sleeve 2 is 4.4 cm, and the cylindrical sleeve 2 is larger than the length of the radial expansion and contraction mechanism 3. The specific length of the cylindrical sleeve 2 is determined by the specific length of the radial expansion and contraction mechanism 3. The length of the main part of the entire device is preferably not more than 70 cm.

[0031] The workflow of the rigid bionic probe suitable for complex site detection of the present invention is as follows: First, the first drive motor 2-1 works, driving the expansion drive shaft 5 to rotate clockwise, driving the expansion and contraction adjustment cone 1 to rise, and the conical lower surface of the expansion and contraction adjustment cone 1 and the wedge-shaped inclined surface of the expansion retaining plate move relative to each other to push the expansion retaining plate out radially along the cylindrical sleeve 2, so that the radial expansion and contraction mechanism 3 is expanded and anchored, and then the second drive motor 4-1 works, driving the telescopic transmission shaft 6 to rotate clockwise, driving the axial telescopic probe 4 to advance downward, and after reaching a certain position, the first drive motor 2-1 drives the expansion drive shaft 5 to rotate counterclockwise, driving the expansion and contraction adjustment cone 1 to descend, and the expansion retaining plate retreats radially along the cylindrical sleeve 2, so that the radial expansion and contraction mechanism 3 contracts, and then the second drive motor 4-1 drives the telescopic transmission shaft 6 to rotate counterclockwise, driving the cylindrical sleeve 2 and its internal structure to advance downward, and the above process is repeated continuously until the rigid bionic probe reaches the maximum stroke.

[0032] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rigid bionic probe suitable for complex site detection, characterized in that: The invention comprises a cylindrical sleeve (2) and an axial telescopic probe (4) movably connected to the lower end of the cylindrical sleeve (2); a radial expansion and contraction mechanism (3) is provided on the side wall of the cylindrical sleeve (2); an expansion and contraction adjustment cone (1) is provided in the cylindrical sleeve (2); the expansion and contraction adjustment cone (1) is slidably connected to the radial expansion and contraction mechanism (3); the expansion and contraction adjustment cone (1) is transmission-connected to the output shaft of a first drive motor (2-1); and the axial telescopic probe (4) is transmission-connected to the output shaft of a second drive motor (4-1); The first drive motor (2-1) drives the expansion and contraction adjustment cone (1) to perform lifting and lowering movements along the axial direction of the cylindrical sleeve (2), so that the radial expansion and contraction mechanism (3) expands and contracts along the radial direction. The second drive motor (4-2) drives the axial telescopic probe (4) to perform lifting and lowering movements, so that the axial telescopic probe (4) extends and retracts axially relative to the cylindrical sleeve (2). The lifting and lowering movements of the expansion and contraction adjustment cone (1) and the lifting and lowering movements of the axial telescopic probe (4) are coordinated alternately to achieve excavation of the rigid bionic probe.

2. The rigid bionic probe suitable for complex site detection according to claim 1, characterized in that: The middle part of the cylindrical sleeve (2) is a hollow sleeve structure, and a first drive motor (2-1) is provided at the upper end of the hollow sleeve structure. The inner wall of the hollow sleeve structure is provided with a plurality of raised slide rails along the axial direction, and a plurality of expansion and contraction adjustment cones (1) are slidably connected to the raised slide rails. A circular groove for mounting a bearing is provided at the lower end of the hollow sleeve structure.

3. The rigid bionic probe suitable for complex site detection according to claim 2, characterized in that: The output shaft of the first drive motor (2-1) is connected to the upper end of the expansion transmission shaft (5), and the lower end of the expansion transmission shaft (5) is threadedly connected to a plurality of expansion and contraction adjustment cones (1) in sequence and then movably connected to the bearing.

4. The rigid bionic probe suitable for complex site detection according to claim 1, characterized in that: The expansion and contraction adjustment cone (1) has a conical upper portion and a cylindrical lower portion, is provided with grooves corresponding to the raised slide rails on all sides, and has a through hole in the middle for threadedly connecting the expansion transmission shaft (5).

5. The rigid bionic probe suitable for complex site detection according to claim 4, characterized in that: The radial expansion and contraction mechanism (3) comprises a plurality of expansion retaining plates, the inner side of each expansion retaining plate being provided with a wedge-shaped structure corresponding to the cone of the expansion and contraction adjustment cone (1), and each of the expansion retaining plates being connected via an annular spring. When the cone surface on the expansion and contraction adjustment cone (1) and the wedge-shaped surface on the expansion retaining plate move relative to each other, the expansion and contraction adjustment cone (1) causes the plurality of expansion retaining plates to move radially along the cylindrical sleeve (2), thereby achieving radial expansion and contraction of the radial expansion and contraction mechanism (3).

6. The rigid bionic probe suitable for complex site detection according to claim 1, characterized in that: The lower part of the cylindrical sleeve (2) is a thin-walled cylindrical structure with four telescopic slide rails (2-2) inside. The axial telescopic probe (4) is sleeved on the thin-walled cylindrical structure of the lower part of the cylindrical sleeve (2) and can slide along the telescopic slide rails (2-2).

7. The rigid bionic probe suitable for complex site detection according to claim 6, characterized in that: A groove corresponding to the telescopic slide rail is provided inside the axial telescopic probe (4); the middle portion of the axial telescopic probe (4) is cylindrical and the lower portion is conical.

8. The rigid bionic probe suitable for complex site detection according to claim 1, characterized in that: A telescopic transmission shaft (6) is provided at the center position of the lower part of the cylindrical sleeve (2); the upper end of the telescopic transmission shaft (6) is connected to the cylindrical sleeve (2); the lower end of the telescopic transmission shaft (6) is threadedly connected to the axial telescopic probe (4); and the second drive motor (4-1) drives the telescopic transmission shaft (6) to rotate.

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