Tunnel scanning robot

Abstract

The invention discloses a tunnel scanning robot, relates to the technical field of tunnel construction measurement, and aims to solve the technical problem that dust is accumulated on the surface of a track in a tunnel for a long time, so that a three-dimensional laser scanner shakes in the moving process. A mounting frame is fixedly connected to the top of the sliding rail, and a scanning mechanism is arranged at the bottom of the sliding rail; the scanning mechanism comprises a supporting panel, a buffer unit and a dust removal unit. Through the scanning mechanism, the three-dimensional laser scanner provides stability during sliding and turning, meanwhile, through the buffering unit, the three-dimensional laser scanner in the turning process can be buffered so that the three-dimensional laser scanner can stably conduct scanning work on the inner wall of a tunnel, through the dust removal unit, the dust removal effect on the surface of the sliding rail is achieved through airflow, and the dust removal efficiency is improved. The three-dimensional laser scanner is prevented from shaking in the moving process, and the stability and reliability of the device are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction measurement, and more specifically, to a tunnel scanning robot. Background Art

[0002] The tunnel scanning robot is an intelligent robot specially used for tunnel environment detection. It integrates a variety of advanced sensors and scanning equipment, can move automatically in the tunnel, and conduct comprehensive and accurate scanning and detection of the tunnel's lining, surrounding rock, equipment and facilities.

[0003] Currently, when using a 3D laser scanner to scan the inner wall of a tunnel, the 3D laser scanner is generally moved in the tunnel through a track. However, dust will accumulate on the surface of the track after being in the tunnel for a long time, causing the 3D laser scanner to shake during movement, affecting the normal operation of the 3D laser scanner. In view of this, we propose a tunnel scanning robot. Summary of the invention

[0004] The purpose of the present invention is to provide a tunnel scanning robot to solve the technical problem that dust accumulates on the surface of the track in the tunnel for a long time, causing the three-dimensional laser scanner to shake during movement.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a tunnel scanning robot, comprising a slide rail, wherein slide grooves are respectively provided on both sides of the slide rail, a mounting frame is fixedly connected to the top of the slide rail, and a scanning mechanism is provided at the bottom of the slide rail;

[0006] The scanning mechanism comprises a supporting panel, a buffer unit and a dust removal unit, and the dust removal unit is fixedly connected to the scanning mechanism by a first bolt;

[0007] The cam is connected to the second frame by a first lever, and the second frame is connected to the cam by a second lever. The structure is provided with a through groove, and the inner walls on both sides of each through groove are movably connected to a second pulley through a third plug rod, and the second pulley is in movably contact with the top of the slide rail. A three-dimensional laser scanner is arranged at the bottom of the support panel. The present invention uses a scanning mechanism to provide stability for the three-dimensional laser scanner during sliding and turning. At the same time, the buffer unit can buffer the three-dimensional laser scanner in the turning so that it can stably scan the inner wall of the tunnel. The dust removal unit can remove dust from the surface of the slide rail through airflow to avoid shaking of the three-dimensional laser scanner during movement, which is beneficial to improving the stability and reliability of the device.

[0008] Preferably, a limiting groove is provided on the other side of the top of the supporting panel and the first insertion rod is movably connected inside the limiting groove.

[0009] Preferably, the buffer unit includes a plurality of movable grooves, which are jointly opened on the top of the supporting panel and are distributed in a square array. A supporting plate is fixedly connected to the top of the three-dimensional laser scanner, and a plurality of buffer rods are fixedly connected to the top of the supporting plate and the buffer rods are movably sleeved in the movable grooves.

[0010] Preferably, a first spring is movably sleeved on the side surface of the buffer rod and both ends of the first spring are respectively fixedly connected between the support panel and the load-bearing plate, and an airbag ring is fixedly sleeved on the top of each buffer rod and the airbag ring is in movably contact with the support panel. By arranging the airbag ring, the three-dimensional laser scanner generates inertia when turning, and the airbag ring is used to buffer and correct the buffer rod, thereby achieving stability of the three-dimensional laser scanner, which is beneficial to improving the stability of the device.

[0011] Preferably, the dust removal unit includes two mounting plates, which are fixedly connected to both sides of the second sliding frame by first bolts, and the top of each mounting plate is fixedly connected to a first air pump, and one side of the top of each mounting plate is fixedly connected to a support frame by a second bolt.

[0012] Preferably, the inner walls on both sides of the two support frames are movably connected with hollow tubes through second insertion rods, and the output end of the first air pump is fixedly connected to the hollow tube, and a tripod is fixedly sleeved on the side surface of the hollow tube.

[0013] Preferably, the side surface of the hollow tube is fixedly connected to a first air pipe and the first air pipe is fixedly sleeved inside the tripod, and a first tension spring is fixedly connected to one side of the tripod and the first tension spring is fixedly connected to the support frame.

[0014] Preferably, the output end of the first air pipe is fixedly connected to a first nozzle, and the first nozzle is movably connected to the inside of the slide groove through a first roller, the top of the hollow tube is fixedly connected to a second air pipe, the output end of the second air pipe is fixedly connected to a second nozzle, and the second nozzle is movably connected to the top of the slide rail through a second roller. The present invention can remove dust from the surface of the slide rail by arranging the nozzle, so that the three-dimensional laser scanner is more stable when moving, and when turning, the roller moves on the inner wall of the slide groove, and the first tension spring applies a force to the tripod, so that the nozzle is always in active contact with the inner wall of the slide groove, thereby achieving an efficient dust removal effect, which is beneficial to improving the stability of the device.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention provides stability for the three-dimensional laser scanner when sliding and turning through a scanning mechanism. At the same time, the buffer unit can buffer the three-dimensional laser scanner in the turning, so that it can stably scan the inner wall of the tunnel. The dust removal unit can remove dust from the surface of the slide rail through airflow to prevent the three-dimensional laser scanner from shaking during movement, which is beneficial to improving the stability and reliability of the device.

[0017] 2. The present invention provides an airbag ring, which generates inertia when the three-dimensional laser scanner turns. The airbag ring is used to buffer and correct the buffer rod, thereby achieving stability of the three-dimensional laser scanner, which is beneficial to improving the stability of the device.

[0018] 3. The present invention can remove dust from the surface of the slide rail by arranging a nozzle, so that the three-dimensional laser scanner is more stable when moving. When turning, the roller moves on the inner wall of the slide groove, and the first tension spring applies a force to the tripod, so that the nozzle is always in active contact with the inner wall of the slide groove, achieving an efficient dust removal effect, which is beneficial to improving the stability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 2 It is a schematic diagram of a three-dimensional magnified structure of the scanning mechanism of the present invention;

[0021] Figure 3 For the present invention Figure 2 A is an enlarged structural diagram;

[0022] Figure 4 It is a schematic diagram of a three-dimensional enlarged structure of the buffer unit of the present invention.

[0023] Explanation of the numbers in the figure: 1. slide rail; 101. slide groove; 2. mounting frame; 3. scanning mechanism; 301. support panel; 301a. limit groove; 302. first sliding frame; 303. second sliding frame; 304. first motor; 305. first pulley; 306. through groove; 307. second pulley; 308. three-dimensional laser scanner; 4. buffer unit; 401. movable groove; 402. bearing plate; 403. buffer rod; 404. first spring; 405. airbag ring; 5. dust removal unit; 501. mounting plate; 502. first air pump; 503. support frame; 504. hollow tube; 505. tripod; 506. first air pipe; 507. first tension spring; 508. first nozzle; 509. first roller; 510. second air pipe; 511. second nozzle; 512. second roller. DETAILED DESCRIPTION

[0024] like Figures 1 to 4 As shown, the present invention relates to a tunnel scanning robot, comprising a slide rail 1, slide grooves 101 are respectively provided on both sides of the slide rail 1, a mounting frame 2 is fixedly connected to the top of the slide rail 1, and a scanning mechanism 3 is provided at the bottom of the slide rail 1;

[0025] The scanning mechanism 3 includes a support panel 301, a buffer unit 4 and a dust removal unit 5, and the dust removal unit 5 is fixedly connected to the scanning mechanism 3 by a first bolt;

[0026] The support panel 301 is arranged at the bottom of the slide rail 1, and a first sliding frame 302 is fixedly connected to one side of the top of the support panel 301, and a second sliding frame 303 is movably connected to the other side of the top of the support panel 301 through a first plug rod. The slide rail 1 is movably sleeved inside the first sliding frame 302 and the second sliding frame 303, and a first motor 304 is fixedly connected to one side of the first sliding frame 302 and the second sliding frame 303, respectively. The inner walls of both sides of the first sliding frame 302 and the second sliding frame 303 are movably connected to a first pulley 305 through a second plug rod, and one of the second plug rods The first motor 304 is connected to the first pulley 305, and the first pulley 305 is movably connected to the inside of the slide 101. The first sliding frame 302 and the second sliding frame 303 are symmetrically provided with through grooves 306 on the top. The inner walls of both sides of each through groove 306 are movably connected with a second pulley 307 through a third plug rod, and the second pulley 307 is in movably contact with the top of the slide rail 1. A three-dimensional laser scanner 308 is arranged at the bottom of the support panel 301. It is worth noting that the three-dimensional laser scanner 308 is a conventional device in the prior art, which uses the principle of laser ranging to quickly obtain The invention uses a scanning mechanism 3 to provide stability for the 3D laser scanner 308 when sliding and turning. At the same time, the buffer unit 4 can buffer the 3D laser scanner 308 in the turning process, so that it can stably scan the inner wall of the tunnel. In addition, the dust removal unit 5 can remove dust from the surface of the slide rail 1 through airflow to avoid the 3D laser scanner 308 from sliding and turning. 08 During movement, shaking occurs, which is beneficial to improving the stability and reliability of the device. When in use, the two first motors 304 are first operated through an external circuit mechanism, and the first motor 304 drives the first pulley 305 to rotate inside the slide groove 101, so that the first sliding frame 302 and the second sliding frame 303 jointly drive the three-dimensional laser scanner 308 to move. When the device is turning, the second sliding frame 303 turns first, and moves inside the limit groove 301a through the first insertion rod, so that the second sliding frame 303 guides and transmits the support panel 301.

[0027] In an embodiment of the present invention, a limiting groove 301a is opened on the other side of the top of the supporting panel 301 and the first insertion rod is movably connected inside the limiting groove 301a. It is worth noting that by arranging two pulleys to roll on both sides and the top of the slide rail 1, this method can provide stability for the three-dimensional laser scanner 308. In the three-dimensional laser scanner 308, and through the first insertion rod sliding inside the limiting groove 301a, the second sliding frame 303 can guide the supporting panel 301 when turning.

[0028] In an embodiment of the present invention, the buffer unit 4 includes a plurality of movable grooves 401, and the plurality of movable grooves 401 are jointly opened on the top of the support panel 301 and are distributed in a square array. A load-bearing plate 402 is fixedly connected to the top of the load-bearing plate 402, and a plurality of buffer rods 403 are fixedly connected to the top of the load-bearing plate 402 and the buffer rods 403 are movably sleeved inside the movable grooves 401. A first spring 404 is movably sleeved on the side surface of the buffer rod 403 and the two ends of the first spring 404 are respectively fixedly connected between the support panel 301 and the load-bearing plate 402. An airbag ring 405 is fixedly sleeved on the top of each buffer rod 403 and the airbag ring 405 is in movably contact with the support panel 301. It is worth noting that the diameter of the movable groove 401 is greater than the diameter of the buffer rod 403, and the buffer rod 403 can swing inside the movable groove 401. By setting the airbag ring 405, the present invention sets the airbag ring 405, and the three-dimensional laser scanner 308 generates inertia when turning, and the airbag ring 405 is used to Buffering and correction are used to achieve the stability of the three-dimensional laser scanner 308, which is beneficial to improving the stability of the device. When the three-dimensional laser scanner 308 moves, the support panel 301 is shaken by external factors. The softness and elasticity of the airbag ring 405 can buffer the three-dimensional laser scanner 308 to prevent the three-dimensional laser scanner 308 from shaking and affecting the scanning work of the three-dimensional laser scanner 308. When the three-dimensional laser scanner 308 turns, the first roller 509 slides on the inner wall of the slide groove 101, so that the first nozzle 508 is tilted, and then through the first tension spring 507, the first nozzle 508 is always in contact with the inner wall of the slide groove 101, so as to achieve a stable and efficient dust removal effect. When the three-dimensional laser scanner 308 turns, the three-dimensional laser scanner 308 will shake due to inertia, and the buffer rod 403 is buffered by the airbag ring 405, and the three-dimensional laser scanner 308 is buffered by the first spring 404, so as to achieve a stable and efficient scanning function.

[0029] As another embodiment of the present invention, the dust removal unit 5 includes two mounting plates 501, the two mounting plates 501 are respectively fixedly connected to the two sides of the second sliding frame 303 by first bolts, the top of each mounting plate 501 is respectively fixedly connected to the first air pump 502, the top side of each mounting plate 501 is fixedly connected to the support frame 503 by second bolts, the inner walls of the two sides of the two support frames 503 are respectively movably connected to the hollow tube 504 by second plug rods, and the output end of the first air pump 502 is fixedly connected to the hollow tube 504, and the side surface of the hollow tube 504 is fixedly The tripod 505 is sleeved, the side surface of the hollow tube 504 is fixedly connected with a first gas pipe 506, and the first gas pipe 506 is fixedly sleeved inside the tripod 505, a first tension spring 507 is fixedly connected to one side of the tripod 505, and the first tension spring 507 is fixedly connected to the support frame 503, the output end of the first gas pipe 506 is fixedly connected with a first nozzle 508, and the first nozzle 508 is movably connected to the inside of the slide groove 101 through a first roller 509, and the top of the hollow tube 504 is fixedly connected with a second gas pipe 510, and the second gas pipe 510 outputs The outlet end is fixedly connected with a second nozzle 511 and the second nozzle 511 is movably connected to the top of the slide rail 1 through a second roller 512. The present invention can remove dust from the surface of the slide rail 1 by setting the nozzle, so that the three-dimensional laser scanner 308 is more stable when moving, and when turning, the roller moves on the inner wall of the slide groove 101, and the first tension spring 507 applies a force to the tripod 505, so that the nozzle is always in active contact with the inner wall of the slide groove 101, so as to achieve an efficient dust removal effect, which is beneficial to improve the stability of the device. The second sliding frame 303 turns first, By moving the first insertion rod inside the limit groove 301a, the second sliding frame 303 guides and transmits the support panel 301, so that the three-dimensional laser scanner 308 can move stably at the corner, and then the first air pump 502 is operated through the external control system, and the gas flows from the hollow tube 504 into the first air pipe 506 and the second air pipe 510 respectively, and then passes through the first nozzle 508 and the second nozzle 511 to remove dust from the inside of the slide groove 101 and the top of the slide rail 1, so that the three-dimensional laser scanner 308 provides stability during movement.

[0030] Working principle: This embodiment provides a tunnel scanning robot. When in use, the two first motors 304 are first operated through an external circuit mechanism. The first motor 304 drives the first pulley 305 to rotate inside the slide groove 101, so that the first sliding frame 302 and the second sliding frame 303 jointly drive the three-dimensional laser scanner 308 to move. When the device is turning, the second sliding frame 303 turns first, and the first plug rod moves inside the limit groove 301a, so that the second sliding frame 303 guides and transmits the support panel 301, and the three-dimensional laser scanner 308 can move stably at the corner. Then, the first air pump 502 is operated through the external control system, and the gas flows from the hollow tube 504 into the first air pipe 506 and the second air pipe 510 respectively, and then The first nozzle 508 and the second nozzle 511 are used to remove dust from the inside of the slide groove 101 and the top of the slide rail 1, so that the three-dimensional laser scanner 308 provides stability during movement. When the three-dimensional laser scanner 308 turns, the first roller 509 slides on the inner wall of the slide groove 101, so that the first nozzle 508 is tilted, and then through the first tension spring 507, the first nozzle 508 is always in contact with the inner wall of the slide groove 101, so as to achieve a stable and efficient dust removal effect. When the three-dimensional laser scanner 308 turns, the three-dimensional laser scanner 308 will shake due to inertia, and the buffer rod 403 will be buffered by the airbag ring 405, and the three-dimensional laser scanner 308 will be buffered by the first spring 404, so as to achieve a stable and efficient scanning function.

[0031] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. A tunnel scanning robot, characterized in that: It comprises a slide rail (1), wherein slide grooves (101) are respectively provided on both sides of the slide rail (1), a mounting frame (2) is fixedly connected to the top of the slide rail (1), and a scanning mechanism (3) is provided at the bottom of the slide rail (1); The scanning mechanism (3) comprises a supporting panel (301), a buffer unit (4) and a dust removal unit (5); the dust removal unit (5) is fixedly connected to the scanning mechanism (3) via a first bolt; The support panel (301) is arranged at the bottom of the slide rail (1); one side of the top of the support panel (301) is fixedly connected to a first sliding frame (302); the other side of the top of the support panel (301) is movably connected to a second sliding frame (303) via a first plug rod; the slide rail (1) is movably sleeved inside the first sliding frame (302) and the second sliding frame (303); one side of the first sliding frame (302) and the second sliding frame (303) are respectively fixedly connected to a first motor (304); the inner walls of both sides of the first sliding frame (302) and the second sliding frame (303) are respectively connected via a first plug rod; The two plug rods are movably connected to the first pulley (305) and one of the second plug rods is transmission-connected to the first motor (304). A plurality of the first pulleys (305) are movably connected together inside the slide groove (101). The tops of the first sliding frame (302) and the second sliding frame (303) are symmetrically provided with through grooves (306). The inner walls on both sides of each through groove (306) are movably connected to the second pulley (307) through the third plug rod and the second pulley (307) is in movably contact with the top of the slide rail (1). A three-dimensional laser scanner (308) is provided at the bottom of the support panel (301).

2. A tunnel scanning robot according to claim 1, characterized in that: A limiting groove (301a) is provided on the other side of the top of the supporting panel (301), and the first insertion rod is movably connected inside the limiting groove (301a).

3. A tunnel scanning robot according to claim 1, characterized in that: The buffer unit (4) comprises a plurality of movable grooves (401), the plurality of movable grooves (401) being jointly opened on the top of the support panel (301) and being distributed in a square array, the top of the three-dimensional laser scanner (308) being fixedly connected to a bearing plate (402), the top of the bearing plate (402) being fixedly connected to a plurality of buffer rods (403), and the buffer rods (403) being movably sleeved inside the movable grooves (401).

4. A tunnel scanning robot according to claim 1, characterized in that: The side surface of the buffer rod (403) is movably sleeved with a first spring (404), and the two ends of the first spring (404) are respectively fixedly connected between the support panel (301) and the bearing plate (402), and the top of each buffer rod (403) is fixedly sleeved with an airbag ring (405), and the airbag ring (405) is in movably contact with the support panel (301).

5. A tunnel scanning robot according to claim 4, characterized in that: The dust removal unit (5) comprises two mounting plates (501), the two mounting plates (501) being fixedly connected to two sides of the second sliding frame (303) by first bolts, respectively; the top of each mounting plate (501) is fixedly connected to a first air pump (502), and one side of the top of each mounting plate (501) is fixedly connected to a support frame (503) by second bolts.

6. A tunnel scanning robot according to claim 5, characterized in that: The inner walls of both sides of the two support frames (503) are movably connected to hollow tubes (504) via second insertion rods, and the output end of the first air pump (502) is fixedly connected to the hollow tubes (504), and the side surface of the hollow tubes (504) is fixedly sleeved with a tripod (505).

7. A tunnel scanning robot according to claim 6, characterized in that: The side surface of the hollow tube (504) is fixedly connected to a first air supply pipe (506), and the first air supply pipe (506) is fixedly sleeved inside the tripod (505). A first tension spring (507) is fixedly connected to one side of the tripod (505), and the first tension spring (507) is fixedly connected to the support frame (503).

8. The tunnel scanning robot according to claim 7, characterized in that: The output end of the first air supply pipe (506) is fixedly connected to a first nozzle (508), and the first nozzle (508) is movably connected to the inside of the slide groove (101) via a first roller (509); the top of the hollow tube (504) is fixedly connected to a second air supply pipe (510), and the output end of the second air supply pipe (510) is fixedly connected to a second nozzle (511), and the second nozzle (511) is movably connected to the top of the slide rail (1) via a second roller (512).

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