Robot for underground engineering construction detection

Abstract

The robot for underground engineering construction detection comprises a bottom box, the top of the bottom box is slidably connected with a machine body in a clamped mode, a damping assembly is installed on the inner wall of the bottom of the bottom box, the top end of the damping assembly is connected with the machine body, a camera is installed on one side wall of the machine body, and a cleaning box is installed on one side wall of the machine body; a servo motor is installed on the inner wall of one side of the cleaning box, the output end of the servo motor is connected with a cam, a movable rod is slidably clamped to the inner wall of the bottom of the cleaning box, a wiping plate is installed at the bottom end of the movable rod, a limiting block is installed at the top end of the movable rod, and the side wall of the movable rod is sleeved with a third spring. According to the intelligent detection robot, through the arrangement of the cleaning box, the servo motor, the cam, the movable rod, the limiting block, a third spring and a wiping plate, a camera can be automatically cleaned, so that water mist and dust generated on the surface of the camera can be rapidly removed in time, the problem that an existing detection robot does not have an automatic camera cleaning function is effectively solved, and the shooting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground engineering construction, and in particular to a robot for underground engineering construction detection. Background Art

[0002] Underground engineering refers to underground civil engineering projects built deep below the ground for the development and utilization of underground space resources. It includes underground houses and underground structures, subways, highway tunnels, underwater tunnels, underground common trenches and underpasses, etc. In order to effectively protect the ecological environment on the ground, develop and utilize underground space resources and build an underground Great Wall of the new century, more underground projects will be built in the new 21st century to meet the various needs of people's production and life. This article introduces the advanced reverse construction method, shield method, New Austrian Tunneling Method, immersed tube tunnel, jacking project and large-scale caisson construction new technologies that can be used in underground engineering construction for reference and application by colleagues. Underground buildings, as the name suggests, are buildings and structures built underground, such as lanes, pipelines, tunnels, oil depots and civil air defense projects, etc. Underground buildings have significant characteristics different from above-ground buildings. Underground engineering construction is difficult, the construction period is generally long, and the one-time investment is high. When using it, the psychological condition of people must be fully considered, and high ventilation and drying requirements are required.

[0003] Underground projects require detection robots. Existing detection robots do not have the function of automatically cleaning the camera. The heavy humidity underground easily produces water mist, which affects the normal shooting of the camera. There is no buffering function, and large shaking can easily cause damage. There is no soil sampling function, and manual soil sampling is more troublesome. In addition, the soil is in contact with the air for too long, which affects the detection data. Summary of the Invention

[0004] The object of the present invention is to provide a robot for underground engineering construction detection, so as to solve the problem in the above-mentioned background technology that the existing detection robot does not have the function of automatically cleaning the camera.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a robot for underground engineering construction detection, comprising a bottom box, the top of the bottom box is slidably engaged with a body, a shock-absorbing assembly is installed on the bottom inner wall of the bottom box, and the top of the shock-absorbing assembly is connected to the body, a camera is installed on one side wall of the body, a cleaning box is installed on one side wall of the body, a servo motor is installed on one side inner wall of the cleaning box, the output end of the servo motor is connected to a cam, a movable rod is slidably engaged with the bottom inner wall of the cleaning box, a wiper is installed at the bottom end of the movable rod, a limiting block is installed at the top of the movable rod, a third spring is sleeved on the side wall of the movable rod, a third U-shaped frame is installed on the top of the body, and a lighting lamp is hinged on one side wall of the third U-shaped frame.

[0006] Preferably, a half gear is installed at one end of the lighting lamp, a forward and reverse motor is installed on the top of the body, the output end of the forward and reverse motor is connected to a driving gear, and the driving gear is meshed with the half gear.

[0007] Preferably, the shock absorbing assembly includes a hollow cylinder, a movable column, a first spring, a first U-shaped frame, a gas spring, a second spring and a second U-shaped frame. The hollow cylinder is located on the bottom inner wall of the bottom box, the movable column and the hollow cylinder are slidably engaged, and the top of the movable column is connected to the body. The first spring is sleeved on the side walls of the hollow cylinder and the movable column, the first U-shaped frame is located on the bottom inner wall of the bottom box, the second U-shaped frame is located at the bottom of the body, the gas spring is hinged to the first U-shaped frame and the second U-shaped frame respectively, and the second spring is sleeved on the side walls of the gas spring.

[0008] Preferably, a fixed plate is installed on one side wall of the bottom box, a hydraulic pump is installed on the top of the fixed plate, the output end of the hydraulic pump is connected to a hydraulic rod, a movable box is installed on the bottom end of the hydraulic rod, a sampling tube is installed on one inner wall of the movable box, an electric push rod is installed on a side wall of the movable box away from the sampling tube, the output end of the electric push rod is connected to a baffle, and the baffle is located directly below the sampling tube.

[0009] Preferably, a sliding rod is installed at the bottom of the fixed plate, and the movable box is slidably connected to the sliding rod.

[0010] Preferably, a limit plate is installed at the bottom end of the sliding rod.

[0011] Preferably, the wiping board is made of cotton.

[0012] Preferably, universal wheels are installed at the bottom of the bottom box.

[0013] The technical effects and advantages of the present invention are as follows:

[0014] 1. The camera can be automatically cleaned by the cleaning box, servo motor, cam, movable rod, limit block, third spring and wiper, so as to quickly remove the water mist and dust on its surface in time, effectively solving the problem that the existing detection robot has no automatic camera cleaning function and improving the shooting efficiency.

[0015] 2. Through the hydraulic pump, hydraulic rod, movable box, sampling tube, electric push rod and baffle, the soil in various parts of the underground can be sampled, which is convenient for analyzing the soil conditions and studying how to carry out construction. It is convenient and quick to use, solves the inconvenience of manual sampling and improves work efficiency.

[0016] 3. The hollow cylinder, movable column, first spring, first U-shaped frame, gas spring, second spring and second U-shaped frame can provide a good buffering effect for the whole, thereby effectively preventing damage caused by overall shaking, reducing the cost of maintenance and replacement, thereby improving the overall service life and reducing the cost of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front cross-sectional view of the overall structure of the present invention.

[0018] Figure 2 The structure of the present invention Figure 1 A magnified view of the structure in the middle.

[0019] Figure 3 The structure of the present invention Figure 1 A magnified view of the structure at B in the middle.

[0020] Figure 4 It is a cross-sectional view of the bottom box of the structure of the present invention.

[0021] Figure 5 It is a side view of the overall structure of the present invention.

[0022] Figure 6 The structure of the present invention Figure 5 Magnified view of the structure at center C.

[0023] In the figure: 1. Base box; 2. Universal wheel; 3. Machine body; 4. Camera; 5. Shock absorber assembly; 51. Hollow cylinder; 52. Movable column; 53. First spring; 54. First U-shaped frame; 55. Gas spring; 56. Second spring; 57. Second U-shaped frame; 6. Cleaning box; 7. Servo motor; 8. Cam; 9. Movable rod; 10. Limit block; 11. Third spring; 12. Wipe plate; 13. Fixed plate; 14. Hydraulic pump; 15. Hydraulic rod; 16. Movable box; 17. Sampling tube; 18. Electric push rod; 19. Baffle; 20. Third U-shaped frame; 21. Lighting lamp; 22. Half gear; 23. Forward and reverse motor; 24. Driving gear. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0025] The present invention provides Figure 1-6The underground engineering construction detection robot shown in the figure includes a bottom box 1, the top of the bottom box 1 is slidably connected to the body 3, a shock-absorbing component 5 is installed on the bottom inner wall of the bottom box 1, and the top of the shock-absorbing component 5 is connected to the body 3, a camera 4 is installed on one side wall of the body 3, a cleaning box 6 is installed on one side wall of the body 3, a servo motor 7 is installed on one side inner wall of the cleaning box 6, and a cam 8 is connected to the output end of the servo motor 7. A movable rod 9 is slidably connected to the bottom inner wall of the cleaning box 6, and a wiping plate 12 is installed at the bottom end of the movable rod 9. The wiping plate 12 is made of cotton blocks, which has a better wiping effect and will not scratch the camera 4, making the camera 4 clearer, reducing its wear and tear, and improving its service life. A limiting block 10 is installed on the top of the movable rod 9, and a third spring 1 is sleeved on the side wall of the movable rod 9. 1. A third U-shaped frame 20 is installed on the top of the body 3, and a lighting lamp 21 is hinged on one side wall of the third U-shaped frame 20. When the whole reaches the surface of the lower camera 4 and water mist or dust falls, starting the servo motor 7 can drive the cam 8 to rotate, and then the cam 8 squeezes the limit block 10, and then the limit block 10 squeezes the third spring 11 to slide downward, so that the movable rod 9 can drive the wiping plate 12 to wipe the surface of the camera 4. The third spring 11 can rebound the limit block 10, so that the wiping plate 12 can slide repeatedly, so that the wiping effect is better, thereby removing the water mist and dust on the surface of the camera 4, and making the shooting effect of the camera 4 better, improving the detection efficiency, making the detection effect better, reducing the error probability caused by the blur of the camera 4, and improving work efficiency.

[0026] In this embodiment, a half gear 22 is installed at one end of the lighting lamp 21, and a forward and reverse motor 23 is installed on the top of the body 3. The output end of the forward and reverse motor 23 is connected to a driving gear 24, and the driving gear 24 is meshed with the half gear 22. Starting the forward and reverse motor 23 can drive the driving gear 24 to rotate, and then the driving gear 24 drives the half gear 22 to rotate slightly, so that the illumination angle of the lighting lamp 21 can be adjusted, so that the illumination effect of the lighting lamp 21 is better, and the shooting efficiency of the camera 4 is improved. When there is a reflective object in front, the angle of the lighting lamp 21 can be adjusted in time so that the light column can also be away from the reflective object, thereby effectively improving the lighting efficiency.

[0027] In this embodiment, the shock absorbing assembly 5 includes a hollow cylinder 51, a movable column 52, a first spring 53, a first U-shaped frame 54, a gas spring 55, a second spring 56 and a second U-shaped frame 57. The hollow cylinder 51 is located on the bottom inner wall of the bottom box 1, the movable column 52 is slidably engaged with the hollow cylinder 51, and the top of the movable column 52 is connected to the body 3. The first spring 53 is sleeved on the side walls of the hollow cylinder 51 and the movable column 52. The first U-shaped frame 54 is located on the bottom inner wall of the bottom box 1, the second U-shaped frame 57 is located at the bottom of the body 3, and the gas spring 55 is respectively connected to the first spring 56 and the second U-shaped frame 57. A U-shaped frame 54 and a second U-shaped frame 57 are hingedly connected, and the second spring 56 is sleeved on the side wall of the gas spring 55. When the position of the body 3 shakes, the body 3 will transmit force to the movable column 52. The movable column 52 will be squeezed and shrink into the inside of the hollow cylinder 51, so that the first spring 53 can play a good buffering effect. At the same time, the gas spring 55 will also shrink when squeezed, so that the second spring 56 can play a good buffering effect to prevent the overall shaking from causing major damage, reduce the overall maintenance cost, and improve the use efficiency.

[0028] In this embodiment, a fixed plate 13 is installed on one side wall of the bottom box 1, a hydraulic pump 14 is installed on the top of the fixed plate 13, the output end of the hydraulic pump 14 is connected to a hydraulic rod 15, a movable box 16 is installed on the bottom end of the hydraulic rod 15, a sliding rod is installed at the bottom of the fixed plate 13, a limit plate is installed at the bottom end of the sliding rod, and the movable box 16 is slidably connected to the sliding rod. The sliding rod can make the movable box 16 more stable during the downward sliding process, thereby effectively preventing the overall bending damage, so that the service life of the movable box 16 is improved, a sampling tube 17 is installed on one side inner wall of the movable box 16, and an electric push rod is installed on the side wall of the movable box 16 away from the sampling tube 17 Rod 18, the output end of the electric push rod 18 is connected to a baffle 19, and the baffle 19 is located just below the sampling tube 17. Starting the hydraulic pump 14 can drive the hydraulic rod 15 to move downward, and then the hydraulic rod 15 drives the movable box 16 to slide downward until it contacts the soil. The soil is squeezed and enters the interior of the sampling tube 17. Then starting the hydraulic pump 14 drives the movable box 16 to slide upward, and turning on the electric push rod 18 can drive the baffle 19 to move to just below the sampling tube 17, thereby preventing soil leakage, making soil sampling more convenient, so as to facilitate soil testing, and thus test construction equipment suitable for soil strength, thereby effectively improving construction efficiency.

[0029] In this embodiment, universal wheels 2 are installed at the bottom of the bottom box 1, which can facilitate the movement of the whole. The universal wheels 2 are located at the four corners of the bottom of the bottom box 1, which can make the whole more stable during movement, thereby effectively preventing the whole from tipping over, thereby reducing the probability of tipping damage and improving the service life.

[0030] Working principle of the present invention: The present invention is a robot for underground engineering construction detection. When the entire robot reaches the surface of the underground camera 4 and water mist or dust falls, starting the servo motor 7 can drive the cam 8 to rotate. The rotation of the cam 8 squeezes the limit block 10 to move, so that the limit block 10 squeezes the third spring 11 to move downward, and the movable rod 9 can drive the wiper 12 to wipe the surface of the camera 4, thereby removing the water mist and dust on the surface of the camera 4, and making the shooting effect of the camera 4 better, thereby improving the detection efficiency. Starting the forward and reverse motor 23 can drive The driving gear 24 rotates, and the driving gear 24 drives the half gear 22 to rotate slightly so that the illumination angle of the lighting lamp 21 can be adjusted, so that the illumination effect of the lighting lamp 21 is better. Starting the hydraulic pump 14 can drive the hydraulic rod 15 to move downward, and then the hydraulic rod 15 drives the movable box 16 to slide downward until it contacts the soil. The soil is squeezed and enters the interior of the sampling tube 17. Then starting the hydraulic pump 14 drives the movable box 16 to slide upward, and turning on the electric push rod 18 can drive the baffle 19 to move to the bottom of the sampling tube 17 to prevent the soil from leaking.

[0031] When the position of the body 3 shakes, the body 3 will transmit force to the movable column 52. The movable column 52 will be squeezed and shrink into the inside of the hollow cylinder 51, so that the first spring 53 can play a good buffering effect. At the same time, the gas spring 55 will also shrink when squeezed, so that the second spring 56 can play a good buffering effect to prevent the overall shaking from causing serious damage.

[0032] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot for underground engineering construction detection, comprising a bottom box (1), characterized in that: The top of the bottom box (1) is slidably engaged with the body (3); a shock absorbing assembly (5) is installed on the bottom inner wall of the bottom box (1), and the top of the shock absorbing assembly (5) is connected to the body (3); a camera (4) is installed on one side wall of the body (3); a cleaning box (6) is installed on one side wall of the body (3); a servo motor (7) is installed on one side inner wall of the cleaning box (6); an output end of the servo motor (7) is connected to a cam (8); a movable rod (9) is slidably engaged with the bottom inner wall of the cleaning box (6); a wiper (12) is installed on the bottom end of the movable rod (9); a limit block (10) is installed on the top end of the movable rod (9); a third spring (11) is sleeved on the side wall of the movable rod (9); a third U-shaped frame (20) is installed on the top of the body (3); a lighting lamp (21) is hinged on one side wall of the third U-shaped frame (20).

2. The underground engineering construction detection robot according to claim 1, characterized in that: A half gear (22) is installed at one end of the lighting lamp (21), a forward and reverse motor (23) is installed on the top of the machine body (3), an output end of the forward and reverse motor (23) is connected to a driving gear (24), and the driving gear (24) is meshed with the half gear (22).

3. The underground engineering construction detection robot according to claim 1, characterized in that: The shock absorbing assembly (5) comprises a hollow cylinder (51), a movable column (52), a first spring (53), a first U-shaped frame (54), a gas spring (55), a second spring (56) and a second U-shaped frame (57); the hollow cylinder (51) is located on the bottom inner wall of the bottom box (1); the movable column (52) is slidably engaged with the hollow cylinder (51); and the top end of the movable column (52) is connected to the machine body (3); the first spring (53) is sleeved on the side walls of the hollow cylinder (51) and the movable column (52); the first U-shaped frame (54) is located on the bottom inner wall of the bottom box (1); the second U-shaped frame (57) is located at the bottom of the machine body (3); the gas spring (55) is hinged to the first U-shaped frame (54) and the second U-shaped frame (57) respectively; and the second spring (56) is sleeved on the side walls of the gas spring (55).

4. The underground engineering construction detection robot according to claim 1, characterized in that: A fixed plate (13) is installed on one side wall of the bottom box (1), a hydraulic pump (14) is installed on the top of the fixed plate (13), an output end of the hydraulic pump (14) is connected to a hydraulic rod (15), a movable box (16) is installed on the bottom end of the hydraulic rod (15), a sampling tube (17) is installed on one side inner wall of the movable box (16), an electric push rod (18) is installed on a side wall of the movable box (16) away from the sampling tube (17), an output end of the electric push rod (18) is connected to a baffle (19), and the baffle (19) is located directly below the sampling tube (17).

5. The underground engineering construction detection robot according to claim 4, characterized in that: A sliding rod is installed at the bottom of the fixed plate (13), and the movable box (16) is slidably connected to the sliding rod.

6. The underground engineering construction detection robot according to claim 5, characterized in that: A limiting piece is installed at the bottom end of the slide bar.

7. The underground engineering construction detection robot according to claim 1, characterized in that: The material of the wiping plate (12) is cotton block.

8. The underground engineering construction detection robot according to claim 1, characterized in that: Universal wheels (2) are installed at the bottom of the bottom box (1).

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