Telescopic subway tunnel mobile laser scanning detection vehicle

Abstract

The utility model discloses a telescopic subway tunnel mobile laser scanning detection vehicle, and belongs to the technical field of subway tunnel detection. The telescopic subway tunnel mobile laser scanning detection vehicle aims at solving the problems that traditional equipment is difficult to carry, insufficient in use flexibility, low in equipment reliability and the like. Aiming at the limitation of the prior art, the utility model realizes the goal through the following key technical innovation: the nylon wheel is directly driven by the motor instead of the traditional single-motor belt transmission mode, so that the failure rate is greatly reduced, and the stability and the reliability of the equipment are improved; a more flexible interaction module is designed, and the position is adjusted by using a six-axis bracket, so that the operation of a user is greatly facilitated, and the working efficiency is improved; through the innovative design, the height and position of the three-dimensional laser scanner are adjustable, more comprehensive, accurate and efficient technical support is provided, and the requirements of different working scenes are met.

Description

Technical Field

[0001] The utility model relates to the technical field of subway tunnel detection, and more specifically to a telescopic subway tunnel mobile laser scanning detection vehicle. Background Art

[0002] In the process of subway construction and maintenance, tunnel quality inspection is a key link to ensure safety and efficiency. Traditional subway tunnel inspection mainly relies on mobile 3D laser scanning technology, which captures the spatial geometric information of the tunnel through a 3D laser scanner loaded on a track mobile carrier. The advantage of this technology is that it can provide accurate and continuous measurement of the internal structure of the tunnel, which is an indispensable part of modern subway tunnel engineering.

[0003] However, existing rail mobile carriers face a number of technical challenges. First, these mobile carriers are often large and heavy, which increases the difficulty of handling and deployment. In addition, these devices often use a single motor belt drive. Since the rubber belt is easy to wear, this makes the equipment often fail during actual application, affecting the continuity and efficiency of work.

[0004] Secondly, the interactive module of traditional equipment is fixed in position and cannot be adjusted according to different working conditions on site, which limits the convenience and flexibility of operators in actual operation. In addition, once the 3D laser scanner is installed and fixed, its scanning range and position adjustment are limited, which makes it unable to adapt to changing working scenes and reduces its application effect and accuracy in different environments.

[0005] In response to the above problems, it is urgent to develop a new type of retractable subway tunnel mobile laser scanning inspection vehicle to solve the problem of equipment transportation, improve the flexibility of use and the reliability of the equipment, and optimize the adaptability and flexibility of the three-dimensional laser scanner through innovative design to adapt to different inspection needs and environmental conditions, so as to ensure the efficiency and accuracy of subway tunnel inspection work. Utility Model Content

[0006] The utility model provides a telescopic subway tunnel mobile laser scanning detection vehicle to improve the use flexibility.

[0007] In order to solve the above technical problems, the technical solution of the utility model is as follows:

[0008] A telescopic subway tunnel mobile laser scanning inspection vehicle comprises an inspection vehicle body, a device lifting platform is arranged on the top of the inspection vehicle body, and a three-dimensional laser scanner is installed on the device lifting platform;

[0009] The equipment lifting platform includes a base fixedly connected to the top of the inspection vehicle body by screws and an equipment base nested outside the base, a screw motor is fixedly connected to the middle of the base, the screw motor is coupled to a screw, the screw is threadedly connected to a screw slider, and the screw slider is configured to drive the connecting rod to fold;

[0010] The top end of the connecting rod is connected to a connecting rod support frame, the connecting rod support frame is fixedly connected to the device base, and the connecting rod support frame is configured to drive the device base to move along the Z axis;

[0011] Nylon wheels are installed at the bottom of the inspection vehicle body, and the nylon wheels are configured to be able to move forward and backward along the track in the subway tunnel.

[0012] Furthermore, the main body of the inspection vehicle is in the shape of a rectangular parallelepiped, made of 6061 aluminum alloy, with stainless steel corner guards designed on the four sides, and two lighting lamps and a fan are arranged on the front and back sides of the main body of the inspection vehicle in the direction of travel.

[0013] Furthermore, a power module preset position for installing a power module and a charging module reserved position for installing a charging module are provided on the front side of the main body of the inspection vehicle in the direction of travel.

[0014] Furthermore, an inspection port is installed on each side of the top of the inspection vehicle body located on the equipment lifting platform.

[0015] Furthermore, a six-axis bracket is installed on the top of the inspection vehicle body, and an interactive module is installed on the top of the six-axis bracket.

[0016] Furthermore, the interaction module includes user interaction buttons and a touch display screen.

[0017] Furthermore, anti-collision guardrails are installed on the top and front and rear sides of the main body of the inspection vehicle.

[0018] Furthermore, the anti-collision guardrail includes a hollow tube, a T-shaped three-way bracket, a limit screw and a carrying rod.

[0019] T-shaped three-way brackets are installed at the four corners of the main body of the inspection vehicle. The two ends of the hollow tube pass through the T-shaped three-way brackets and are fixed above the main body of the inspection vehicle.

[0020] The radius of the transport rod is consistent with the inner diameter of the hollow tube. The transport rod is inserted into both ends of the hollow tube and fixed by the limit screws.

[0021] Furthermore, the nylon wheels are provided in two groups, front and rear, including front wheels and rear wheels;

[0022] Among them, the front wheel is a driven wheel; the rear wheel is a driving wheel, which is used to drive the main body of the inspection vehicle.

[0023] Further, the front wheel is connected to the bearing via a universal coupling and a coupling rod;

[0024] A vehicle body motor is installed at the rear wheel position of the detection vehicle body, and the vehicle body motor is coupled with the nylon wheel through a reducer to drive the rotation of the nylon wheel.

[0025] Compared with the prior art, the beneficial effects of the technical solution of the utility model are:

[0026] 1. Improved driving mode: The traditional single-motor belt drive mode is prone to frequent failures due to wear of the rubber belt; the utility model adopts dual motors to directly drive the nylon wheel, which greatly reduces the failure rate and improves the stability and reliability of the equipment;

[0027] 2. Improved flexibility of interactive modules: The interactive modules of traditional equipment are fixed in position, which limits their use. The new inspection vehicle is designed with more flexible interactive modules, and the six-axis bracket can adjust its position according to the working conditions, which is convenient for operators and improves work efficiency.

[0028] 3. Improved flexibility of 3D laser scanners: The height and position can be adjusted according to the working scenario, providing more comprehensive, accurate and efficient technical support, which will help improve the quality inspection of subway tunnels.

[0029] In summary, the technical solution of the utility model has significant beneficial effects in the field of subway tunnel detection and is expected to improve the efficiency and reliability of subway construction and operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the utility model 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 some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 This is a front view of the telescopic subway tunnel mobile laser scanning inspection vehicle of the utility model;

[0032] Figure 2 It is a top view of the telescopic subway tunnel mobile laser scanning inspection vehicle of the utility model;

[0033] Figure 3 It is a three-dimensional structural schematic diagram of the telescopic subway tunnel mobile laser scanning inspection vehicle of the utility model;

[0034] Figure 4 For this utility model Figure 3 A partial enlarged view of the middle T-shaped three-way bracket;

[0035] Figure 5 It is a left view of the telescopic subway tunnel mobile laser scanning inspection vehicle of the utility model;

[0036] Figure 6 For this utility model Figure 5 Sectional view of section AA;

[0037] Figure 7 It is a schematic diagram of the equipment lifting platform of the telescopic subway tunnel mobile laser scanning inspection vehicle of the utility model;

[0038] Figure 8 For this utility model Figure 7 Sectional view of the middle BB section;

[0039] Description of the markings in the figure:

[0040] 1. Inspection vehicle body; 101. Stainless steel corner guard; 102. Inspection port; 2. Equipment lifting platform; 201. Equipment base; 202. Screw motor; 203. Screw; 204. Screw slider; 205. Base; 206. Connecting rod support frame; 207. Connecting rod; 3. Hollow tube; 4. T-type three-way bracket; 5. Limit screw; 6. Carrying rod; 7. Nylon wheel; 8. Track; 9. Cooling fan; 10. Lighting; 11. Power module preset position; 12. Charging module reserved position; 13. Six-axis bracket; 14. Interaction module; 1401. User interaction button; 1402. Touch screen; 15. Vehicle body motor; 16. Reducer; 17. Bearing; 18. Universal coupling; 19. Coupling rod; 20. Anti-collision guardrail. DETAILED DESCRIPTION

[0041] In order to better understand the purpose, structure and function of the utility model, the technical solution of the utility model is further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0042] In the description of the present utility model, it should be understood that the terms "left side", "right side", "upper part", "lower part", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. "First", "second", etc. do not indicate the importance of the components, and therefore cannot be understood as a limitation on the present utility model. The specific dimensions used in the embodiments are only for illustrating the technical solution, and do not limit the scope of protection of the present utility model. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0043] Unless otherwise clearly specified and limited, the terms "install", "set", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] Embodiment 1:

[0045] like Figure 1-8 As shown, the utility model provides a technical solution:

[0046] A telescopic subway tunnel mobile laser scanning inspection vehicle comprises an inspection vehicle body 1, a device lifting platform 2 is arranged on the top of the inspection vehicle body 1, and a three-dimensional laser scanner is installed on the device lifting platform 2;

[0047] The equipment lifting platform 2 includes a base 205 fixedly connected to the top of the inspection vehicle body 1 by screws and an equipment base 201 nested outside the base 205, a screw motor 202 is fixedly connected to the middle of the base 205, a screw motor 203 is coupled to the screw motor 202, a screw slider 204 is threadedly connected to the screw 203, and the screw slider 204 is configured to drive the connecting rod 207 to fold;

[0048] The top end of the connecting rod 207 is connected to a connecting rod support frame 206, and the connecting rod support frame 206 is fixedly connected to the device base 201, and the connecting rod support frame 206 is configured to drive the device base 201 to move along the Z axis;

[0049] A nylon wheel 7 is installed at the bottom of the inspection vehicle body 1, and the nylon wheel 7 is configured to be able to move forward and backward along a track 8 in a subway tunnel.

[0050] Specifically, Figure 3 , Figure 7 , Figure 8As shown, the top of the inspection vehicle is provided with an equipment lifting platform 2 for setting up a three-dimensional laser scanner. The equipment lifting platform 2 adopts an "X"-shaped structure, which mainly includes: an equipment base 201, a screw motor 202, a screw 203, a screw slider 204, a base 205, a connecting rod 207, and a connecting rod support frame 206. Further, the base 205 is fixedly connected to the top of the inspection vehicle body 1 by screws, and the equipment base 201 is nested outside the base 205. Further, a plurality of screw holes are preset on the top of the inspection vehicle body 1, and the plane position of the equipment lifting platform 2 is adjusted according to the on-site working conditions. Furthermore, the screw motor 202 is fixedly connected to the middle of the base 205, the screw 203 is directly coupled to the screw motor 202, further, the screw slider 204 is threadedly connected to the screw 203, the screw slider 204 drives the connecting rod 207 to fold, further, the connecting rod support frame 206 is fixedly connected to the device base 201, locking the connecting rod 207 to fold, the connecting rod support frame 206 drives the Z-axis displacement of the device base 201, thereby realizing the stable movement of the device base 201 in the vertical direction.

[0051] This embodiment uses the "X"-shaped structure of the equipment lifting platform, combined with the screw motor 202 and the slider mechanism, to achieve precise height adjustment of the three-dimensional laser scanner, thereby adapting to different working scenes and improving scanning accuracy and adaptability. In addition, the use of screw fixing enhances the bonding strength between the equipment lifting platform 2 and the inspection vehicle body 1, ensuring stability during movement, thereby reducing errors caused by vibration and improving the reliability of measurement results.

[0052] Embodiment 2:

[0053] Based on Example 1, Figure 1-8 The inspection vehicle body 1 is a rectangular parallelepiped made of 6061 aluminum alloy, with stainless steel corner guards 101 designed on the four sides. Two lighting lamps 10 and a fan 9 are arranged on the front and back sides of the inspection vehicle body 1 in the direction of travel.

[0054] Furthermore, a power module pre-installed position 11 for installing a power module and a charging module reserved position 12 for installing a charging module are provided on the front side of the detection vehicle body 1 in the traveling direction.

[0055] Furthermore, an inspection opening 102 is installed on each side of the equipment lifting platform 2 at the top of the inspection vehicle body 1 .

[0056] Furthermore, a six-axis bracket 13 is installed on the top of the inspection vehicle body 1, and an interactive module 14 is fixedly installed on the top of the six-axis bracket 13.

[0057] Furthermore, the interaction module 14 includes a user interaction button 1401 and a touch display screen 1402, which ensures that when one set of interaction methods fails, the user can still operate through another set of interaction methods, thereby improving the fault tolerance and robustness of the system.

[0058] In this embodiment, the use of 6061 aluminum alloy and stainless steel corner guards 101 enhances the structural strength and durability of the inspection vehicle, while the installation of lighting lamps 10 and fans 9 improves the performance of the device in low light and high temperature environments. In addition, the configuration of the six-axis bracket 13 and the interactive module 14, including the touch screen and buttons, provides a dual operation mode, increases the fault tolerance and robustness of the system, and makes the operation more intuitive and convenient.

[0059] Embodiment 3:

[0060] Based on Example 1, Figure 1-8 Anti-collision guardrails 20 are installed on the top and front and rear sides of the inspection vehicle body 1.

[0061] Furthermore, the anti-collision guardrail 20 includes a hollow tube 3, a T-shaped three-way bracket 4, a limit screw 5 and a carrying rod 6.

[0062] T-shaped three-way brackets 4 are installed at the four corners of the inspection vehicle body 1. The two ends of the hollow tube 3 pass through the T-shaped three-way brackets 4 and are fixed above the inspection vehicle body 1.

[0063] The radius of the transport rod 6 is consistent with the inner diameter of the hollow tube 3 . The transport rod 6 is inserted into both ends of the hollow tube 3 and is fixed by the limit screws 5 .

[0064] Specifically, Figure 1 , Figure 3 , Figure 4 As shown, two sets of anti-collision guardrails 20 are fixedly installed at the front and rear of the inspection vehicle body 1, and the anti-collision guardrails 20 mainly include: a hollow tube 3, a T-shaped three-way bracket 4, a limit screw 5, and a carrying rod 6; further, the two ends of the hollow tube 3 are respectively passed through the T-shaped three-way bracket 4 and fixed on both sides of the travel direction of the top of the inspection vehicle body 1; further, the radius of the carrying rod 6 is consistent with the inner diameter of the hollow tube 3, and the two carrying rods 6 are respectively inserted from the head and tail of the hollow tube 3 and fixed by the limit screws 5. Depending on whether to carry or not, the carrying rod 6 is retracted and the limit screws 5 are loosened to complete the carrying task.

[0065] Further, if Figures 1 to 3 , Figure 6 As shown, the nylon wheels 7 are provided in two groups, front and rear, including front wheels and rear wheels;

[0066] The front wheels are driven wheels, and the rear wheels are driving wheels, which are used to drive the inspection vehicle body 1.

[0067] Further, the front wheel is connected to the bearing 17 via a universal coupling 18 and a coupling rod 19;

[0068] A vehicle body motor 15 is installed at the rear wheel position of the detection vehicle body 1 , and the vehicle body motor 15 is directly coupled to the nylon wheel 7 through a reducer 16 to drive the rotation of the nylon wheel 7 .

[0069] The telescopic subway tunnel mobile laser scanning inspection vehicle provided by the utility model aims to solve the problems of equipment transportation and inconvenience in operation for users; improve the driving mode to reduce the failure rate; design a three-dimensional laser scanner lifting platform to improve the adaptability and flexibility of the equipment in different working scenarios to meet the actual needs of subway tunnel quality inspection.

[0070] In this embodiment, the design of the front and rear anti-collision guardrails, combined with the hollow tube 3 and the T-shaped three-way bracket 4, not only improves the anti-collision ability, but also realizes the convenience of rapid transportation and position adjustment through the design of the carrying rod 6, which is suitable for the working environment with frequent changes in field conditions. In addition, the body motor 15 of the rear wheel is directly driven by the reducer 16, which improves the driving efficiency of the nylon wheel 7 and the overall mobility of the equipment, especially in the complex subway tunnel environment, ensuring efficient and stable detection operations.

[0071] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not intended to limit the implementation methods of the utility model. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. A retractable subway tunnel mobile laser scanning inspection vehicle, characterized in that: It comprises a detection vehicle body (1), a device lifting platform (2) is arranged on the top of the detection vehicle body (1), and a three-dimensional laser scanner is installed on the device lifting platform (2); The equipment lifting platform (2) comprises a base (205) fixedly connected to the top of the inspection vehicle body (1) by screws and an equipment base (201) nested outside the base (205); a screw motor (202) is fixedly connected to the middle of the base (205); a screw motor (203) is coupled to the screw motor (202); the screw (203) is threadedly connected to a screw slider (204); the screw slider (204) is configured to drive a connecting rod (207) to fold; The top end of the connecting rod (207) is connected to a connecting rod support frame (206), the connecting rod support frame (206) is fixedly connected to the device base (201), and the connecting rod support frame (206) is configured to drive the device base (201) to move along the Z axis; A nylon wheel (7) is installed at the bottom of the inspection vehicle body (1), and the nylon wheel (7) is configured to be able to move forward and backward along a track (8) in a subway tunnel.

2. The retractable subway tunnel mobile laser scanning inspection vehicle according to claim 1 is characterized in that: The inspection vehicle body (1) is in the form of a rectangular parallelepiped and is made of 6061 aluminum alloy. Four sides are designed with stainless steel corner guards (101). Two lighting lamps (10) and a fan (9) are arranged on the front and back sides of the inspection vehicle body (1) in the direction of travel.

3. The retractable subway tunnel mobile laser scanning inspection vehicle according to claim 1 is characterized in that: A power module pre-positioning position (11) for installing a power module and a charging module reserved position (12) for installing a charging module are arranged on the front side of the detection vehicle body (1) in the direction of travel.

4. The retractable subway tunnel mobile laser scanning inspection vehicle according to claim 1 is characterized in that: A maintenance opening (102) is installed on each side of the top of the inspection vehicle body (1) and located on the equipment lifting platform (2).

5. The retractable subway tunnel mobile laser scanning inspection vehicle according to claim 1 is characterized in that: A six-axis bracket (13) is installed on the top of the inspection vehicle body (1), and an interactive module (14) is installed on the top of the six-axis bracket (13).

6. The retractable subway tunnel mobile laser scanning inspection vehicle according to claim 5 is characterized in that: The interaction module (14) comprises a user interaction button (1401) and a touch display screen (1402).

7. The retractable subway tunnel mobile laser scanning inspection vehicle according to claim 1 is characterized in that: Anti-collision guardrails (20) are installed on the top and front and rear sides of the inspection vehicle body (1).

8. The retractable subway tunnel mobile laser scanning inspection vehicle according to claim 7 is characterized in that: The anti-collision guardrail (20) comprises a hollow tube (3), a T-shaped three-way bracket (4), a limit screw (5) and a carrying rod (6). T-shaped three-way brackets (4) are installed at the four corners of the inspection vehicle body (1), and the two ends of the hollow tube (3) pass through the T-shaped three-way brackets (4) and are fixed above the inspection vehicle body (1). The radius of the transport rod (6) is consistent with the inner diameter of the hollow tube (3); the transport rod (6) is inserted into both ends of the hollow tube (3) and fixed by the limit screws (5).

9. The retractable subway tunnel mobile laser scanning inspection vehicle according to claim 1 is characterized in that: The nylon wheels (7) are provided with two groups, front and rear, including front wheels and rear wheels; The front wheels are driven wheels, and the rear wheels are driving wheels, which are used to drive the inspection vehicle body (1).

10. The retractable subway tunnel mobile laser scanning inspection vehicle according to claim 9, characterized in that: The front wheel is connected to the bearing (17) via a universal joint (18) and a coupling rod (19); A vehicle body motor (15) is installed at the rear wheel position of the detection vehicle body (1), and the vehicle body motor (15) is coupled to the nylon wheel (7) through a reducer (16) to drive the rotation of the nylon wheel (7).

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