Flue / small tunnel inspection robot

Abstract

The utility model discloses a flue / small tunnel inspection robot which comprises a moving platform, a multi-stage telescopic cylinder, a linear guide rail base and a first driving mechanism, the multi-stage telescopic cylinder is vertically installed on the moving platform, and the first driving mechanism is installed at the top of the multi-stage telescopic cylinder and used for driving the linear guide rail base to rotate by 360 degrees in a vertical plane; a linear guide rail and a second driving mechanism are arranged on the linear guide rail base, and the second driving mechanism is used for driving the linear guide rail to transversely move on the linear guide rail base; two ends of the linear guide rail are respectively provided with a microwave leakage detection module and a synthetic aperture radar system. According to the utility model, inner wall inspection at different heights and large angles can be realized, and the inspection robot can reduce the structural size through telescoping and rotation, so that the trafficability is improved. The utility model is suitable for the inspection of flues or small-sized tunnels.

Description

Technical Field

[0001] The utility model relates to an inspection robot, in particular to a flue / small tunnel inspection robot. Background Art

[0002] After the construction of a flue or a tunnel is completed, due to factors such as the ground, surrounding engineering construction, and surrounding buildings, various structural diseases will occur, such as leakage, inner wall cavities, etc., which will affect the use safety of the tunnel or flue. Therefore, it is necessary to regularly inspect the health status of the inner wall of the flue / tunnel. The existing tunnel inspection robots are mainly used for large tunnels such as subway tunnels, moving and inspecting on rails. The detection height and angle of the inspection robot are limited, and the applicable range is not wide, which is not suitable for the inspection of flues or small tunnels. Content of the Utility Model

[0003] Purpose of the Utility Model: The purpose of the utility model is to provide a robot with adjustable detection height and angle, which is suitable for inspecting flues or small tunnels.

[0004] Technical Solution: The flue / small tunnel inspection robot described in the utility model includes a mobile platform, a multi-stage telescopic cylinder, a linear guide rail base, and a first driving mechanism. The multi-stage telescopic cylinder is vertically installed on the mobile platform, and the first driving mechanism is installed on the top of the multi-stage telescopic cylinder, used to drive the linear guide rail base to rotate 360° in the vertical plane; a linear guide rail and a second driving mechanism are arranged on the linear guide rail base, and the second driving mechanism is used to drive the linear guide rail to move horizontally on the linear guide rail base; a microwave leakage detection module and a synthetic aperture radar system are respectively arranged at both ends of the linear guide rail.

[0005] Further, it is characterized in that the first driving mechanism includes a second servo motor and a first rotating platform, and the second servo motor is used to drive the first rotating platform to rotate; the linear guide rail base is connected to the first rotating platform through a first rotating platform connecting piece and rotates with the rotation of the first rotating platform.

[0006] Further, the first rotating platform is fixed to the top of the top-level telescopic cylinder through an L-shaped connecting piece, and the second servo motor is installed on the L-shaped connecting piece, and its output end passes through the L-shaped connecting piece and is connected to the first rotating platform.

[0007] Further, the L-shaped connecting piece has a reinforcing rib for strengthening the structural strength.

[0008] Further, the linear guide rail includes a rack, a guide rod, and a guide rail disposed in a linear guide rail base. Guide rod fixing seats are respectively arranged at both ends of the guide rod. The rack and the guide rail are respectively fixed to the guide rod, and the guide rail is in sliding fit with a chute on the linear guide rail base. The second driving mechanism includes a third servo motor installed at the top of the linear guide rail base. A helical gear is arranged at the output end of the third servo motor, and the helical gear meshes with the rack.

[0009] Further, the synthetic aperture radar system includes a second rotating platform, a sensing probe, and an excitation probe. Annular nozzles for spraying liquid coupling agent are respectively sleeved on the sensing probe and the excitation probe, and a hydraulic cylinder is respectively connected to each of them. The second rotating platform is fixed on the guide rod fixing seat. The hydraulic cylinder of the excitation probe is directly connected to the guide rod fixing seat. The hydraulic cylinder of the sensing probe is connected to an extension rod, and the other end of the extension rod is connected to the second rotating platform through a second rotating platform connecting piece and rotates with the rotation of the second rotating platform, so that the sensing probe can rotate 360° around the excitation probe as the center.

[0010] Further, the microwave leakage detection module is arranged on a connecting rod, and the other end of the connecting rod is connected to a hydraulic cylinder, and the hydraulic cylinder is fixed on the guide rod fixing seat.

[0011] Further, the multi-stage telescopic cylinder includes a telescopic cylinder base. A first telescopic cylinder and a coupling are arranged above the telescopic cylinder base. A first servo motor is arranged above the coupling, and the first servo motor drives the multi-stage telescopic cylinder to expand and contract through the coupling and a gear mechanism.

[0012] Further, the multi-stage telescopic cylinder adopts a three-stage telescopic cylinder.

[0013] Further, the mobile platform adopts a wheeled robot mobile platform.

[0014] Beneficial effects: Compared with the prior art, the present utility model has the following advantages: It is applicable to the inspection of flue ducts or small tunnels. Specifically, it can realize the inspection of inner walls at different heights and large angles, and the inspection robot can reduce the overall structure size through expansion and contraction and rotation, thereby improving the passing performance. Description of the Drawings

[0015] Figure 1 is a schematic structural diagram of an inspection robot for flue ducts / small tunnels provided by an embodiment of the present utility model;

[0016] Figure 2 is a schematic structural diagram of a three-stage telescopic cylinder and a linear guide rail in an embodiment of the present utility model;

[0017] Figure 3 is Figure 2 the top view of

[0018] Figure 4It is a schematic diagram of the cooperation structure between the linear guide rail and the second driving mechanism in the embodiment of the present utility model;

[0019] Figure 5 It is a schematic diagram of the maximum effective working range of the flue / small tunnel inspection robot in the embodiment of the present utility model;

[0020] Figure 6 It is a schematic diagram of the working mode of the synthetic aperture radar system in the embodiment of the present utility model;

[0021] Figure 7 It is a schematic diagram of the return posture of the flue / small tunnel inspection robot in the embodiment of the present utility model. Detailed implementation manners

[0022] The present utility model will be further described below with reference to the accompanying drawings.

[0023] Accompanying Figures 1 to 7 The reference numerals in the

[0024] 1, mobile platform; 2, telescopic cylinder base; 3, coupling; 4, first servo motor; 5, first telescopic cylinder; 6, second telescopic cylinder; 7, third telescopic cylinder; 8, L-shaped connecting piece; 9, second servo motor; 10, third servo motor; 11, first rotating platform connecting piece; 12, rack; 13, guide rod; 14, guide rail; 15, guide rod fixing seat; 16, second rotating platform connecting piece; 17, extension rod; 18, hydraulic cylinder; 19, sensing probe; 20, annular spray head; 21, excitation probe; 22, connecting rod; 23, microwave leakage detection module; 24, linear guide rail base; 25, first rotating platform; 26, second rotating platform; 27, chute; 28, helical gear.

[0025] As Figures 1 to 4 shown, the embodiment of the present utility model provides a flue / small tunnel inspection robot, including a mobile platform 1, a three-stage telescopic cylinder, a linear guide rail base 24 and a first driving mechanism. The three-stage telescopic cylinder is vertically installed on the mobile platform 1, and the first driving mechanism is installed on the top of the three-stage telescopic cylinder for driving the linear guide rail base 24 to rotate 360° in the vertical plane; a linear guide rail and a second driving mechanism are arranged on the linear guide rail base 24, and the second driving mechanism is used for driving the linear guide rail to move horizontally on the linear guide rail base 24; microwave leakage detection modules 23 and synthetic aperture radar systems are respectively arranged at both ends of the linear guide rail.

[0026] Specifically, the three-stage telescopic cylinder includes a telescopic cylinder base 2, a coupling 3, a first servo motor 4, a first telescopic cylinder 5, a second telescopic cylinder 6, and a third telescopic cylinder 7. The telescopic cylinder base 2 is fixed on the mobile platform 1. Above the telescopic cylinder base 2, the first telescopic cylinder 5 and the coupling 3 are provided. Above the coupling 3, the first servo motor 4 is provided, and the power of the first servo motor 4 is 750W. The first servo motor 4 drives the first telescopic cylinder 5, the second telescopic cylinder 6, and the third telescopic cylinder 7 to expand and contract through the coupling 3 and the gear mechanism to achieve height adjustment. In this embodiment, the minimum ground clearance of the three-stage telescopic cylinder is 700mm, that is, in the initial state, the linear guide rail can operate at a height of 700mm above the ground. The stroke of the three-stage telescopic cylinder is 1000mm, that is, the maximum ground clearance is 1700mm. When the three-stage telescopic cylinder is at the maximum elongation limit position, the linear guide rail can operate at a height of 1700mm above the ground.

[0027] The first driving mechanism includes an L-shaped connecting piece 8, a second servo motor 9, and a first rotating platform 25. The L-shaped connecting piece 8 is fixed to the top of the third telescopic cylinder 7 by bolts. The first rotating platform 25 is fixed to the front side of the L-shaped connecting piece 8 by bolts. The second servo motor 9 is installed on the rear side of the L-shaped connecting piece 8, and its output end passes through the L-shaped connecting piece 8 and is connected to the first rotating platform 25 for driving the first rotating platform 25 to rotate. The power of the second servo motor 9 is 400W. The linear guide rail base 24 is connected to the first rotating platform 25 through a first rotating platform connecting piece 11 and rotates with the rotation of the first rotating platform 25. In addition, the L-shaped connecting piece 8 has a reinforcing rib for strengthening the structural strength.

[0028] The linear guide rail includes a rack 12, a guide rod 13, and a guide rail 14 disposed in the linear guide rail base 24. Guide rod fixing seats 15 are respectively provided at both ends of the guide rod 13. The rack 12 and the guide rail 14 are respectively fixed to the guide rod 13. The guide rail 14 is in sliding fit with a chute 27 fixed on the linear guide rail base 24 (limiting two degrees of freedom of the guide rail 14, so that the guide rail 14 has only one degree of freedom of sliding along the chute 27 relative to the linear guide rail base 24). Thus, the integral linear guide rail composed of the rack 12, the guide rod 13, the guide rail 14, and the guide rod fixing seat 15 can move linearly. The second driving mechanism includes a third servo motor 10 installed on the top of the linear guide rail base 24. An inclined gear 28 is provided at the output end of the third servo motor 10. The inclined gear 28 has only one degree of freedom of rotating along the gear axis relative to the linear guide rail base 24. The inclined gear 28 meshes with the rack 12. Thus, when the third servo motor 10 drives the inclined gear 28 to rotate, the rack 12 moves linearly, realizing the lateral movement of the entire linear guide rail, and sending the microwave leakage detection module 23 or the synthetic aperture radar system to the target monitoring point on the inner wall of the flue / tunnel.

[0029] The microwave leakage detection module 23 is arranged on a connecting rod 22, and the other end of the connecting rod 22 is connected with a hydraulic cylinder 18, and the hydraulic cylinder 18 is fixed on the guide rod fixing seat 15. When the linear guide rail sends the microwave leakage detection module 23 to the target monitoring point, the hydraulic cylinder 18 is pushed to be compressed, so that the microwave leakage detection module 23 starts to work.

[0030] The synthetic aperture radar system includes a second rotating platform 26, a second rotating platform connecting piece 16, a sensing probe 19 and an excitation probe 21. Annular nozzles 20 for spraying liquid couplant are respectively sleeved on the sensing probe 19 and the excitation probe 21, and a hydraulic cylinder 18 is respectively connected; the second rotating platform 26 is fixed on the guide rod fixing seat 15, the hydraulic cylinder of the excitation probe 21 is directly connected with the guide rod fixing seat 15, the hydraulic cylinder of the sensing probe 19 is connected to an extension rod 17, and the other end of the extension rod 17 is connected to the second rotating platform 26 through the second rotating platform connecting piece 16 and rotates along with the rotation of the second rotating platform 26, so that the sensing probe 19 can rotate 360° around the excitation probe 21 as the center. Similarly to the detection of the microwave leakage detection module 23, before detection, the annular nozzle 20 sprays liquid couplant between the probe and the target monitoring point, and then the probe is pushed to the target detection point, and the hydraulic cylinder 18 determines whether the probe starts to work through force feedback.

[0031] In this embodiment, the mobile platform 1 adopts a wheeled robot mobile platform.

[0032] Refer to Figure 7 , the robot is first in the middle of the flue / small tunnel, the three-stage telescopic cylinder shrinks to the shortest, the linear guide rail is arranged vertically, so that the overall structural size of the robot is the smallest (this state is called the return posture of the robot), which is convenient for the robot to move and has high environmental adaptability. Further, when the robot is fully extended, the detectable range of the robot is as Figure 5 shown, with a wide range of applications, and can support the inner wall health detection of many small tunnels and flues.

[0033] When the robot starts to work, it is controlled by the staff and travels forward in the middle of the flue / small tunnel. When it travels to the target position, the staff controls the first servo motor 4 to work, so as to control the three-stage telescopic cylinder to extend upward step by step. The initial height of the three-stage telescopic cylinder in the return posture is 700 mm, and the maximum telescopic height can reach 1700 mm. The telescopic height is controlled by the staff in real time.

[0034] After the three-stage telescopic cylinder extends to the ideal height, the operator controls the second servo motor 9 to rotate the first rotating platform 25 so that the linear guide rail thereon reaches the ideal angle. The first rotating platform 25 can control the linear guide rail to achieve a 360° rotation, enabling a dead-angle-free inspection of the tunnel inner wall at a certain height. After the operator adjusts the angle of the first rotating platform 25, the angle of the linear guide rail also reaches the ideal position. Then, the operator controls the third servo motor 10 to rotate forward or backward, causing the rack 12 to move forward or backward, so that the microwave leakage detection module 23 or the excitation probe 21 and the sensing probe 19 are pressed against the wall. The operable length of the linear guide rail is 1300 mm. Based on the maximum height of the three-stage telescopic cylinder of 1700 mm, the robot can cover the entire working range with a radius of 1300 mm centered at a height of 1700 mm above the ground, as Figure 5 shown.

[0035] When the microwave leakage detection module 23 needs to work, after the microwave leakage detection module 23 is pressed against the wall, the hydraulic cylinder 18 is stressed. By means of the force feedback, it is determined whether the microwave leakage detection module 23 works or not. When the synthetic aperture radar system needs to work, when approaching the target monitoring point, the annular nozzles 20 installed on the excitation probe 21 and the sensing probe 19 will spray a liquid coupling agent (chemical paste or water, etc.), enabling the two probes to work. Then, as the linear guide rail moves further, the excitation probe 21 and the sensing probe 19 are pressed against the wall. Similarly to the microwave leakage detection module 23, the connected hydraulic cylinder 18 is stressed, and by means of the force feedback, it is determined whether the corresponding probe works or not (the process of approaching the structure surface is an elastic process, and the working or stopping of the excitation probe and the sensing probe can be determined by means of the force feedback).

[0036] The measurement height of the sensing probe 19 and the excitation probe 21 in the synthetic aperture radar system is about 1.5 m. During measurement, the excitation probe 21 extends to the structure surface and then remains fixed (at a height of 1.5 m above the ground). The sensing probe 19 can collect structural responses at equal intervals on a circle with a radius of 0.2 - 0.3 m. The collection interval is adjustable from 15° to 45°, and the resolution is 5°, as Figure 6 shown.

[0037] After the robot completes the inspection, it needs to enter the next inspection point for inspection. At this time, the robot changes from the current inspection state to the return posture, and the robot returns to the middle position of the flue again, and so on in a cycle.

Claims

1. A flue / small tunnel inspection robot, characterized in that: The invention comprises a mobile platform (1), a multi-stage telescopic cylinder, a linear guide base (24) and a first driving mechanism, wherein the multi-stage telescopic cylinder is vertically mounted on the mobile platform (1), the first driving mechanism is mounted on the top of the multi-stage telescopic cylinder and is used to drive the linear guide base (24) to rotate 360 ​​degrees in a vertical plane; a linear guide and a second driving mechanism are arranged on the linear guide base (24), and the second driving mechanism is used to drive the linear guide to move horizontally on the linear guide base (24); and microwave leakage detection modules (23) and synthetic aperture radar systems are respectively arranged at both ends of the linear guide.

2. The flue / small tunnel inspection robot according to claim 1, characterized in that: The first driving mechanism comprises a second servo motor (9) and a first rotating platform (25), wherein the second servo motor (9) is used to drive the first rotating platform (25) to rotate; the linear guide base (24) is connected to the first rotating platform (25) via a first rotating platform connecting piece (11), and rotates along with the rotation of the first rotating platform (25).

3. The smoke duct / small tunnel inspection robot according to claim 2, characterized in that: The first rotating platform (25) is fixed to the top of the uppermost telescopic cylinder via an L-shaped connecting piece (8), and the second servo motor (9) is mounted on the L-shaped connecting piece (8), with its output end passing through the L-shaped connecting piece (8) and connected to the first rotating platform (25).

4. The smoke duct / small tunnel inspection robot according to claim 3, characterized in that: The L-shaped connecting piece (8) has reinforcing ribs for enhancing structural strength.

5. The flue / small tunnel inspection robot according to claim 1, characterized in that: The linear guide comprises a rack (12), a guide rod (13) and a guide rail (14) which are inserted into a linear guide base (24); guide rod fixing seats (15) are respectively arranged at both ends of the guide rod (13); the rack (12) and the guide rail (14) are respectively fixed to the guide rod (13); the guide rail (14) and a slide groove (27) on the linear guide base (24) are slidably matched; the second driving mechanism comprises a third servo motor (10) installed on the top of the linear guide base (24); a bevel gear (28) is arranged at the output end of the third servo motor (10); and the bevel gear (28) is meshed with the rack (12).

6. The flue / small tunnel inspection robot according to claim 5, characterized in that: The synthetic aperture radar system comprises a second rotating platform (26), a sensing probe (19) and an excitation probe (21); the sensing probe (19) and the excitation probe (21) are respectively provided with an annular nozzle (20) for spraying a liquid coupling agent and are respectively connected to a hydraulic cylinder; the second rotating platform (26) is fixed on a guide rod fixing seat (15); the hydraulic cylinder of the excitation probe (21) is directly connected to the guide rod fixing seat (15); the hydraulic cylinder of the sensing probe (19) is connected to an extension rod (17); the other end of the extension rod (17) is connected to the second rotating platform (26) through a second rotating platform connecting piece (16); the extension rod (17) rotates with the rotation of the second rotating platform (26), so that the sensing probe (19) can rotate 360 ​​degrees around the excitation probe (21) with the excitation probe (21) as the center of the circle.

7. The smoke duct / small tunnel inspection robot according to claim 5, characterized in that: The microwave leakage detection module (23) is arranged on a connecting rod (22), and the other end of the connecting rod (22) is connected to a hydraulic cylinder, which is fixed on a guide rod fixing seat (15).

8. The smoke duct / small tunnel inspection robot according to claim 1, characterized in that: The multi-stage telescopic cylinder comprises a telescopic cylinder base (2), a first telescopic cylinder (5) and a coupling (3) are arranged above the telescopic cylinder base (2), a first servo motor (4) is arranged above the coupling (3), and the first servo motor (4) drives the multi-stage telescopic cylinder to telescope through the coupling (3) and a gear mechanism.

9. The flue / small tunnel inspection robot according to claim 1 or 8, characterized in that: The multi-stage telescopic cylinder adopts a three-stage telescopic cylinder.

10. The flue / small tunnel inspection robot according to claim 1, characterized in that: The mobile platform (1) adopts a wheeled robot mobile platform.

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