Tunnel support monitoring sensor laying device

Abstract

The utility model discloses a tunnel support monitoring sensor laying device, which relates to the technical field of tunnel engineering and comprises a main body trolley, two sides of the main body trolley are fixedly connected with mechanical arms respectively, and two sides of one end of each mechanical arm are fixedly connected with a first motor and a second motor respectively. The other end of the mechanical arm is fixedly connected with a mechanical arm terminal, the mechanical arm terminal is movably connected with a grabbing device, and a camera is further fixedly arranged at the position, beside the grabbing device, of the mechanical arm terminal. The to-be-installed position can be checked through a camera arranged on the laying device, the angle and movement of the mechanical arm are controlled through a remote controller, then the angle and position of the grabbing device are adjusted, multi-angle installation and fixation of the monitoring sensor at different positions are achieved, and the monitoring sensor can be installed and fixed in cooperation with the electromagnetic installation and fixation mode of the monitoring sensor. The flexibility and convenience of sensor installation are improved, the risk that workers fall from a high place is avoided, and the installation efficiency is also improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel engineering, in particular to a device for arranging tunnel support monitoring sensors. Background Technique

[0002] The statements in this part only provide background technical information related to the present disclosure and do not necessarily constitute prior art.

[0003] To ensure the construction quality and safety of rock tunnels (especially tunnels with poor surrounding rock quality), carrying out tunnel engineering monitoring and measurement is an important task in tunnel construction. The objects of rock tunnel engineering monitoring and measurement mainly include surrounding rock, shotcrete lining, steel arch, etc., which requires some sensors used for monitoring to be fixed in parts such as the tunnel crown, arch shoulders, arch waists, and arch feet in a permanently embedded manner.

[0004] Currently, most of the monitoring sensors used are wired sensors, which requires workers to quickly install sensors and external cables after installing the steel arch and before shotcreting. However, in the actual installation process, due to the limitation of the working environment and the lack of suitable installation tools for monitoring sensors, the work efficiency of workers is low, which often affects the subsequent construction process. The existing monitoring sensor installation devices cannot adjust the angle according to the installation position and cannot install sensors at different angular positions. And some measuring point installation positions are relatively high, and there is a risk that installation workers may fall from a height during the operation of installing monitoring sensor elements. Content of the Utility Model

[0005] In order to solve the technical problems existing in the prior art, the utility model provides a device for arranging tunnel support monitoring sensors, which can view the position to be installed through a camera arranged on the arranging device, adjust the installation angle of the sensor to be installed through a robotic arm, and the monitoring sensor is installed by electromagnetic adsorption, so as to quickly and efficiently complete the installation of sensor elements and improve the work efficiency.

[0006] To achieve the above purpose, the utility model is realized by the following technical solutions:

[0007] A device for arranging tunnel support monitoring sensors includes a main trolley, robotic arms are respectively and fixedly connected to both sides of the main trolley, a first motor and a second motor are respectively and fixedly connected to both sides of one end of the robotic arm, a robotic arm terminal is fixedly connected to the other end of the robotic arm, a grasping device is movably connected to the robotic arm terminal, and a camera is also fixedly arranged on the robotic arm terminal beside the grasping device.

[0008] Further technical solution, a plurality of rollers are arranged at the bottom of the main trolley.

[0009] According to a further technical solution, the roller is a Mecanum wheel and is fixedly connected to the output end of the third motor.

[0010] According to a further technical solution, the robotic arm includes a base, a rotating base is fixedly provided on the base, a first support plate and a second support plate are fixedly provided on the rotating base, and the first support plate and the second support plate are spaced a certain distance apart.

[0011] According to a further technical solution, the rotating base is fixedly connected to the output shaft of the fourth motor.

[0012] According to a further technical solution, a first motor is fixedly provided on the outer side of the first support plate, and a second motor is fixedly provided on the outer side of the second support plate.

[0013] A further technical solution is that the output shaft of the first motor passes through the first support plate and is fixedly connected to one end of the first horizontal bar, the other end of the first horizontal bar is fixedly connected to one end of the first vertical bar, the other end of the first vertical bar is fixedly connected to one end of the long horizontal bar through a triangle plate, and the other end of the long horizontal bar is fixedly connected to the robotic arm terminal.

[0014] A further technical solution is that the output shaft of the second motor passes through the second support plate and is fixedly connected to one end of the second cross bar, the other end of the second cross bar is fixedly connected to one end of the second vertical bar, the other end of the second vertical bar is fixedly connected to one end of the forearm, and the other end of the forearm is fixedly connected to the robotic arm terminal.

[0015] According to a further technical solution, a rotating shaft is fixedly arranged between the first support plate and the second support plate, an upper arm is fixedly connected to the rotating shaft, one end of the upper arm is fixed to the rotating shaft, and the other end is fixedly connected to the forearm.

[0016] According to a further technical solution, the grasping device grasps the monitoring sensor, and electromagnetic material is fixed at the welding position of the monitoring sensor.

[0017] Beneficial effects of the utility model:

[0018] This new system uses a trolley-mounted robotic arm to integrate the monitoring sensor components, eliminating the risk of workers falling from heights during traditional manual installation and accelerating installation efficiency. The installation location can be viewed through a camera mounted on the deployment device, and the angle and movement of the robotic arm can be controlled via a remote control to adjust the angle and position of the gripping device. This allows the monitoring sensor to be installed and secured at multiple angles and locations, improving the flexibility and convenience of sensor installation.

[0019] The utility model uses a robotic arm with an adjustable angle to install monitoring sensor elements. By switching the grasping devices at the terminals of different robotic arms, different monitoring sensor elements (such as earth pressure cells, steel bar meters, etc.) can be installed, solving the problems of cumbersome installation steps and long installation time for current monitoring sensor (especially for multiple measuring points) elements, and improving work efficiency.

[0020] The utility model adds an electromagnetic adsorption function to the monitoring sensor elements. During the installation process, the monitoring sensor elements (such as earth pressure cells, steel bar meters, etc.) can be electromagnetically adsorbed at the designated positions on the steel arch by using the electromagnetic adsorption function. Compared with the current common method of installing monitoring sensor elements by electric welding, it not only saves resources such as electricity and acetylene, but also avoids the complex and intertwined on-site wiring caused by the layout of electric welding lines. Compared with traditional electric welding installation, the installation time required for electromagnetic adsorption installation is greatly shortened, and the efficiency of installing monitoring sensor elements is significantly improved.

[0021] The utility model can be flexibly arranged at different positions inside the tunnel according to actual needs, adapting to the monitoring requirements of different support structures, and ensuring that the monitoring sensors are in close contact with the support structure, improving the flexibility and convenience of installing monitoring sensors for tunnel support structures. Description of the Drawings

[0022] The drawings are used to provide a further understanding of the utility model, and constitute a part of the specification. Together with the embodiments of the utility model, they are used to explain the utility model, and do not constitute a limitation to the utility model.

[0023] Figure 1 It is the overall structure diagram of the layout device in the embodiment of the utility model;

[0024] Figure 2 It is the side view of the robotic arm structure of the layout device in the embodiment of the utility model;

[0025] Figure 3 It is the top view of the robotic arm structure of the layout device in the embodiment of the utility model;

[0026] Figure 4 It is the schematic diagram of the remote control of the layout device in the embodiment of the utility model;

[0027] Figure 5 It is the structure diagram of the arc-shaped grasping device of the layout device in the embodiment of the utility model;

[0028] Figure 6 It is the structure diagram of the circular grasping device of the layout device in the embodiment of the utility model.

[0029] Among them, 1 - robotic arm, 101 - base, 102 - rotating base, 103 - first support plate, 104 - second support plate, 105 - first motor, 106 - second motor, 107 - upper arm, 108 - forearm, 109 - first cross bar, 110 - first vertical bar, 111 - triangular plate, 112 - long cross bar, 113 - robotic arm terminal, 114 - second cross bar, 115 - second vertical bar, 2 - main trolley, 3 - roller, 4 - grasping device, 5 - camera, 6 - trolley movement joystick, 7 - first robotic arm joystick, 8 - second robotic arm joystick, 9 - camera display screen. Detailed implementation manners

[0030] The following further describes the present utility model in conjunction with the accompanying drawings and specific embodiments.

[0031] See Figure 1 As shown, an embodiment of the present utility model provides a device for arranging tunnel support monitoring sensors, including a main trolley 2. On both sides of the main trolley 2, a robotic arm 1 is fixedly connected respectively. On both sides of one end of the robotic arm 1, a first motor 105 and a second motor 106 are fixedly connected respectively. At the other end of the robotic arm 1, a robotic arm terminal 113 is fixedly connected. A grasping device 4 is movably connected to the robotic arm terminal 113. A camera 5 is also fixedly arranged on the robotic arm terminal 113 beside the grasping device 4.

[0032] In this embodiment, the main trolley 2 has a rectangular structure, and a plurality of rollers 3 are provided at its bottom. The trolley moves to the target installation position, that is, the designated tunnel section where the monitoring sensors need to be installed, through the rollers 3.

[0033] The rollers 3 adopt Mecanum wheels. The Mecanum wheels are fixedly connected to the output end of a third motor. The third motor drives the Mecanum wheels to rotate. A third controller is fixedly arranged inside the third motor. The third controller receives instructions and controls the rotation speed and direction of the third motor through the third controller, thereby controlling the speed and direction of the movement of the rollers 3.

[0034] A battery module is arranged inside the main trolley 2. The battery module is connected to the first motor, the second motor, the third motor, and the fourth motor through electric wires to supply power to each motor, realizing the operation of the arranging device. In some implementation manners, the battery module can adopt storage batteries, lithium batteries, etc., and can be flexibly selected according to actual situations.

[0035] In some embodiments, four rollers 3 are provided and are respectively fixedly arranged at the four corner positions of the bottom of the main trolley 2 to ensure the stable movement of the main trolley 2. Each roller 3 is fixedly connected to a corresponding third motor, that is, the roller and the motor are in a one-to-one correspondence relationship, and is driven by the corresponding third motor, so as to control the movement of the main trolley 2. Instructions can be sent to the third controller through a remote controller, and the third controller drives the roller 3 to reach the target installation position according to the instructions.

[0036] In some embodiments, the third motor is fixedly installed inside the main trolley 2 and is fixed by fasteners such as screws.

[0037] In some embodiments, the third motor can adopt a NEMA17 stepper motor, and the third controller can adopt an A4988 module, which can be flexibly selected according to the actual situation, and is not specifically limited in this embodiment.

[0038] In this embodiment, as Figure 1 、 Figure 2 、 Figure 3 shown, the robotic arm 1 includes a first robotic arm and a second robotic arm on both sides of the main trolley 2. The first robotic arm and the second robotic arm have the same structure, including a base 101. A rotating base 102 is fixedly arranged on the base 101. A first support plate 103 and a second support plate 104 are fixedly arranged on the rotating base 102, and there is a certain distance between the first support plate 103 and the second support plate 104; a first motor 105 is fixedly arranged outside the first support plate 103, and a second motor 106 is fixedly arranged outside the second support plate 104. A rotating shaft is fixedly arranged between the first support plate 103 and the second support plate 104, and an upper arm 107 is fixedly connected to the rotating shaft. One end of the upper arm 107 is fixed to the rotating shaft, and the other end is fixedly connected to the forearm 108 through a fixed shaft. The upper arm 107 drives the forearm 108 to rotate back and forth between the first support plate 103 and the second support plate 104.

[0039] The output shaft of the first motor 105 passes through the first support plate 103 and is fixedly connected to one end of the first cross bar 109. The other end of the first cross bar 109 is fixedly connected to one end of the first vertical bar 110. The other end of the first vertical bar 110 is fixedly connected to one end of the long cross bar 112 through a triangular plate 111. The other end of the long cross bar 112 is fixedly connected to the robotic arm terminal 113; the output shaft of the second motor 106 passes through the second support plate 104 and is fixedly connected to one end of the second cross bar 114. The other end of the second cross bar 114 is fixedly connected to one end of the second vertical bar 115. The other end of the second vertical bar 115 is fixedly connected to one end of the forearm 108. The other end of the forearm 108 is fixedly connected to the robotic arm terminal 113.

[0040] Furthermore, as Figure 2 、 Figure 3As shown in the figure, the forearm 108 is a symmetric arm, including a first long arm and a second long arm which are oppositely arranged. One ends of the first long arm and the second long arm are fixedly connected by a fixed shaft. The fixed shaft extends out of the outer side of the first long arm and is fixedly connected with one end of the second vertical rod 115. The other end of the first long arm is connected to one side of the robotic arm terminal 113, and the other end of the second long arm is fixedly connected to the other side of the robotic arm terminal 113.

[0041] The rotary base 102 is fixedly connected to the output shaft of the fourth motor and is driven by the fourth motor to rotate, controlling the rotary base 102 to perform a circular rotation, thereby driving the entire robotic arm fixed thereon to perform a circular rotation. The fourth motor is fixedly arranged inside the main trolley, and the installation position of the fourth motor is adaptively designed according to the positions of the two rotary bases 102 on both sides. No specific limitation is made in this embodiment.

[0042] Control instructions are sent to the first motor 105, the second motor 106, and the fourth motor through the remote controller. The first motor 105, the second motor 106, and the fourth motor execute the rotation direction and corresponding rotation angle according to the instructions, realizing the movement of the first robotic arm and the second robotic arm in the corresponding directions, and realizing the alignment of the monitoring sensor for grasping with the target installation position. Specifically, the rotation of the first motor 105 drives the rotation of the first cross bar 109, and the first cross bar 109 drives the movement of the first vertical rod 110, thereby driving the long cross bar 112 and the robotic arm terminal 113 connected thereto to move; the rotation of the second motor 106 drives the movement of the second cross bar 114, the second cross bar 114 drives the movement of the second vertical rod 115, and the second vertical rod 115 drives the forearm 108 and the robotic arm terminal 113 connected thereto to move; the rotation of the fourth motor drives the rotary base 102 to perform a circular rotation, and then the rotary base 102 drives the entire robotic arm fixed thereon to perform a circular rotation relative to the main trolley 2. It can be seen that through the drive of the first motor 105, the second motor 106, and the fourth motor, the movement and angle adjustment of the first robotic arm and the second robotic arm are realized, thereby realizing the movement of the robotic arm 1 in various directions with multiple degrees of freedom.

[0043] As Figure 4 shown in the figure, the figure is a simple example of the remote controller. The remote controller is provided with a trolley movement joystick 6, a first robotic arm joystick 7, a second robotic arm joystick 8, and a camera display screen 9, and a central processing unit is built in as the core control module. The overall control of the deployment device is realized through the remote controller, and the installation and fixation of the monitoring sensor are realized.

[0044] The central processing unit in the remote controller communicates wirelessly with the controllers of the first motor, the second motor, the third motor, and the fourth motor respectively to realize the sending of control instructions.

[0045] In some embodiments, the central processing unit can choose to use chips such as TMS320LF2407A and STM32F103C8T6 to achieve overall control. It can be flexibly selected according to the actual situation, and no specific limitation is made in this embodiment.

[0046] In this embodiment, as Figure 5 , Figure 6 shown, the robotic arm terminal 113 is used to install the grasping device 4 so as to be able to grasp and install the monitoring sensor. This layout device can realize the installation and layout of various monitoring sensors. The robotic arm terminal 113 can select and install different grasping devices 4 according to the types of monitoring sensors to be actually installed. For example, a circular grasping device is used for installing the earth pressure cell, and an arc-shaped grasping device is used for installing the vibrating wire strain gauge.

[0047] The monitoring sensor adopts existing sensor components, such as earth pressure cells, vibrating wire strain gauges, etc., and is improved on the basis of existing monitoring sensor components to make it have an electromagnetic adsorption function. That is, the electromagnetic material is used for improvement at the welding place where the existing monitoring sensor needs to be welded (the electromagnetic material is fixed at the welding place of the monitoring sensor to be installed through electromagnetic suction), and an electromagnetic field is added to the sensor so that it can be adsorbed on the steel arch through magnetic attraction, realizing the rapid and efficient installation of the monitoring sensor components.

[0048] The material of the grasping device 4 is selected as an elastic plastic material. Since the monitoring sensor components can be magnetically adsorbed on the steel arch, the elastic plastic grasping device 4 will release the monitoring sensor components when approaching the steel arch, enabling them to be adsorbed and installed on the steel arch.

[0049] As Figure 5 shown, a camera 5 is also fixedly arranged on one side of the robotic arm terminal 113 that fixes the grasping device 4. That is to say, a camera 5 is fixedly arranged on the robotic arm terminal beside the grasping device 4, which can take real-time pictures of the installation process of the monitoring sensor, enabling the operator to timely master the alignment between the sensor to be installed and the position to be fixed, and adjust the moving angle of the robotic arm according to the alignment result, improving the installation efficiency and realizing the accurate installation of the sensor to be installed.

[0050] The camera 5 is internally provided with a power supply and a wireless communication module, and wirelessly communicates with the central processing unit in the remote controller through the wireless communication module, enabling the transmission of the captured video. In some embodiments, this wireless communication module can adopt a wireless video transmission module, such as the MT7601 wireless video transmission module.

[0051] Detailed description of the working principle:

[0052] According to the characteristics and design requirements of the tunnel support structure, the measuring point positions are determined inside the tunnel and on the support structure. According to the type of the monitoring sensor element to be installed, a matching robotic arm grasping device is selected, the matching robotic arm grasping device is fixed at the end of the robotic arm, and the monitoring sensor element is placed on the grasping device at the end of the robotic arm. Use the remote control to send instructions to the controller of the third motor to control the rotation of the roller 3, move the main trolley 2 to the measuring point position. After reaching the target position, the camera takes a video of the installation position to be installed, and the actual installation situation is viewed through the display screen on the remote control. Instructions are sent to the controllers of the first motor 105, the second motor 106 and the fourth motor through the robotic arm joystick on the remote control, so that the first motor 105, the second motor 106 and the fourth motor rotate to drive the movement of the end 113 of the robotic arm to adjust the angle of the robotic arm 1. A grasping device 4 is installed at the end 113 of the robotic arm. The grasping device 4 grasps the monitoring sensor with an electromagnet, and the monitoring sensor is adsorbed on the specified position of the steel arch by the end 113 of the robotic arm to ensure that the monitoring sensor element is in close contact with the support structure. Retract the robotic arm and leave the tunnel through the movement of the rollers of the main trolley to complete the installation of the monitoring sensor element.

[0053] This device can quickly and efficiently complete the installation and fixation of the monitoring sensor, with simple operation, improving the operation efficiency of installing the monitoring sensor element, reducing the risk of danger to workers during installation, facilitating the subsequent construction process, and meeting the subsequent monitoring requirements after installation.

[0054] It should be noted that the above-mentioned remote control is realized by using existing equipment, and instructions can be sent separately through different joysticks.

[0055] Although the specific implementation manners of the present invention are described above in conjunction with the drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solution of the present invention, various modifications or deformations that can be made by those skilled in the art without creative labor are still within the protection scope of the present invention.

Claims

1. A device for arranging tunnel support monitoring sensors, characterized in that: It includes a main trolley, with robotic arms fixedly connected to both sides of the main trolley. On both sides of one end of each robotic arm, a first motor and a second motor are fixedly connected respectively. The other end of the robotic arm is fixedly connected to a robotic arm terminal, and a grasping device is movably connected to the robotic arm terminal. A camera is also fixedly arranged on the robotic arm terminal beside the grasping device.

2. The tunnel support monitoring sensor layout device according to claim 1, wherein: A plurality of rollers are provided at the bottom of the main trolley.

3. The layout device of a tunnel support monitoring sensor according to claim 2, characterized in that: The rollers are mecanum wheels and are fixedly connected to the output end of a third motor.

4. The tunnel support monitoring sensor layout device according to claim 1, characterized in that: The robotic arm includes a base, on which a rotating base is fixedly arranged. A first support plate and a second support plate are fixedly arranged on the rotating base, and there is a certain distance between the first support plate and the second support plate.

5. The layout device of a tunnel support monitoring sensor according to claim 4, characterized in that: The rotating base is fixedly connected to the output shaft of a fourth motor.

6. The layout device of tunnel support monitoring sensors according to claim 4, characterized in that: The first motor is fixedly arranged on the outside of the first support plate, and the second motor is fixedly arranged on the outside of the second support plate.

7. The tunnel support monitoring sensor layout device according to claim 6, characterized in that: The output shaft of the first motor passes through the first support plate and is fixedly connected to one end of a first cross bar. The other end of the first cross bar is fixedly connected to one end of a first vertical bar. The other end of the first vertical bar is fixedly connected to one end of a long cross bar through a triangular plate. The other end of the long cross bar is fixedly connected to the robotic arm terminal.

8. The device for arranging tunnel support monitoring sensors according to claim 6, characterized in that: The output shaft of the second motor passes through the second support plate and is fixedly connected to one end of a second cross bar. The other end of the second cross bar is fixedly connected to one end of a second vertical bar. The other end of the second vertical bar is fixedly connected to one end of a forearm. The other end of the forearm is fixedly connected to the robotic arm terminal.

9. The tunnel support monitoring sensor layout device according to claim 4, characterized in that: A rotating shaft is fixedly arranged between the first support plate and the second support plate, and an upper arm is fixedly connected to the rotating shaft. One end of the upper arm is fixed on the rotating shaft, and the other end is fixedly connected to the forearm.

10. The device for arranging tunnel support monitoring sensors according to claim 1, characterized in that: The grasping device is a grasping monitoring sensor, and an electromagnetic material is fixed at the welding place of the monitoring sensor.

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