Magnetic self-walking measuring instrument carrying device

Abstract

The utility model discloses a magnetic self-walking type measuring instrument carrying device, and solves the problem that measuring scanning equipment is difficult to move due to the fact that the internal space of a small-diameter pipeline is limited in the prior art. The utility model relates to a magnetic attraction self-walking type measuring instrument carrying device which comprises a base plate, two sides of the bottom of the base plate are provided with limiting wheels matched with a track, one side of the base plate is provided with a magnetic attraction power wheel matched with the track, the other side of the base plate is provided with a counterweight wheel, and the magnetic attraction power wheel is connected with a driving piece arranged on the base plate. A moving distance measuring mechanism is also arranged on the base plate; and the driving piece and the moving distance measuring mechanism are connected with a controller arranged on the substrate. The carrying device can automatically and stably walk along the track parallel to the axis of the pipeline through the magnetic attraction power wheels, and the phenomena of torsion, shaking and the like along the axis are avoided in cooperation with the balance weight wheels, so that a solid foundation is provided for accurate scanning or measurement of measurement and scanning equipment.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel construction, in particular to a measuring instrument carrying device. Background Art

[0002] With the rapid development of urbanization in my country in recent years, the demand for urban underground space development, such as subway stations, underground shopping malls, and underground parking lots, has also increased rapidly. Currently, most of these projects use traditional construction methods such as open-cut, covered-cut, and shallow-buried tunneling, which are associated with poor construction safety, low efficiency, and significant environmental impact. Pipe curtain reinforcement is a safer and less environmentally friendly construction method. The curved pipe curtain method utilizes curved pipe curtain equipment to thrust pipe sections into the soil along a curve to form advance support. Compared to conventional pipe curtain methods, it is more suitable for underground projects with shallow burial depths, large spans, and complex geological conditions, and is safe, economical, efficient, and environmentally friendly. However, due to the small diameter and in-plane curvature of the pipe curtain, visibility is limited, making conventional measurement and guidance methods difficult to apply.

[0003] To address these issues, new methods such as inertial guidance and visual camera scanning offer an alternative approach for measuring the attitude and spatial position of pipe curtains. However, inertial guidance systems require mileage data input, and camera scanning requires a corresponding auxiliary propulsion system. Therefore, a device for carrying guided measurement instruments is essential. To address these needs, this technical solution has developed a magnetically actuated, self-propelled measuring instrument carrier, enabling the better application of measurement technologies such as inertial guidance and visual camera scanning in curved pipe curtain construction.

[0004] Prior art technologies, such as those proposed in patent publication number CN107916938A for a mounting device for a curved pipe curtain machine guide, and patent publication number CN115615322A for a posture detection device and method for small and medium-sized shield machines used in curved pipe curtain construction, respectively utilize multiple "serial" measurement mounting device trolleys and a "cross-joint" measurement structure. These devices locate the front measurement object by transmitting the measured coordinates group by group through a rigid structure. These technical solutions suffer from issues such as cumbersome assembly and disassembly, high cost, and poor accuracy and reliability. Furthermore, patent publication number CN117704191A proposes a movable fixed guide device for use within large-diameter iron drainage pipes. Its guide and travel mechanism rely on liquid buoyancy, so it can only be used in conditions where the pipe is filled with liquid, limiting its scope of application. Furthermore, this technical solution suffers from the problem of cable entanglement when used in smaller pipe diameters.

[0005] Therefore, based on the above situation, in order to overcome the defects existing in the existing technology, this case proposes a measuring equipment carrying device that can move in a small-diameter pipe. The magnetic power wheel provides power to achieve the effect of moving inertial guidance, visual cameras and other measuring and scanning equipment forward and backward along the internal track of the pipe section; thereby further providing accurate guidance data for curved pipe curtain excavation equipment. Utility Model Content

[0006] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a magnetic self-propelled measuring instrument carrying device, which solves the problem in the prior art that the measuring scanning equipment is difficult to move due to the limited internal space of small-diameter pipelines.

[0007] The technical solution of the present utility model is implemented as follows: a magnetic self-propelled measuring instrument carrying device includes a base plate, a limiting wheel that cooperates with the track is provided at the bottom of the base plate, a magnetic power wheel that cooperates with the track is provided on one side of the base plate, and a counterweight wheel is provided on the other side, and the magnetic power wheel is connected to a driving member arranged on the base plate; the magnetic power wheel and the track are used to enable the upper measuring and scanning device to move along the track, and the magnetic power wheel drives the entire measuring and scanning device forward and backward to realize reciprocating measurement / scanning of the measuring and scanning device, and it also has the function of fixing the carrying device.

[0008] As a method, the track is a metal guide rail composed of an upper wing plate, a lower wing plate and a vertical plate, and its cross section is in the shape of an "I". The magnetic power wheel corresponds to the vertical plate, and the limiting wheel corresponds to the upper wing plate; ensuring the stable movement of the carrying device along the track.

[0009] Alternatively, the track is a metal guide rail with a T-shaped cross section consisting of an upper wing plate and a vertical plate, with the magnetic power wheel corresponding to the vertical plate and the limit wheel corresponding to the upper wing plate, thereby ensuring stable movement of the carrying device along the track.

[0010] Further preferably, the limiting wheel includes a load-bearing wheel and a fixed wheel, which are arranged correspondingly up and down, and are fixed to the bottom of the base plate through a wheel seat, the load-bearing wheel is located on the upper wing plate, and the upper wing plate provides support for the load-bearing wheel, and the fixed wheel is located below the upper wing plate and in contact with the upper wing plate.

[0011] Further preferably, the magnetic power wheel is in magnetic contact with the vertical plate, and a wear-increasing pattern is provided on the surface of the magnetic power wheel to enhance the friction between the magnetic power wheel and the vertical plate of the track, thereby ensuring that the magnetic power wheel provides stable forward power.

[0012] Further preferably, the track is provided with a tail wire holder for securing the tail wire; the tail wire holder is movable along the track. Specifically, the tail wire holder comprises a beam spanning the track, with sheaves provided at each end of the beam, the sheaves engaging the track, and a wire clamp provided on the beam, each of which has a wire clamp fastener for adjusting the clamping force of the wire clamp.

[0013] Further preferably, a moving distance measuring mechanism is also provided on the substrate; the driving member and the moving distance measuring mechanism are both connected to a controller provided on the substrate; the moving distance measuring mechanism includes a support seat connected to one side of the substrate, a screw is provided on the support seat, an arm plate is connected to the screw via a locking nut, and a meter wheel in contact with the track is provided on the arm plate; the moving distance of the scanning platform such as forward and backward is measured to provide data.

[0014] Further preferably, the driving member includes a motor provided on a base plate, the motor being connected to the magnetic power wheel via a reducer. A traction hook and a signal socket are provided on the base plate.

[0015] The beneficial effects of this utility model are as follows: the carrying device of this utility model, through the magnetically powered wheels, can move autonomously and smoothly along a track parallel to the pipeline axis. In combination with the counterweight wheels, it prevents torsional shaking or swaying along the axis, providing a solid foundation for accurate scanning or measurement by the measuring and scanning equipment, and resolving the existing problem of limited internal space in small-diameter pipelines, which makes it difficult to move the measuring and scanning equipment. Furthermore, by integrating a motor, a reducer, and a magnetically powered wheel, the carrying device enables autonomous movement of the measuring and scanning device. Its high degree of integration and compact structure make it suitable for movement within small-diameter pipelines, enhancing its flexibility and applicability.

[0016] After the pipe roof construction is completed, the tunnel boring machine head is disassembled from the receiving end, and the platform carrying the measurement and scanning equipment is returned to the starting end. This ensures its reuse and further reduces the time required for adjustment and maintenance of the measurement and scanning equipment, shortening the construction period. The simple structure of the mounting device makes it cost-effective and can adapt to curved pipe roofs of varying curvatures and diameters, demonstrating its strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the structure of the carrying device of the utility model;

[0019] Figure 2 This is a left side view of the carrying device;

[0020] Figure 3 This is a right side view of the carrying device;

[0021] Figure 4 Schematic diagram of the track and connection scheme;

[0022] Figure 5 This is a schematic diagram of the track section in Example 1.

[0023] In the figure: 1. Base plate; 2. Limiting wheel; 201. Load-bearing wheel; 202. Fixed wheel; 203. Wheel seat; 3. Counterweight wheel; 4. Motor; 5. Reducer; 6. Magnetic power wheel; 7. Moving distance measuring mechanism; 71. Support seat; 72. Screw; 73. Locking nut; 74. Arm plate; 75. Metering wheel; 8. Towing hook; 9. Controller; 10. Signal socket; 11. Track bracket; 12. Tail wire fixing frame; 1201. Grooved wheel; 1202. Line clamp; 1203. Line clamp fastener; 1204. Beam; 13. Track; 1301. Upper wing plate; 1302. Vertical plate; 1303. Lower wing plate. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described 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 creative work are within the scope of protection of the present invention.

[0025] Example 1, as Figure 1 As shown, a magnetic self-propelled measuring instrument carrying device includes a substrate 1. The substrate is the base of the entire measuring and scanning carrying platform. Its planar shape is a quasi-rectangular shape with the long axis along the moving direction. It should be pointed out that the specific shape of the substrate can be adjusted according to the guide device and the purpose. The front of the substrate is provided with mounting holes connected to the measuring and scanning device. The fixing and connection of the measuring and scanning device and the carrying platform are achieved through the fastening action of the mounting holes and bolts / screws. Limiting wheels 2 that cooperate with the track 13 are provided on both sides of the bottom of the substrate 1. The limiting wheels are installed on the lower part of the substrate, and multiple groups are provided according to the load conditions of the upper measuring and scanning equipment and the power equipment. Two groups are taken as an example for explanation. The two groups of limiting wheels are respectively provided at the front and rear of the substrate. As shown Figure 3As shown, the base plate 1 is equipped with a magnetic power wheel 6 on one side that mates with the track 13, and a counterweight wheel 3 on the other side. The magnetic power wheel on one side of the carrying platform creates a certain offset between the carrying device's center of gravity and the track axis. Therefore, a counterweight component is necessary to adjust the center of gravity of the measurement and scanning device. This is achieved by the counterweight wheel 3. The counterweight wheel 3 is located at the bottom of the base plate, on either side of the carrying platform, along with the magnetic power wheel. The rims of the counterweight wheel 3 contact the track, maintaining stability. The magnetic power wheel 6 is connected to a drive element mounted on the base plate 1. The drive element provides rotational power for the magnetic power wheel 6. In this embodiment, the drive element comprises a motor 4 mounted on the base plate 1, which is connected to the magnetic power wheel 6 via a reducer 5. The motor 4 is the power source for the entire carrying platform's forward and reverse movement. The motor 4 and reducer 5 are installed and used in conjunction. The reducer 5 gradually reduces the high-speed rotation generated by the motor 4 to the required operating speed of the carrying platform. The reducer 5 also serves as a mounting support for the motor 4, ensuring that both are securely mounted on the base plate 1. The integrated motor, reducer and magnetic power wheel enable the self-propelled measuring and scanning device to move freely. It has a high degree of integration and a compact structure, making it suitable for movement in small-diameter pipes. A moving distance measuring mechanism 7 is also provided on the substrate 1. The moving distance measuring mechanism 7 is used to measure the moving distance of the scanning platform, such as forward and backward movement. The drive element and the moving distance measuring mechanism 7 are both connected to the controller 9 provided on the substrate 1, which enables intelligent control of the carrying device. The main function of the controller is to process control information and signals such as operating instructions outside the pipe and measurement and scanning data inside the pipe, and convert them into corresponding electrical signals to realize the return of measurement and scanning data and the control of the carrying platform. A shell is installed on the outside of the control circuit to protect and isolate the control circuit.

[0026] like Figure 5 As shown, in this embodiment, the carrying device moves via a track set inside the pipe. The track is connected to the outer pipe through a track bracket 11. Because the pipe section is small in diameter and cannot be installed internally, the track bracket is installed at both ends of the pipe section. The track 13 is a metal guide rail with an "I" cross-section, consisting of an upper wing plate 1301, a lower wing plate 1303, and a vertical plate 1302. The magnetic power wheel 6 corresponds to the vertical plate 1302, and the limit wheel 2 corresponds to the upper wing plate 1301. The metal guide rail with an "I" cross-section can be obtained by welding the upper wing plate 1301, the lower wing plate 1303, and the vertical plate 1302. The vertical plate provides a friction surface for the magnetic power wheel, and the wing plate provides a support surface, thereby forming a guide track. The guide track can be assembled in sections. The entire measurement carrying device can move along the longitudinal axis of the track. Several tracks are connected section by section to form the measurement guide track. The carrying device can move back and forth along the track under the drive of the magnetic power wheel.

[0027] Example 2, a magnetic self-propelled measuring instrument carrying device, the difference between this embodiment and Example 1 is that the track 13 described in this embodiment is a metal guide rail with a "T"-shaped cross section composed of an upper wing plate 1301 and a vertical plate 1302, the magnetic power wheel 6 corresponds to the vertical plate 1302, and the limiting wheel 2 corresponds to the upper wing plate 1301. The metal guide rail with a "T"-shaped cross section can be obtained by welding the upper wing plate 1301 and the vertical plate 1302, and the vertical plate provides a friction surface for the magnetic power wheel, and the wing plate provides a support surface to form a guide track. The guide track can be composed of segmented splicing. The entire measuring carrying device can move along the longitudinal axis of the track, and several tracks are connected section by section to form a measuring guide track. The carrying device can move forward and backward along the track under the driving action of the magnetic power wheel.

[0028] As a preferred solution, Figure 2 As shown, the limiting wheel 2 in this embodiment includes a load-bearing wheel 201 and a fixed wheel 202. The load-bearing wheel 201 and the fixed wheel 202 are arranged correspondingly up and down, and are fixed to the bottom of the base plate 1 through a wheel seat 203. The load-bearing wheel 201 is located on the upper wing plate 1301, and the upper wing plate 1301 provides support for the load-bearing wheel 201. The fixed wheel 202 is located below the upper wing plate 1301 and contacts the upper wing plate 1301. Each set of limiting wheels is provided with a load-bearing wheel 201 located on the top surface of the upper wing plate and a fixed wheel 202 at the bottom of the upper wing plate. The width of the load-bearing wheel shall not exceed the width of the upper wing plate, and the load-bearing wheel is centered on the axis of the base plate. The main function of the load-bearing wheel is to transfer the load on the base plate to the track. The fixed wheel 202 is arranged on both sides of the track. The fixed wheel is located on the lower side of the upper wing plate, and its wheel rim is in contact with the bottom of the upper wing plate. The fixed wheel 202 is connected to the base plate via a wheel seat 203, which restricts the vertical movement of the base plate. Therefore, the restraining action of the load-bearing and fixed wheels allows the platform to move in a single direction along the longitudinal axis of the designated track. Furthermore, by rotating and locking the wheel seat 203 along its upper fixed end (where it connects to the base plate), the interlocking area between the fixed wheel and the load-bearing wheel (the thickness of the upper wing plate) can be adjusted to accommodate upper wing plates of varying thicknesses.

[0029] It should be noted that this embodiment employs a "guide rail + limiting wheel" travel mechanism. Alternatively, a "magnetic crawler chassis" travel mechanism can be employed, with a carrier and power unit mounted on top, thereby modifying the carrier's travel mechanism. The magnetic force of the magnetic crawler connects the carrier platform to the pipe curtain wall. The crawler itself also offers good passability, enabling the scanning device to scan the pipe curtain, driven by the carrier platform.

[0030] The magnetic power wheel 6 described in this embodiment is in magnetic contact with the vertical plate 1302, and a wear-increasing pattern is provided on the surface of the magnetic power wheel 6. The magnetic power wheel is installed on the lower side of the base plate, and its axle is connected to the axle of the reducer on the upper part of the base plate. Its rim is in contact with the vertical plate of the track. The rim surface is provided with patterns to enhance the friction between it and the vertical plate of the track. The magnetic power wheel as a whole or the external rim structure can be processed and manufactured using permanent magnets or electromagnetic materials. The connection between the magnetic power wheel and the track and the friction between the rim and the vertical plate are further enhanced by magnetic force. At the same time, because the magnetic power wheel is fixedly connected to the axle of the reducer, the fixing effect between the carrying platform and the track can be indirectly achieved.

[0031] Example 3, as shown in Figure 4, is a magnetically attracted, self-propelled measuring instrument mounting device. Based on Example 1 or 2, this embodiment is further preferred in that the track 13 is provided with a tail cable holder 12 for securing the tail cable; the tail cable holder 12 is movable along the track 13. Specifically, the tail cable holder 12 comprises a beam 1204 spanning the track 13. Sheaves 1201 are provided at each end of the beam 1204, which engage with the track 13. Beam 1204 is provided with a cable clamp 1202, which is equipped with a cable clamp fastener 1203 for adjusting the clamping force. The tail cable holder 12 primarily secures the mounting device's tail cable, ensuring that the cable only expands or contracts longitudinally along the track when the mounting device moves within the pipeline, and does not become entangled within the pipe joints. The clamping and restraining function is primarily achieved through the sheaves 1201 and cable clamp 1202. A groove is formed in the middle of the wheel body, and the groove width is adapted to the thickness of the upper wing plate to enable the groove wheel to be embedded in the upper wing plate and rotate at the same time. The wire clamp fastener 1203 is tightened to compress the wire clamp 1202 downward to constrain the cable in the wire clamp hole, so as to realize the connection between the tail cable and the tail wire fixing frame. The groove wheel on the tail wire fixing frame restricts the fixing frame to the upper wing plate of the track, thereby realizing the forward or backward movement of the tail cable in accordance with the movement of the carrying platform.

[0032] like Figure 1As shown, the moving distance measuring mechanism 7 described in this embodiment includes a support seat 71 connected to one side of the base plate 1, and the support seat is connected to the side of the base plate by bolts. In this embodiment, the support seat is connected to the side of the base plate to which the magnetic power wheel 6 is connected. A screw rod 72 is provided on the support seat 71, and the screw rod can be connected to the support seat by a threaded connection, which can be used to adjust the extension length of the screw rod so that the meter wheel 75 can contact the track. An arm plate 74 is connected to the screw rod 72 by a locking nut 73, and a meter wheel 75 in contact with the track 13 is provided on the arm plate 74. The meter wheel 7 is mainly used to provide data for measuring the moving distance of the scanning platform, such as forward and backward. It is mainly installed on the side of the base plate, which can make the measuring wheel of the meter wheel contact with the wing plate on the track, and make the measuring wheel of the meter wheel rotate smoothly when the carrying platform is in production motion, so as to realize the measurement of the moving distance.

[0033] The base plate 1 described in this embodiment is also provided with a traction hook 8 and a signal socket 10. The steel wire of the traction hook 8 that fixes the power and signal cables at the rear of the carrying platform is used to pull and retreat the cables at the rear during the movement of the carrying platform. At the same time, in the event of an emergency in the equipment (such as power outage or mechanical failure), the entire equipment can be dragged out by pulling back the traction hook and the steel wire connected to it. The main function of the signal socket 10 is to provide an interface for connecting the cables at the rear of the carrying platform to the carrying platform. The cable socket in this technical solution mainly adopts a round pin connector, and a wiring harness fixing ring is retained in the cable socket to meet the fixation between the cable and the base plate when a round pin connector cannot be used for connection under special conditions and a direct connection of the rear cable is adopted.

[0034] This new mounting device travels smoothly along a track parallel to the pipe curtain axis, preventing the guide platform from shifting or twisting along the axis, thus ensuring stable observation of the guide equipment. Furthermore, the mounting device can be equipped with corresponding guide rails to accommodate pipe curtains of varying curvatures and cross-sectional dimensions. The implementation of this technical solution will further promote the application of curved pipe curtain construction methods and play a wide role in subsequent curved pipe curtain project applications.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, 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 magnetic self-propelled measuring instrument carrying device, characterized in that: The invention comprises a base plate (1), wherein a limiting wheel (2) cooperating with a track (13) is provided at the bottom of the base plate (1), a magnetic power wheel (6) cooperating with the track (13) is provided on one side of the base plate (1), and a counterweight wheel (3) is provided on the other side, and the magnetic power wheel (6) is connected to a driving member provided on the base plate (1).

2. The magnetic self-propelled measuring instrument carrying device according to claim 1, characterized in that: The track (13) is a metal guide rail with an "I"-shaped cross section, which is composed of an upper wing plate (1301), a lower wing plate (1303) and a vertical plate (1302). The magnetic power wheel (6) corresponds to the vertical plate (1302), and the limiting wheel (2) corresponds to the upper wing plate (1301).

3. The magnetic self-propelled measuring instrument carrying device according to claim 1, characterized in that: The track (13) is a metal guide rail with a T-shaped cross section, which is composed of an upper wing plate (1301) and a vertical plate (1302). The magnetic power wheel (6) corresponds to the vertical plate (1302), and the limiting wheel (2) corresponds to the upper wing plate (1301).

4. The magnetic self-propelled measuring instrument carrying device according to claim 2 or 3, characterized in that: The limiting wheel (2) comprises a load-bearing wheel (201) and a fixed wheel (202), the load-bearing wheel (201) and the fixed wheel (202) being arranged correspondingly up and down, and the load-bearing wheel (201) and the fixed wheel (202) being fixed to the bottom of the base plate (1) via a wheel seat (203), the load-bearing wheel (201) being located on the upper wing plate (1301), and the upper wing plate (1301) providing support for the load-bearing wheel (201), and the fixed wheel (202) being located below the upper wing plate (1301) and in contact with the upper wing plate (1301).

5. The magnetic self-propelled measuring instrument carrying device according to claim 4, characterized in that: The magnetic power wheel (6) is in magnetic contact with the vertical plate (1302), and a wear-increasing pattern is provided on the surface of the magnetic power wheel (6).

6. The magnetic self-propelled measuring instrument carrying device according to claim 1 or 5, characterized in that: A tail wire fixing frame (12) for fixing the tail wire is provided on the track (13); the tail wire fixing frame (12) is movable along the track (13).

7. The magnetic self-propelled measuring instrument carrying device according to claim 6, characterized in that: The tail wire fixing frame (12) comprises a beam frame (1204) spanning the track (13), with groove wheels (1201) provided at both ends of the beam frame (1204), the groove wheels (1201) cooperating with the track (13), a wire clamp (1202) provided on the beam frame (1204), and a wire clamp fastener (1203) for adjusting the clamping force of the wire clamp provided on the wire clamp (1202).

8. The magnetic self-propelled measuring instrument carrying device according to claim 1 or 7, characterized in that: The base plate (1) is further provided with a moving distance measuring mechanism (7); the driving member and the moving distance measuring mechanism (7) are both connected to a controller (9) provided on the base plate (1); the moving distance measuring mechanism (7) comprises a support base (71) connected to one side of the base plate (1); the support base (71) is provided with a screw (72); the screw (72) is connected to an arm plate (74) via a locking nut (73); the arm plate (74) is provided with a meter wheel (75) in contact with the track (13).

9. The magnetic self-propelled measuring instrument carrying device according to claim 8, characterized in that: The driving member comprises a motor (4) arranged on a base plate (1), and the motor (4) is connected to a magnetic power wheel (6) via a reducer (5).

10. The magnetic self-propelled measuring instrument carrying device according to claim 1 or 9, characterized in that: A traction hook (8) and a signal socket (10) are provided on the base plate (1).

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