Automatic tunnel detection equipment

Abstract

The utility model provides automatic tunnel detection equipment, which relates to the field of automatic tunnel detection and comprises a traveling unit for moving, a turntable is arranged on the upper surface of the traveling unit, and a folding arm is fixedly mounted above a rotating part of the turntable. According to the automatic tunnel detection equipment, connection is achieved by utilizing the six-axis mechanical arm from the position above the tool box according to detection items and utilizing rotary cooperation of the quick-connection male head and the quick-connection female head, and a corresponding detector is taken out of the tool box; and through rotary movement of the six-axis mechanical arm, up-down movement of the folding arm and rotation of the rotary disc, the detectors are moved to the working plane for detection, the corresponding detectors are sequentially taken out from the same working plane for all detection, and after detection is completed, the walking unit is used for moving, so that multi-item detection can be automatically performed on the tunnel.

Description

TECHNICAL FIELD

[0001] The utility model relates to tunnel detection technical field, concretely is a kind of tunnel automatic detection equipment. BACKGROUND

[0002] Tunnel lining quality detection projects are becoming increasingly diverse. In addition to appearance detection, it also includes lining strength, core verification, lining size, reinforcement cover and geological radar and other detection projects.

[0003] A modular tunnel detection device is disclosed in Chinese invention patent application publication specification CN221926633U, including installation part 11b is circular, detection module 3 includes laser ranging module and camera module, laser ranging module and camera module are respectively arranged on the left and right two side surfaces of installation part 11b.Laser ranging module and camera module do not interfere with each other. Laser ranging module and camera module are electrically connected with industrial control module, laser ranging module and camera module feed back the information collected to industrial control module, and industrial control module judges whether there is a pit or protrusion on the inner wall of the tunnel. Different detection methods are realized by multiple modules to detect different tunnels, but the distance to the tunnel wall is different due to different module detection methods, and the placement is also different, so a device capable of automatically detecting multiple modules is needed. SUMMARY

[0004] In view of the deficiencies of the prior art, the utility model provides a kind of tunnel automatic detection equipment, solve the problem of not being convenient for automatic detection of prior art device proposed in background art.

[0005] TECHNICAL SCHEME

[0006] To achieve the above purpose, the utility model is realized by the following technical scheme: a kind of tunnel automatic detection equipment, including the walking unit for moving, the upper surface of the walking unit is provided with rotary table, the rotary part of rotary table is fixedly installed with folding arm above, the upper surface of the last end folding unit hinged portion of folding arm is fixedly installed with laser section meter, the last end folding unit of folding arm is fixedly installed with tool box one, detector is placed in tool box one, the last end folding unit of folding arm is fixedly installed with six-axis mechanical arm one away from its hinged portion, and the last end of six-axis mechanical arm two is used to be connected with detector.

[0007] Further, the upper surface of the walking unit is fixedly installed with tool box two, and the upper surface of the walking unit is fixedly installed with six-axis mechanical arm two, which is used to take out the detector from the tool box two.

[0008] Further, the front end and the rear end of the walking unit are fixedly installed with environmental detection unit one, and the last end folding end of the folding arm is fixedly installed with environmental detection unit two.

[0009] Further, the inside of the tool box one and the tool box two is provided with a clamping unit, the clamping unit limits the detector to move up and down only.

[0010] Further, the clamping unit includes a groove matched with the shape of the detector arranged in the tool box one and the tool box two, the inner side wall of the groove is provided with a bearing hole, and a spring telescopic head with a soft head at the top end is fixedly installed in the bearing hole and contacts the detector.

[0011] Further, the fixed end of the detector is provided with a quick connecting female head, and the farthest end of the six-axis mechanical arm is fixedly installed with a quick connecting male head.

[0012] Further, the quick connecting male head and the quick connecting female head each include a connecting disc for connection, the connecting disc surface of the quick connecting male head is fixedly installed with a cylinder with an elastic clamping protrusion, the connecting disc surface of the quick connecting female head is fixedly installed with a sleeve with a semi-ring groove arranged in the inside, and the clamping protrusion is inserted into the inside of the semi-ring groove and clamped with the semi-ring groove through rotation.

[0013] The utility model discloses the beneficial effect lies in:

[0014] 1. The tunnel automatic detection equipment, the six-axis mechanical arm is utilized from the top of the tool box according to the detection project, and the rotation cooperation of the quick connecting male head and the quick connecting female head is utilized, the corresponding detector is taken out from the tool box through the realization of connection, and the detector is detected to the work plane through the rotation movement of the six-axis mechanical arm, the up and down movement of the folding arm and the rotation of the rotating disc, the corresponding detector is taken out in the same work plane in proper order and all detections are carried out, and after detection is completed, the walking unit is utilized to move, so that the tunnel can be detected automatically in multiple projects.

[0015] 2. The tunnel automatic detection equipment, the front end and the rear end of the walking unit are fixedly installed with environmental detection unit one, and the last folding end of the folding arm is fixedly installed with environmental detection unit two, and the environmental detection unit one and the environmental detection unit two all include a radar and a visual identifier, and collision with the unit affecting movement is avoided through detection in the process of movement. ACCURACY

[0016] Figure 1 It is the side view of the utility model;

[0017] Figure 2 It is the front view of the utility model;

[0018] Figure 3 It is the detector connection schematic view of the utility model;

[0019] Figure 4 It is the quick connecting female head and the quick connecting male head connection schematic view of the utility model;

[0020] Figure 5 The groove connection schematic view of the utility model.

[0021] Among them, 1, walking unit; 2, rotary table; 3, folding arm; 4, laser profiler; 5, six-axis robot one; 6, tool box one; 7, six-axis robot two; 8, tool box two; 9, environmental detection unit one; 10, environmental detection unit two; 11, clamping unit; 111, groove; 112, bearing hole; 113, spring telescopic head; 12, quick connector female head; 13, quick connector male head; 14, connecting disc; 132, protrusion; 131, cylinder; 121, half-ring groove; 122, sleeve; 15, detector. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0023] Reference Figures 1-5 A tunnel automatic detection equipment, including walking unit 1 for moving, walking unit 1 is the carrier that can move, the upper surface of walking unit 1 is provided with rotary table 2, by setting rotary table 2 can increase the degree of freedom of detection, the rotary part of rotary table 2 is fixedly installed with folding arm 3 on the upper surface, folding arm 3 is folded by hydraulic mechanism, and the folding unit at the end is always horizontal, laser profiler 4 is fixedly installed on the upper surface of the hinge part of the folding unit at the end of folding arm 3, laser profiler 4 is used for detecting the section that needs to keep stable and is fixedly installed, so it is directly installed on folding arm 3, folding arm 3 is fixedly installed with tool box one 6 in the folding unit at the end, detector 15 is placed in tool box one 6, detector 15 includes but is not limited to geological radar, steel bar detector, coring machine, electronic rebound apparatus, the detector 15 that signal detection is carried out is refitted and increases wireless communication module, can transmit the information collected in real time to the controller arranged in walking unit 1, six-axis robot one 5 is fixedly installed on the end away from the hinge part of the folding unit at the end of folding arm 3, six-axis robot is used to take out detector 15 from tool box and moves detector 15 to working position, the end of six-axis robot two 7 is used to connect with detector 15.

[0024] The upper part of the walking unit 1 is fixedly installed with a tool box two 8, and the upper part of the walking unit 1 is fixedly installed with a six-axis mechanical arm two 7, which is used to take out the detector 15 from the tool box two 8. Since the coring machine has a large volume and the coring work is usually located on the side wall, the same six-axis mechanical arm and tool box are arranged to store the large and valuable detector 15, and the work can be carried out at the same time, thereby improving the work efficiency.

[0025] The front end and the rear end of the walking unit 1 are fixedly installed with an environmental detection unit one 9, and the most distal end of the folding arm 3 is fixedly installed with an environmental detection unit two 10. The environmental detection unit one 9 and the environmental detection unit two 10 both include a radar and a visual identifier, which can avoid collision with the unit affecting the movement during the movement.

[0026] The inside of the tool box one 6 and the tool box two 8 is provided with a clamping unit 11, which limits the detector 15 to move only up and down, so that the detector 15 can be prevented from shaking in the tool box.

[0027] The clamping unit 11 includes a groove 111 arranged in the tool box one 6 and the tool box two 8 and matched with the shape of the detector 15. The inside side wall of the groove 111 is provided with a bearing hole 112, and the inside of the bearing hole 112 is fixedly installed with a spring telescopic head 113 with a soft head at the top. The spring telescopic head 113 is in contact with the detector 15, which can press the detector 15, so as to avoid slipping when connected with the six-axis mechanical arm.

[0028] The fixed end of the detector 15 is provided with a quick connecting female head 12, and the most distal end of the six-axis mechanical arm is fixedly installed with a quick connecting male head 13, which can facilitate the connection between the detector 15 and the six-axis mechanical arm.

[0029] The quick connecting male head 13 and the quick connecting female head 12 both include a connecting disc 14 for connection. The connecting disc 14 surface of the quick connecting male head 13 is fixedly installed with a cylinder 131 with an elastic clamping protrusion 132, and the connecting disc 14 surface of the quick connecting female head 12 is fixedly installed with a sleeve 122 with a half-ring groove 121 inside. The clamping protrusion 132 is inserted into the inside of the half-ring groove 121 and clamped with the half-ring groove 121 by rotating. Through such a design, it can be convenient for quick connection and separation, and the replacement of the detector 15 can be realized.

[0030] In use, according to the detection item, the six-axis mechanical arm is used to take out the corresponding detector 15 from the tool box by rotating and matching the quick male head 13 and the quick female head 12, and the detector 15 is detected to the working plane through the rotating movement of the six-axis mechanical arm, the up-down movement of the folding arm 3 and the rotation of the rotating disc 2, and all the detections are sequentially taken out in the same working plane. After the detection is completed, the walking unit 1 is used for movement, so that the tunnel can be detected for multiple items.

[0031] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between such entities or actions.

[0032] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A tunnel automatic detection apparatus comprising a walking unit (1) for movement, characterized in that: The upper surface of the walking unit (1) is provided with a rotating disc (2), the rotating part of the rotating disc (2) is fixedly installed with a folding arm (3), the distal end folding unit hinged part of the folding arm (3) is fixedly installed with a laser profiler (4) on the upper surface; The distal end folding unit of the folding arm (3) is fixedly installed with a tool box one (6), the inside of the tool box one (6) is placed with a detector (15), the distal end of the folding arm (3) is fixedly installed with a six-axis mechanical arm one (5) away from the hinged part thereof, and the distal end of the six-axis mechanical arm two (7) is used to be connected with the detector (15).

2. The apparatus of claim 1, wherein: The upper surface of the walking unit (1) is provided with a rotating disc (2), the rotating part of the rotating disc (2) is fixedly installed with a folding arm (3), the distal end folding unit hinged part of the folding arm (3) is fixedly installed with a laser profiler (4) on the upper surface; 3. The apparatus of claim 1, wherein: The upper surface of the walking unit (1) is provided with a rotating disc (2), the rotating part of the rotating disc (2) is fixedly installed with a folding arm (3), the distal end folding unit hinged part of the folding arm (3) is fixedly installed with a laser profiler (4) on the upper surface; 4. The apparatus of claim 2, wherein: The inside of the tool box one (6) and the tool box two (8) is provided with a clamping unit (11), the clamping unit (11) limits the detector (15) to move only up and down.

5. The apparatus of claim 4, wherein: The clamping unit (11) includes a groove (111) provided in the tool box one (6) and the tool box two (8) and matched with the shape of the detector (15), a bearing hole (112) is formed in the inner side wall of the groove (111), a spring telescopic head (113) with a soft head at the top end is fixedly installed in the bearing hole (112), and the spring telescopic head (113) is in contact with the detector (15).

6. The apparatus of any of claims 1-5, wherein: The fixed end of the detector (15) is provided with a quick connecting female head (12), and the distal end of the six-axis mechanical arm is fixedly installed with a quick connecting male head (13).

7. The apparatus of claim 6, wherein: The quick connecting male head (13) and the quick connecting female head (12) both include a connecting disc (14) for connection, the connecting disc (14) of the quick connecting male head (13) is fixedly installed with a cylinder (131) with an elastic clamping protrusion (132) on the surface, the connecting disc (14) of the quick connecting female head (12) is fixedly installed with a sleeve (122) with a semi-ring groove (121) formed in the inside, the clamping protrusion (132) is inserted into the inside of the semi-ring groove (121) and is clamped with the semi-ring groove (121) by rotating.

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