Small robot for detecting longitudinal drainage blind pipe behind tunnel lining

Abstract

The utility model provides a small robot for detecting a longitudinal drainage blind pipe behind a tunnel lining, which relates to the technical field of blind pipe detection, and comprises a first driving wheel, a second driving wheel and a third driving wheel, a first main shaft is arranged between the first driving wheel and the second driving wheel, and a second main shaft is arranged between the second driving wheel and the third driving wheel. A second main shaft is arranged between the second driving wheel and the third driving wheel, and the adjacent ends of the first main shaft and the second main shaft are hinged to each other. A camera and a propelling wheel are arranged on the right side of the third driving wheel, and a propelling shaft is hinged between the propelling wheel and the third driving wheel. The first driving wheel, the second driving wheel and the third driving wheel rotate, and the first main shaft, the second main shaft, the propelling shaft and the rear shaft are mutually hinged, so that the outer diameter of the whole inspection device can be automatically reduced to cope with the deformation condition of a pipe body; and meanwhile, the whole device can pass through the position of the faulted platform, so that the purposes of easily passing through the faulted platform and checking for a longer distance are achieved, and the adaptability to the use environment is integrally enhanced.

Description

TECHNICAL FIELD

[0001] The utility model relates to blind pipe detection technical field, concretely relates to a kind of small robots for tunnel lining behind longitudinal drainage blind pipe detection. BACKGROUND

[0002] The back of the lining of mountain tunnel is provided with longitudinal drainage blind pipe at the bottom of side wall, which is used to collect underground water that penetrates through primary support. Since waterproof board is arranged between secondary lining and primary support, underground water that penetrates through primary support is collected at the position of side wall and is then collected into drainage underdrain arranged at the side of road in tunnel through longitudinal drainage blind pipe and horizontal water diversion pipe, so as to relieve the accumulation of underground water that continuously penetrates in operation period at the back of secondary lining and prevent the continuous occurrence of seepage phenomenon. However, the longitudinal drainage blind pipe arranged at the back of tunnel lining may be blocked to some extent, and it is necessary to frequently check the longitudinal drainage blind pipe after the tunnel is put into operation, which mainly shows in the following two aspects:

[0003] On the one hand, during operation period, Ca 2+ ions in primary support are dissolved when underground water flows through primary support, and then enter longitudinal drainage blind pipe arranged at the back of tunnel lining, react with CO2 in air in the blind pipe to produce CaCO3 (calcium carbonate), and continuously harden with time, which causes the occurrence of blockage of longitudinal drainage blind pipe, poor drainage of tunnel lining, and seepage of underground water from the weak position of secondary lining waterproof, affecting normal traffic safety. On the other hand, during tunnel construction period, the longitudinal drainage blind pipe is generally arranged in the type of upper water permeable and lower drainage, and its pipe diameter is usually 80-110 mm. Since the longitudinal drainage blind pipe is arranged at the back of the bottom of side wall of secondary lining and belongs to concealed engineering, it may be deformed and shrunk in diameter and concrete may flow into the blind pipe during construction period due to factors such as improper quality control and process control, which may cause poor drainage of tunnel during operation period. Therefore, when mountain tunnel is completed or put into operation, it is necessary to check the construction quality or operation state of longitudinal drainage blind pipe at the back of tunnel lining to determine whether there is a problem with the drainage of tunnel lining, which requires the use of detection device.

[0004] For example, the prior art application No. CN202011265364.4 discloses a kind of urban underground drainage pipe network detection device, which relates to underground drainage pipe detection technical field, including main control unit, detection vehicle, camera detection module, lamp group and sampling device, the detection vehicle and lamp group are electrically connected with main control unit, the camera detection module is signal connected with main control unit, the camera detection module, lamp group and sampling device are all arranged on the detection vehicle.

[0005] The prior art is known in practice that, considering the setting environment of the longitudinal drainage blind pipe behind the tunnel lining, the longitudinal drainage blind pipe will be subjected to the secondary lining concrete pouring load during the construction period, and once the local deformation of the pipe body or the local misalignment between the two adjacent pipe bodies occurs, the inspection function cannot be realized, resulting in the reduced adaptability of the equipment to the use environment. Content of the utility model

[0006] In view of the above problems, the utility model aims at providing a small robot for detecting longitudinal drainage blind pipe behind tunnel lining.

[0007] In order to realize the technical purpose, the utility model provides a small robot for detecting longitudinal drainage blind pipe behind tunnel lining, which comprises a first driving wheel, a second driving wheel and a third driving wheel, a first main shaft is arranged between the first driving wheel and the second driving wheel, a second main shaft is arranged between the second driving wheel and the third driving wheel, and the adjacent ends of the first main shaft and the second main shaft are hingedly connected to each other; a camera and a propelling wheel are arranged on the right side of the third driving wheel, and a propelling shaft is hingedly arranged between the propelling wheel and the third driving wheel.

[0008] Preferably, a cable is arranged on the rear side of the first driving wheel for supplying power to the first driving wheel, the second driving wheel and the third driving wheel.

[0009] Preferably, the adjacent ends of the first main shaft and the second main shaft are hingedly connected to each other through resistance shafts, the other end of the first main shaft is hingedly connected to a rear shaft through a resistance shaft, the other end of the second main shaft is also hingedly connected to the propelling shaft through a resistance shaft, and the resistance shafts are sequentially rotatably arranged with the second driving wheel, the third driving wheel and the first main shaft.

[0010] Preferably, an extension rod is fixedly arranged on the periphery of the resistance shaft on the rear side of the third driving wheel, and the camera is fixed on one end of the extension rod.

[0011] Preferably, the rear shaft is rotatably provided with a rear wheel through a pin rod.

[0012] Preferably, a fixing member is arranged between the rear side of the propelling wheel and the rear side of the propelling shaft; the fixing member comprises a screw rod, a connecting pin and a threaded hole, the rear side of the propelling shaft is integrally provided with a mounting block, the screw rod is rotatably arranged in the mounting block, the rear side of the propelling wheel is integrally provided with the connecting pin, the connecting pin is provided with the threaded hole for being threadedly arranged with the screw rod, and the inner wall of the arc-shaped opening in the propelling shaft is abuttingly arranged with the outer surface of the connecting pin.

[0013] The outer surface of the propelling wheel is provided with a groove;

[0014] The beneficial effect is that the first driving wheel, the second driving wheel and the third driving wheel rotate, the first main shaft, the second main shaft, the advancing shaft and the rear shaft are hingedly connected, the height can be freely changed, once the front of the camera encounters the phenomenon of pipe body diameter reduction or deformation, the outer diameter of the whole inspection device can be automatically reduced to cope with the pipe body deformation, meanwhile, when the pipe body is misaligned, the advancing wheel approaches the misaligned position, the camera can pass the misaligned position by the fulcrum effect of the advancing wheel, the misaligned position can be easily passed and the inspection distance is longer, and the adaptability to the use environment is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a whole structure schematic view of the utility model;

[0016] Figure 2 It is a front view schematic view of the utility model;

[0017] Figure 3 It is another view schematic view of the utility model;

[0018] Figure 4 It is the utility model Figure 3 The enlarged schematic view of a in the utility model.

[0019] Wherein 1, the first driving wheel; 2, the second driving wheel; 3, the third driving wheel; 4, the first main shaft; 5, the second main shaft; 6, the camera; 7, the advancing shaft; 8, the advancing wheel; 9, the cable; 10, the rear shaft; 11, the rear wheel; 12, the extension rod; 13, the light supplementing lamp; 14, the groove; 15, the fixed part; 1501, the mounting block; 1502, the screw rod; 1503, the connecting pin; 1504, the threaded hole. DETAILED DESCRIPTION

[0020] The utility model will be further described in detail in combination with the drawings and specific embodiments. In order to clearly and completely describe the technical scheme, the following embodiments are selected for description; based on the content recorded in the present application, other embodiments obtained without creative labor are all within the protection scope of the utility model.

[0021] In the following embodiments, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "top / bottom" and other orientation or position relationships are all based on the orientation or position relationship shown in the drawings, and are only for the convenience of clearly describing the embodiments, and do not indicate or imply that the devices or elements referred to must have a particular orientation, so it cannot be understood as a limitation on the present application.

[0022] As Figures 1 to 4As shown, the embodiment of the present application provides a small robot for detecting longitudinal drainage blind pipe behind tunnel lining, which comprises a first driving wheel 1, a second driving wheel 2 and a third driving wheel 3, a first main shaft 4 is arranged between the first driving wheel 1 and the second driving wheel 2, a second main shaft 5 is arranged between the second driving wheel 2 and the third driving wheel 3, and adjacent ends of the first main shaft 4 and the second main shaft 5 are hingedly connected to each other; a camera 6 and a propelling wheel 8 are arranged on the right side of the third driving wheel 3, and a propelling shaft 7 is hingedly arranged between the propelling wheel 8 and the third driving wheel 3. The camera 6 can be a rotating lens: a lens capable of horizontal rotation of 360° and vertical rotation of 180° can observe the internal condition of the pipeline in all directions without frequent movement of position, greatly improving the inspection efficiency, such as the pipeline inspection camera OSK50QFPIC60 of the Ainder company, which can horizontally rotate 360° and vertically rotate 180°, and also has an automatic focusing function; the camera 6 can also select a remote data transmission function;

[0023] Reference Figure 1 A cable 9 is arranged on the rear side of the first driving wheel 1 for power supply of the first driving wheel 1, the second driving wheel 2 and the third driving wheel 3 and data transmission of the camera 6. Adjacent ends of the first main shaft 4 and the second main shaft 5 are hingedly connected to each other through resistance shafts, and the other end of the first main shaft 4 is hingedly connected with a rear shaft 10 through a resistance shaft; the other end of the second main shaft 5 is also hingedly connected with the propelling shaft 7 through a resistance shaft, and the plurality of resistance shafts are sequentially rotationally installed with the second driving wheel 2, the third driving wheel 3 and the first main shaft 4. An extension rod 12 is fixedly arranged on the periphery of the resistance shaft located on the rear side of the third driving wheel 3, one end of the extension rod 12 is fixed with the camera 6, and the periphery of the camera 6 is fixed with a light supplement lamp 13. One end of the rear shaft 10 is rotationally provided with a rear wheel 11 through a pin rod.

[0024] Reference Figure 4 A fixing piece 15 is arranged between the rear side of the propelling wheel 8 and the rear side of the propelling shaft 7; the fixing piece 15 comprises a screw rod 1502, a connecting pin 1503 and a threaded hole 1504, the rear side of the propelling shaft 7 is integrally provided with a mounting block 1501, the screw rod 1502 is rotationally arranged in the mounting block 1501; the rear side of the propelling wheel 8 is integrally provided with the connecting pin 1503, and the threaded hole 1504 is arranged in the connecting pin 1503 for threaded arrangement with the screw rod 1502, so as to facilitate disassembly and assembly of the propelling wheel 8, because the propelling wheel 8 will be worn to a certain extent due to the thrust in the pipeline, and needs to be replaced regularly;

[0025] An arc-shaped opening is arranged in one end of the propelling shaft 7, and the inner wall of the arc-shaped opening is in abutment with the outer surface of the connecting pin 1503. A groove 14 is formed on the outer surface of the propelling wheel 8 for anti-skid and wear resistance.

[0026] Working principle: through the cable 9 and external power connection, the device No. 1 drive wheel 1, No. 2 drive wheel 2, No. 3 drive wheel 3 rotation, No. 1 main shaft 4, No. 2 main shaft 5, propulsion shaft 7 and rear axle 10 interlinking, can freely change the height, once the camera 6 front encounter pipe body shrinkage or deformation phenomenon, can make the whole inspection device outside diameter automatically reduced, at the same time, encounter pipe body wrong station, the approach wheel 8 close to the wrong station position, by the fulcrum effect of the approach wheel 8, make the camera 6 overall over the wrong station position, achieve easily over the wrong station and longer distance inspection purpose, strengthen the adaptability under the use environment.

[0027] The above is only the preferred embodiment of the present application, and is not used to limit the present application, any slight modification, equivalent replacement and improvement made according to the technical essence of the present application to the above embodiment shall be included in the protection scope of the technical scheme of the present application.

Claims

1. A small robot for detecting longitudinal drainage blind ducts behind tunnel lining, comprising a first drive wheel (1), a second drive wheel (2) and a third drive wheel (3), characterized in that: The first driving wheel (1) and the second driving wheel (2) are provided with a first main shaft (4), the second driving wheel (2) and the third driving wheel (3) are provided with a second main shaft (5), and the adjacent ends of the first main shaft (4) and the second main shaft (5) are hingedly connected to each other. The right side of the third driving wheel (3) is provided with a camera (6) and a propelling wheel (8), and the propelling wheel (8) and the third driving wheel (3) are hingedly connected with a propelling shaft (7).

2. A small robot for tunnel lining behind longitudinal drainage blind duct detection according to claim 1, characterized in that: The rear side of the first driving wheel (1) is provided with a cable (9) for supplying power to the first driving wheel (1), the second driving wheel (2) and the third driving wheel (3).

3. A small robot for detecting longitudinal drainage blind ducts behind tunnel linings according to claim 2, characterized in that: The adjacent ends of the first main shaft (4) and the second main shaft (5) are hingedly connected through a resistance shaft, and the other end of the first main shaft (4) is hingedly connected with a rear shaft (10) through a resistance shaft. The other end of the second main shaft (5) is also hingedly connected with the propelling shaft (7) through a resistance shaft, and the resistance shafts are sequentially rotatably installed with the second driving wheel (2), the third driving wheel (3) and the first main shaft (4).

4. The small robot for detecting longitudinal drainage blind ducts behind tunnel lining according to claim 1, characterized in that: The periphery of the resistance shaft at the rear side of the third driving wheel (3) is fixedly provided with an extension rod (12), and one end of the extension rod (12) is fixedly provided with the camera (6), and the periphery of the camera (6) is fixedly provided with a light supplement lamp (13).

5. The small robot for detecting longitudinal drainage blind ducts behind tunnel lining according to claim 3, characterized in that: One end of the rear shaft (10) is rotatably provided with a rear wheel (11) through a pin rod.

6. The small robot for detecting longitudinal drainage blind ducts behind tunnel lining according to claim 1, characterized in that: The rear side of the propelling wheel (8) and the rear side of the propelling shaft (7) are provided with a fixing piece (15). The fixing piece (15) comprises a screw rod (1502), a connecting pin (1503) and a threaded hole (1504), the rear side of the propelling shaft (7) is integrally provided with a mounting block (1501), and the screw rod (1502) is rotatably arranged in the mounting block (1501). The rear side of the propelling wheel (8) is integrally provided with the connecting pin (1503), and the connecting pin (1503) is provided with the threaded hole (1504) for threadedly arranging the screw rod (1502). The propelling shaft (7) is provided with an arc-shaped opening at one end, and the inner wall of the arc-shaped opening abuts against the outer surface of the connecting pin (1503).

7. The small robot for detecting longitudinal drainage blind ducts behind tunnel lining according to claim 1, characterized in that: The outer surface of the propelling wheel (8) is provided with a groove (14).

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