Ground-penetrating radar detection device
By designing a ground-penetrating radar detection device, and utilizing azimuth and elevation rotation mechanisms as well as telescopic clamping mechanisms, the problem of discontinuity in detection caused by tunnel misalignment was solved, and the antenna was made to fit tightly against the tunnel surface, ensuring the continuity and accuracy of detection.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SICHUAN KUN CHENG RUN TECH CO LTD
- Filing Date
- 2025-06-30
- Publication Date
- 2026-07-03
AI Technical Summary
In existing technologies, misalignment occurs in the secondary lining concrete of tunnels, which makes it impossible for the detection device to guarantee continuity and for the antenna to be in close contact with the tunnel surface, thus affecting the detection results.
The ground-penetrating radar detection device includes a basket, azimuth rotation mechanism, pitch rotation mechanism and telescopic clamping mechanism. The antenna box is connected by a ball joint, and combined with the pull rope and rollers, the antenna can automatically fit with the tunnel surface, adapt to misalignment and unevenness, and ensure the continuity of detection.
It achieves a tight fit between the antenna and the tunnel surface, automatic adjustment, ensuring continuous and accurate detection, reducing wear, and adapting to complex terrain inside the tunnel.
Smart Images
Figure CN224457020U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the technical field of geological exploration radar systems, and specifically relates to a geological radar detection device. Background Technology
[0002] The robotic arm system is used to carry a geological exploration radar system to inspect the lining quality in different survey line locations within the tunnel.
[0003] In existing technologies, misalignment frequently occurs in the secondary lining concrete of tunnels, making it impossible to guarantee the continuity of inspection. Tunnel misalignment generally manifests in three ways: first, there may be a maximum misalignment of 10cm between tunnel segments (approximately 12 meters per segment); second, in extreme cases of uneven road surfaces, there may be abrupt misalignment jumps exceeding 10cm; and third, some tunnels have longitudinal slopes, resulting in a gradual change in elevation. Some tunnels are located on curves, making it impossible to ensure a close antenna fit. Utility Model Content
[0004] In order to solve the above-mentioned problems in the existing technology, the purpose of this utility model is to provide a ground-penetrating radar detection device that ensures the antenna fits in close contact with the tunnel surface and ensures the continuity of detection.
[0005] The technical solution adopted in this utility model is as follows:
[0006] The ground-penetrating radar detection device includes a suspended basket, an azimuth rotation mechanism mounted on the suspended basket, an elevation rotation mechanism mounted on the azimuth rotation mechanism, a telescopic clamping mechanism mounted on the elevation rotation mechanism, and an antenna box connected to the output end of the telescopic clamping mechanism via a ball joint. An antenna for detecting the quality of tunnel lining is installed inside the antenna box.
[0007] The azimuth and elevation rotation mechanisms of this invention can adjust the azimuth and elevation angles of the antenna. Furthermore, the output end of the telescopic clamping mechanism is connected to the antenna box via a ball joint, allowing the antenna to be aligned with any position within the tunnel cross-section. The telescopic clamping mechanism can push the antenna box out, ensuring that the antenna box is basically in contact with the tunnel surface, achieving automatic adjustment to ensure close contact with the detection surface.
[0008] This invention uses an azimuth rotation mechanism, a pitch rotation mechanism, and a ball joint to adjust the angle, and uses a telescopic clamping mechanism to extend and retract, allowing the antenna box to smoothly pass through the misalignment area of the tunnel secondary lining concrete, ensuring continuous detection.
[0009] In a preferred embodiment of this utility model, the telescopic clamping mechanism includes a lower sleeve, the lower end of which is mounted on the output end of the pitch and rotation mechanism. An upper sleeve is fitted onto the lower sleeve, the upper end of which is connected to a ball joint. A main spring is fitted onto the lower sleeve, the upper end of which is connected to the lower end of the upper sleeve, and the lower end of the main spring is connected to the lower end of the lower sleeve. The upper and lower sleeves are connected by an inner and outer nesting method, allowing them to slide relative to each other up and down by a distance of ±20cm. Under the action of the main spring, the antenna box is ensured to fit tightly against the tunnel detection surface during telescopic movement.
[0010] As a preferred embodiment of this utility model, pull ropes are connected to all four sides of the bottom of the antenna box, and pull rope springs are connected to the lower ends of the pull ropes, which are mounted on the upper sleeve. The azimuth rotation mechanism and the pitch rotation mechanism ensure that any position within the tunnel cross-section can be basically in contact with the antenna box. Furthermore, the preload of the four pull ropes and pull rope springs on all four sides enables automatic adjustment to ensure close contact with the detection surface.
[0011] As a preferred embodiment of this utility model, the antenna box is equipped with inclined plates on both its front and rear sides for traversing the misalignment. The inclined plates at the front and rear of the antenna box facilitate the detection device's ascent and descent at the misalignment position, thereby enabling continuous monitoring without manual intervention.
[0012] As a preferred embodiment of this utility model, several rollers are installed on the side of the antenna box, and the rollers protrude from the top surface of the antenna box. Four rollers are designed on both sides of the antenna box, which replaces sliding friction with rolling friction during normal testing, reducing wear.
[0013] As a preferred embodiment of this utility model, a paint spraying valve is provided on the side of the antenna box, and the paint spraying valve is connected to a paint can through a pipe. Two paint spraying valves are provided on both sides of the antenna box; when marking is required, the paint spraying valves can be controlled to spray paint onto the marking points.
[0014] In a preferred embodiment of this invention, an antenna bracket connects the antenna box and the antenna. The antenna box has longitudinally arranged strip-shaped holes, and the antenna bracket is connected to these holes by bolts. The antenna bracket has mounting holes adapted to different antenna specifications. The antenna bracket is versatile, allowing for the installation of antennas of different specifications through various mounting holes. The antenna bracket and antenna box are installed using longitudinally adjustable strip-shaped holes, accommodating different antenna installation heights.
[0015] As a preferred embodiment of this utility model, an obstacle avoidance radar is provided at the front end of the antenna box to provide obstacle avoidance alerts.
[0016] As a preferred embodiment of this invention, the antenna box is made of non-metallic material. The entire upper part of the device is basically designed with non-metallic materials, which can reduce interference with antenna detection.
[0017] As a preferred embodiment of this utility model, the suspended basket is installed on the robotic arm of the aerial work platform, and the aerial work platform is equipped with a control system, which is electrically connected to a power source.
[0018] The beneficial effects of this utility model are as follows:
[0019] 1. The azimuth and elevation rotation mechanisms of this utility model can adjust the azimuth and elevation angles of the antenna, and the output end of the telescopic clamping mechanism is connected to the antenna box via a ball joint, allowing the antenna to be aligned with any position within the tunnel cross-section. The telescopic clamping mechanism can push out the antenna box, ensuring that the antenna box is basically in contact with the tunnel surface, and achieving automatic adjustment to fit tightly against the detection surface.
[0020] 2. This utility model uses an azimuth rotation mechanism, a pitch rotation mechanism, and a ball joint to adjust the angle, and uses a telescopic clamping mechanism to extend and retract, so that the antenna box can smoothly pass through the misalignment area of the tunnel secondary lining concrete, ensuring the continuity of detection. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the structure of this utility model;
[0022] Figure 2 This is the front view of this utility model;
[0023] Figure 3 This is a schematic diagram of the present invention when passing through a tunnel misalignment.
[0024] Figure 4 This is a diagram showing the usage state of this utility model.
[0025] In the diagram: 1-Suspended basket; 2-Azimuth rotation mechanism; 3-Pitch rotation mechanism; 4-Telescopic clamping mechanism; 5-Spherical hinge; 6-Antenna box; 7-Antenna; 8-Pull rope; 41-Lower sleeve; 42-Upper sleeve; 43-Main spring; 81-Pull rope spring; 61-Inclined plate; 62-Roller; 63-Paint valve. Detailed Implementation
[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present invention can be combined with each other.
[0028] like Figures 1-4 As shown, the ground-penetrating radar detection device of this embodiment includes a basket 1, an azimuth rotation mechanism 2 installed on the basket 1, an elevation rotation mechanism 3 installed on the azimuth rotation mechanism 2, a telescopic pressing mechanism 4 installed on the elevation rotation mechanism 3, and an antenna box 6 connected to the output end of the telescopic pressing mechanism 4 via a ball joint 5. An antenna 7 for detecting the quality of tunnel lining is installed inside the antenna box 6.
[0029] The azimuth rotation mechanism 2 includes an azimuth rotation motor mounted on the suspended platform 1, an azimuth rotation worm gear connected to the output end of the azimuth rotation motor, an azimuth rotation turntable connected to the suspended platform 1 via bearings, an azimuth rotation turbine gear set on the azimuth rotation turntable, the azimuth rotation worm gear meshing with the azimuth rotation turbine gear, and a pitch rotation mechanism 3 mounted on the azimuth rotation turntable.
[0030] The pitch rotation mechanism 3 includes a pitch rotation motor, a fixed outer shell connected to the housing of the pitch rotation motor, a pitch rotation worm connected to the output end of the pitch rotation motor, a pitch rotation turbine meshing with the pitch rotation worm, and both the pitch rotation worm and the pitch rotation turbine are rotatably connected inside the fixed outer shell. The telescopic clamping mechanism 4 is installed on the pitch rotation turbine.
[0031] The azimuth rotation mechanism 2 and elevation rotation mechanism 3 of this invention can adjust the azimuth and elevation angles of the antenna 7. Furthermore, the output end of the telescopic clamping mechanism 4 is connected to the antenna box 6 via a ball joint 5, allowing the antenna 7 to be aligned with any position within the tunnel cross-section. The telescopic clamping mechanism 4 can push out the antenna box 6, ensuring that the antenna 7 and antenna box 6 are basically in contact with the tunnel surface, achieving automatic adjustment to ensure close contact with the detection surface.
[0032] This utility model adjusts the angle through the azimuth rotation mechanism 2, the pitch rotation mechanism 3 and the ball joint 5, and extends and retracts through the telescopic clamping mechanism 4, so that the antenna box 6 can smoothly pass through the misalignment area of the tunnel secondary lining concrete, ensuring the continuity of detection.
[0033] Specifically, the telescopic clamping mechanism 4 includes a lower sleeve 41, the lower end of which is mounted on the output end of the pitch and rotation mechanism 3. An upper sleeve 42 is fitted onto the lower sleeve 41, the upper end of which is connected to a ball joint 5. A main spring 43 is fitted onto the lower sleeve 41, the upper end of which is connected to the lower end of the upper sleeve 42, and the lower end of which is connected to the lower end of the lower sleeve 41. The upper sleeve 42 and the lower sleeve 41 are connected by an inner and outer nesting method, allowing them to slide relative to each other up and down with a sliding distance of ±20cm, meeting the free floating requirement of 10cm misalignment and 10cm floating requirement for uneven road surfaces. Under the action of the main spring 43, automatic alignment is achieved, ensuring that the antenna box 6 fits tightly against the tunnel detection surface during telescopic movement.
[0034] Furthermore, pull ropes 8 are connected to all four sides of the bottom of the antenna box 6. The lower ends of the pull ropes 8 are connected to springs, which are mounted on the upper sleeve 42. The azimuth rotation mechanism 2 and the pitch rotation mechanism 3 ensure that any position within the tunnel cross-section can be substantially in contact with the antenna box 6. The preload of the four pull ropes 8 and their springs further enables automatic adjustment to ensure close contact with the detection surface. The antenna box 6 is connected to the upper sleeve 42 via a ball joint 5, and under the control of the four pull ropes 8, it can achieve lateral and longitudinal swing, meeting the requirement of longitudinal slope.
[0035] like Figure 3 As shown, the antenna box 6 has inclined plates 61 connected to both its front and rear sides for traversing the misalignment. The inclined plates 61 at the front and rear of the antenna box 6 facilitate the detection device's ascent and descent at the misalignment position, thereby enabling continuous monitoring without manual intervention.
[0036] Several rollers 62 are mounted on the side of the antenna box 6, and the rollers 62 protrude from the top surface of the antenna box 6. Four rollers 62 are designed on both sides of the antenna box 6. During normal testing, sliding friction is changed to rolling friction, reducing wear.
[0037] When performing wave velocity calibration, an automatic paint spraying marking function is added around the antenna 7. A paint spraying valve 63 is installed on the side of the antenna box 6, and the paint spraying valve 63 is connected to a paint can via a pipe. Two paint spraying valves 63 are installed on both sides of the antenna box 6. When marking is required, the paint spraying valves 63 can be controlled to actuate and complete the painting of the marking points.
[0038] It should be noted that an antenna 7 bracket connects the antenna box 6 and the antenna 7, and the antenna 7 bracket is provided with mounting holes adapted to antennas 7 of different specifications. The antenna 7 bracket is universal, and different specifications of antennas 7 can be installed through different mounting holes to meet the testing needs of different concrete thicknesses.
[0039] The antenna box 6 has longitudinally arranged strip-shaped holes, and the antenna 7 bracket is connected to the strip-shaped holes of the antenna box 6 by bolts. The antenna 7 bracket and the antenna box 6 are installed using longitudinally adjustable strip-shaped holes to accommodate different antenna 7 installation heights and ensure that the antenna detection surface is flush with the bottom surface of the antenna box.
[0040] Antenna box 6 is designed according to the largest specification of antenna 7. If there are many specifications of antenna 7, one more antenna box 6 can be added. Antenna 7 is connected to antenna 7 bracket via bolts on its handle. Antenna 7 bracket is then connected to antenna box 6. More connection holes can be reserved between antenna 7 bracket and antenna 7 to allow one antenna 7 bracket to accommodate multiple antenna 7 mounting holes.
[0041] The antenna box 6 is equipped with an obstacle avoidance radar at its front end to detect the distance to obstacles. Through program settings, it can trigger an obstacle avoidance alarm. In this embodiment, a camera can also be used for imaging, allowing for manual judgment; alternatively, a position alarm can be directly installed at the front end of the antenna box 6. When an obstacle is encountered, the position alarm is triggered, generating an alarm signal.
[0042] The upper part of the entire device is mostly made of non-metallic materials to reduce interference with the detection of antenna 7. Specifically, antenna box 6, antenna 7 bracket, upper sleeve 42, lower sleeve 41, etc. are all made of non-metallic materials to ensure that there are no metal structures within at least 50cm of the antenna 7 installation position, except for the mounting screws.
[0043] It should be noted that the suspended platform 1 is mounted on the robotic arm of the aerial work platform vehicle, and the aerial work platform vehicle is equipped with a control system, which is electrically connected to a power source.
[0044] This utility model is not limited to the above-mentioned optional embodiments. Anyone can derive other forms of products under the guidance of this utility model. However, regardless of any changes made in its shape or structure, any technical solution that falls within the scope of the claims of this utility model shall be protected by this utility model.
Claims
1. A ground penetrating radar detection apparatus, characterized by: The system includes a suspended platform (1), an azimuth rotation mechanism (2) installed on the suspended platform (1), a pitch rotation mechanism (3) installed on the azimuth rotation mechanism (2), a telescopic clamping mechanism (4) installed on the pitch rotation mechanism (3), and an antenna box (6) connected to the output end of the telescopic clamping mechanism (4) via a ball joint (5). An antenna (7) for detecting the quality of tunnel lining is installed inside the antenna box (6).
2. The ground penetrating radar detection apparatus of claim 1, wherein: The telescopic pressing mechanism (4) includes a lower sleeve (41), the lower end of which is installed on the output end of the pitch and rotation mechanism (3). An upper sleeve (42) is fitted on the lower sleeve (41), the upper end of which is connected to a ball joint (5). A main spring (43) is fitted on the lower sleeve (41), the upper end of which is connected to the lower end of the upper sleeve (42), and the lower end of which is connected to the lower end of the lower sleeve (41).
3. The ground penetrating radar detection apparatus of claim 2, wherein: The bottom of the antenna box (6) is connected to pull ropes (8) around its perimeter. The lower end of the pull ropes (8) is connected to a pull rope (8) spring, which is installed on the upper sleeve (42).
4. The ground penetrating radar detection apparatus of claim 1, wherein: The antenna box (6) is connected to inclined plates (61) on both the front and rear sides for crossing the misaligned platform.
5. The ground penetrating radar detection apparatus of claim 1, wherein: The antenna box (6) is equipped with several rollers (62) on its side, and the rollers (62) protrude from the top surface of the antenna box (6).
6. The ground penetrating radar detection apparatus of claim 1, wherein: The antenna box (6) is provided with a paint spray valve (63) on its side, and the paint spray valve (63) is connected to a paint spray can through a pipe.
7. The ground penetrating radar detection apparatus of claim 1, wherein: The antenna box (6) and the antenna (7) are connected by an antenna (7) bracket. The antenna box (6) has a longitudinally arranged strip hole. The antenna (7) bracket and the strip hole of the antenna box (6) are connected by bolts. The antenna (7) bracket is provided with mounting holes for antennas (7) of different specifications.
8. The ground penetrating radar detection apparatus of claim 1, wherein: The front end of the antenna box (6) is equipped with an obstacle avoidance radar.
9. The ground penetrating radar detection apparatus of claim 1, wherein: The antenna box (6) is made of non-metallic material.
10. The ground penetrating radar detection apparatus of any one of claims 1 to 9, wherein: The suspended platform (1) is installed on the robotic arm of the aerial work vehicle. The aerial work vehicle is equipped with a control system, which is electrically connected to a power source.