Inspection robot for flues / small tunnels

Abstract

An inspection robot for flues / small tunnels, comprising a moving platform (1), a multi-stage telescopic cylinder, a linear guide rail base (24) and a first driving mechanism. The multi-stage telescopic cylinder is vertically mounted on the moving platform (1), and the first driving mechanism is mounted on the top of the multi-stage telescopic cylinder and is used for driving the linear guide rail base (24) to rotate 360° in a vertical plane; the linear guide rail base (24) is provided with a linear guide rail and a second driving mechanism, and the second driving mechanism is used for driving the linear guide rail to move transversely on the linear guide rail base (24); and two ends of the linear guide rail are respectively provided with a microwave leakage detection module (23) and a synthetic aperture radar system. The inspection robot for flues / small tunnels can implement inner wall inspection at different heights and large angles, and the inspection robot can reduce the structural size by means of extension and retraction and rotation, thereby improving the passability.

Description

Flue / small tunnel inspection robot TECHNICAL FIELD

[0001] The utility model relates to an inspection robot, in particular to a flue / small tunnel inspection robot. BACKGROUND

[0002] After the construction of a flue or a tunnel is completed, various structural diseases such as leakage and internal wall cavity may occur due to the influence of factors such as ground, surrounding engineering construction and surrounding buildings, thereby affecting the safe use of the tunnel or the flue. Therefore, the health status of the inner wall of the flue / tunnel needs to be checked regularly. The existing tunnel inspection robot is mainly used for large tunnels such as subway tunnels and moves on the track for inspection. The detection height and angle of the inspection robot are limited, and the adaptation range is not wide, so it is not suitable for the inspection of flues or small tunnels.

[0003] SUMMARY

[0004] The utility model aims at providing a robot with adjustable detection height and angle and suitable for the inspection of flues or small tunnels.

[0005] TECHNICAL SOLUTION The flue / small tunnel inspection robot comprises a mobile platform, a multi-stage telescopic cylinder, a linear guide base and a first driving mechanism. The multi-stage telescopic cylinder is vertically installed on the mobile platform, and the first driving mechanism is installed on the top of the multi-stage telescopic cylinder and used to drive the linear guide base to rotate 360° in the vertical plane. The linear guide base is provided with a linear guide and a second driving mechanism. The second driving mechanism is used to drive the linear guide to move horizontally on the linear guide base. The linear guide is provided with a microwave leakage detection module and a synthetic aperture radar system at both ends.

[0006] Further, the first driving mechanism comprises a second servo motor and a first rotating platform. The second servo motor is used to drive the first rotating platform to rotate. The linear guide base is connected to the first rotating platform through a first rotating platform connecting piece and rotates with the first rotating platform.

[0007] Further, the first rotating platform is fixed to the top of the uppermost telescopic cylinder through an L-shaped connecting piece. The second servo motor is installed on the L-shaped connecting piece, and its output end penetrates through the L-shaped connecting piece and is connected to the first rotating platform.

[0008] Further, the L-shaped connecting piece is provided with a reinforcing rib for strengthening the structural strength.

[0009] Further, the linear guide rail comprises a rack, a guide rod and a guide rail, the rack is arranged in the linear guide rail base, the guide rod is provided with a guide rod fixing seat at both ends, the rack and the guide rail are fixed with the guide rod, and the guide rail is in sliding fit with the sliding groove on the linear guide rail base.

[0010] Further, the synthetic aperture radar system comprises a second rotating platform, a sensing probe and an excitation probe, the sensing probe and the excitation probe are respectively sleeved with annular nozzles for spraying liquid coupling agent and are respectively connected with a hydraulic cylinder; the second rotating platform is fixed on the guide rod fixing seat, the hydraulic cylinder of the excitation probe is directly connected with the guide rod fixing seat, the hydraulic cylinder of the sensing probe is connected with an extension rod, the other end of the extension rod is connected with the second rotating platform through a second rotating platform connecting piece, and the sensing probe can rotate 360 degrees around the excitation probe with the rotation of the second rotating platform.

[0011] Further, the microwave leakage detection module is arranged on a connecting rod, and the other end of the connecting rod is connected with a hydraulic cylinder, and the hydraulic cylinder is fixed on the guide rod fixing seat.

[0012] Further, the multi-stage telescopic cylinder comprises a telescopic cylinder base, a first telescopic cylinder and a shaft coupling are arranged above the telescopic cylinder base, a first servo motor is arranged above the shaft coupling, and the first servo motor drives the multi-stage telescopic cylinder to telescopically extend or retract through the shaft coupling and a gear mechanism.

[0013] Further, the multi-stage telescopic cylinder adopts a three-stage telescopic cylinder.

[0014] Further, the mobile platform adopts a wheeled robot mobile platform.

[0015] Beneficial effects: compared with the prior art, the utility model has the advantages that it is suitable for the inspection of flues or small tunnels, specifically, different heights and large-angle inner wall inspection can be realized, and the inspection robot can telescopically and rotationally reduce the overall structural size and improve the passability. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 is a structural schematic view of a flue / small tunnel inspection robot according to an embodiment of the utility model;

[0017] Fig. 2 is a structural schematic view of a three-stage telescopic cylinder and a linear guide rail according to an embodiment of the utility model;

[0018] Fig. 3 is a top view of Fig. 2;

[0019] Fig. 4 is a cooperation structural schematic view of a linear guide rail and a second driving mechanism according to an embodiment of the utility model;

[0020] Fig. 5 is a schematic diagram of the maximum effective working range of the flue / small tunnel inspection robot in the embodiment of the present application;

[0021] Fig. 6 is a schematic diagram of the working mode of the synthetic aperture radar system in the embodiment of the present application;

[0022] Fig. 7 is a schematic diagram of the returning posture of the flue / small tunnel inspection robot in the embodiment of the present application. DETAILED DESCRIPTION

[0023] The present application will be further described below with reference to the accompanying drawings.

[0024] The reference signs in Figs. 1 to 7 are as follows:

[0025] 1, mobile platform; 2, telescopic cylinder base; 3, coupling; 4, first servo motor; 5, first telescopic cylinder; 6, second telescopic cylinder; 7, third telescopic cylinder; 8, L-shaped connecting piece; 9, second servo motor; 10, third servo motor; 11, first rotating platform connecting piece; 12, rack; 13, guide rod; 14, guide rail; 15, guide rod fixing base; 16, second rotating platform connecting piece; 17, extension rod; 18, hydraulic cylinder; 19, sensing probe; 20, annular spray head; 21, excitation probe; 22, connecting rod; 23, microwave leakage detection module; 24, linear guide rail base; 25, first rotating platform; 26, second rotating platform; 27, sliding groove; 28, helical gear.

[0026] As shown in Figs. 1 to 4, the present application provides a flue / small tunnel inspection robot, which comprises a mobile platform 1, a three-stage telescopic cylinder, a linear guide rail base 24 and a first driving mechanism, the three-stage telescopic cylinder is vertically installed on the mobile platform 1, the first driving mechanism is installed on the top of the three-stage telescopic cylinder and is used to drive the linear guide rail base 24 to rotate 360° in the vertical plane; the linear guide rail base 24 is provided with a linear guide rail and a second driving mechanism, the second driving mechanism is used to drive the linear guide rail to move horizontally on the linear guide rail base 24; the linear guide rail is respectively provided with a microwave leakage detection module 23 and a synthetic aperture radar system at both ends.

[0027] Specifically, the three-stage telescopic cylinder comprises a telescopic cylinder base 2, a shaft coupling 3, a first servo motor 4, a first telescopic cylinder 5, a second telescopic cylinder 6 and a third telescopic cylinder 7. The telescopic cylinder base 2 is fixed on the moving platform 1. The first telescopic cylinder 5 and the shaft coupling 3 are arranged above the telescopic cylinder base 2. The first servo motor 4 is arranged above the shaft coupling 3. The power of the first servo motor 4 is 750 W. The first servo motor 4 drives the first telescopic cylinder 5, the second telescopic cylinder 6 and the third telescopic cylinder 7 to telescope through the shaft coupling 3 and a gear mechanism, so as to adjust the height. In this embodiment, the minimum ground clearance of the three-stage telescopic cylinder is 700 mm, that is, in the initial state, the linear guide rail can work at a height of 700 mm from the ground. The stroke of the three-stage telescopic cylinder is 1000 mm, that is, the maximum ground clearance is 1700 mm. When the three-stage telescopic cylinder is in the maximum extension limit position, the linear guide rail can work at a height of 1700 mm from the ground.

[0028] The first driving mechanism comprises an L-shaped connecting piece 8, a second servo motor 9 and a first rotating platform 25. The L-shaped connecting piece 8 is fixed on the top of the third telescopic cylinder 7 by bolts. The first rotating platform 25 is fixed on the front side of the L-shaped connecting piece 8 by bolts. The second servo motor 9 is installed on the rear side of the L-shaped connecting piece 8. The output end of the second servo motor 9 penetrates through the L-shaped connecting piece 8 and is connected with the first rotating platform 25, so as to drive the first rotating platform 25 to rotate. The power of the second servo motor 9 is 400 W. The linear guide rail base 24 is connected with the first rotating platform 25 through the first rotating platform connecting piece 11, and rotates with the first rotating platform 25. In addition, the L-shaped connecting piece 8 has reinforcing ribs for strengthening the structural strength.

[0029] The linear guide rail comprises a rack 12, a guide rod 13 and a guide rail 14. The guide rod 13 is provided with a guide rod fixing seat 15 at each end. The rack 12 and the guide rail 14 are fixed with the guide rod 13. The guide rail 14 is in sliding fit with the sliding groove 27 fixed on the linear guide rail base 24 (restricting two degrees of freedom of the guide rail 14, so that the guide rail 14 only has one degree of freedom of sliding along the sliding groove 27 relative to the linear guide rail base 24), so that the integral linear guide rail composed of the rack 12, the guide rod 13, the guide rail 14 and the guide rod fixing seat 15 can move linearly. The second driving mechanism comprises a third servo motor 10 installed on the top of the linear guide rail base 24. The output end of the third servo motor 10 is provided with a helical gear 28. The helical gear 28 has only one degree of freedom of rotating along the gear axis relative to the linear guide rail base 24. The helical gear 28 is in mesh with the rack 12. Thus, when the third servo motor 10 drives the helical gear 28 to rotate, the rack 12 moves horizontally, so as to realize the horizontal movement of the linear guide rail as a whole, and the microwave leakage detection module 23 or the synthetic aperture radar system is sent to the target monitoring point on the inner wall of the flue / tunnel.

[0030] The microwave leakage detection module 23 is arranged on a connecting rod 22, and the other end of the connecting rod 22 is connected with a hydraulic cylinder 18 fixed on the guide rod fixing base 15. When the linear guide rail sends the microwave leakage detection module 23 to the target monitoring point, the hydraulic cylinder 18 is compressed by force, so that the microwave leakage detection module 23 starts to work.

[0031] The synthetic aperture radar system comprises a second rotating platform 26, a second rotating platform connecting piece 16, a sensing probe 19 and an exciting probe 21, the sensing probe 19 and the exciting probe 21 are respectively sleeved with annular nozzles 20 for spraying liquid coupling agent, and are respectively connected with a hydraulic cylinder 18; the second rotating platform 26 is fixed on the guide rod fixing base 15, the hydraulic cylinder of the exciting probe 21 is directly connected with the guide rod fixing base 15, the hydraulic cylinder of the sensing probe 19 is connected with an extension rod 17, the other end of the extension rod 17 is connected with the second rotating platform 26 through the second rotating platform connecting piece 16, and the sensing probe 19 can rotate 360° around the exciting probe 21 with the rotation of the second rotating platform 26. Similarly to the detection of the microwave leakage detection module 23, before detection, the annular nozzles 20 spray liquid coupling agent between the probes and the target monitoring point, and then the probes are pushed to the target detection point, and the hydraulic cylinder 18 determines whether the probes start to work through force feedback.

[0032] In the embodiment, the mobile platform 1 adopts a wheeled robot mobile platform.

[0033] Referring to FIG. 7, the robot first moves in the middle of the flue / small tunnel, the three-stage telescopic cylinder is contracted to the shortest, the linear guide rail is vertically arranged, so that the overall structural size of the robot is minimized (this state is called the regression posture of the robot), the robot is convenient to move, and has high environmental adaptability. Further, when the robot is completely stretched, the detection range of the robot is shown in FIG. 5, the application range is wide, and the inner wall health detection of numerous small tunnels and flues can be supported.

[0034] When the robot starts to work, a worker controls and drives forward in the middle of the flue / small tunnel, when driving to the target position, the worker controls the first servo motor 4 to work, so as to control the three-stage telescopic cylinder to be stretched upward stage by stage, the initial height of the three-stage telescopic cylinder in the regression posture is 700 mm, the maximum telescopic height can reach 1700 mm, and the telescopic height is controlled by the worker in real time.

[0035] After the three-stage telescopic cylinder is stretched to the desired height, the worker controls the second servo motor 9 to rotate the first rotating platform 25 so that the linear guide rail thereon reaches the desired angle. The first rotating platform 25 can control the linear guide rail to rotate 360°, realizing the detection of the tunnel inner wall without dead angle at a certain height. When the worker adjusts the angle of the first rotating platform 25, the angle of the linear guide rail also reaches the desired position. Then, the worker controls the third servo motor 10 to rotate forward or reverse, so that the rack 12 moves forward or reversely, thereby making the microwave leakage detection module 23 or the excitation probe 21 and the sensing probe 19 top the wall. The linear guide rail has an operating length of 1300 mm, and based on the maximum height of the three-stage telescopic cylinder of 1700 mm, the robot can cover the entire working range with the center at the height of 1700 mm from the ground and the radius of 1300 mm, as shown in FIG. 5.

[0036] When the microwave leakage detection module 23 needs to work, after the microwave leakage detection module 23 tops the wall, the hydraulic cylinder 18 is stressed, and the feedback of the force determines whether the microwave leakage detection module 23 works. When the synthetic aperture radar system needs to work, when approaching the target monitoring point, the annular nozzle 20 installed on the excitation probe 21 and the sensing probe 19 sprays liquid coupling agent (chemical paste or water, etc.), so that the two probes can work, and then with the further movement of the linear guide rail, the excitation probe 21 and the sensing probe 19 top the wall, and the hydraulic cylinder 18 connected therewith is stressed, and the feedback of the force determines whether the corresponding probe works (the process of approaching the structure surface is an elastic process, which can determine whether the excitation probe and the sensing probe work or stop by the feedback of the force).

[0037] The sensing probe 19 and the excitation probe 21 in the synthetic aperture radar system measure a height of about 1.5 m. When measuring, the excitation probe 21 is stretched to the structure surface and fixed (the height from the ground is 1.5 m). The sensing probe 19 can collect structure responses at equal intervals on a circle with a radius of 0.2-0.3 m, the collection interval is adjustable at 15°-45°, and the resolution is 5°, as shown in FIG. 6.

[0038] After the robot completes the detection, it needs to enter the next detection point for detection. At this time, the robot enters the regression posture from the current detection state, and the robot returns to the middle position of the flue, and the cycle is repeated.

Claims

1. A flue / mini-tunnel inspection robot, characterized by, The mobile platform (1), the multi-stage telescopic cylinder, the linear guide base (24) and the first driving mechanism, the multi-stage telescopic cylinder is vertically installed on the mobile platform (1), the first driving mechanism is installed on the top of the multi-stage telescopic cylinder, and the linear guide base (24) is driven to rotate in the vertical plane; the linear guide base (24) is provided with a linear guide and a second driving mechanism, and the second driving mechanism is used for driving the linear guide to move transversely on the linear guide base (24); the linear guide is provided with a microwave leakage detection module (23) and a synthetic aperture radar system at both ends respectively.

2. The flue / mini-tunnel inspection robot according to claim 1, characterized in that, The first driving mechanism comprises a second servo motor (9) and a first rotating platform (25), the second servo motor (9) is used for driving the first rotating platform (25) to rotate; the linear guide base (24) is connected on the first rotating platform (25) through the first rotating platform connecting piece (11) and rotates with the first rotating platform (25).

3. The flue / mini-tunnel inspection robot according to claim 2, characterized in that, The first rotating platform (25) is fixed on the top of the uppermost stage telescopic cylinder through the L-shaped connecting piece (8), and the second servo motor (9) is installed on the L-shaped connecting piece (8), and the output end of the second servo motor (9) penetrates through the L-shaped connecting piece (8) and is connected with the first rotating platform (25).

4. The flue / mini-tunnel inspection robot according to claim 3, characterized in that, The L-shaped connecting piece (8) has a reinforcing rib for strengthening the structural strength.

5. The flue / mini-tunnel inspection robot according to claim 1, wherein, The linear guide comprises a rack (12) penetrating in the linear guide base (24), a guide rod (13) and a guide rail (14), the guide rod (13) is provided with a guide rod fixing seat (15) at both ends respectively, the rack (12) and the guide rail (14) are fixed with the guide rod (13) respectively, and the guide rail (14) is in sliding fit with the sliding groove (27) on the linear guide base (24); the second driving mechanism comprises a third servo motor (10) installed on the top of the linear guide base (24), and the output end of the third servo motor (10) is provided with a helical gear (28), and the helical gear (28) is engaged with the rack (12).

6. The flue / mini-tunnel inspection robot according to claim 5, characterized in that, The synthetic aperture radar system comprises a second rotating platform (26), a sensing probe (19) and an excitation probe (21), the sensing probe (19) and the excitation probe (21) are respectively sleeved with annular nozzles (20) for spraying liquid coupling agent and are respectively connected with a hydraulic cylinder; the second rotating platform (26) is fixed on the guide rod fixing seat (15), the hydraulic cylinder of the excitation probe (21) is directly connected with the guide rod fixing seat (15), the hydraulic cylinder of the sensing probe (19) is connected with an extension rod (17), the other end of the extension rod (17) is connected with the second rotating platform (26) through the second rotating platform connecting piece (16) and rotates with the second rotating platform (26), so that the sensing probe (19) can rotate 360 degrees around the excitation probe (21) as the center.

7. The flue / mini-tunnel inspection robot according to claim 5, wherein, The microwave leakage detection module (23) is arranged on a connecting rod (22), and the other end of the connecting rod (22) is connected with a hydraulic cylinder, and the hydraulic cylinder is fixed on the guide rod fixing seat (15).

8. The flue / mini-tunnel inspection robot according to claim 1, wherein, The multi-stage telescopic cylinder comprises a telescopic cylinder base (2), a first telescopic cylinder (5) and a shaft coupling (3) arranged above the telescopic cylinder base (2), a first servo motor (4) arranged above the shaft coupling (3), and the first servo motor (4) drives the multi-stage telescopic cylinder to telescope through the shaft coupling (3) and a gear mechanism.

9. The flue / mini-tunnel inspection robot according to claim 1 or 8, characterized in that, The multi-stage telescopic cylinder adopts a three-stage telescopic cylinder.

10. The flue / mini-tunnel inspection robot according to claim 1, wherein, The mobile platform (1) adopts a wheeled robot mobile platform.

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