阅读说明：本技术 一种多功能隧道检测辅助车 (Multifunctional tunnel detection auxiliary vehicle ) 是由 李通洪 徐强 黄谷文 于 2020-05-14 设计创作，主要内容包括：本发明涉及隧道检测领域,尤其涉及一种多功能隧道检测辅助车,通过于电动车本体上设置包括支座、立柱、横向旋转关节、下臂、纵向旋转关节、前臂和探照灯的关节型机械臂,并于该前臂上设置有一包括上托板和下托板的托架,且该上托板和所述下托板之间连接有压力弹簧,并于该上托板上可拆卸地安装一检测仪,从而可以保证检测仪与接触面紧贴,也能减缓车辆行驶途中振动对检测仪的损害,该关节型机械臂可以实现多个自由度,动作比较灵活,适用于隧道等狭窄空间工作,保证隧道检测360°无死角；且该辅助车可通过更换检测仪器,对隧道衬砌厚度、空洞、超前地质等进行检测,发现隧道施工过程中的不足,及时进行分析处理,进而保证了隧道施工安全。(The invention relates to the field of tunnel detection, in particular to a multifunctional tunnel detection auxiliary vehicle.A joint type mechanical arm comprising a support, an upright post, a transverse rotary joint, a lower arm, a longitudinal rotary joint, a front arm and a searchlight is arranged on an electric vehicle body, a bracket comprising an upper supporting plate and a lower supporting plate is arranged on the front arm, a pressure spring is connected between the upper supporting plate and the lower supporting plate, and a detector is detachably arranged on the upper supporting plate, so that the detector can be ensured to be attached to a contact surface, the damage of vibration to the detector in the running process of a vehicle can be relieved, the joint type mechanical arm can realize multiple degrees of freedom, is relatively flexible in action, is suitable for working in narrow spaces such as tunnels and the like, and ensures that the tunnel detection is carried out in 360-degree and has; and this auxiliary vehicle accessible is changed detecting instrument, detects tunnel lining thickness, cavity, leading geology etc. discover not enough in the tunnel construction process, in time carries out analysis processes, and then has guaranteed tunnel construction safety.)

1. A multifunctional tunnel detection auxiliary vehicle is characterized by comprising an electric vehicle body, a joint type mechanical arm, a bracket and a detector;

the electric vehicle body comprises a vehicle body, a storage battery, wheels and a cab, wherein the storage battery is arranged in the vehicle body, the wheels are arranged at the bottom of the vehicle body, and the cab is arranged on the upper surface of the vehicle body;

the joint type mechanical arm comprises a support, an upright post, a transverse rotating joint, a lower arm, a longitudinal rotating joint, a searchlight and a forearm, wherein the support is arranged on the vehicle body, the upright post is arranged on the support, the lower arm is arranged on the upright post through the transverse rotating joint, the forearm is arranged on the lower arm through the longitudinal rotating joint, and the searchlight is arranged on the forearm;

the bracket comprises an upper supporting plate and a lower supporting plate, a pressure spring is connected between the upper supporting plate and the lower supporting plate, and the lower supporting plate is fixed on the front arm;

the detector is detachably mounted on the upper supporting plate.

2. The multifunctional tunnel detection auxiliary vehicle of claim 1, wherein the transverse rotation joint comprises a first servo motor, a first rotation shaft and a first bearing fixedly connected to the top end of the upright, two ends of the first rotation shaft are respectively connected to the first bearing and the lower arm, the first bearing is used for supporting the first rotation shaft, the first servo motor is electrically connected with the battery so as to be powered by the battery, and the first servo motor is connected with the first rotation shaft through a gear so as to drive the lower arm to transversely rotate through the first rotation shaft.

3. The multifunctional tunnel detection auxiliary vehicle as claimed in claim 1, wherein the longitudinal rotary joint comprises a second servo motor, a second rotary shaft and a second bearing, a through hole is formed in the upper portion of the lower arm, the second bearing is fixed in the through hole, the second bearing is used for supporting the second rotary shaft, and the lower end of the front arm is fixedly connected with the second rotary shaft;

the second servo motor with the storage battery electricity is connected, in order to pass through the storage battery power supply, just the second servo motor pass through the gear with the second rotation axis is connected in order to pass through the second rotation axis drives forearm longitudinal rotation.

4. The multi-functional tunnel inspection assistant vehicle of claim 1, wherein the inspection instrument is a leading geological radar or an ultrasonic inspection instrument.

5. The multi-functional tunnel inspection auxiliary vehicle of claim 1, wherein the cab is installed at a front side of the vehicle body, and the articulated robot arm is provided at a rear side of the vehicle body.

6. The multifunctional tunnel detection auxiliary vehicle according to claim 1, wherein the wheels are explosion-proof tires.

7. The multifunctional tunnel detection auxiliary vehicle according to claim 1, wherein 4 pressure springs are uniformly arranged between the upper supporting plate and the lower supporting plate.

8. The multifunctional tunnel detection auxiliary vehicle as claimed in claim 1, wherein a control device is arranged in the cab, and the transverse rotary joint, the longitudinal rotary joint and the detector are connected with the control device.

9. The multifunctional tunnel inspection auxiliary vehicle of claim 1, wherein the lower supporting plate is welded to the front arm.

10. The multi-functional tunnel inspection assistant of claim 1, wherein the searchlight is fixed in the middle of the forearm.

Technical Field

The invention relates to the field of tunnel detection, in particular to a multifunctional tunnel detection auxiliary vehicle.

Background

Along with the rapid development of modern high-grade highway construction, the scale of highway tunnel construction is getting bigger and longer in recent years. The tunnel is hidden engineering, potential safety hazards are not easy to discover, and the effect of tunnel detection directly influences whether the tunnel can be safely operated later. In the construction process of the highway tunnel, the geological condition in front of the tunnel face is not clear, the lining support has defects possibly, and advanced geological detection and lining support quality detection need to be carried out on the highway tunnel, so that the quality of highway tunnel engineering is ensured, the maintenance and repair cost of the highway tunnel is reduced, and the economic benefit and the social benefit of highway tunnel infrastructure are improved. However, the existing detection method, detection technology, detection level and self limitation of the instrument are limited, a special person is required to carry the instrument for detection, particularly, personnel at the arch waist, the arch crown and other parts cannot directly arrive at the instrument, and the personnel carrying the detection equipment are required to stand on a temporarily modified platform for detection. The general detection instrument has large volume and heavy weight, jolts can occur during driving, and the safety and the detection effect of people standing on the instrument cannot be guaranteed, which are undesirable for the technical personnel in the field.

Disclosure of Invention

In order to solve the existing problems, the embodiment of the invention discloses a multifunctional tunnel detection auxiliary vehicle, which comprises an electric vehicle body, a joint type mechanical arm, a bracket and a detector, wherein the electric vehicle body is provided with a support frame;

the electric vehicle body comprises a vehicle body, a storage battery, wheels and a cab, wherein the storage battery is arranged in the vehicle body, the wheels are arranged at the bottom of the vehicle body, and the cab is arranged on the upper surface of the vehicle body;

the joint type mechanical arm comprises a support, an upright post, a transverse rotating joint, a lower arm, a longitudinal rotating joint, a front arm and a searchlight, wherein the support is arranged on the vehicle body, the upright post is arranged on the support, the lower arm is arranged on the upright post through the transverse rotating joint, the front arm is arranged on the lower arm through the longitudinal rotating joint, and the searchlight is arranged on the front arm;

the bracket comprises an upper supporting plate and a lower supporting plate, a pressure spring is connected between the upper supporting plate and the lower supporting plate, and the lower supporting plate is fixed on the front arm;

the detector is detachably mounted on the upper supporting plate.

Foretell multi-functional tunnel detects auxiliary vehicle, wherein, horizontal rotary joint includes first servo motor, first rotation axis and fixed connection and is in the first bearing on stand top, the both ends of first rotation axis are connected respectively first bearing with the underarm, first bearing is used for supporting first rotation axis, first servo motor with the storage battery electricity is connected, in order to pass through the storage battery power supply, just first servo motor pass through the gear with first rotation axis is connected in order to pass through first rotation axis drives the underarm horizontal rotation.

In the multifunctional tunnel detection auxiliary vehicle, the longitudinal rotary joint includes a second servo motor, a second rotary shaft and a second bearing, a through hole is formed in the upper portion of the lower arm, the second bearing is fixed in the through hole, the second bearing is used for supporting the second rotary shaft, and the lower end of the front arm is fixedly connected with the second rotary shaft;

the second servo motor with the storage battery electricity is connected, in order to pass through the storage battery power supply, just the second servo motor pass through the gear with the second rotation axis is connected in order to pass through the second rotation axis drives forearm longitudinal rotation.

The multifunctional tunnel detection auxiliary vehicle is characterized in that the detector is an advanced geological radar or an ultrasonic detector.

In the multifunctional tunnel detection auxiliary vehicle, the cab is mounted on the front side of the vehicle body, and the joint-type mechanical arm is disposed on the rear side of the vehicle body.

The multifunctional tunnel detection auxiliary vehicle is characterized in that the wheels are explosion-proof tires.

The multifunctional tunnel detection auxiliary vehicle is characterized in that 4 pressure springs are uniformly arranged between the upper supporting plate and the lower supporting plate.

The multifunctional tunnel detection auxiliary vehicle is characterized in that a control device is arranged in the cab, and the transverse rotary joint, the longitudinal rotary joint and the detector are connected with the control device.

The multifunctional tunnel detection auxiliary vehicle is characterized in that the lower supporting plate is connected with the front arm in a welding mode.

The multifunctional tunnel detection auxiliary vehicle is characterized in that the searchlight is fixed in the middle of the front arm.

The invention has the following advantages or beneficial effects:

the invention discloses a multifunctional tunnel detection auxiliary vehicle, which is characterized in that a joint type mechanical arm comprising a support, an upright post, a transverse rotary joint, a lower arm, a longitudinal rotary joint, a front arm and a searchlight is arranged on an electric vehicle body, a bracket comprising an upper supporting plate and a lower supporting plate is arranged on the front arm, a pressure spring is connected between the upper supporting plate and the lower supporting plate, a detector is detachably arranged on the upper supporting plate, the pressure spring in the bracket can ensure that the detector is tightly attached to a contact surface, the damage of vibration to the detector during the running of a vehicle can be relieved, the safety of equipment is protected, the joint type mechanical arm can realize multiple degrees of freedom, the action is flexible, the multifunctional tunnel detection auxiliary vehicle is suitable for working in narrow spaces such as tunnels, the tunnel detection is ensured to have no dead angle of 360 degrees, and the detector, the transverse rotary joint and the longitudinal rotary joint are all connected with a control device, detector and joint type arm can be controlled to the detection personnel seat in the driver's cabin, at the forearm installation searchlight of joint type arm to can in time observe the condition of surveying the face, and this auxiliary vehicle uses electric flat car as the carrier, pollution-free to the tunnel, and accessible transform detecting instrument detects tunnel lining thickness, cavity, leading geology etc. discover not enough in the tunnel construction process, in time carry out analysis, processing, and then guaranteed tunnel construction's safety.

Drawings

The invention and its features, aspects and advantages will become more apparent from reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Like reference symbols in the various drawings indicate like elements. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.

FIG. 1 is a schematic structural diagram of a multifunctional tunnel detection auxiliary vehicle in the embodiment of the invention;

FIG. 2 is a schematic structural view of a bracket according to an embodiment of the present invention;

fig. 3 is an application schematic diagram of the multifunctional tunnel detection auxiliary vehicle in the embodiment of the invention.

In the figure, 1 is a detector, 2 is a pressure spring, 3 is a supporting plate, 4 is a front arm, 5 is a searchlight, 6 is a longitudinal rotary joint, 7 is a lower arm, 8 is a transverse rotary joint, 9 is a column, 10 is a support, 11 is a vehicle body, 12 is a cab, 13 is a wheel, 14 is a road, 15 is a tunnel preliminary bracing, and 16 is a tunnel secondary lining.

Detailed Description

The structure of the present invention will be further described with reference to the accompanying drawings and specific examples, but the present invention is not limited thereto.

As shown in fig. 1 and 2, the embodiment of the invention discloses a multifunctional tunnel detection auxiliary vehicle, which can detect the thickness, cavities, advanced geology and the like of a tunnel lining by replacing a detector 1, find the defects in the tunnel construction process, analyze and process in time and ensure the safety of tunnel construction; specifically, the multifunctional tunnel detection auxiliary vehicle comprises an electric vehicle body, a joint type mechanical arm, a bracket and a detector 1.

The electric vehicle body comprises a vehicle body 11, a storage battery, wheels 13 and a cab 12, wherein the storage battery is arranged in the vehicle body 11, the wheels 13 are arranged at the bottom of the vehicle body 11, and the cab 12 is arranged on the upper surface of the vehicle body 11 and positioned on the front side of the vehicle body 11; the body 11 is carried by an electric flat car, and the wheels 13 are RSC burst tires supported by solid side walls.

Above-mentioned joint type arm includes support 10, stand 9, horizontal rotation joint 8, underarm 7, vertical rotation joint 6, forearm 4 and searchlight 5, this support 10 sets up on automobile body 11 and is located the rear side of this automobile body 11, this stand 9 welds on this support 10, this underarm 7 sets up on this stand 9 through this horizontal rotation joint 8, this forearm 4 sets up on this underarm 7 through this vertical rotation joint 6, this searchlight 5 is installed at the middle part of this forearm 4, when beginning to detect, can utilize this searchlight 5 to shine the detection face to can in time discover the condition of detection face.

The bracket is composed of pressure springs 2 and 2 support plates 3 arranged in parallel, the bracket is installed at the top end of a front arm 4 and is welded firmly, specifically, the 2 support plates 3 are respectively an upper support plate and a lower support plate, the upper support plate and the lower support plate are respectively welded at two ends of the 4 pressure springs 2, the lower support plate is welded and fixed on the front arm 4, and the 4 pressure springs 2 are uniformly arranged to ensure that the upper support plate and the lower support plate are stressed uniformly; above-mentioned detector 1 detachably installs on this upper bracket board, and pressure spring 2 in this bracket can guarantee that detector 1 and contact surface are hugged closely, also can slow down the vehicle and travel the damage of on the way vibration to detector 1, protection equipment's safety. Specifically, the detector 1 can be a detector such as an advanced geological radar or an ultrasonic detector, and the detector 1 is detachably mounted on the upper supporting plate, so that the detector 1 can be replaced at any time according to actual needs to detect the thickness, cavities, advanced geology and the like of a tunnel lining, detect defects in the tunnel construction process, analyze and process the defects in time, and further ensure the safety of tunnel construction; the advanced geological radar transmits high-frequency electromagnetic waves through one antenna, receives the electromagnetic waves reflected by an underground medium through the other antenna, processes, analyzes and interprets the received signals, and is used for tunnel advanced geological forecast work; the ultrasonic inspection apparatus 1 uses the transmitted sound wave (continuous wave with adjustable frequency) to propagate in the workpiece to be inspected, when the thickness of the workpiece is integral multiple of half wavelength of the ultrasonic wave, the resonance is caused, the apparatus displays the resonance frequency, if there is a defect in the workpiece, the resonance frequency changes, and the internal state of the workpiece is judged by using the difference of the resonance frequencies. The metal has defects (gas in the defect) such as pores, cracks, and delamination, or inclusions, and when the ultrasonic wave propagates to the interface between the metal and the defect, the ultrasonic wave is totally or partially reflected. The tunnel lining thickness, the cavity and the like can be detected. And processing the defective part in time according to the detection result, thereby ensuring the operation safety, the structural performance and the service life of the tunnel.

In a preferred embodiment of the present invention, the longitudinal rotary joint 6 and the transverse rotary joint 8 are each composed of a servo motor, a rotary shaft, and a bearing (not shown in the figure); a storage battery in the electric vehicle body 11 is used for providing power to drive a servo motor to move, the servo motor is linked with a rotating shaft and a bearing through a gear, so that the longitudinal rotating joint 6 drives the front arm 4 to rotate in a longitudinal 360-degree mode, and the transverse rotating joint 8 drives the lower arm 7 to rotate in a transverse 360-degree mode; specifically, the transverse rotating joint 8 comprises a first servo motor, a first rotating shaft and a first bearing fixedly connected to the top end of the upright post 9, two ends of the first rotating shaft are respectively connected with the first bearing and the lower arm 7, the first bearing is used for supporting the first rotating shaft, the first servo motor is electrically connected with a storage battery so as to be powered by the storage battery, and the first servo motor is connected with the first rotating shaft through a gear so as to drive the lower arm 7 to transversely rotate through the first rotating shaft; the longitudinal rotary joint 6 comprises a second servo motor, a second rotary shaft and a second bearing, a through hole is formed in the upper part of the lower arm 7, the second bearing is fixed in the through hole and used for supporting the second rotary shaft, and the lower end of the front arm 4 is fixedly connected with the second rotary shaft; the second servo motor is electrically connected with the storage battery to supply power through the storage battery, and the second servo motor is connected with the second rotating shaft through a gear to drive the front arm 4 to rotate longitudinally through the second rotating shaft.

In the embodiment of the present invention, a control device is disposed in the cab 12, the transverse rotating joint 8, the longitudinal rotating joint 6, and the detector 1 are all connected to the control device, specifically, the control device is a computer, a detection person can replace the detector 1 according to a detection item, the detector 1 is operated by the computer sitting in the cab 12, the computer is connected to the detector 1 through a data line, the detection person uses PLC programming software to transmit an instruction to the first servo motor and/or the second servo motor, and the first servo motor and/or the second servo motor constantly outputs an electromagnetic torque to balance the gravitational moment of the mechanical arm. When the control reaches the target position, the rotating speed of the motor is enabled to be zero, the motor is in a locked-rotor state, and the output torque is the locked-rotor torque. Under different armature voltages, the locked-rotor torque of the motor is different. The control of the locked-rotor torque of the motor can be completely realized by changing the armature voltage, so that the position control of the mechanical arm is realized, the joint type mechanical arm can rotate freely, and the bracket and the detector 1 are conveyed to the part to be detected. And the support 10 of the joint type mechanical arm is firmly welded with the rear end of the vehicle body 11. The electric vehicle is a carrier, can provide power for the joint type mechanical arm, and has no pollution to the tunnel.

Fig. 3 is an application schematic diagram of the multifunctional tunnel detection auxiliary vehicle in the embodiment of the invention, wherein 14 is a road, 15 is a tunnel preliminary support, and 16 is a tunnel secondary lining, and as can be seen from fig. 3, the detector 1 can be well attached to the inner wall of the tunnel secondary lining.

The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.