CN107632603A - Can automatic obstacle avoiding tunnel-liner detection means - Google Patents
Can automatic obstacle avoiding tunnel-liner detection means Download PDFInfo
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- CN107632603A CN107632603A CN201710793942.3A CN201710793942A CN107632603A CN 107632603 A CN107632603 A CN 107632603A CN 201710793942 A CN201710793942 A CN 201710793942A CN 107632603 A CN107632603 A CN 107632603A
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Abstract
The invention discloses it is a kind of can automatic obstacle avoiding tunnel-liner detection means, including：The job platform (70) that can be moved；The lower end of vault mechanical arm (10) is be hinged by the first bearing pin (11) and job platform (70), the axis of first bearing pin (11) is parallel with the travel direction of job platform (70), the upper end of vault mechanical arm (10) is connected with geological radar (60), vault mechanical arm (10) can stretch, and vault mechanical arm (10) is connected with the top arm rotation drive mechanism that vault mechanical arm (10) can be driven to be swung with the first bearing pin (11) for axle.This can the tunnel-liner detection means of automatic obstacle avoiding be once this qualitative leap for tunnel-liner big machinery work pattern, it is characterized in entire roboticized work, detection speed is substantially improved, corresponding speed is fast, check frequency is few, stable performance, it is applicable to the detection of general speed and high speed single, double line railway tunnel.
Description
Technical field
The present invention relates to Tunnel testing apparatus field, particularly it is a kind of this can automatic obstacle avoiding tunnel-liner detection dress
Put.
Background technology
In existing tunnel-liner non-destructive testing technology, using GPR detection method as most important means, geology thunder
Mainly there is the detection mode such as artificial, vehicle-mounted up to detection.At present still without practical effectively by geological radar at a distance in lining
The means of tested surface quick detection are built, are required for being placed on from tunnel-liner near surface using carrier.China has been developed that
First tunnel state checks car.Geological radar is fixedly mounted in one end of every mechanical arm, and every machinery is operated using control system
Arm acts on car body, to be detected to tunnel-liner.But because mechanical arm system design feature causes mechanical arm sensitivity
The low-response time is grown, when running into the barriers such as contact net and needing adjusting mechanical arm position, it is necessary to which car body is stopped with to machinery
Arm position is adjusted.When barrier comparatively dense, user, which needs to stop repeatedly, carrys out adjusting mechanical arm, and operating efficiency is relatively low.
And transformed by subsequent technology, it can make mechanical arm system can be with not parking fast when running into the barriers such as contact net in detection process
Velocity modulation section mechanical arm position, compared to marked improvement is achieved before, detection rates is effectively increased to a certain extent, and save
Manpower, such as Chinese patent CN 105302143A, at 3 on publication date 2016 year 2 month, discloses one kind《Tunnel-liner detection dress
Put and detect car》.But still technical deficiency be present, it is mainly reflected in insufficient (the fast velocity modulation of double track tunnel vault detectability
Pitch from it is limited, governing speed is insufficient), mechanical arm automation performance deficiency, detection means structure design owe optimization, regulation keep away
Barrier in open tunnel environment also needs to manual control, judge by accident and risk of failing to judge can not evade completely, can not realize it is completely non-
The deficiencies of artificial programming operations, cause the detection several operator's operations of need of work eventually, effective detection rates improve
Limited space, and the more check frequency caused by the mechanical arm of contained geological radar needs avoidance be present.
The content of the invention
, can be certainly the invention provides one kind in order to solve the problems, such as existing tunnel-liner detection means avoidance scarce capacity
The tunnel-liner detection means of main avoidance, this can automatic obstacle avoiding tunnel-liner detection means for tunnel-liner big machinery
It is once this qualitative leap for work pattern, is characterized in entire roboticized work, detection speed is substantially improved, and corresponding speed is fast,
Check frequency is few, stable performance, is applicable to the detection of general speed and high speed single, double line railway tunnel.
The technical solution adopted for the present invention to solve the technical problems is：
It is a kind of can automatic obstacle avoiding tunnel-liner detection means, including：
Job platform, it can move；
Vault mechanical arm, the lower end of vault mechanical arm are hinged by the first bearing pin with job platform, the axis of the first bearing pin
Parallel with the travel direction of job platform, the upper end of vault mechanical arm is connected with geological radar, and vault mechanical arm can stretch, arch
Top mechanical arm is connected with the top arm rotation drive mechanism that vault mechanical arm can be driven to be swung using the first bearing pin as axle；
Control system, can control this can automatic obstacle avoiding tunnel-liner detection means operation.
The beneficial effects of the invention are as follows：This can automatic obstacle avoiding tunnel-liner detection means for tunnel-liner big machinery
It is once this qualitative leap to change for work pattern, is characterized in entire roboticized work, detection speed is substantially improved, corresponding speed
It hurry up, check frequency is few, stable performance, is applicable to the detection of general speed and high speed single, double line railway tunnel.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing a further understanding of the present invention, and of the invention shows
Meaning property embodiment and its illustrate be used for explain the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 be it is of the present invention can automatic obstacle avoiding tunnel-liner detection means front view.
Fig. 2 be it is of the present invention can automatic obstacle avoiding tunnel-liner detection means top view.
Fig. 3 is the front view of vault mechanical arm.
Fig. 4 is the front view of four levels of linkages transmission mechanism.
Fig. 5 is along the sectional view in A-A directions in Fig. 4.
Fig. 6 is the front view of core cylinder.
Fig. 7 is the top view of core cylinder.
Fig. 8 is the front view of automatic deploying and retracting line device.
Fig. 9 is front view of the first haunch mechanical arm in the state of stretching.
Figure 10 is front view of the first haunch mechanical arm in contraction state.
Figure 11 be it is of the present invention can automatic obstacle avoiding tunnel-liner detection means working state schematic representation.
Figure 12 is the front view at geological radar position.
Figure 13 is the top view at geological radar position.
10th, vault mechanical arm；20th, the first haunch mechanical arm；30th, the second haunch mechanical arm；40th, the 3rd haunch mechanical arm；
50th, the 4th haunch mechanical arm；60th, geological radar；70th, job platform；80th, tunnel-liner；
11st, the first bearing pin；12nd, first hydraulic cylinder；13rd, core cylinder；14th, secondary sleeve；15th, outer sleeve；16th, gear driving machine
Structure；17th, first rotating shaft；18th, it is oriented to abrasionproof ball；19th, the second rotating shaft；110th, it is oriented to abrasionproof roller；111st, buffer damping pad；
112nd, automatic deploying and retracting line device；113rd, protective cover；114th, rack；
21st, scissor-type connecting rod；22nd, connecting seat；23rd, pedestal；24th, the second bearing pin；25th, the 3rd bearing pin；26th, the 4th bearing pin；
27th, second hydraulic cylinder；28th, the 3rd hydraulic cylinder；29th, protective cover；
61st, obstacle detection and identification device；62nd, distance detector；63rd, geological radar is set up the stage plate.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
It is a kind of can automatic obstacle avoiding tunnel-liner detection means, including：
Job platform 70, being capable of itself movement or mounted with together being moved with moveable object on moveable object
It is dynamic；As this can the tunnel-liner detection means of automatic obstacle avoiding may be mounted on rail vehicle, make tunnel-liner detection
Car；
Vault mechanical arm 10, the lower end of vault mechanical arm 10 is be hinged by the first bearing pin 11 and job platform 70, the first pin
The axis of axle 11 is parallel with the travel direction of job platform 70, and the upper end of vault mechanical arm 10 is connected with geological radar 60, vault
Mechanical arm 10 can stretch, and vault mechanical arm 10, which is connected with, can drive what vault mechanical arm 10 was swung with the first bearing pin 11 for axle
Top arm rotation drive mechanism；Wherein the travel direction of job platform 70 is perpendicular to Fig. 1 and Figure 11 paper direction；
Control system, can control this can automatic obstacle avoiding tunnel-liner detection means operation.
In the present embodiment, the multistage linking transmission mechanism of vault mechanical arm 10, the multistage linking transmission mechanism contain from interior
Core cylinder 13, secondary sleeve 14 and the outer sleeve 15 being outwards arranged successively, the quantity of secondary sleeve 14 is at least one, geological radar
60 are connected with the upper end of core cylinder 13, and the lower end of outer sleeve 15 is be hinged by the first bearing pin 11 and job platform 70, core cylinder 13
Rack 114 is respectively and fixedly provided with outside with the barrel of secondary sleeve 14, and the upper end of secondary sleeve 14 and outer sleeve 15 is equipped with gear driving
Mechanism 16, the gear of gear driven mechanism 16 are corresponded with the rack 114 and engaged, and gear driven mechanism 16 can drive arch
It is flexible to push up mechanical arm 10, as shown in Figures 3 to 8.
In the present embodiment, multiple guiding are fixed with by first rotating shaft 17 outside the barrel of core cylinder 13 and secondary sleeve 14
Abrasionproof ball 18, being oriented to abrasionproof ball 18 can be rotated with first rotating shaft 17 for axle, and multiple abrasionproof balls 18 that are oriented to are along core cylinder 13
Axis direction be arranged in order, the axis of first rotating shaft 17 is vertical with the axis of core cylinder 13, the cylinder of core cylinder 13 and secondary sleeve 14
It is fixed with outside wall by the second rotating shaft 19 and is oriented to abrasionproof roller 110, it can be axle with the second rotating shaft 19 to be oriented to abrasionproof roller 110
Rotate, the axis of the second rotating shaft 19 is vertical with the axis of core cylinder 13, is oriented to abrasionproof roller 110 and is corresponded with rack about 114
Set, as shown in Figure 5.
In the present embodiment, multistage linking transmission mechanism is specially four levels of linkages transmission mechanism, i.e. vault mechanical arm 10 has
One core cylinder, 13, two secondary sleeves 14 and an outer sleeve 15 form.The section of core cylinder 13, secondary sleeve 14 and outer sleeve 15
It is rectangle, core cylinder 13, secondary sleeve 14 and outer sleeve 15 contain four side walls, and rack 114 is located at core cylinder 13 and secondary set
Outside one side wall of the same side of cylinder 14, rack 114 as shown in Figure 5 is located at outside the left side wall of core cylinder 13 and secondary sleeve 14, core
A row are equipped with outside the other three side wall of cylinder 13 and secondary sleeve 14 and are oriented to abrasionproof ball 18, each row are oriented to abrasionproof ball 18
The multiple guiding abrasionproof balls 18 being arranged in order containing the axis direction along core cylinder 13, the lower end of secondary sleeve 14 and outer sleeve 15
Buffer damping pad 111 is inside additionally provided with, the top arm rotation drive mechanism is the first hydraulic cylinder positioned at the left and right sides of outer sleeve 15
12, the both ends of first hydraulic cylinder 12 are connected with outer sleeve 15 and job platform 70 respectively, two interoperations of first hydraulic cylinder 12
Vault mechanical arm 10 can be made to swing, as shown in Figures 3 to 8.
Vault mechanical arm 10 is used to detect tunnel vault.In order to ensure mechanical arm action pure, easily it is handling, simultaneously
Avoidance safe and reliable to greatest extent when being easy to face system autonomous classification barrier, in face of operating mode unordered irregular tunnel completely
Road environment, meet full automation control machinery arm accuracy of action, mechanical arm is not using complicated multivariant machinery
Hand introduces unnecessary motion design difficulty, takes linear hydraulic multistage linking mode to design.In view of the reasonability of stress, adopt
With four levels of linkages transmission mechanism, in addition to most upper level (core cylinder 13), remaining sleeve (secondary sleeve 14 and outer sleeve 15) at different levels
Top edge welds bearing block and adds reinforcement, the gear shaft of embedded gear driven mechanism 16, the gear of gear driven mechanism 16
Indexing diameter, the parameter such as modulus ratio can select according to material and speed requirement.In addition to base level (outer sleeve 15), sleeves at different levels
Unilateral outer wall is rack face, and the Linear transmission for carrying out sleeve can be engaged with gear.Installed additional outside the gear of gear driven mechanism 16 anti-
Shield 113, the rack face bottom section of sleeve are welded with that to determine abrasionproof pulley (be oriented to abrasionproof roller 110) interior with next stage sleeve
Wall is in rolling contact, and is played a part of anti-beat and is oriented to.Other three faces are ball array (three row are oriented to abrasionproof ball 18), every
The rotary shaft of ball is fixed on the outside of barrier arm, is in rolling contact with the inwall of next stage sleeve, nothing between can equally making every grade
Fricting movement, it can be oriented to well.Every grade of gear shaft has independent power source, utilizes watching for gear driven mechanism 16
Take motor to drive, be very beneficial for system repeatedly positioning and fine setting (can be talked about during the control of narration position), while can prevent passively
Reversion.The servomotor fuselage of gear driven mechanism 16 is fixed in welding bearing block, and output shaft connects with gear shaft.It is this more
The mode that axle links simultaneously can make each grade of sleeve when base level drives while move, because the kinematics characteristic of linkage makes
Obtain and corresponding elevating movement relation all be present relative to its next stage sleeve per one-level sleeve, the speed of related movement per one-level is equal
It is adjustable, it can also unify its relative velocity.For ground reference coordinate system, the lifting speed highest of top one-level, successively decrease successively
To basic one-level.
Usual mechanical arm configuration, with the means of conventional electrical control or hydraulic control, for kinematic stability and
The reasonability of stress, from security standpoint, lifting speed is usually within 0.5m/s, and the limit is no more than 1m/s.It is and of the invention
A large amount of optimizations have been done in the material of vault mechanical arm 10, because geological radar and its sensing identification module gross weight are no more than 10kg, therefore
Sleeve material takes carbon fiber die sinking and abrasionproof processing, and level Four sleeve conducts oneself with dignity sum not less than 50kg, so significantly alleviates institute
Design and produce the moment of torsion, power and deadweight of gear shaft and selected motor.Can be by pole on the premise of motion stabilization safety is ensured
Limit lifting speed brings up to 2m/s, can be high by such as Railway Tunnel contact net 4m under this lifting speed
During support, not parking effectively quick avoidance, while greatly reduce missing inspection blind area caused by time-consuming because of avoidance.This mechanical arm 4
Level can be designed as fully extended total length up to 6m, and total length is 2m when withdrawing completely, and the gear shaft of arm make use of servo side
Formula, coordinate good positioning effect, good buffer effect with each sensor.In addition, every grade of mechanical arm all adds buffer damping pad 111,
The safety of structure for further protecting sleeves at different levels to lift at a high speed to greatest extent, it is especially the most obvious to most higher level's effect.
In the present embodiment, it is described can the tunnel-liner detection means of automatic obstacle avoiding also include the He of the first haunch mechanical arm 20
Second haunch mechanical arm 30, the first haunch mechanical arm 20 and the second haunch mechanical arm 30 are both secured on job platform 70, vault
The lower end of mechanical arm 10 is located at the center of job platform 70, and the first haunch mechanical arm 20 is located at the left front of vault mechanical arm 10
(i.e. the first haunch mechanical arm 20 is located at the upper left side of vault mechanical arm 10 in Fig. 2), the second haunch mechanical arm 30 is located at vault machine
The right front (i.e. the second haunch mechanical arm 30 is located at the upper right side of vault mechanical arm 10 in Fig. 2) of tool arm 10, the first haunch machinery
Arm 20 is identical with the structure of the second haunch mechanical arm 30,30 or so pairs of the first haunch mechanical arm 20 and the second haunch mechanical arm
Claim setting and each other mirror image, as shown in Figure 1.
In the present embodiment, the first haunch mechanical arm 20 contains scissor-type connecting rod 21, connecting seat 22, the liquid of pedestal 23 and second
Cylinder pressure 27, scissor-type connecting rod 21 can stretch, and one end of scissor-type connecting rod 21 is connected with geological radar 60, scissor-type connecting rod 21
The other end is be hinged with connecting seat 22 by the second bearing pin 24 and the 3rd bearing pin 25, is also set between scissor-type connecting rod 21 and connecting seat 22
There is the 3rd hydraulic cylinder 28, the both ends of the 3rd hydraulic cylinder 28 are connected with scissor-type connecting rod 21 with connecting seat 22 respectively, the 3rd hydraulic cylinder
28 can drive scissor-type connecting rod 21 flexible, and pedestal 23 is connected with job platform 70, and the upper end of pedestal 23 passes through the 4th pin
Axle 26 is be hinged with connecting seat 22, and the both ends of second hydraulic cylinder 27 are be hinged with pedestal 23 and connecting seat 22 respectively, second hydraulic cylinder 27
Scissor-type connecting rod 21 and connecting seat 22 can be driven to be swung with the 4th bearing pin 26 for axle, the axis and the first bearing pin of the 4th bearing pin 26
11 diameter parallel, the telescopic direction of scissor-type connecting rod 21 is vertical with the axis of the 4th bearing pin 26, as shown in Figure 9 and Figure 10.
In the present embodiment, it is described can the tunnel-liner detection means of automatic obstacle avoiding also include the He of the 3rd haunch mechanical arm 40
4th haunch mechanical arm 50, the 3rd haunch mechanical arm 40 and the 4th haunch mechanical arm 50 are both secured on job platform 70, and the 3rd
Haunch mechanical arm 40 is located at the left back of vault mechanical arm 10, and (i.e. the 3rd haunch mechanical arm 40 is located at vault mechanical arm 10 in Fig. 2
Lower left), the 4th haunch mechanical arm 50 is located at right back (i.e. the 4th haunch mechanical arm 50 in Fig. 2 of vault mechanical arm 10
In the lower right of vault mechanical arm 10), the first haunch mechanical arm 20, the second haunch mechanical arm 30, the and of the 3rd haunch mechanical arm 40
The construction of 4th haunch mechanical arm 50 is identical, and the 3rd haunch mechanical arm 40 is symmetrical set with the 4th haunch mechanical arm 50
And mirror image each other, it is symmetrical arranged before and after the 3rd haunch mechanical arm 40 and the first haunch mechanical arm 20 and mirror image each other.
Haunch mechanical arm (the first haunch mechanical arm 20, the second haunch mechanical arm 30, the 3rd haunch mechanical arm 40 and the 4th arch
Waist mechanical arm 50) it is used to detect the top that geological radar 60 is equipped on to robot arm device, it is pressed close to tunnel-liner 80.The arch
Waist mechanical arm can be hidden because a large amount of barriers are not present in its locality condition, it is only necessary to (usual 0.1m to 0.3m within the specific limits
It is interior) therefore the mechanical structure of multistage linking control need not be designed as, the present invention has been done in terms of convenience and lightweight conscientiously to be divided
Analysis, employs scissor-type connecting rod 21, is combined by multiple small-sized diamond racks, easy to disassemble, easily folds.Only at last
Section installs a miniature promotion oil cylinder (the 3rd hydraulic cylinder 28) additional, and may be such that mechanical arm maximum extension length is 3m, only 1m after recovery
(the arbitrarily dismounting of each section, maximum and recovery length dimension can be changed, and for practice and reasonable stress, be in most long 3m
It is good).
First hydraulic cylinder 12, the hydraulic cylinder 28 (can be 5cm cylinder diameters) of second hydraulic cylinder 27 and the 3rd be used for adjust rotation and
The angle and posture of swing, 0 to 60 ° of angle of oscillation are stepless adjustable.Mechanical arm (vault mechanical arm 10 and haunch mechanical arm) all installs additional
One guard shield, operating personnel contacts by mistake with manipulator motion mechanism during protecting maintenance repair operation.Mechanical arm roots
All install a small-sized automatic deploying and retracting line device 112 additional, the wire casing for there are 3 to 4 concentric but different footpath circles in reel, be respectively used to
The associated cable different distance friction speed of sleeve not at the same level synchronously reclaims.For by place geological radar connection cables, servo
The circuits such as motor power cable, obstacle detection and identification device transmission line are arranged, not only attractive in appearance but also guarantee work safety.Machine
The head of rotation adjustment geological radar antenna posture is added at the top of tool arm.
In the present embodiment, the control system contains at least one obstacle detection and identification device 61 and at least one
Individual distance detector 62, obstacle detection are respectively positioned on the circumference of geological radar 60 with identification device 61 and distance detector 62
Outside surface, the signal that the control system can collect obstacle detection and identification device 61 is according to fuzzy algorithmic approach and transmission
Rate correction algorithm accurately identifies barrier distance detector 62 can measure the antenna surface of geological radar 60 and tunnel serves as a contrast
Build the vertical range between 80 surface.
Obstacle detection and the pass that identification device 61 is system automatic obstacle avoiding function under realizing unartificial operation or intervening
Key, according to mechanical arm structure design principle, avoidance only considers that lifting action can meet duty requirements.Obstacle detection and identification
It is pedestal sensor that device 61, which utilizes the safe laser scanner of plane, and the fuzzy algorithmic approach and transmissivity correction algorithm of independent development will
The ability that barrier accurately identifies brings up to any object that minimum dimension 30mm can be effectively accurately identified in 20m, in 5m
Effectively accurately identify minimum dimension 10mm any object, less than in tunnel environment it is known be likely to occur have influence on safety work
Barrier minimum dimension, do not misjudge and fail to judge.Simultaneously can be to dripping according to multiple sampling and transmissivity correction algorithm
It is not necessary to " barrier " that lift processing does not do barrier interpretation, significant increase resists excessive autonomous classification ability, makes
It is all necessary behavior to obtain avoidance lifting each time.Flat scanning domain is 200 ° of circular arc areas of 20m radiuses, can be effective in 20m
Alarm, and the alarm for setting (also having embodiment in control module introduction) that multiple different stages are set can be needed with programme-control
Region, it can be used respectively beneficial to control program.Scanning field can regard duty requirements arbitrarily editor as the cog region needed.
Distance detector 62 is to detect the geological radar antenna surface for being mounted in mechanical arm top and tunnel-liner
Hang down away from the multiple laser-photoelectricity of the outer four sides installation of each geological radar 60-super on surface (facility thing barrier comprising surface etc.)
The displacement transducer of sound combination array, such as 12, as shown in Figure 12 and Figure 13, being equivalent to each edge has four, does not limit individual
Number, but the equivalent guarantee two or more of each edge in principle, 4 altogether, it will not just significantly affect the accuracy away from judgement of hanging down.With more
The minimum display distance of individual displacement transducer is as basis for estimation.Specifically, the fixed sleeves of geological radar 60 are provided with geological radar
Set up the stage plate 63, distance detector 62 and obstacle detection are both secured to geological radar with identification device 61 and set up the stage on plate 63.
In the present embodiment, for the control system also containing control and study module, the control can with study module
Obstacle detection and the alarm region of identification device 61 are divided, make the alarm region and detect in real time speed, obstacle
The physical dimension of thing and the lifting speed of geological radar 60 carry out match settings, set out early warning position, execution position and urgent
Parking spot；Described control can also be recovered and maintain using the data that distance detector 62 exports as foundation with study module
The distance of geological radar 60 and tested surface.
Control is built upon mechanical arm, obstacle detection and identification device with study module, complete between distance detector
Into obstacle recognition, avoiding barrier, recover to maintain the module of the automation mechanized operations such as detection height and position.Control and study module
Mainly it is divided to two big functions, first is to be divided the alarm region of obstacle detection and identification device, with the car detected in real time
Speed, barrier physical dimension, mechanical arm lifting speed carry out match settings, set out early warning position, execution position, stop in emergency
Position.Second is using distance detector output data as foundation, recovers and maintains geological radar and the distance of tested surface.When keeping away
After the completion of hindering down maneuver, can according to hang down away from ascending mutation after stable 0.5s perform, rise and recover to hang down away to 10cm positions
Put.During without avoidance, in principle when hang down away from when 5cm is between 15cm control module do not do intervention adjustment, exceed
After this scope, 10cm positions are readjusted to, can so be ensured in the absence of location action excessively repeatedly, while can also ensure inspection
It is reliably effective to survey the quality of data.The module can also carry out necessary adjustment and modification in parameter setting.
In the present embodiment, the control system also contains system integration interface and servicing unit, and the servicing unit contains
There is the high definition anti-shake camera for the automatic light source for aiding in detection, stopped in emergency letter based on the vehicle drivers end that wifi is wirelessly transferred
Number transmitter, make the hand-operated forced receipts of mechanical arm return operating key and full mechanism forces a key to withdraw operating key；The system collection
Into interface can by it is described can automatic obstacle avoiding tunnel-liner detection means detection and operation information it is aobvious at one or more
Show and shown on device.
The control system also contains control unit, obstacle detection and identification device 61, distance detector 62, control with
Study module and system integration interface and servicing unit are connected with the control unit.The system integration and servicing unit are operation room
Operator carries out the device of visualized operation control.Servicing unit is by following several functions with forming：Aid in each machine of detection
The high definition anti-shake camera of tool arm top automatic light source, the vehicle drivers end emergency mobile forces stop signal transmitting being wirelessly transferred based on wifi
Device, the hand-operated forced withdrawal operating key of each mechanical arm of system, the full mechanism of system force a key to withdraw operating key.Open at system integration interface
Hair is by state monitoring information, speed, obstacle detection and identification device, the distance detector of each mechanical arm leading portion scene
Startup and signal transmitting and receiving, Automatic Control mechanical arm detection operation parameter setting and rule of logic software for editing (containing the time), respectively
The various functions such as artificial required every urgent intervention are made under the contained Georadar Data acquisition software of arm, abnormal bursty state
Shown for a set of integrated software on one or more displays.
Job platform 70 can lift, and job platform is that the job platform for carrying geological radar, mechanical arm and each device carries
Body.Using hydraulic-driven, lifting utilizes scissor-type motion structure.It is controlled using limit switch and spacer pin dual with machinery
Safe spacing is protected.The upper surface of job platform 70 can be made as 2.5m × 3m the area of plane (at least ensure can be smooth
Reclaim in each mechanical arm to vehicle gauge), the high limitation of contact net is limited to, the high limit of platform guardrail is no more than away from rail level
5.3m.Each mechanical arm is designed with a hold-down support.Hold-down support and its oscillating oil cylinder are in a manner of foundation bolt and welding
It is fixed on platform panel.
Be described below this can automatic obstacle avoiding tunnel-liner detection means the course of work：
Before detection work starts, job platform driving is adjusted to contact net neighbouring position, control using operation handle and adjusted
Oscillating oil cylinder (first hydraulic cylinder 12, the hydraulic cylinder 28 of second hydraulic cylinder 27 and the 3rd) position of whole each arm, opens each arm geology thunder
Up to 60 outer distance detectors 62, each arm manual manipulation is hung down at away from 10cm to tunnel-liner surface, opens obstacle detection
With detection work can be carried out after identification device 61.
The obstacles such as rack are contacted because existing between double track tunnel and single-track tunnel, Railway Tunnel and general fast railway tunnel
The significant difference of thing size, therefore can be carried out to controlling with the early warning position in study module, execution position, position of stopping in emergency
Different set deposits reading.Meanwhile complexity and spatial arrangement randomness because of vault barrier structure, to prevent that barrier is vertical
Size is long and triggers avoidance not in time, it is necessary to by the avoidance visual field in addition in front of the geological radar straight line on mechanical arm top, opens up
Open up mechanical arm arm body.Therefore vault mechanical arm top is needed to install two obstacle detections and identification of the level one perpendicular to arm body additional
Device judges that the horizontal device visual field is that horizontal short is rectangular window of 2 times of geological radar levels to size simultaneously.Vertical means regard
Open country is the rectangular window using brachium during operation as horizontal short, and visual field horizontal short should enter edlin and skew, to prevent visual field window
Interior nearby appearance detects vehicle profile and car facilities and causes barrier to be judged by accident.
, can be by operator's unification or several operators respectively with integrated system to each mechanical arm after starting detection
State be monitored, the stability performed to control is monitored, the detection data of geological radar where gathering each mechanical arm,
And direct labor intervenes under each abnormality, several operators control the mechanical arm for automatically controlling failure quickly to receive manually respectively
Return, or control is withdrawn by a key of operator one.The system indicator of each mechanical arm carries out automatic obstacle avoiding action when orange,
Keep setting test position posture when green, green flashes after avoidance, green after distance detector is stable apart from discontinuous jump
Color Chang Liang, mechanical arm recover setting posture.Although system is stable, design safety, but if still having any signal during being somebody's turn to do
Provide but perform failure or signal fails transmitting-receiving or when other various unpredictable abnormalities produce in itself, indicator lamp meeting
Become the red and alarm bell that rings, prompt the manual recovery mechanical arm of operator and indicate that driver is stopped by wifi signal projectors.To sum up
Described, the present invention is once this qualitative leap for tunnel-liner big machinery work pattern, entire roboticized work, is detected
Speed is substantially improved, and corresponding speed is fast, and check frequency is few, stable performance, can be applied to general speed and high speed single, double line iron comprehensively
The detection in road tunnel.
It is described above, it is only the specific embodiment of the present invention, it is impossible to the scope implemented is invented with its restriction, so it is equivalent
The displacement of component, or the equivalent variations made according to scope of patent protection of the present invention and modification, it should all still fall within what this patent was covered
Category.In addition, between technical characteristic and technical characteristic in the present invention, between technical characteristic and technical scheme, technical scheme with
It can be used between technical scheme with independent assortment.
Claims (10)
1. it is a kind of can automatic obstacle avoiding tunnel-liner detection means, it is characterised in that it is described can automatic obstacle avoiding tunnel-liner inspection
Surveying device includes：
Job platform (70), can be moved；
Vault mechanical arm (10), the lower end of vault mechanical arm (10) is be hinged by the first bearing pin (11) and job platform (70), the
The axis of one bearing pin (11) is parallel with the travel direction of job platform (70), and the upper end of vault mechanical arm (10) is connected with geology thunder
Up to (60), vault mechanical arm (10) can stretch, and vault mechanical arm (10), which is connected with, can drive vault mechanical arm (10) with
One bearing pin (11) is the top arm rotation drive mechanism that axle is swung；
Control system, can control this can automatic obstacle avoiding tunnel-liner detection means operation.
2. it is according to claim 1 can automatic obstacle avoiding tunnel-liner detection means, it is characterised in that vault mechanical arm
(10) containing core cylinder (13), secondary sleeve (14) and the outer sleeve (15) being arranged successively from inside to outside, the number of secondary sleeve (14)
It is at least one to measure, and geological radar (60) is connected with the upper end of core cylinder (13), and the lower end of outer sleeve (15) passes through the first bearing pin
(11) it is be hinged with job platform (70), it is equipped with rack (114), secondary sleeve outside the barrel of core cylinder (13) and secondary sleeve (14)
(14) and the upper end of outer sleeve (15) is equipped with gear driven mechanism (16), gear and the rack of gear driven mechanism (16)
(114) engagement is corresponded, gear driven mechanism (16) can drive vault mechanical arm (10) flexible.
3. it is according to claim 2 can automatic obstacle avoiding tunnel-liner detection means, it is characterised in that core cylinder (13) and time
Multiple guiding abrasionproof balls (18) are fixed with by first rotating shaft (17) outside the barrel of level sleeve (14), are oriented to abrasionproof ball
(18) can be rotated with first rotating shaft (17) for axle, multiple axis directions for being oriented to abrasionproof ball (18) along core cylinder (13) are arranged successively
Row, the axis of first rotating shaft (17) is vertical with the axis of core cylinder (13), logical outside the barrel of core cylinder (13) and secondary sleeve (14)
Cross the second rotating shaft (19) and be fixed with guiding abrasionproof roller (110), being oriented to abrasionproof roller (110) can be with the second rotating shaft (19) for axle
Rotate, the axis of the second rotating shaft (19) is vertical with the axis of core cylinder (13), is oriented to abrasionproof roller (110) and rack (114) up and down
Correspond and set.
4. it is according to claim 3 can automatic obstacle avoiding tunnel-liner detection means, it is characterised in that core cylinder (13) and time
The section of level sleeve (14) is rectangle, and core cylinder (13) and secondary sleeve (14) contain four side walls, and rack (114) is located at core
Outside one side wall of the same side of cylinder (13) and secondary sleeve (14), the other three side wall of core cylinder (13) and secondary sleeve (14)
The outer row that are equipped with are oriented to abrasionproof ball (18), and buffer damping pad is additionally provided with the lower end of secondary sleeve (14) and outer sleeve (15)
(111), the top arm rotation drive mechanism is first hydraulic cylinder (12) at left and right sides of outer sleeve (15), first hydraulic cylinder
(12) both ends are connected with outer sleeve (15) and job platform (70) respectively.
5. it is according to claim 1 can automatic obstacle avoiding tunnel-liner detection means, it is characterised in that it is described independently to keep away
The tunnel-liner detection means of barrier also includes the first haunch mechanical arm (20) and the second haunch mechanical arm (30), the first haunch machinery
Arm (20) and the second haunch mechanical arm (30) are both secured on job platform (70), and the lower end of vault mechanical arm (10) is located at operation
The center of platform (70), the first haunch mechanical arm (20) are located at the left front of vault mechanical arm (10), the second haunch mechanical arm
(30) it is located at the right front of vault mechanical arm (10), the first haunch mechanical arm (20) and the second haunch mechanical arm (30) are symmetrical
Setting and each other mirror image.
6. it is according to claim 5 can automatic obstacle avoiding tunnel-liner detection means, it is characterised in that the first haunch machinery
Arm (20) contains scissor-type connecting rod (21), connecting seat (22), pedestal (23) and second hydraulic cylinder (27), scissor-type connecting rod (21) energy
Enough flexible, one end of scissor-type connecting rod (21) is connected with geological radar (60), and the other end of scissor-type connecting rod (21) passes through second
Bearing pin (24) and the 3rd bearing pin (25) are be hinged with connecting seat (22), and pedestal (23) is connected with job platform (70), pedestal
(23) upper end is be hinged by the 4th bearing pin (26) and connecting seat (22), the both ends of second hydraulic cylinder (27) respectively with pedestal (23)
Be hinged with connecting seat (22), second hydraulic cylinder (27) can drive scissor-type connecting rod (21) and connecting seat (22) with the 4th bearing pin
(26) swung for axle, the axis of the 4th bearing pin (26) and the diameter parallel of the first bearing pin (11), scissor-type connecting rod (21) stretches
Direction is vertical with the axis of the 4th bearing pin (26).
7. it is according to claim 6 can automatic obstacle avoiding tunnel-liner detection means, it is characterised in that it is described independently to keep away
The tunnel-liner detection means of barrier also includes the 3rd haunch mechanical arm (40) and the 4th haunch mechanical arm (50), the 3rd haunch machinery
Arm (40) and the 4th haunch mechanical arm (50) are both secured on job platform (70), and the 3rd haunch mechanical arm (40) is located at vault machine
The left back of tool arm (10), the 4th haunch mechanical arm (50) are located at the right back of vault mechanical arm (10), the 3rd haunch mechanical arm
(40) it is symmetrical set with the 4th haunch mechanical arm (50) and mirror image each other, the 3rd haunch mechanical arm (40) and the first haunch machine
Tool arm (20) is front and rear to be symmetrical arranged and mirror image each other.
8. it is according to claim 1 can automatic obstacle avoiding tunnel-liner detection means, it is characterised in that the control system
Containing at least one obstacle detection and identification device (61) and at least one distance detector (62), obstacle detection with
Identification device (61) and distance detector (62) are respectively positioned on outside the peripheral surface of geological radar (60), and the control system can
The signal that obstacle detection and identification device (61) collect is smart by barrier according to fuzzy algorithmic approach and transmissivity correction algorithm
Really identification, distance detector (62) can measure vertical between the antenna surface of geological radar (60) and tunnel-liner surface
Distance.
9. it is according to claim 8 can automatic obstacle avoiding tunnel-liner detection means, it is characterised in that the control system
Can also be by obstacle detection and the zone of alarm of identification device (61) with study module containing control and study module, the control
Domain is divided, and makes the alarm region and the lifting of the speed, the physical dimension of barrier and the geological radar (60) that detect in real time
Speed carries out match settings, sets out early warning position, execution position and position of stopping in emergency；The control can also with study module
Enough data using distance detector (62) output are recovered as foundation and maintain the distance of geological radar (60) and tested surface.
10. it is according to claim 9 can automatic obstacle avoiding tunnel-liner detection means, it is characterised in that it is described control system
System also contains system integration interface and servicing unit, and the servicing unit contains the high definition anti-shake for the automatic light source for aiding in detection
Camera, the vehicle drivers end emergency mobile forces stop signal transmitter being wirelessly transferred based on wifi, make returning for the hand-operated forced receipts of mechanical arm
Operating key and full mechanism force a key to withdraw operating key；The system integration interface can by it is described can automatic obstacle avoiding tunnel
The detection of lining device and operation information are shown on one or more displays.
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| CN201710793942.3A CN107632603B (en) | 2017-09-06 | 2017-09-06 | Tunnel lining detection device capable of avoiding obstacles independently |
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| CN201710793942.3A CN107632603B (en) | 2017-09-06 | 2017-09-06 | Tunnel lining detection device capable of avoiding obstacles independently |
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| CN115009310A (en) * | 2022-06-24 | 2022-09-06 | 中国铁道科学研究院集团有限公司 | Self-walking railway tunnel evaluation and maintenance platform and method |
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