CN217195449U - Automatic overturning system of air-land amphibious robot detection radar for tunnel engineering - Google Patents
Automatic overturning system of air-land amphibious robot detection radar for tunnel engineering Download PDFInfo
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- CN217195449U CN217195449U CN202220224493.7U CN202220224493U CN217195449U CN 217195449 U CN217195449 U CN 217195449U CN 202220224493 U CN202220224493 U CN 202220224493U CN 217195449 U CN217195449 U CN 217195449U
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Abstract
The utility model belongs to the technical field of tunnel engineering detects, a tunnel engineering detects automatic upset system of radar with amphibious robot in air and land is disclosed, include: upset motor, pivot connecting elements, radar upset pivot one end with detect radar fixed connection, the other end passes through pivot connecting elements and the motor shaft fixed connection of upset motor, be provided with acceleration sensor on the upset motor. The utility model discloses make the robot detect the conversion to land and aerial when, can carry out the probe switching more conveniently, can improve the efficiency that detects to the potential danger that manual operation robot probably met when the upset in the air has been avoided.
Description
Technical Field
The utility model belongs to the technical field of tunnel engineering detects, concretely relates to tunnel engineering detects automatic upset system of radar with air-land amphibious robot.
Background
The existing tunnel lining quality and disease detection is mainly carried out by manually holding a ground penetrating radar or matching with a vehicle, and the detection method is complex in operation, low in efficiency and easy to make human errors. At present, a known unmanned aerial vehicle is an unmanned aerial vehicle which is operated by utilizing a radio remote control device and a self-contained program control device, and a flying and climbing amphibious detection robot in a tunnel can carry radar equipment for detection, so that manual detection is replaced, the efficiency of tunnel lining disease detection can be improved, the incidence rate of false detection is greatly reduced, and the workload of detection personnel is reduced. However, when the robot for amphibious land in the tunnel firstly detects the ground radar, the radar detection surface is close to the ground, after the ground detection is finished, if the current optimal inspection strategy is to directly fly to the tunnel vault for detection, the radar detection surface faces back to the wall surface of the tunnel vault, and if the robot overall structure is adopted for overturning operation, the robot stably runs with potential threat, and the operation is complex.
Therefore, the structure of the air-land amphibious robot needs to be improved so as to simplify the detection operation process.
SUMMERY OF THE UTILITY MODEL
The utility model overcomes the deficiencies in the prior art, the technical problem who solves is: the automatic overturning system for the air-land amphibious robot detection radar for tunnel engineering is provided to realize automatic overturning of the detection radar.
In order to solve the technical problem, the utility model discloses a technical scheme be: an automatic upset system of amphibious robot detection radar for tunnel engineering includes: upset motor, pivot connecting elements, radar upset pivot one end with detect radar fixed connection, the other end passes through pivot connecting elements and the motor shaft fixed connection of upset motor, be provided with acceleration sensor on the upset motor.
The automatic overturning system for the air-land amphibious robot detection radar for tunnel engineering comprises two overturning motors and two rotating shaft connecting components, two radar overturning rotating shafts are fixedly arranged on the detection radar respectively, and the radar overturning rotating shafts are respectively fixedly connected with a motor rotating shaft of one overturning motor through the rotating shaft connecting components.
The overturning motor is fixedly arranged on the robot body.
Compared with the prior art, the utility model following beneficial effect has:
the utility model provides an automatic upset system of amphibious detection robot radar probe of air and land for the robot is when carrying out the conversion that detects land and aloft, and the detection radar can switch more conveniently, consequently, the utility model discloses can improve the efficiency that detects, and avoided the potential danger that manual operation robot probably met when the upset aloft.
Drawings
Fig. 1 is a schematic structural view of an automatic turning system of an air-land amphibious robot detection radar for tunnel engineering according to an embodiment of the present invention;
fig. 2 is a schematic view of an installation structure of an automatic turning system of an air-land amphibious robot detection radar for tunnel engineering provided by an embodiment of the present invention;
FIG. 3 is a schematic view of the installation of a detection radar in an embodiment of the present invention;
in the figure: 1 is the detection radar, 2 is radar upset pivot, and 3 are pivot connecting elements, and 4 are the upset motor, and 5 are motor shaft, and 6 are acceleration sensor, and 7 are the frame board.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention; based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in FIG. 1, the embodiment of the utility model provides an automatic upset system of air-land amphibious robot detection radar for tunnel engineering, include: upset motor 4, pivot connecting elements 3, radar upset pivot 2, 2 one end of radar upset pivot and 1 fixed connection of detection radar, the other end passes through pivot connecting elements 3 and 5 fixed connection of the motor shaft of upset motor 4, be provided with acceleration sensor on the upset motor 4.
Specifically, as shown in fig. 2, the automatic overturning system for the air-land amphibious robot detection radar for tunnel engineering of the present embodiment includes two overturning motors 4 and two rotating shaft connecting members 3, two radar overturning rotating shafts 2 are respectively and fixedly arranged on the detection radar 1, and the radar overturning rotating shafts 2 are respectively and fixedly connected with a motor rotating shaft of one overturning motor 4 through the rotating shaft connecting members 3.
Further, as shown in fig. 3, in this embodiment, the turning motor 4 is fixedly disposed on an upper frame plate 7 of the robot, and a portion of the upper frame plate 7 located below the detection radar 1 is designed to be hollowed out, so that the detection radar 1 turns over at the right time. The rotating shaft connecting member 3 is made of light materials and can be connected, disassembled and assembled through nuts, and the detection radar can be conveniently disassembled and stored. The turning motor 4 is internally provided with an acceleration sensor 6, a control circuit of the turning motor 4 is connected with the acceleration sensor 6 and a robot circuit, switching of robot control instructions and acceleration sensing judgment of the acceleration sensor 6 are combined, action of the turning motor 4 is controlled, and then work of a radar turning system is achieved.
The utility model discloses a theory of operation as follows: the installation has set up acceleration sensor on upset motor 3, be connected this sensor with the driving system of this robot, when the robot work, if the robot work mode is when crawling the mode by ground and switching into flight mode, and when this sensor detected the acceleration of robot and reached the steady limit value that flies to rise, send upset control command to radar upset motor 4 and drive this detection radar upset, and accomplish the upset before flying to the tunnel vault, make the radar detection face upset of back to tunnel vault wall to just facing to tunnel vault wall, ensure that the work of this detection robot is smooth and easy goes on, improve its work efficiency, also avoided the error of people for appearing and some uncontrollable factors that appear in the operation of this robot process simultaneously.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (3)
1. The utility model provides an automatic upset system of empty land amphibious robot detection radar for tunnel engineering which characterized in that includes: upset motor (4), pivot connecting elements (3), radar upset pivot (2) one end and detection radar (1) fixed connection, the other end passes through pivot connecting elements (3) and motor shaft (5) fixed connection of upset motor (4), be provided with acceleration sensor on upset motor (4).
2. The automatic overturning system for the detection radar of the air-land amphibious robot for tunnel engineering according to claim 1, characterized by comprising two overturning motors (4) and two rotating shaft connecting members (3), wherein two radar overturning rotating shafts (2) are respectively and fixedly arranged on two detection radars (1), and the radar overturning rotating shafts (2) are respectively and fixedly connected with a motor rotating shaft of one overturning motor (4) through the rotating shaft connecting members (3).
3. The automatic overturning system for the air-land amphibious robot detection radar for tunnel engineering according to claim 1, characterized in that the overturning motor (4) is fixedly arranged on a robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220224493.7U CN217195449U (en) | 2022-01-27 | 2022-01-27 | Automatic overturning system of air-land amphibious robot detection radar for tunnel engineering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220224493.7U CN217195449U (en) | 2022-01-27 | 2022-01-27 | Automatic overturning system of air-land amphibious robot detection radar for tunnel engineering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217195449U true CN217195449U (en) | 2022-08-16 |
Family
ID=82793965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220224493.7U Active CN217195449U (en) | 2022-01-27 | 2022-01-27 | Automatic overturning system of air-land amphibious robot detection radar for tunnel engineering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217195449U (en) |
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2022
- 2022-01-27 CN CN202220224493.7U patent/CN217195449U/en active Active
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