CN114047290A - Portable tunnel lining detection device - Google Patents
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Abstract
The embodiment of the specification discloses a portable tunnel lining detection device, the device includes: the walking mechanism drives the whole device to move in the tunnel so as to detect the tunnel lining, and meanwhile, the multi-degree-of-freedom adjustment of the detection position is realized through the stretching of the detection arm, the left and right movement of the movable cross beam, the angle adjustment of the holder and the like, the detection coverage is increased, and the movement frequency of the device is reduced. Moreover, each part is an independent component, is quickly inserted and fastened, is convenient to transport and install, can be quickly installed and detected by a small number of workers, and has wide adaptability. The telescopic adjustment of detection arm, the degree of freedom is various, and the section coverage nature is strong to can advance and detect the lift of arm by controlgear automatic control running gear, realize the automated inspection to tunnel lining, promote the efficiency that tunnel lining detected, save manpower and cost.
Description
Technical Field
This specification belongs to tunnel detection technical field, especially relates to a portable tunnel lining detection device.
Background
At present, tunnel lining detection is mainly carried out by using a geological radar, and the geological radar detection mainly comprises detection modes such as manual detection, vehicle-mounted detection and the like. The vehicular detection mode is large-scale mechanized operation usually, has shown in the detection automation and has changed over, utilizes many sets of arms to bear the weight of the geological radar and extends to the target position after, surveys along with the vehicle operation, has realized that the tunnel lining state to current circuit and newly-built circuit detects, and has the ability that automated inspection was just possessed, but the vehicular detects the ability that is unfavorable for exerting its automation to the operating mode under little section and the complex environment. Particularly, for railway operation tunnel lining detection, the path is limited, and the requirement for detection is higher. And the manual detection mode still stops in the level of simple and easy devices such as scaffold frame, terraced car, shallow, and the manpower consumes greatly, and the operation mode is crude, though can carry out the manpower detection to the tunnel in a flexible way, but device packaging efficiency is low, the function is extremely single, the interference that faces the complex environment etc. condition still receives the restriction, needs manual many times to adjust, and the convenience is not effectively promoted, leads to detection efficiency not high.
Disclosure of Invention
An object of this specification embodiment is to provide a portable tunnel lining detection device, has improved the efficiency that tunnel lining detected, uses manpower sparingly and cost.
In one aspect, embodiments of the present specification provide a portable tunnel lining detection apparatus, the apparatus includes: the device comprises a travelling mechanism, a detection arm, power equipment and control equipment, wherein the travelling mechanism comprises an underframe and a movable cross beam, travelling wheels are arranged at the bottom of the underframe, the movable cross beam is detachably connected to the underframe, the movable cross beam can move on the underframe along the length direction of the movable cross beam, and a detection arm interface is arranged on the movable cross beam;
the detection arm comprises a telescopic rod, an arc-shaped support umbrella and a cloud platform, the telescopic rod is detachably connected to the movable cross beam through a detection arm interface, a rotating motor is arranged at the bottom of the telescopic rod and used for driving the detection arm to rotate around the movable cross beam in the advancing direction of the travelling mechanism, a gear connecting shaft is arranged at the top of the telescopic rod, the arc-shaped support umbrella is connected to the top of the telescopic rod through the gear connecting shaft and can rotate around the top of the telescopic rod along the length direction of the movable cross beam through the gear connecting shaft, the cloud platform is universally connected to the top of the arc-shaped support umbrella, a detection instrument is arranged on the cloud platform and is used for being in surface contact with a tunnel lining so as to detect the tunnel lining;
the power equipment is installed on the bottom frame, the control equipment is arranged on the bottom frame, and the control equipment is used for controlling the walking mechanism to walk and the detection arm to lift.
Further, the top of the holder is provided with a soft wheel, and when a detection instrument on the holder detects the tunnel lining, the soft wheel is used for automatically adjusting the distance between the detection instrument on the holder and the tunnel lining.
Further, still be provided with range finder on the cloud platform, range finder with controlgear communication connection, detecting instrument is when detecting tunnel lining, range finder gathers in real time the distance between detecting instrument and the tunnel lining to with the distance that gathers send to controlgear, so that controlgear control the detection arm goes up and down, in order to adjust distance between detecting instrument and the tunnel lining.
Furthermore, the arc supports the umbrella and includes two bracing pieces, and every bracing piece passes through respectively gear connecting axle connects the telescopic link top, and two bracing pieces divide respectively around the telescopic link top is followed the length direction rotary motion of walking beam, and a cloud platform is connected respectively at every bracing piece top.
Further, the detection arm still includes the air supply, the air supply includes energy storage ware and air pressure ware, the telescopic link is the sleeve cylinder body, the air pressure ware with the energy storage ware is used for through gaseous drive the lift of sleeve cylinder body, controlgear is through controlling the air pressure ware and the valve control of energy storage ware the lifting speed of sleeve cylinder body.
Furthermore, the detection arm further comprises an adjusting rod, one end of the adjusting rod is connected to the movable cross beam, and the other end of the adjusting rod is connected to the telescopic rod in an adjustable mode.
Further, the cloud platform is further provided with monitoring equipment, the monitoring equipment comprises an obstacle avoidance instrument, and the obstacle avoidance instrument is in communication connection with the control equipment.
Furthermore, the walking wheels are uniformly arranged at the bottoms of two sides of the longitudinal axis of the chassis, wherein the walking wheels on any one of the two sides of the longitudinal axis of the chassis are elastic profile inner side top wheels, a track gauge sensor is arranged on the elastic profile inner side top wheels, and the central axis of the chassis is parallel to the advancing direction of the walking mechanism.
Furthermore, the walking wheels on one side far away from the advancing direction of the walking mechanism are driving wheels, the driving wheels are respectively connected with driving motors, rotating shafts of the driving wheels are respectively provided with photoelectric encoders, and the photoelectric encoders are in communication connection with the control equipment; the photoelectric encoder is used for transmitting the collected displacement of the driving wheel to the control equipment, and the control equipment controls the travelling speed and/or displacement of the travelling mechanism based on the displacement collected by the photoelectric encoder.
Furthermore, a forward radar sensor is further arranged on the bottom frame and used for monitoring obstacles in the forward direction of the walking mechanism, and the forward radar sensor is in communication connection with the control equipment.
Furthermore, at least one pair of adjustable rail clamping wheels is respectively arranged on two sides of the bottom of the underframe, which are parallel to the advancing direction of the travelling mechanism.
The portable tunnel lining detection device provided by the specification is provided with the travelling mechanism, the detection arm, the power equipment and the control equipment, the power equipment provides power for the whole device, the travelling mechanism drives the whole device to advance in a tunnel so as to detect a tunnel lining, and meanwhile, the multi-degree-of-freedom adjustment of the detection position is realized through the stretching of the detection arm, the left and right movement of the movable cross beam, the angle adjustment of the holder and the like, the detection coverage surface is increased, and the movement frequency of the device is reduced. Moreover, each part is an independent component, is quickly inserted and fastened, is convenient to transport and install, can be quickly installed and detected by a small number of workers, and has wide adaptability. The telescopic adjustment of detection arm, the degree of freedom is various, and the section coverage nature is strong to can advance and detect the lift of arm by controlgear automatic control running gear, realize the automated inspection to tunnel lining, promote the efficiency that tunnel lining detected, save manpower and cost.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present specification, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.
FIG. 1 is a schematic front view of a portable tunnel lining detection apparatus in one embodiment of the present disclosure;
FIG. 2 is a front view of a travel mechanism in one embodiment of the present disclosure;
FIG. 3 is a top view of a travel mechanism in one embodiment of the present disclosure;
FIG. 4 is a schematic diagram of the structure of a detection arm in one embodiment of the present disclosure;
FIG. 5 is a schematic view of the mounting of the sensing arm on the traveling mechanism in one embodiment of the present disclosure;
fig. 6 is a schematic top view of a pan/tilt/zoom apparatus according to an embodiment of the present disclosure.
In the figure, 1, a traveling mechanism; 2. a detection arm; 3. a control device; 4. a power plant; 11. a chassis; 12. moving the beam; 121. a detection arm interface; 13. a station; 15. a running wheel; 16. clamping a rail wheel; 17. a drive motor; 18. a photoelectric encoder; 19. a forward radar sensor; 21. a telescopic rod; 22. a rotating electric machine; 23. an arc-shaped supporting umbrella; 231. a support bar; 24. a holder; 25. detecting an instrument; 26. a soft wheel; 27. a distance measuring instrument; 28. a gas source; 29. an adjusting lever; 210. monitoring equipment; 31. an operation platform.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present specification, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step should fall within the scope of protection of the present specification.
In one scenario example provided by the embodiments of the present specification, the portable tunnel lining detection apparatus may be applied to a tunnel such as: and (3) detecting the lining of railway tunnels, highway tunnels and the like.
It should be noted that, in this embodiment of the present disclosure, the advancing direction of the portable tunnel lining detection apparatus may be defined as front, and the opposite direction may be defined as back, and accordingly, the direction on the left hand side of the advancing direction may be left, and the direction on the right hand side of the advancing direction may be right.
Fig. 1 is a schematic front view of a portable tunnel lining detection device in one embodiment of the present disclosure, and as shown in fig. 1, in one embodiment of the present disclosure, the portable tunnel lining detection device may include a traveling mechanism 1, a detection arm 2, and a control device 3, wherein the detection arm 2 and the control device 3 may be disposed on the traveling mechanism 1, and the traveling mechanism 1 is mainly used for carrying the detection arm 2 and the control device 3, and carrying the detection arm 2 and the control device 3 to travel for lining detection in a tunnel. The detection arm 2 is mainly used for collecting tunnel lining surface data to detect a tunnel lining, and the control equipment 3 is mainly used for controlling the travelling mechanism 1 to advance, the lifting of the detection arm 2 and the like. As shown in fig. 1, in some embodiments of the present disclosure, the portable tunnel lining detection apparatus may further include a power device 4, and the power device 4 may be used to provide power for the entire apparatus, as shown in fig. 1, and may be a small-sized silent gasoline generator set such as: the generator set in fig. 1 may also be a high-energy lithium battery or a storage battery. Power equipment 4 can install on running gear 1, and the installation position is adjustable, can adjust the position of power equipment installation according to the in-service use demand to power equipment can possess the counter weight function of the secondary protection of preventing toppling.
Fig. 2 is a front view of a traveling mechanism in an embodiment of the present disclosure, and fig. 3 is a top view of the traveling mechanism in an embodiment of the present disclosure, as shown in fig. 2 and fig. 3, in the embodiment of the present disclosure, the traveling mechanism 1 may include an underframe 11 and a movable beam 12, where the underframe 11 may be configured in a splicing manner, such as: the front and the back can be split and assembled for convenient transportation and installation. The bottom of the chassis 11 can be provided with running wheels 15, and the number and the installation position of the running wheels 15 can be set according to the actual use requirements, such as: generally, 4 running wheels 15 can be provided, and the 4 running wheels 15 can be respectively provided at two sides of the underframe 11, and of course, according to actual use requirements, a larger number of running wheels 15 can also be provided. The walking wheels 15 can be made of insulating materials, faults caused by electric leakage of equipment are avoided, and the walking wheels 15 can be detachably connected to the bottom of the bottom frame 11 through threads or other modes, so that the walking wheels are convenient to install and detach.
As shown in fig. 2 and 3, a movable beam 12 is provided on the base frame 11, the movable beam 12 is insertably connected to the base frame 11, and the movable beam 12 is movable on the base frame 11 along the longitudinal direction of the movable beam 12. That is, as shown in fig. 2, the movable beam 12 can move left and right on the base frame 11, that is, along the length direction of the movable beam 12, as shown in fig. 1 and 2, the movable beam 12 can move left and right on the upper surface of the base frame 11 through the lower part of the power equipment 4, and the moving distance can be set according to the lengths of the base frame 11 and the movable beam 12, such as: in one example scenario, the length of the chassis 11 may be set to 1.2 meters, the diameter width may be set to 2 meters, and the travel of the moving beam 12 may be set to 1 meter. In addition, the movable beam 12 may be provided with a detection arm interface 121, the detection arm interface 121 is used for connecting the detection arm 2, and when the movable beam 12 moves left and right on the base frame 11, the movable beam may drive the detection arm 2 to slide left and right on the base frame 11, so as to adjust the transverse detection position.
Fig. 4 is a schematic structural diagram of a detection arm in an embodiment of the present specification, and as shown in fig. 4, the detection arm 2 includes a telescopic rod 21, an arc-shaped support umbrella 23, and a cloud deck 24, where the telescopic rod 21 may adopt a cylinder sleeve type telescopic structure, the number of the sleeves may be determined according to actual use requirements, generally 3 sections may be selected, the telescopic sequence is in accordance with a sectional area sequence, a design stroke of the telescopic rod 21 may reach 7 meters from a sidewalk plate, telescopic rods 21 with different numbers of sections and different heights may also be designed in advance, and a suitable telescopic rod 21 is selected and installed on the movable cross beam 12 according to a height of a tunnel, and the embodiment of the present specification is not particularly limited. The telescopic link 21 can be through the adjustment of survey line in order to detect half a tunnel section, specifically settle in the removal crossbeam 12 and detect the arm kneck, and this mount pad height can shift up certain distance on the chassis basis, if: preferably, the distance is 10-15 cm, so as to avoid possible interference of the curve part of the ballast track. In addition, as shown in fig. 1, a rotating motor 22 may be disposed at a connecting shaft at the bottom of the telescopic rod 21, the rotating motor 22 may drive the telescopic rod 21 and the whole detection arm 2 to rotate, and specifically may rotate back and forth along the advancing direction of the traveling mechanism, and the rotating angle may be preset, for example: can rotate 90 degrees relative to the movable cross beam 12, and can use a bayonet lock to position, prevent overturn and prevent vibration when reaching the detection working condition posture vertical to the bottom frame 11.
As shown in fig. 1, in some embodiments of the present disclosure, the detecting arm 2 further includes an adjusting rod 29, the adjusting rod 29 may be installed at a longitudinal portion of the base frame 11, as shown in fig. 1, one end of the adjusting rod 29 is connected to the movable beam 12 by using a joint bearing structure, and the other end is adjustable and can be connected to the telescopic rod 21 of the detecting arm 2, and after the state of the detecting arm 2 is adjusted correctly, the adjusting rod 29 is connected and fixed to the movable beam 12, so as to ensure the longitudinal state of the detecting arm 2 and prevent the detecting arm 2 from overturning and vibrating. Wherein, connection can be understood as that the hookup location can be adjusted with adjustable, and adjusting lever 29 can adjust according to actual need in the hookup location on telescopic link 21 promptly, after detecting arm 2 state adjustment, can be with adjusting lever 29 fixed connection in the corresponding position of telescopic link 21 to the state of firm detection arm 2.
As shown in fig. 4, the top end of the telescopic rod 21 is connected with an arc-shaped supporting umbrella 23, a gear connecting shaft can be connected to the top end of the telescopic rod 21, the gear connecting shaft is connected with the arc-shaped supporting umbrella 23 engaged with the gear connecting shaft, the arc-shaped supporting umbrella 23 can be understood as an umbrella-shaped supporting rod, the umbrella-shaped supporting rod is similar to an umbrella in an opening state, the umbrella-shaped supporting rod is in a rod-shaped folding state, is parallel to the telescopic rod 21, is mainly used for supporting the pan-tilt 24, and can rotate around the top end of the telescopic rod 21 in the left-right direction. Such as: the arc support umbrella 23 may include a plurality of support rods that resemble an umbrella when opened. As shown in fig. 4, in some embodiments of the present disclosure, the arc-shaped supporting umbrella 23 may include two supporting rods 231, each supporting rod 231 may be connected to the top of the telescopic rod 21 through a gear connecting shaft, the two supporting rods 231 may rotate around the top of the telescopic rod left and right, and the top of each supporting rod 231 may be connected to a cradle head. Triangle location can be realized to two bracing pieces 231, and rigidity and stability are strong, and arc support umbrella 23 is collapsible can strut, the installation of conveniently accomodating. After two bracing pieces 231 are opened, the detection face can cover a larger area, certainly, according to the in-service use demand, arc support umbrella 23 can set up more bracing pieces 231, and this specification embodiment does not do specifically and restricts.
The rotation angle of the supporting rod 231 can be synchronously controlled, and can also be controlled by different driving motors respectively, which can be determined based on actual use requirements, and the embodiment of the present specification is not particularly limited. As shown in fig. 4, in an example of this specification, a relative rotation angle between two support rods 231 of the arc-shaped support umbrella 23 and the gear shaft is 60 °, and a relative rotation angle between the two support rods 231 is 120 °, which is equivalent to synchronous control.
As shown in fig. 4, the top end of the arc-shaped supporting umbrella 23 is connected with a cloud deck 24, and the cloud deck 24 is mainly used for carrying a detecting instrument 25. Cloud platform 24 can implement electronic universal adjustment and fixed for its base, and cloud platform 24 can universal connection be on 23 tops of arc support umbrella promptly, if: connect on arc support umbrella 23 top through universal connector or cardan shaft etc. cloud platform 24 can drive the detecting instrument 25 that sets up on cloud platform 24 like this and rotate at will round arc support umbrella 23 top, increases the cover face that detects, need not remove whole transposition just can detect corresponding position in the certain limit, promotes detection efficiency. The universal adjusting capability of the holder 24 facilitates the outer surface of the detecting instrument 25 to be parallel to the surface of the lining on different measuring lines, and the data quality is guaranteed. The detecting instrument 25 may be a geological radar or other contact detecting instrument, and the embodiments of the present disclosure are not limited in particular. In the working state, the detection arm 2 is lifted, the position of the detection arm 2 is adjusted, and the detection instrument 25 can be contacted with the surface of the tunnel lining so as to detect the tunnel lining.
Fig. 5 is a schematic view illustrating an installation of the detection arm on the traveling mechanism in an embodiment of the present description, as shown in fig. 5, in some embodiments of the present description, 2 detection arms 2 may be provided, and each detection arm 2 may include a telescopic rod 21, an arc-shaped support umbrella 23, and two holders 24, so as to increase a detection coverage and improve detection efficiency. In addition, in this specification embodiment, the number of the movable beam 12 may be set to 2, the two ends of the movable beam 12 may be provided with the detection arm interfaces 121, if the movable beam 12 is provided with 2, there are 4 detection arm interfaces 121 in total, and the detection arm 2 may be installed on the corresponding detection arm interface 121 according to an actual use requirement. Such as: the tunnel lining detection device can be respectively installed on the same side detection arm interfaces 121 of the two movable cross beams 12 to detect the tunnel lining on the same side, or respectively installed on the two side detection arm interfaces 121 of the two movable cross beams 12 to detect the tunnel lining on the left side and the right side, or can be used for installing the two detection arms 2 on the two end detection arm interfaces 121 of the same movable cross beam 12, and the installation mode of the detection arms 2 is not specifically limited in the embodiment of the specification. Moreover, if two detection arms 2 are installed, the two detection arms 2 can work together, or only one detection arm 2 can be used for detection at a time.
In addition, the material of each structure in the embodiment of the specification can be selected according to actual requirements, and the light material can be selected as far as possible under the condition of meeting the use requirement, so that the weight of the whole device is reduced. For example: the main material of the running mechanism 1 can be selected from a carbon fiber rod frame. All the structures of the detection arm 2 except the shaft can adopt an integral carbon fiber friction pad or an aluminum alloy profile so as to ensure that the total weight after integration is controlled within the reasonable carrying range of 2-3 people. According to the description of the embodiments, all parts of the portable tunnel lining detection device in the embodiments of the present description are independent components, are quickly inserted and fastened, are convenient to transport and install, and can be quickly installed and detected by a small number of workers. The detection arm is telescopic in adjustment, the degree of freedom is various, the section coverage is strong, the walking mechanism can be automatically controlled by the control device to advance and the detection arm is lifted, and automatic detection of the tunnel lining is achieved.
Fig. 6 is a schematic top view of a pan/tilt head detection apparatus in an embodiment of the present disclosure, as shown in fig. 6, in some embodiments of the present disclosure, a soft wheel 26 may be disposed on the top of the pan/tilt head 24, the soft wheel 26 may be a spring rubber soft wheel, when the detection apparatus 25 on the pan/tilt head 24 detects a tunnel lining, the soft wheel 26 contacts a lining surface, wherein a stiff spring suspended on a shaft may be flexibly compressed to release a space for automatically adjusting a distance between the detection apparatus 25 on the pan/tilt head 24 and the tunnel lining, so as to avoid a problem of an excessively high adjustment frequency of the detection arm 2 due to an uneven tunnel lining. The adjustment space of the soft wheel 26 can be about 5cm, self-adaptive adjustment of the detection arm 2 in a certain space can be realized through the soft wheel 26, the moving frequency of the detection arm 2 is reduced, and the detection efficiency and accuracy are improved.
In some embodiments of the present description, the cradle head 24 is further provided with a distance measuring instrument 27 such as: laser or ultrasonic range finder or other range finder, range finder 27 mainly can be used for detecting the distance between cloud platform and the tunnel lining surface. Distance measuring instrument 27 can be connected with controlgear 3 communication, and when detecting instrument 25 detected tunnel lining, distance measuring instrument 27 can gather the distance between detecting instrument and the tunnel lining surface in real time to establish 3 with the distance signal transmission who gathers to control, controlgear 3 can be based on the data automatic control that distance measuring instrument 27 gathered detects arm 2 and goes up and down, with the distance between adjustment detecting instrument 25 and the tunnel lining. Through setting up range finder 27, will gather and pass into controlgear, can realize carrying out the maintenance of detecting instrument 25 surface and tunnel lining surface distance automatically, combine the contact ability of cloud platform 24 both sides soft wheel 26, can ensure that detecting instrument 25 surface and tunnel lining surface distance keep in the optimal distance range, generally, this distance value preferred keeps the interval to be 5cm-10cm, can make the data of detecting effective, the image is clear stable. Wherein, the installation position of distance measuring instrument 27 can set up according to actual need, if can install the four corners at cloud platform 24.
As shown in fig. 3 and 4, in some embodiments of the present disclosure, an air source 28 may be further disposed at the bottom of the detection arm 2, the air source 28 may include an energy accumulator and a micro air compressor (e.g., an air pump), and the air may be input through the air compressor as a telescopic medium through an inner cylinder of the detection arm 2, and may be pressed back through the energy accumulator or directly discharged outside, so as to control the lifting of the detection arm 2. Wherein, controlgear 3 can with energy storage ware and air compressor ware communication connection, through the valve opening control of control energy storage ware and air compressor ware the lifting speed of the sleeve cylinder body of detecting arm 2, and then control the lifting speed of detecting arm 2.
In some example scenarios in this specification, the adjustable ascending or descending speed range of the detection arm 2 may be set to at least 2 steps, including the precise fine adjustment after the accumulated amount of change of the tunnel lining surface exceeds the releasing capability of the soft wheel 26 on the pan/tilt head 24, and the ascending/descending speed that can be safely, rapidly and efficiently executed in case of emergency obstacle avoidance. The speed of accurate fine adjustment can be set to be about 5cm/s to adapt to detection, the lifting speed of efficient execution can be set to be 1.5m/s, and for the sake of safety, the control device 3 can be set to automatically switch the detection arm 2 into the accurate fine adjustment mode when receiving the lifting speed of the detection arm 2 and the displacement detection value is lower than 10 cm.
As shown in fig. 6, in some embodiments of the present description, a monitoring device 210 may be disposed at the front end of the pan/tilt 24, the monitoring device 210 may include a monitor and an obstacle avoidance instrument, and may mainly include a laser obstacle scanner and a vision sensor by using the principles of machine vision depth learning and laser obstacle scanning, and both may be in communication connection with the control device 3 to prompt detailed information of the obstacle ahead and to fuse signals to the control device 3 to perform automatic execution of the lifting logic of the detection arm 2. The monitoring data of the monitoring device 210 can be integrated on the display screen, so that the operator can conveniently check the data. As shown in fig. 1, in some embodiments of the present disclosure, a work station 13 may be disposed on the traveling mechanism 1, and a display screen may be disposed in front of the work station 13 for viewing the detection data and the monitoring data. In the embodiment of the present specification, 2 stations 13 may be provided, one operation console 31 may be provided in front of each station 13, and the operation console 31 may be understood as a human-computer interaction device of the control device 3, which may include the display screen and the integrated acquisition/self-processing machine, one station 13 may be used for detecting data acquisition and synchronous processing output, and another station 13 may be used for controlling operation of device running and detection arm, and work division and cooperation are performed to avoid errors.
In addition, in some embodiments of the present disclosure, the portable tunnel lining detection device may be used to detect not only a road tunnel lining, but also a tunnel lining with a track. The portable tunnel lining detection device in the embodiment of the present specification can drive the whole device to advance through the walking wheels 15 at the bottom of the walking mechanism 1, generally, the walking wheels 15 can be uniformly arranged at the bottom of the underframe 11, as shown in fig. 2, 2 walking wheels 15 can be respectively arranged at the left side and the right side of the bottom of the underframe 11. However, the tunnel with a track has a limited traveling manner, and in the embodiment of the present specification, the traveling wheels 15 on one side of the bottom of the chassis 11 of the traveling mechanism 1 may be set as elastic contour inner top wheels, and specifically, the traveling wheels 15 on any one side of both sides of the longitudinal axis of the chassis may be set as elastic contour inner top wheels, such as: the 2 running wheels 15 on the left or right in fig. 2 can be provided as elastically profiled inside top wheels. The top wheels on the inner sides of the elastic profiles have certain elasticity and can be adapted to the curve line of the rail, so that the travelling mechanism 1 can travel on the railway rail to form a travelling trolley. In addition, in the embodiment of the present disclosure, a track gauge sensor may be further disposed on the top wheel inside the elastic profile, the track gauge sensor has a track direction adjusting capability, the track gauge sensor page may be in communication connection with the control device 3, and the control device 3 automatically adjusts the distance between the traveling wheel 15 and the track according to data transmitted by the track gauge sensor. The walking wheels can adapt to the track curve through the top wheels on the inner side of the elastic profile and the track gauge sensors, so that the portable tunnel lining detection device can walk on the track stably, and continuous and stable detection on the tunnel lining with the track is realized.
In addition, in some embodiments of the present disclosure, a rail clamping wheel 16 may be further disposed at the bottom of the chassis 11, and the rail clamping wheel 16 may be disposed at two sides of the traveling mechanism 1 in the forward direction, that is, at two sides of the bottom of the chassis 11 in parallel with the forward direction of the traveling mechanism 1, and at least one pair of rail clamping wheels 16 may be disposed at two sides of the bottom of the chassis 11, for example, a pair of rail clamping wheels 16 is disposed at each of the left and right sides. The rail clamping wheel 16 is mainly used for clamping a rail and preventing the device from overturning, the specific position of the rail clamping wheel 16 can be set according to actual requirements, and the embodiment of the specification is not particularly limited. In addition, the rail clamping wheel 16 in the embodiment of the present disclosure may be adjustable, that is, the position and the angle of the rail clamping wheel 16 may be adjusted according to actual needs, and the gap between the rail clamping wheel 16 and the rail may be finely adjusted, so as to ensure the stability of the device and prevent the device from overturning under the condition that the device may smoothly advance. In addition, the rail clamping wheel 16 can be folded or put down according to whether a rail is on a walking road surface or not, and the rail clamping wheel 16 does not work when the rail is folded.
In some embodiments of the present disclosure, the running wheels 15 at the bottom of the chassis 11 may be divided into driving wheels and driven wheels, wherein the running wheels 15 at one side far away from the advancing direction of the running mechanism 1 may be called driving wheels, and the driven wheels at the other side, as shown in fig. 3, the front row running wheels 15 of the running mechanism 1 may also be called driven wheels, and the rear row running wheels 15 may also be called driving wheels. Wherein, the action wheel is connected with driving motor 17 to, be provided with photoelectric encoder 18 in the pivot department of action wheel, photoelectric encoder 18 can with control device 3 communication connection, mainly used gathers the displacement volume of action wheel, and control device 3 can carry out automated control to the speed and/or the displacement that running gear marchd based on the displacement volume that photoelectric encoder 18 gathered and transmitted. The motor in the embodiment of the specification can adopt a differential bridge type and is powered by the power equipment 4. The speed of marcing can be set according to the transportation needs after detection requirement and detection arm retrieve, like: the usual gear for running speed (m/s) can preferably be set as: and 6, 3, 1, 0.5, selecting 6 or 3 in operation according to the rail gauge detection result, selecting 1 or 0.5 according to the actual working condition and the line condition of the surface state of the tunnel lining in detection, and even performing stepless speed change by adopting a more accurate low-speed interval.
As shown in fig. 3, in some embodiments of the present specification, a forward radar sensor 19 may be further disposed on the chassis 11, the forward radar sensor 19 may be mainly used for monitoring whether an obstacle exists in a forward direction of the traveling mechanism 1, and an interface may be disposed between the upper portion of a shaft end where a front driven wheel is located and the chassis, and the forward radar sensor 19 is installed to prevent a limit-violated state when the device travels due to line facilities such as a ballast and a guard rail of a conventional road, and to prompt deceleration or offline. The forward radar sensor 19 may be in communication with the control device 3, and when an obstacle is detected, the control device 3 controls the travel mechanism 1 to stop traveling. In the embodiment of the specification, the braking mode can be power-off of the walking motor and mechanical braking of the walking wheels.
The control equipment 3 can feed back information such as whether the control equipment 3 automatically carries out corresponding execution actions according to the plan according to the distance between the obstacle and the mechanical arm detected by the obstacle avoidance instrument on the cradle head 24, the distance between the detection instrument 25 and the lining surface detected by the detection instrument 25 and the distance between the photoelectric distance measurement encoder value signals according to the speed matching relation logic, and the information is sent to a display screen in front of the station so as to monitor the working condition by the working personnel, and if the system alarm occurs, manual intervention can be carried out in time.
In addition, the detachable connection between the components in the embodiments of the present description may be in a manner of hinge, bolt, or pin, and may be specifically selected according to actual use requirements, and the embodiments of the present description are not specifically limited.
The working process of the portable tunnel lining detection device provided by the specification for detecting the tunnel lining with the track can refer to the following steps:
according to the connection relation among all the components, all the components are assembled, after the device is completely assembled, when the device works on a line, a safety protector can be arranged for environment supervision and protection, two operators check whether the rail clamping wheels 16 are in place safely, and then enter the device to work without errors, and detection work is executed after the rail clamping wheels are seated. Taking the operation of one set of the detection arm 2 as an example, the working states of the other detection arm 2 are the same. When a worker at a second station operates the detection arm 2 to stretch to the surface of the lining to be measured for a distance of 1m, the arc-shaped support umbrella 23 is driven and controlled to be opened, the arc-shaped direction of the arc-shaped support umbrella 23 is adjusted to be approximately concentric with the surface of the lining through data feedback of a displacement sensor, the detection arm 2 is continuously controlled to ascend, a soft wheel 26 of each cradle head 24 is made to contact the surface of the lining, the fine-tuning cradle heads 24 rotate, the displacement indication value of each detection instrument 25 is guaranteed to be within the range of 5-10cm, the monitoring equipment 210 is started, the automatic control capability of the system is started, and the manual pipe connection is carried out in real time. And (4) starting the acquisition/processing integrated machine by a worker at the station one, checking whether the waveform signal is normal or not, setting acquisition parameters and preparing to start acquisition.
And starting detection, wherein the first station carries out real-time data acquisition and pretreatment, marking, mileage correction and remarking of a field state are made, the second station driving control device drives the wheels to run at a low speed, pays attention to forward radar information, obstacle intrusion information, a displacement display value and a monitoring video interface in real time, observes a self-adaptive detection state, and a protector is required to carry out civil defense real-time communication with the second station personnel.
In the process, if the distance deviation displayed by the detecting instrument 25 and the lining surface is larger and cannot be adjusted in a self-adaptive manner, the walking and the parking are carried out, the driving wheels keep braking, the detection arm 2 is controlled to descend in a fine adjustment manner, the rotating angle of the cradle head 24 is controlled to continue to be fine adjusted, then the soft wheels 26 are made to contact the lining surface again, and the walking and the detection are continued.
And after the detection is finished, the driving wheel keeps in a braking state, the station I carries out data acquisition check and processing result output, and after the error is confirmed, the detection system is closed, and the all-in-one machine is powered off. And after the detection arm is controlled to descend to the lining surface by 1m at the second station, the axis of the arc-shaped support umbrella 23 is adjusted to be flush with the detection arm 2, and after the arc-shaped support umbrella 23 is folded, the detection arm 2 is completely retracted, so that all equipment mechanisms of the device are within a safety limit range. The operator gets off the seat and withdraws the rail clamping wheel 16, the rail clamping wheel can have the conditions of no safety risk and interference on the traveling at the highest limited speed, after the operator confirms the line information with the protector, the station two driving wheel rapidly travels to the destination of the offline point according to the highest speed, the operator notices the line invasion information fed back by the forward radar sensor 19 along the way, and the traveling safety is ensured.
After the detection arm 2 reaches the destination, the driving wheel keeps braking, the detection arm rotates 90 degrees through the adjustable base connecting shaft in an electric control way, and the whole system is powered off after the detection arm is flush with the ground surface. The operator gets off, unloads carrier cloud platform 24 fastener that each contains each sensor and detecting instrument 25 through such quick-witted tools as electric torque spanner in proper order, and the root of detecting arm 2 is taken out from base spiale department tie-in, and the superiority of adjustable base has been embodied to this place, has avoided the huge degree of difficulty of detecting arm 2 dismantlement operation under the perpendicular to chassis 11 state, has saved the manpower loss of putting in the earth's surface under the empty state of lifting simultaneously. And then removing the all-in-one machine and the power system, finally dividing the travelling mechanism 1 into two parts according to the front and back directions of the underframe 11, and respectively boxing the most parts, loading the parts into carriers and evacuating the field. Accordingly, the preparation before the start of the test is reversed in this manner.
The portable tunnel lining detection device that this specification embodiment provided, detection arm regulation nature, section coverage nature are strong, and arm body structure is light novel, and the degree of freedom is various, and affiliated characteristic and sensor integrated level are high, and the structure is firm accurate, and parameter adjustment ability is strong, small-size manual work, but need the manpower loss very little, carry out the automatic many measuring lines of self-adaptation in portable dolly device and detect with unique form and be the first example. The walking mechanism is high in function richness and expansibility, various systems and interfaces are integrated in the fundamental demand of small and portable, details are exquisite, contribution is made to large, medium and small systematic development of detection equipment, and the blank that a small portable tunnel lining detection device does not have a high-integration multifunctional intelligent precedent is supplemented. The control system has strong coupling, high integration level of running and detection control and good field environment matching. The vehicle-mounted detection system has the advantages that the system can be executed in a free and gradable mode, the effectiveness, the rapidness and the stability are considered, the detection efficiency is not inferior to that of vehicle-mounted detection, and meanwhile, the high flexibility of the vehicle-mounted detection system under complex environment working conditions which are not possessed by the vehicle-mounted detection system is possessed. The automatic detection device has the advantages of integrated operation of walking, controlling, collecting and processing, low personnel technical requirement threshold, easy popularization and one-stop type from assembly to detection results. Whole device can transplant or split, and the suitability is strong, and the device is under the recovery state, and the manpower use amount is little, and the simple operation can container or logistics transportation.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In the description of the specification, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the specification. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is merely exemplary of one or more embodiments of the present disclosure and is not intended to limit the scope of one or more embodiments of the present disclosure. Various modifications and alterations to one or more embodiments described herein will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present specification should be included in the scope of the claims.
Claims (11)
1. A portable tunnel lining detection apparatus, the apparatus comprising: the device comprises a travelling mechanism (1), a detection arm (2), power equipment (4) and control equipment (3), wherein the travelling mechanism (1) comprises an underframe (11) and a movable cross beam (12), travelling wheels (15) are arranged at the bottom of the underframe (11), the movable cross beam (12) is detachably connected to the underframe (11), the movable cross beam (12) can move on the underframe (11) along the length direction of the movable cross beam (12), and a detection arm interface (121) is arranged on the movable cross beam (12);
detect arm (2) and include telescopic link (21), arc support umbrella (23), cloud platform (24), telescopic link (21) pass through detect arm interface (121) can dismantle the connection on walking beam (12), telescopic link (21) bottom is provided with the rotating electrical machines, the rotating electrical machines is used for driving detect arm (2) wind walking beam (12) is in the direction of advance of running gear (1) is rotatory, telescopic link (21) top is provided with the gear connecting axle, arc support umbrella (23) pass through the gear connecting axle is connected at telescopic link (21) top, arc support umbrella (23) can wind through the gear connecting axle telescopic link (21) top is followed the length direction rotary motion of walking beam (12), cloud platform (24) universal connection is in arc support umbrella (23) top, a detection instrument (25) is arranged on the cradle head (24), and the detection instrument (25) is used for being in contact with the surface of the tunnel lining so as to detect the tunnel lining;
the power equipment (4) is installed on the bottom frame (11), the control equipment (3) is arranged on the bottom frame (11), and the control equipment (3) is used for controlling the walking mechanism (1) to walk and the detection arm (2) to lift.
2. The portable tunnel lining detection device according to claim 1, wherein a soft wheel (26) is arranged on the top of the cradle head (24), and when the detection instrument (25) on the cradle head (24) detects the tunnel lining, the soft wheel (26) is used for automatically adjusting the distance between the detection instrument (25) on the cradle head (24) and the tunnel lining.
3. The portable tunnel lining detection device according to claim 1, wherein a distance measuring instrument (27) is further arranged on the cradle head (24), the distance measuring instrument (27) is in communication connection with the control equipment (3), when the detection instrument (25) detects a tunnel lining, the distance measuring instrument (27) collects the distance between the detection instrument (25) and the tunnel lining in real time and sends the collected distance to the control equipment (3), so that the control equipment (3) controls the detection arm (2) to lift and lower to adjust the distance between the detection instrument (25) and the tunnel lining.
4. The portable tunnel lining detection device according to claim 1, wherein the arc-shaped supporting umbrella (23) comprises two supporting rods (231), each supporting rod (231) is connected to the top of the telescopic rod (21) through the gear connecting shaft, the two supporting rods (231) can respectively rotate around the top of the telescopic rod (21) along the length direction of the movable beam (12), and the top of each supporting rod (231) is connected to a cradle head (24).
5. The portable tunnel lining detection apparatus according to claim 1, wherein the detection arm (2) further comprises a gas source (28), the gas source (28) comprises an accumulator and an air compressor, the telescopic rod (21) is a sleeve cylinder, the air compressor and the accumulator are used for driving the sleeve cylinder to ascend and descend through gas, and the control device (3) controls the ascending and descending speed of the sleeve cylinder through controlling the air compressor and a valve of the accumulator.
6. The portable tunnel lining detection apparatus of claim 1, wherein the detection arm (2) further comprises an adjusting rod (29), one end of the adjusting rod (29) is connected to the movable cross beam (12), and the other end of the adjusting rod (29) is adjustably connected to the telescopic rod (21).
7. The portable tunnel lining detection device according to claim 1, wherein a monitoring device (210) is further disposed on the cradle head (24), the monitoring device (210) includes an obstacle avoidance instrument, and the obstacle avoidance instrument is in communication connection with the control device (3).
8. The portable tunnel lining detection device according to claim 1, wherein the running wheels (15) are uniformly arranged at the bottom of both sides of the longitudinal axis of the chassis (11), wherein the running wheels (15) on either side of the longitudinal axis of the chassis are arranged as elastic profile inner top wheels, the elastic profile inner top wheels are provided with track gauge sensors, and the longitudinal axis of the chassis is parallel to the advancing direction of the travelling mechanism (1).
9. The portable tunnel lining detection device according to claim 1, wherein the running wheels (15) on the side far away from the advancing direction of the running mechanism (1) are driving wheels, the driving wheels are respectively connected with a driving motor, and a photoelectric encoder is respectively arranged at the rotating shafts of the driving wheels and is in communication connection with the control equipment (3); the photoelectric encoder is used for transmitting the collected displacement of the driving wheel to the control equipment (3), and the control equipment (3) controls the travelling speed and/or displacement of the travelling mechanism (1) based on the displacement collected by the photoelectric encoder.
10. The portable tunnel lining detection apparatus according to claim 1, wherein a forward radar sensor (19) is further provided on the chassis (11), the forward radar sensor (19) is used for monitoring obstacles in the forward direction of the traveling mechanism (1), and the forward radar sensor (19) is in communication connection with the control device (3).
11. The portable tunnel lining detection device according to claim 1, wherein at least one pair of adjustable rail clamping wheels (16) are respectively arranged on two sides of the bottom of the underframe (11) parallel to the advancing direction of the travelling mechanism (1).
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