CN114673557A - Tunnel shotcrete quality intelligent detection device and method - Google Patents
Tunnel shotcrete quality intelligent detection device and method Download PDFInfo
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- CN114673557A CN114673557A CN202210313047.8A CN202210313047A CN114673557A CN 114673557 A CN114673557 A CN 114673557A CN 202210313047 A CN202210313047 A CN 202210313047A CN 114673557 A CN114673557 A CN 114673557A
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- 238000001514 detection method Methods 0.000 title claims abstract description 119
- 239000011378 shotcrete Substances 0.000 title claims abstract description 23
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- 238000004364 calculation method Methods 0.000 claims description 6
- 239000004567 concrete Substances 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 5
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- 230000000007 visual effect Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000005553 drilling Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 210000003781 tooth socket Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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Abstract
The utility model provides a tunnel shotcrete quality intellectual detection system equipment, relate to tunnel support engineering detection technical field, including crawler-belt car, the lifter, expand the device, merogenesis track and intelligence control system, crawler-belt car's top is equipped with the platform, center department at the platform is equipped with automatically controlled lifter, the top of lifter is equipped with lift position detector, both sides at the lifter top are connected with the merogenesis track respectively, the merogenesis track is formed by connecting a plurality of track sections, and can expand under the drive of expanding the device, still be equipped with portable testing platform on the merogenesis track, be equipped with intelligence control system on the crawler-belt car. The invention can intelligently fit the detected contour, works at any height position of the tunnel, abandons the traditional manual detection means and greatly improves the detection efficiency.
Description
Technical Field
The invention relates to the technical field of tunnel support engineering detection, in particular to intelligent detection equipment and method for tunnel shotcrete quality.
Background
The sprayed concrete is an important component of the primary support of the tunnel, but the site construction often generates a cavity due to the non-compact spraying, and the cavity of a sprayed layer is a great hidden trouble of tunnel stability. Therefore, the tunnel shotcrete must be subjected to sprayed layer quality detection, and the currently common sprayed layer quality detection method comprises the following steps: in-situ drilling method, geological radar method, ultrasonic pulse method, infrared ray temperature field photographic technique, dynamic nondestructive testing method and the like. The in-situ drilling method can accurately detect the cavity condition of the sprayed layer, but the drilling and sampling process can cause damage to the primary support structure; the geological radar method is widely used in the detection of the quality of a sprayed layer, but the geological radar detection method also has problems in application, such as low recognition rate when the thickness of a detected object exceeds 0.5m, expensive equipment, long detection time and the like; the infrared temperature field photographic technology is generally arranged on a moving bracket, can conveniently and quickly carry out nondestructive detection on a sprayed layer, but the method depends on temperature gradient measurement, and if an accurate result is obtained, the method is combined with other technologies for use; the power nondestructive method is simple and easy to operate and low in cost, and is suitable for local detection due to terrain limitation.
Therefore, it is necessary to provide an automatic detection device which can effectively improve the detection efficiency and solve the problems of low efficiency, inaccurate detection result and the like in the actual tunnel quality detection project.
Disclosure of Invention
The invention provides intelligent detection equipment and method for tunnel sprayed concrete quality, and aims to solve the problems in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an intelligent detection device for tunnel sprayed concrete quality comprises a crawler trolley, a lifting rod, an expansion device, a sectional track and an intelligent control system, wherein the top end of the crawler trolley is provided with a platform, the center of the platform is longitudinally provided with an electric control lifting rod, the top end of the lifting rod is provided with a lifting position detector, two sides of the top of the lifting rod are respectively connected with the sectional track, the sectional track is formed by connecting a plurality of track sections in a segmented manner and can be expanded under the driving of the expansion device, each track section is enabled to move to the detection position of the corresponding tunnel arc-shaped surface, the sectional track is also provided with a movable detection platform, the crawler trolley is provided with the intelligent control system, and the intelligent control system is configured to control the advancing of the crawler trolley, the action of the expansion device, the action of the movable detection platform and the action of the lifting rod, the lifting position detector and the detection equipment carried on the mobile detection platform are electrically connected with an intelligent control system through wires respectively, the intelligent control system is electrically connected with a vehicle-mounted power supply, and the intelligent control system transmits a graph drawn according to a detection signal or data information obtained through calculation to a detection control center in a wired or wireless mode.
Preferably, adjacent track sections are connected through spline shafts, the spline shafts are connected with the front end splines of the track sections positioned at the rear side, the two ends of the spline shaft are rotationally connected with the rear ends of the track sections positioned at the front side, all the track sections are connected in an end-to-end mode, the unfolding device comprises a driving motor embedded in the middle of each track segment, an output shaft of the driving motor extends outwards along the direction vertical to the side wall of the track segment, and is fixedly connected with a driving gear, both ends of the spline shaft are fixedly provided with round shafts, the round shafts are rotatably connected with the rear ends of the track sections positioned at the front side, a driven gear is fixedly arranged at the end part of one of the circular shafts, the driving gear is in transmission connection with the driven gear through a chain, and the driving motor is electrically connected with the intelligent control system through a lead; the unfolding device further comprises an electric push rod connected between the first section of track segment in the lifting rod direction and the side wall of the telescopic rod of the lifting rod, two ends of the electric push rod are hinged with the bottom of the first section of track segment and the side wall of the telescopic end respectively, the end part of the first section of track segment, facing one side of the lifting rod, is hinged with the top end of the lifting rod, and the electric push rod stretches and retracts to drive the first section of track to unfold; the electric push rod is electrically connected with the intelligent control system through a lead.
Preferably, the check out test set including fixed strike hammer, ultrasonic pulser, the infrared temperature detector of locating portable testing platform top, the strike hammer implement the action of strikeing through automatically controlled telescoping device, automatically controlled telescoping device pass through wire and intelligent control system electric connection, portable testing platform still be equipped with and strike sound collection device, strike sound collection device pass through wire and intelligent control system signal connection.
Preferably, the bottom end of the movable detection platform is provided with a groove matched with the rail section, the inner surface of the side wall of the groove is respectively provided with a front group of driving components and a rear group of driving components, each group of driving components is provided with 2 adjusting gears, each group of 2 adjusting gears on the inner surface of the 2 side walls of the groove are respectively meshed and connected with the tooth-socket rail arranged on the left side or the right side of the outer peripheral surface of the rail section, the adjusting gear positioned on the upper side is meshed and connected with the tooth-socket rail arranged on the upper end of the rail section, and the adjusting gear positioned on the lower side is meshed and connected with the tooth-socket rail arranged on the lower end of the rail section; the upper end and the lower end of the outer surface of the side wall of the groove are respectively provided with a limiting block, the outer side end of each limiting block is always in clearance fit with the outer surface of the upper edge or the lower edge of the side wall of the sectional track, a set distance is reserved between the outer side end of each limiting block and the inner surface of the side wall of the groove, and the set distance ensures that the movable detection platform can avoid mutual interference with the unfolding device when moving back and forth along the track section; the cavity is arranged in the side wall of the groove, a linear sliding groove penetrating through the inner surface of the side wall of the groove is arranged on the cavity, the linear sliding groove is longitudinally arranged, a central shaft of the adjusting gear penetrates through the linear sliding groove and extends into the cavity, the central shaft is connected with the linear sliding groove in a sliding manner, the other end of the central shaft is connected with a mobile motor, the end part of an output shaft of the mobile motor is fixedly connected with the end part of the central shaft, electric cylinders are respectively arranged on the opposite surfaces of the shell walls of the mobile motors positioned at the upper side and the lower side, the fixed ends of the electric cylinders are fixedly connected with the inner wall of the cavity, the telescopic ends of the electric cylinders are connected with the outer surface of the shell wall of the mobile motor through pressure sensors, linear sliding rails are further longitudinally arranged on the side wall of the cavity far away from the linear sliding groove, and the mobile motor is connected with the linear sliding rails; the mobile detection platform is also provided with a laser inclination angle measuring instrument for detecting the axial inclination angle of the knocking hammer, the top end of the mobile detection platform is provided with a vision sensor, the pressure sensor, the laser inclination angle measuring instrument and the vision sensor are respectively in signal connection with an intelligent control system through leads, and the intelligent control system is respectively in electric connection with the mobile motor and the electric cylinder through leads.
Preferably, the mobile detection platform is further provided with an alarm, and when the detection signal is abnormal, the alarm gives an alarm to display the position of the empty drum; the alarm is electrically connected with the intelligent control system through a wire.
Preferably, the top end of the track section is also provided with a laser range finder which is in signal connection with an intelligent control system through a lead.
Preferably, the platform top still be equipped with upper end open-ended and accomodate the groove, lifter bottom and the platform top fixed connection who accomodates the groove and enclose and close, under initial condition, the segmental track of lifter and both sides all contracts in accomodating the inslot.
Preferably, the outer surface of the side wall of the accommodating groove is also provided with an infrared distance detector which is in signal connection with an intelligent control system through a lead.
Preferably, the crawler trolley is provided with an off-road triangular crawler.
A quality detection method for tunnel shotcrete comprises the following steps:
(1) the crawler trolley moves inwards along the central line of the tunnel ground towards the tunnel, and the central line of the crawler trolley and the central line of the tunnel ground are parallel to each other in a vertical plane;
(2) sending a signal to an intelligent control system through an infrared distance detector, and controlling the crawler trolley to intermittently move forward by a set distance through the intelligent control system;
(3) at a set distance, the intelligent control system controls the crawler trolley to stop, and the air suspension system is controlled to ensure that the trolley body of the crawler trolley is stable during detection;
(4) under the coordination of the lifting position detector, the lifting rod is lifted to the working height through the intelligent control system;
(5) starting an electric push rod, expanding the first sections of rails on the two sides in a segmented manner, then sequentially starting a driving motor on each rail segment to expand each section of rail in a segmented manner, and in the expanding process, controlling the expanding degree of each rail segment by an intelligent control system through the detection information of a laser range finder to enable the rail segment to be in a position suitable for detection;
(6) the tunnel arc-shaped surface corresponding to each track segment is used as a working area, the concrete quality in each working area is detected, and knocking hammers corresponding to each track segment sequentially act during detection, so that mutual interference of knocking sounds is avoided;
(7) and the intelligent control system transmits the graph drawn according to the detection signal or the data information obtained by calculation to the detection control center in a wired or wireless mode.
The intelligent detection equipment and method for the quality of the tunnel sprayed concrete have the beneficial effects that:
1. the quality detection equipment suitable for various tunnel size types is provided, the equipment can be intelligently attached to a detected contour, works at any height position of the tunnel, abandons the traditional manual detection means, and greatly improves the detection efficiency;
2. the instrument track equipment capable of automatically detecting the cavity problem of the primary support concrete of the tunnel is provided, a detection instrument can be placed for autonomous detection, the quality detection mode is optimized, and an intelligent working means is realized;
3. the concrete quality detection equipment adopting sound wave detection, infrared temperature detection and hammering vibration detection is provided, the advantages of each detection means are fully exerted, one-point repeated detection is realized, and the detection accuracy is effectively improved;
4. the crawler trolley can run in a tunnel primary support environment by self and keep a stable working state, and preparation work of using equipment is optimized.
Drawings
FIG. 1 is a schematic view of the device of the present invention in its expanded operation;
FIG. 2 is a schematic diagram of the apparatus of the present invention in a ready state;
FIG. 3 is a side schematic view of the track trolley of the present invention;
FIG. 4 is a schematic view of a mobile testing platform according to the present invention;
FIG. 5 is a schematic view of the track segmenting and deploying device of the present invention;
FIG. 6 is a side sectional view of the mobile inspection platform of the present invention in engagement with a track segment;
1. a lifting position detector; 2. a lifting rod; 3. a connection location; 4. a mobile detection platform; 5. segmenting the track; 6. a crawler track trolley; 7. a suspension system; 8. a cross-country triangular crawler belt; 9. knocking hammers; 10. an ultrasonic pulser; 11. an infrared temperature detector; 12. a laser inclinometer; 13. an alarm; 14. an adjusting gear; 15. a linear chute; 16. a receiving groove; 17. an infrared distance detector; 18. an intelligent control system; 19. a rack-and-slot track; 20. a drive motor; 21. a spline shaft; 22. a laser range finder; 23. a charging port; 24. a vehicle-mounted power supply; 25. a protection plate; 26. a tunnel arc-shaped surface; 27. a power supply socket; 28. a spline housing; 29. a U-shaped seat; 30. an electric push rod; 31. a moving motor; 32. a cavity; 33. a linear slide rail; 34. an electric cylinder; 35. a pressure sensor; 36. a driving gear; 37. and a limiting block.
Detailed Description
In the following, embodiments of the present invention are described in detail in a stepwise manner, which is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are only used for describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, the present invention is not to be construed as being limited thereto.
Examples 1,
An intelligent detection device for tunnel sprayed concrete quality is shown in figures 1-6 and comprises a crawler trolley 6, a lifting rod 2, an expansion device, a subsection track 5 and an intelligent control system 18, wherein a platform is arranged at the top end of the crawler trolley 6, the electric control lifting rod 2 is longitudinally arranged at the center of the platform, a lifting position detector 1 is arranged at the top end of the lifting rod 2, the subsection track 5 is respectively connected to two sides of the top of the lifting rod 2, the subsection track 5 is formed by connecting a plurality of track sections and can be expanded under the driving of the expansion device, each track section is enabled to be moved to the detection position of the corresponding tunnel arc-shaped surface, a movable detection platform is further arranged on the subsection track, the intelligent control system 18 is arranged on the crawler trolley 6, and the intelligent control system 18 is configured to move the crawler trolley and move the expansion device, The device comprises a movable detection platform and a lifting rod, wherein the movable detection platform and the lifting rod are controlled, the lifting position detector 1 and detection equipment carried on the movable detection platform are respectively and electrically connected with an intelligent control system 18 through leads, the intelligent control system is electrically connected with a vehicle-mounted power supply, and the intelligent control system transmits graphs drawn according to detection signals or data information obtained through calculation to a detection control center in a wired or wireless mode.
In this embodiment, the lifter can be telescopic electrical equipment such as electric putter or electronic jar or pneumatic cylinder or cylinder, can fully adapt to the complicated road surface condition in the tunnel through track platform truck.
Examples 2,
On the basis of embodiment 1, the present embodiment is improved as follows:
as shown in fig. 1, 2, 5 and 6, adjacent track segments are connected by a spline shaft 21, the spline shaft is connected with the front end of the track segment at the rear side by a spline, two ends of the spline shaft are rotatably connected with the rear end of the track segment at the front side, each track segment is connected in an end-to-end manner, the unfolding device comprises a driving motor embedded in the middle of each track segment, an output shaft of the driving motor extends outwards along a direction perpendicular to the side wall of the track segment and is fixedly connected with a driving gear (not shown in the figure), two ends of the spline shaft are fixedly provided with a circular shaft, the circular shaft is rotatably connected with the rear end of the track segment at the front side, the end of one circular shaft is fixedly provided with a driven gear (not shown in the figure), the driving gear is in transmission connection with the driven gear by a chain (not shown in the figure), the driving motor is electrically connected with the intelligent control system through a lead; the unfolding device further comprises an electric push rod 30 connected between the first section of track section in the direction of the lifting rod and the side wall of the telescopic rod of the lifting rod, two ends of the electric push rod are respectively hinged with the bottom of the first section of track section and the side wall of the telescopic end, the end part of the first section of track section, facing one side of the lifting rod, is hinged with the top end of the lifting rod, and the first section of track section is driven to unfold under the stretching of the electric push rod; the electric push rod is electrically connected with the intelligent control system 18 through a lead.
In this embodiment, the principle of the expansion of the segmental track is as follows: the electric push rod enables the first section of the track to be unfolded, and then the driving motor of each section of the track acts in sequence to enable each section of the track to be unfolded in sequence. In practice, the number of track segments may be selected according to the size of the tunnel. As shown in fig. 5, a spline housing 28 is provided at one end of the rail segment, a U-shaped seat 29 is provided at the other end, shaft holes are provided on the side plates at both sides of the U-shaped seat, the front end of the rear rail segment is inserted into the U-shaped seat, the round shafts at both ends of the spline shaft pass through the shaft holes and are rotatably connected with the shaft holes, so that the rear rail segment can be unfolded under the driving of the round shafts.
Examples 3,
On the basis of the embodiment 2, the embodiment is improved as follows:
as shown in fig. 1-6, the detection equipment include fix locate portable testing platform top strike hammer 9, ultrasonic pulser 10, infrared temperature detector 11, the strike hammer implement the action of strikeing through automatically controlled telescoping device (not drawn in the figure), automatically controlled telescoping device pass through wire and intelligent control system electric connection, portable testing platform still be equipped with and strike sound collection device, strike sound collection device pass through wire and intelligent control system signal connection.
In this embodiment, the electrically controlled telescopic device may be an electric push rod; the sound collecting device can be a sound transmission device such as a microphone, and the pouring quality of the concrete is detected through the analysis of the intelligent control system on the sound signals. The detection result is ensured to be correct and reliable through the cooperative detection of the three detection devices.
Examples 4,
On the basis of embodiment 3, the present embodiment is improved as follows:
as shown in fig. 4, 5, and 6, a groove (not labeled in the figures) matching with the track segment is provided at the bottom end of the mobile detection platform, a front set of driving components and a rear set of driving components are respectively provided on the inner surfaces of the side walls of the groove, each set of driving components is provided with 2 adjusting gears 14, 2 adjusting gears of each set of the inner surfaces of the 2 side walls of the groove are respectively engaged with a tooth-groove-shaped track 19 provided on the left or right side of the outer peripheral surface of the track segment, the adjusting gear positioned on the upper side is engaged with a tooth-groove-shaped track 19 provided on the upper end of the track segment, and the adjusting gear positioned on the lower side is engaged with a tooth-groove-shaped track 19 provided on the lower end of the track segment; the upper end and the lower end of the outer surface of the side wall of the groove are respectively provided with a limiting block 37, the outer side end of each limiting block 37 is always in clearance fit with the outer surface of the upper edge or the lower edge of the side wall of the sectional track, a set distance is reserved between the outer side end of each limiting block 37 and the inner surface of the side wall of the groove, and the set distance ensures that the movable detection platform can not interfere with the unfolding device when moving back and forth along the track section; a cavity 32 is arranged in the side wall of the groove, a linear sliding groove 15 penetrating through the inner surface of the side wall of the groove is arranged on the cavity 32, the linear sliding groove 15 is longitudinally arranged, a central shaft of the adjusting gear penetrates through the linear sliding groove and extends into the cavity, the central shaft is in sliding connection with the linear sliding groove, the other end of the central shaft is connected with a mobile motor 31, the end part of an output shaft of the mobile motor is fixedly connected with the end part of the central shaft, electric cylinders 34 are respectively arranged on the opposite surfaces of the shell walls of the mobile motors positioned at the upper side and the lower side, the fixed ends of the electric cylinders 34 are fixedly connected with the inner wall of the cavity, the telescopic ends are connected with the outer surface of the shell wall of the mobile motor through pressure sensors 35, a linear slide rail 33 is also longitudinally arranged on the side wall of the cavity far away from the linear sliding groove, and the mobile motor is in sliding connection with the linear slide rail 33; the mobile detection platform is further provided with a laser inclination angle measuring instrument 12 used for detecting an axial inclination angle of the knocking hammer 9, a visual sensor is arranged at the top end of the mobile detection platform, the pressure sensor, the laser inclination angle measuring instrument 12 and the visual sensor are respectively in signal connection with an intelligent control system 18 through leads, and the intelligent control system is respectively in electric connection with a mobile motor and an electric cylinder through leads.
In this embodiment, the upper and lower ends of the track segment can be set to be arc-shaped for adapting to the arc-shaped surface of the tunnel, and in this case, when the mobile detection platform moves back and forth along the tooth-groove-shaped track 19, the intelligent control system controls the electric cylinder to stretch according to the information of the pressure sensor, so that the distance between the 2 adjusting gears 14 in the same group is matched with the distance between the tooth-groove-shaped tracks 19 at the upper and lower ends.
As better implementation mode, the lateral wall of track segmentation is the rectangle (not drawn in the picture), portable testing platform just does not need the cooperation of electronic jar when round trip movement like this, it is more convenient to make the removal, the check out test set of locating on portable testing platform simultaneously all can keep in the working interval, wherein strike hammer accessible change automatically controlled telescoping device's flexible volume and adapt to the detection distance change that the arcwall face in tunnel brought, as preferred, strike the hammer and pass through the spring and be connected with automatically controlled telescoping device top, thereby avoid producing hard impact to automatically controlled telescoping device when guaranteeing to strike action quality.
In actual operation, there may be cases where: the invention is provided with a visual sensor and a laser inclination angle measuring instrument, on one hand, whether the knocking hammer is vertical to the detected arc-shaped surface is detected in time through the visual sensor, on the other hand, the inclination angle of the axis of the knocking hammer is detected through the laser inclination angle measuring instrument, and then, the inclination angle of the axis of the knocking hammer is adjusted in time through an intelligent control system, so that the axis of the knocking hammer is vertical to the detected arc-shaped surface.
Further, the method for adjusting the inclination angle of the axis of the knocking hammer comprises the following steps: the method comprises the steps that firstly, through contraction of electric cylinders on the lower portion, adjusting gears on the lower portion in front and rear two groups of driving assemblies on the side wall of each groove are disengaged from a tooth groove type rail 19 on the lower portion of a rail section, then the electric cylinders on the upper portion stretch out and draw back to drive the adjusting gears on the upper portion in one group of driving assemblies to move upwards or downwards along a linear sliding groove, so that height difference exists between the adjusting gears on the upper portion of the two groups of driving assemblies, the inclination angle of the whole movable operation platform is adjusted in this mode, after the inclination angle is in place, the adjusting gears on the lower portion are tightly pressed and engaged with the tooth groove type rail 19 on the lower portion, detection is carried out in this state, when the movable operation platform needs to be moved again, the electric cylinders on the upper portion and the lower portion return to the original stretching amount, and then the movable operation platform continues to move to a new position for detection.
Examples 5,
On the basis of embodiment 4, the present embodiment is improved as follows:
as shown in fig. 4, an alarm 13 is further arranged on the mobile detection platform, and when a detection signal is abnormal, the alarm 13 gives an alarm to display the position of the empty drum; the alarm 13 is electrically connected with the intelligent control system through a lead.
As shown in fig. 4, the top end of the track segment is further provided with a laser range finder 22, and the laser range finder 22 is in signal connection with the intelligent control system through a wire, so as to provide the distance between the track segment and the arc surface of the tunnel for the intelligent control system, so that the track segment can smoothly enter the working area.
As shown in fig. 3, the top end of the platform is further provided with a storage groove 16 with an open upper end, the bottom end of the lifting rod is fixedly connected with the top of the platform enclosed by the storage groove 16, and in an initial state, the lifting rod and the sectional rails 5 on both sides are all retracted into the storage groove 16.
As shown in fig. 3, the outer surface of the side wall of the accommodating groove 16 is further provided with an infrared distance detector 17, and the infrared distance detector 17 is in signal connection with an intelligent control system through a lead, so as to enable the tracked trolley to accurately move a set distance.
As shown in fig. 3, the crawler trolley is provided with an off-road triangular track 8.
As a common arrangement, the front end of the crawler trolley can be provided with another vision sensor, and the crawler trolley can stably run by adjusting the air suspension system through the intelligent control system.
Examples 6,
On the basis of embodiment 5, the present embodiment discloses:
a method for detecting the quality of tunnel shotcrete, as shown in fig. 1-6, comprising the following steps:
(1) the crawler trolley moves towards the inside of the tunnel along the central line of the tunnel ground, and the central line of the crawler trolley and the central line of the tunnel ground are parallel to each other in a vertical plane; in practical use, the parallelism is allowed to have certain errors;
(2) sending a signal to an intelligent control system through an infrared distance detector, and controlling the crawler trolley to intermittently move forward by a set distance through the intelligent control system;
(3) controlling the tracked trolley to stop through the intelligent control system at a set distance, and ensuring the stability of the body of the tracked trolley during detection through controlling the air suspension system;
(4) under the coordination of the lifting position detector, the lifting rod is lifted to the working height through the intelligent control system;
(5) starting the electric push rod 30, expanding the first sections of rails on the two sides in a segmented manner, then sequentially starting the driving motors on the rail segments to expand the rails in a segmented manner, and in the expanding process, controlling the expanding degree of each rail segment by the intelligent control system through the detection information of the laser range finder to enable the rail segments to be positioned at the positions suitable for detection;
(6) the tunnel arc-shaped surface corresponding to each track segment is used as a working area, the concrete quality in each working area is detected, and knocking hammers corresponding to each track segment sequentially act during detection, so that mutual interference of knocking sounds is avoided;
(7) and the intelligent control system transmits the graph drawn according to the detection signal or the data information obtained by calculation to the detection control center in a wired or wireless mode.
Claims (10)
1. The utility model provides a tunnel shotcrete quality intellectual detection system equipment which characterized in that: the device comprises a crawler-type trolley, a lifting rod, an unfolding device, a sectional track and an intelligent control system, wherein the top end of the crawler-type trolley is provided with a platform, the center of the platform is longitudinally provided with an electric control lifting rod, the top end of the lifting rod is provided with a lifting position detector, the two sides of the top of the lifting rod are respectively connected with the sectional track, the sectional track is formed by connecting a plurality of track sections in a segmented manner and can be unfolded under the driving of the unfolding device, each track section is enabled to move to the detection position of the corresponding tunnel arc-shaped surface, the sectional track is also provided with a movable detection platform, the crawler-type trolley is provided with the intelligent control system, the intelligent control system is configured to control the advancing of the crawler-type trolley, the action of the unfolding device, the action of the movable detection platform and the action of the lifting rod, the lifting position detector and detection equipment carried on the movable detection platform are respectively and electrically connected with the intelligent control system through leads, the intelligent control system is electrically connected with the vehicle-mounted power supply and transmits the graph drawn according to the detection signal or the data information obtained by calculation to the detection control center in a wired or wireless mode.
2. The intelligent quality detection device for the sprayed concrete in the tunnel as claimed in claim 1, characterized in that: the adjacent track sections are connected through spline shafts, the spline shafts are connected with front end splines of the track sections positioned on the rear side, two ends of each spline shaft are rotatably connected with the rear end of the track section positioned on the front side, each track section is connected in an end-to-end mode, the unfolding device comprises a driving motor embedded in the middle of each track section, an output shaft of each driving motor extends outwards along the direction vertical to the side wall of the track section and is fixedly connected with a driving gear, round shafts are fixedly arranged at two ends of each spline shaft and are rotatably connected with the rear end of the track section positioned on the front side, a driven gear is fixedly arranged at the end of one round shaft, the driving gear is in transmission connection with the driven gear through a chain, and the driving motors are electrically connected with an intelligent control system through conducting wires; the unfolding device also comprises an electric push rod connected between the first section of track subsection in the lifting rod direction and the side wall of the telescopic rod of the lifting rod, wherein two ends of the electric push rod are respectively hinged with the bottom of the first section of track subsection and the side wall of the telescopic end, the end part of the first section of track subsection, facing one side of the lifting rod, is hinged with the top end of the lifting rod, and the first section of track subsection is driven to unfold under the stretching of the electric push rod; the electric push rod is electrically connected with the intelligent control system through a lead.
3. The intelligent detection device for the quality of the tunnel shotcrete, as claimed in claim 2, wherein: the mobile detection platform is characterized in that the detection equipment comprises a knocking hammer, an ultrasonic pulser and an infrared temperature detector which are fixedly arranged at the top end of the mobile detection platform, the knocking hammer implements knocking actions through an electric control telescopic device, the electric control telescopic device is electrically connected with an intelligent control system through a wire, the mobile detection platform is further provided with a knocking sound collection device, and the knocking sound collection device is in signal connection with the intelligent control system through a wire.
4. The intelligent detection device for the quality of the tunnel shotcrete, as claimed in claim 3, wherein: the bottom end of the movable detection platform is provided with a groove matched with the rail section, the inner surface of the side wall of the groove is respectively provided with a front group of driving components and a rear group of driving components, each group of driving components is provided with 2 adjusting gears, each group of 2 adjusting gears on the inner surface of the 2 side walls of the groove are respectively meshed and connected with the tooth-groove-shaped rail arranged on the left side or the right side of the outer peripheral surface of the rail section, the adjusting gear positioned on the upper side is meshed and connected with the tooth-groove-shaped rail arranged on the upper end of the rail section, and the adjusting gear positioned on the lower side is meshed and connected with the tooth-groove-shaped rail arranged on the lower end of the rail section; the upper end and the lower end of the outer surface of the side wall of the groove are respectively provided with a limiting block, the outer side end of each limiting block is always in clearance fit with the outer surface of the upper edge or the lower edge of the side wall of the sectional track, a set distance is reserved between the outer side end of each limiting block and the inner surface of the side wall of the groove, and the set distance ensures that the movable detection platform is prevented from interfering with the unfolding device when moving back and forth along the track section; the cavity is arranged in the side wall of the groove, a linear sliding groove penetrating through the inner surface of the side wall of the groove is arranged on the cavity, the linear sliding groove is longitudinally arranged, a central shaft of the adjusting gear penetrates through the linear sliding groove and extends into the cavity, the central shaft is connected with the linear sliding groove in a sliding manner, the other end of the central shaft is connected with a mobile motor, the end part of an output shaft of the mobile motor is fixedly connected with the end part of the central shaft, electric cylinders are respectively arranged on the opposite surfaces of the shell walls of the mobile motors positioned at the upper side and the lower side, the fixed ends of the electric cylinders are fixedly connected with the inner wall of the cavity, the telescopic ends of the electric cylinders are connected with the outer surface of the shell wall of the mobile motor through pressure sensors, linear sliding rails are further longitudinally arranged on the side wall of the cavity far away from the linear sliding groove, and the mobile motor is connected with the linear sliding rails; the mobile detection platform is also provided with a laser inclination angle measuring instrument for detecting the axial inclination angle of the knocking hammer, the top end of the mobile detection platform is provided with a vision sensor, the pressure sensor, the laser inclination angle measuring instrument and the vision sensor are respectively in signal connection with an intelligent control system through leads, and the intelligent control system is respectively in electric connection with the mobile motor and the electric cylinder through leads.
5. The intelligent quality detection device for the sprayed concrete in the tunnel as claimed in claim 4, characterized in that: the movable detection platform is also provided with an alarm, and when the detection signal is abnormal, the alarm gives an alarm to display the position of the empty drum; the alarm is electrically connected with the intelligent control system through a wire.
6. The intelligent detection device for the quality of the tunnel shotcrete, as claimed in claim 5, wherein: the top end of the track section is also provided with a laser range finder which is in signal connection with an intelligent control system through a lead.
7. The intelligent detection device for the quality of the tunnel shotcrete, as claimed in claim 6, wherein: the platform top still be equipped with upper end open-ended and accomodate the groove, lifter bottom and the platform top fixed connection who accomodates the groove and enclose, under initial condition, the subsection track of lifter and both sides all contracts in accomodating the inslot.
8. The intelligent detection device for the quality of the tunnel shotcrete, as claimed in claim 7, wherein: the outer surface of the side wall of the accommodating groove is also provided with an infrared distance detector which is in signal connection with the intelligent control system through a lead.
9. The intelligent detection device for the quality of the tunnel shotcrete, as claimed in claim 8, wherein: the track trolley is provided with a cross-country triangular track.
10. A tunnel shotcrete quality detection method is characterized in that: the intelligent quality detection device for the tunnel shotcrete, as claimed in claim 9, comprising the steps of:
(1) the crawler trolley moves towards the inside of the tunnel along the central line of the tunnel ground, and the central line of the crawler trolley and the central line of the tunnel ground are parallel to each other in a vertical plane;
(2) sending a signal to an intelligent control system through an infrared distance detector, and controlling the crawler trolley to intermittently move forward by a set distance through the intelligent control system;
(3) controlling the tracked trolley to stop through the intelligent control system at a set distance, and ensuring the stability of the body of the tracked trolley during detection through controlling the air suspension system;
(4) under the coordination of the lifting position detector, the lifting rod is lifted to the working height through the intelligent control system;
(5) starting an electric push rod, expanding the first sections of rails on the two sides in a segmented manner, then sequentially starting a driving motor on each rail segment to expand each section of rail in a segmented manner, and in the expanding process, controlling the expanding degree of each rail segment by an intelligent control system through the detection information of a laser range finder to enable the rail segment to be in a position suitable for detection;
(6) the tunnel arc-shaped surface corresponding to each track segment is used as a working area, the concrete quality in each working area is detected, and knocking hammers corresponding to each track segment sequentially act during detection, so that mutual interference of knocking sounds is avoided;
(7) and the intelligent control system transmits the graph drawn according to the detection signal or the data information obtained by calculation to the detection control center in a wired or wireless mode.
Priority Applications (1)
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| CN202210313047.8A CN114673557A (en) | 2022-03-28 | 2022-03-28 | Tunnel shotcrete quality intelligent detection device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115389618A (en) * | 2022-08-08 | 2022-11-25 | 武汉容晟吉美科技有限公司 | Tunnel hollowing rapid detection and repair device and detection and repair method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115389618A (en) * | 2022-08-08 | 2022-11-25 | 武汉容晟吉美科技有限公司 | Tunnel hollowing rapid detection and repair device and detection and repair method thereof |
| CN115389618B (en) * | 2022-08-08 | 2023-08-11 | 武汉容晟吉美科技有限公司 | Tunnel hollowing rapid detection and repair device and detection and repair method thereof |
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