CN116335766A - Steel wire rope traction type tunnel lining gridding precision inspection trolley - Google Patents
Steel wire rope traction type tunnel lining gridding precision inspection trolley Download PDFInfo
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- CN116335766A CN116335766A CN202310271215.6A CN202310271215A CN116335766A CN 116335766 A CN116335766 A CN 116335766A CN 202310271215 A CN202310271215 A CN 202310271215A CN 116335766 A CN116335766 A CN 116335766A
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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
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
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Abstract
The invention provides a steel wire rope traction type tunnel lining gridding precision inspection trolley, which comprises a trolley frame assembly; the bearing mechanism is arranged on the frame assembly and is provided with a detection mechanism for detecting tunnel lining defects; the electronic control system is arranged on the frame assembly and controls the mechanical movement, detection operation and data transmission functions of the whole trolley; the device comprises a bearing mechanism, a tunnel lining and a detection mechanism, wherein an arc-shaped annular guide rail coaxial with the tunnel lining is arranged on the bearing mechanism, and an annular rail crawling system for driving the detection mechanism to perform slow detection along the annular direction and a steel wire rope traction system for driving the detection mechanism to perform rapid detection along the annular direction are arranged on the annular guide rail. The invention can carry different types of detection equipment to carry out annular, longitudinal or combined scanning gridding fine detection on the whole tunnel lining space, and can ensure rapid detection efficiency while realizing lining full-coverage continuous detection.
Description
Technical Field
The invention relates to a steel wire rope traction type tunnel lining gridding precision inspection trolley, and belongs to the technical field of tunnel detection and maintenance.
Background
The tunnel lining is influenced by geological hydrologic conditions, material factors, construction process, construction equipment and other factors, and the tunnel lining may have quality defects of hollowness, incompact, insufficient thickness, insufficient strength and the like which are not easy to visually see, and tunnel lining diseases are easy to occur in a specific time under the effects of stress redistribution, temperature and humidity change, pneumatic load and other conditions, so that the quality safety and service life of the tunnel are influenced.
In order to timely and effectively carry out active repair and maintenance on the defects in the lining, ensure the quality of the lining of the tunnel and the operation safety, the characteristics of development scale, spatial distribution and the like of the defects in the lining need to be accurately identified before the defects develop into diseases. Considering that lining quality defects are likely to occur at any part of a lining, the existing detection technology and equipment cannot achieve full-coverage continuous detection.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a steel wire rope traction type tunnel lining gridding precision inspection trolley which can be carried with different types of inspection equipment to carry out annular, longitudinal or combined scanning gridding precision inspection on the whole tunnel lining space, and can ensure rapid inspection efficiency while realizing lining full-coverage continuous inspection.
The invention provides a steel wire rope traction type tunnel lining gridding precision inspection trolley, which comprises the following components:
a frame assembly;
the bearing mechanism is arranged on the frame assembly and is provided with a detection mechanism for detecting tunnel lining defects; and
the electronic control system is arranged on the frame assembly and controls the mechanical movement, detection operation and data transmission functions of the whole trolley;
the device comprises a bearing mechanism, a tunnel lining and a detection mechanism, wherein an arc-shaped annular guide rail coaxial with the tunnel lining is arranged on the bearing mechanism, and an annular rail crawling system for driving the detection mechanism to perform slow detection along the annular direction and a steel wire rope traction system for driving the detection mechanism to perform rapid detection along the annular direction are arranged on the annular guide rail.
The invention further improves that the frame assembly comprises a door frame main body, wherein a plurality of layers of operation platforms are respectively arranged on the side face and the upper face of the door frame main body, a running mechanism is arranged at the lower end of the door frame main body, and a ladder stand system for connecting the ground and each layer of operation platform is arranged on the side face of the door frame main body.
The invention is further improved in that the bearing mechanism comprises arc-shaped arches arranged at the front end and the rear end of the door-shaped main frame, and the annular guide rail is arranged on the arches; the detection mechanism is arranged on the swinging frame, and the swinging frame slowly moves on the annular guide rail through the annular rail crawling system or rapidly swings on the annular guide rail through the steel wire rope traction system.
The invention is further improved in that the swinging frame comprises radial swinging rods which are respectively connected to the two annular rail crawling systems, the bottoms of the two radial swinging rods are connected through a longitudinal rotating shaft, the upper ends of the two radial swinging rods are provided with longitudinal girders which are connected with the steel wire rope traction system through the radial swinging rods, and the detection mechanism is movably connected to the longitudinal girders.
The invention is further improved in that the lower side of the arch frame is provided with a steel wire rope, and the steel wire rope is fixed on the lower side of the arch frame through a plurality of rope positioning hoops;
the steel wire rope traction system comprises a traction driving motor connected with the annular rail crawling system, a steel wire rope traction head is arranged on a rotating shaft of the traction driving motor, and the steel wire rope is wound on the steel wire rope traction head.
A further improvement of the invention is that the annular guide rail comprises an annular rack outwards along an arc and a fixed rack arranged at the side;
the annular rail crawling system comprises a crawling frame, wherein one side of the crawling frame is provided with idler wheels matched with the fixed bar rail, and the other side of the crawling frame is connected with the radial swing rod; the side of the crawling frame is also provided with a crawling gear meshed with the annular rack, and the crawling gear is driven by a gear motor.
The invention is further improved in that the detection mechanism comprises a base capable of moving and fixing on the longitudinal girder, a lifting and rotating device is arranged on the base, a rotating platform is arranged at the upper end of the lifting and rotating device, the rotating platform is connected with a detection instrument through a detection device connecting piece, and a protection plate is arranged on the outer side of the detection instrument.
The invention is further improved in that the edge of the rotary platform is provided with a guide rod, the end part of the guide rod is provided with a guide roller, and the end part of the guide roller exceeds the protection plate; the side of the detecting instrument is provided with an obstacle detecting probe.
The invention is further improved in that the longitudinal girder is provided with a rod-shaped guide rail and a longitudinal rack, and the base moves on the longitudinal girder through a longitudinal movement driving mechanism; the longitudinal movement driving mechanism comprises a guide block matched with the rod-shaped guide rail and a gear matched with the longitudinal rack, and the gear is driven by a direct-current variable-frequency gear motor.
The invention is further improved in that the running mechanism comprises a supporting part connected to the lower end of the portal frame main body, one side of the supporting part is provided with a driving wheel, the driving wheel is driven by a gear motor, the other side of the supporting part is provided with a guide wheel, and the guide wheel is provided with a gear motor;
the travelling mechanism further comprises laser ranging devices arranged on two sides, and the distance between the trolley and the side walls on two sides of the tunnel lining is measured.
Compared with the prior art, the invention has the advantages that:
the steel wire rope traction type tunnel lining gridding fine detection trolley can be carried with different types of detection equipment such as a geological radar detector, an ultrasonic detector and a rebound detector, the detection equipment is driven by an automatic control system to carry out longitudinal, circumferential or combined scanning gridding detection, full-coverage fine detection data acquisition of internal defects of tunnel lining is realized, and field detection data is transmitted to a remote server system in real time through a control wireless network for subsequent data processing interpretation and lining internal defect identification.
The gridding precision inspection trolley provides three detection modes of longitudinal, circumferential or combined scanning, and corresponding detection modes can be selected according to the requirements of different detection devices. For ultrasonic detection, rebound detection and three-dimensional geological radar detection, full-coverage continuous fine detection of lining space can be realized by only scanning preferentially in a longitudinal direction or a circular direction and combining movement in another direction. For two-dimensional geological radar detection, in order to ensure the grid precision of the circumferential direction and the longitudinal direction, a longitudinal and circumferential combined scanning mode can be considered. According to the size of different detection equipment and the meshing detection precision requirement, the grid spacing between the circumferential direction and the longitudinal movement is adjustable. And the device is suitable for different detection devices in a moving mode in the annular direction through a crawling system and a swinging system.
The steel wire rope traction type tunnel lining gridding precision inspection trolley can be carried with different types of detection equipment such as a geological radar detector, an ultrasonic detector and a rebound instrument, can realize rapid and automatic operation, can be rapidly and simply disassembled and assembled, and can realize detection of various internal defects such as holes, incompact, insufficient thickness, abnormal steel bar distribution, insufficient strength, water-rich fracture and the like on the back of a lining.
The gridding precise inspection trolley is suitable for tunnel lining inspection of different section forms. Under the condition that the trolley position and the arch form are fixed, the telescopic design of the radial swing rod can realize telescopic adjustment according to different annular detection positions of the tunnel by considering that the longitudinal girder has different distances to different annular positions of the tunnel, and the attachment of the detection mechanism and the lining surface is ensured.
Drawings
Preferred embodiments of the present invention will be described in detail below with reference to the attached drawing figures, wherein:
fig. 1 is a schematic structural view of a steel wire rope traction type tunnel lining gridding fine inspection trolley according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a gantry assembly according to an embodiment of the present invention;
FIG. 3 is a schematic view of a carrying mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a wire rope hauling system according to an embodiment of the invention;
FIG. 5 is a schematic diagram of a track-and-loop crawling system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a detection mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic view of a longitudinal motion drive mechanism according to one embodiment of the invention;
FIG. 8 is a schematic view of the running gear of an embodiment of the present invention;
in the drawings, like parts are designated with like reference numerals.
The figures are not drawn to scale.
The meaning of the reference numerals in the drawings is as follows:
1. the frame assembly, 2, the bearing mechanism, 3, the electric control mechanism, 4, the detection mechanism, 11, the portal main body, 12, the working platform, 13, the running mechanism, 131, the supporting component, 132, the driving wheel, 133, the guide wheel, 134, the gear motor, 135, the gear motor, 136, the laser ranging device, 14, the climbing ladder system, 21, the arch frame, 211, the annular guide rail, 212, the annular rack, 213, the fixed strip rail, 22, the annular track climbing system, 221, the climbing frame, 222, the roller, 223, the crawling gear, 224, the gear motor, 23, the swinging frame, 231, the radial swinging rod, 232 and the longitudinal rotating shaft, 233, a longitudinal girder, 2331, a rod-shaped guide rail, 2332, a longitudinal rack, 234, a connecting frame, 24, a wire rope traction system, 241, a swing gear motor, 242, a chain wheel, 243, a chain, 244, a wire rope traction system, 41, a base, 411, a guide block, 412, a gear, 413, a direct-current variable-frequency gear motor, 42, a lifting and rotating device, 421, a lifting and pressure maintaining cylinder, 422, a rotating driving cylinder, 43, a rotating platform, 431, a guide rod, 432, a guide roller, 433, an obstacle detection probe, 44, a detection instrument, 441, a protection board, 434, a detection device connecting piece, 441 and a protection board.
Detailed Description
In order to make the technical solution and advantages of the present invention more apparent, exemplary embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. It will be apparent that the described embodiments are only some of the embodiments of the present invention and are not exhaustive of all embodiments. And embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Fig. 1 schematically shows a wire rope towed tunnel lining gridding type fine inspection trolley and a frame assembly 1 according to the present invention. The frame assembly 1 is used for supporting other components and driving the other components to move. The frame assembly 1 is provided with a bearing mechanism 2, the bearing mechanism 2 is used for bearing a detection mechanism 4, the detection mechanism 4 is used for detecting tunnel lining defects, and detection instruments 44 such as a radar detector, an ultrasonic detector, a rebound instrument and the like can be selected according to different detection requirements. The frame assembly 1 is provided with an electric control system 3, and the electric control system 3 controls the mechanical movement, detection operation and data transmission functions of the whole trolley.
The bearing mechanism 2 is provided with an arc-shaped annular guide rail 211 coaxial with a tunnel lining, and the annular guide rail 211 is provided with an annular rail crawling system 22 for driving the detection mechanism 4 to perform slow detection along the annular direction and a steel wire rope traction system 24 for driving the detection mechanism 4 to perform rapid detection along the annular direction.
In the steel wire rope traction type tunnel lining gridding fine inspection trolley according to the embodiment, different types of detection equipment such as a geological radar detector, an ultrasonic detector and a rebound instrument can be carried, longitudinal, circumferential or combined scanning gridding detection is realized by automatically controlling and driving the detection equipment through an electric control system 3, full-coverage fine inspection data acquisition of internal defects of a tunnel lining is realized, and field detection data is transmitted to a remote server system in real time through a control wireless network for subsequent data processing interpretation and lining internal defect identification.
The bearing mechanism 2 drives the detection mechanism 4 to move in the annular direction, and the annular drive is provided with two sets of systems, namely a relatively slow annular detection system and a relatively fast annular detection system respectively through the annular guide rail crawling system 22 and the steel wire rope traction system 24. When the circular track crawling system 22 operates, a gear motor in the steel wire rope traction system 24 is separated, and a gear of the gear motor of the circular track crawling system 22 is driven to slowly crawl on the large gear ring; when the wire rope traction system 24 operates, a gear motor in the annular track crawling system 22 is separated, and the wire rope traction system 24 drives a sprocket to drive a longitudinal rotating shaft 232 to rotate, so that a radial swing rod 231 is driven to rotate slightly faster.
In one embodiment, as shown in fig. 2, the frame assembly 1 includes a mast body 11, a plurality of layers of working platforms 12 are respectively disposed on a side surface and an upper surface of the mast body 11, a running mechanism 13 is disposed at a lower end of the mast body 11, and a ladder system 14 for connecting a ground surface and each layer of working platforms 12 is disposed on a side surface of the mast body 11.
The door frame main body 11 is of a door-shaped structure and comprises a transverse frame at the top and lateral frames at two sides. The portal main body 11 is a construction foundation platform for lining detection, provides support for each work of the whole trolley, and is made of profile steel materials. The working platforms 12 are disposed on two sides and an upper portion of the gantry main body 11, in this embodiment, the working platforms 12 are divided into four levels of low, medium, high and high, so as to provide a safe and stable working environment for personnel working demands of different heights. The climbing system 14 is arranged between the working platforms 12 of each layer, thereby meeting the requirement of convenience for personnel to go up and down and carrying out equipment maintenance and other operations on the working platforms 12 with corresponding heights.
In one embodiment, as shown in fig. 3, the bearing mechanism 2 includes arc-shaped arches 21 disposed at the front end and the rear end of the door-shaped main frame, the annular guide rail 211 is disposed on the arches 21, and the crawling system 22 is disposed on the annular guide rail 211.
The detection mechanism 4 is arranged on a swinging frame 23, and the swinging frame 23 moves slowly on the annular guide rail 211 through an annular guide rail crawling system 22 or swings rapidly on the annular guide rail 211 through a wire rope traction system 24.
In the trolley according to the present embodiment, the entire swinging frame 23 is moved by the movement of the endless track crawling system 22 on the arch 21, and the endless track crawling system 22 is adapted to support a detection with a slow speed, such as an ultrasonic detection, because it is moved slowly. The wire rope traction system 24 drives the swinging frame 23 to swing, so that the detection mechanism 4 above the swinging frame can move faster along with the swinging, and the detection with higher speed, such as radar detection, is supported.
In one embodiment, as shown in fig. 3, the swinging frame 23 includes radial swinging rods 231 respectively connected to the two ring rail crawling systems 22, bottoms of the two radial swinging rods 231 are connected by a longitudinal rotating shaft 232, longitudinal main beams 233 are provided at upper ends of the two radial swinging rods 231, and the detecting mechanism 4 is movably connected to the main beams. Preferably, the radial swing rod 231 is telescopic. (in this embodiment, both the radial direction and the longitudinal direction are based on the radial direction and the longitudinal direction of the tunnel)
In this embodiment, 2 radial swing rods 231 are designed at the outer side of the arch 21 and are used for supporting the longitudinal girders 233, and the radial swing rods 231 drive the longitudinal girders 233 to swing in the circumferential direction under the driving of the circular track crawling system 22 and the wire rope traction system 24. The annular rail crawling system 22 moves on the arch 21 so as to drive the radial swinging rod 231 to move in an annular shape, so that slow annular swinging is realized; the wire rope traction system 24 pulls the crawling frame 221 connected with the radial swing rod 231, so that rapid circular swing is realized. Under the condition that the trolley position and the arch 21 are fixed in size, the radial swing rod 231 rod body is designed to be telescopic in consideration of the fact that the longitudinal main beams 233 have different distances to different positions in the circumferential direction of the tunnel, and telescopic adjustment can be carried out according to different circumferential detection positions of the tunnel.
In one embodiment, as shown in fig. 4, the underside of the arch 21 is provided with a wire rope 242, and the wire rope 242 is fixed to the underside of the arch 21 by a plurality of rope positioning hoops 243; the wire rope traction system 24 comprises a traction driving motor 241 connected with the circular track crawling system 22, a wire rope traction head 244 is arranged on a rotating shaft of the traction driving motor 241, and the wire rope 242 is wound on the wire rope traction head 244.
In the tunnel lining maintenance detection integrated trolley according to the present embodiment, when the traction driving motor 241 is started, the circular track crawling system 22 is separated from the circular track 211, and the traction driving motor 241 rotates, so as to drive the steel wire rope traction head 244 to rotate, so as to drive the steel wire rope 242 to pull the crawling frame 221, and further drive the swinging frame 23 to move.
In one embodiment, as shown in fig. 5, the circumferential guide rail 211 includes an annular rack 212 outwardly along an arc, and a fixing rail 213 provided at a side. The ring rail crawling system 22 comprises a crawling frame 221, wherein one side of the crawling frame 221 is provided with a roller 222 matched with the fixed bar rail 213, and the other side of the crawling frame 221 is rotatably connected with the radial swing rod 231; the side of the crawling frame 221 is further provided with a crawling gear 223 meshed with the annular rack 212, and the crawling gear 223 is driven by a speed reducing motor 224.
In one embodiment, as shown in fig. 6, the detecting mechanism 4 includes a base 41 capable of moving and being fixed on the longitudinal main beam 233, a lifting and turning device 42 is disposed on the base 41, a turning platform 43 is disposed on an upper end of the lifting and turning device 42, a detecting instrument 44 is connected to the turning platform 43 through a detecting device connector 434, and a protecting plate 441 is disposed on an outer side of the detecting instrument 44.
In the steel wire rope traction type tunnel lining gridding precision inspection trolley according to the embodiment, the lifting and rotating device 42 comprises a lifting and pressure maintaining cylinder 421 and a rotating driving cylinder 422, and the lifting and pressure maintaining cylinder 421 applies light force to the detection instrument 44 to ensure the coincidence with a detection surface; the rotary driving cylinder 422 controls the direction switching of the rotary platform 43 through the operations of extension and retraction of the cylinder, etc., and the rotary platform 43 can be switched in 90 degrees for adjusting the detection device to perform movement detection along the longitudinal direction or the circumferential direction. The detecting device connector 434 is structurally designed with a uniform buckle, which facilitates the disassembly and replacement of various instruments.
In a preferred embodiment, the edge of the rotating platform 43 is provided with a guide rod 431, and the end of the guide rod 431 is provided with a guide roller 432, and the end of the guide roller 432 exceeds the protection plate 441; the guide roller 432 is attached to and bears pressure against the surface of the lining, reducing frictional resistance and protecting the instrument from damage. The side of the detecting instrument 44 is provided with an obstacle detecting probe 433, and the detecting instrument 44 is prevented from being damaged by the obstacle, i.e., the longitudinal girder 233 is stopped to move and retract during detection, and the detecting instrument 44 is retracted.
In one embodiment, as shown in fig. 7, the longitudinal girder 233 is provided with a rod-shaped guide rail 2331 and a longitudinal rack 2332, and the base 41 moves on the longitudinal girder 233 through a longitudinal movement driving mechanism; the longitudinal movement driving mechanism comprises a guide block 411 matched with the rod-shaped guide rail 2331 and a gear 412 matched with the longitudinal rack 2332, and the gear 412 is driven by a direct-current variable-frequency gear motor 413.
In one embodiment, as shown in fig. 8, the running mechanism includes a support member 131 connected to the lower end of the mast body 11, one side of the support member 131 is provided with a driving wheel 132, the driving wheel 132 is driven by a gear motor 134, the other side of the support member 131 is provided with a guide wheel 133, and the guide wheel 133 is provided with a gear motor 135. Wherein the driving wheel 132 and the guide wheel 133 are solid tires. The running mechanism 13 further comprises laser distance measuring devices 136 arranged on two sides, and the distance between the trolley and the side walls on two sides of the tunnel lining is measured.
A gear motor 134 (motor power of 1.1 KW) is located at the rear end of the running gear 13, dragging the sprocket to push the whole vehicle forward at a running speed of about 2 m/min. The speed reducing motor 135 is provided as a steering adjustment unit at the front end of the running mechanism 13, and the speed reducing motor 135 (motor power 0.75 KW) drives the steering wheel to adjust the running direction, and the rotation speed is about 5 °/sec. The adjustment of the running direction is controlled by a laser ranging device 136, the outer sides of the two steering adjustment assemblies are respectively provided with the laser ranging device 136, and the distance between the trolley and the side walls at the two sides of the tunnel lining is measured, so that the offset of the center of the trolley and the center of the tunnel lining surface is obtained, the steering is further controlled to be adjusted, and the center is always kept consistent.
The longitudinal detection distance of each time the whole trolley moves is 6 meters, the circumferential detection range is the whole lining arch wall, and a detection unit is formed together. Through the movement of the trolley along the mileage direction of the tunnel, the full coverage detection of the whole tunnel lining can be realized.
In one embodiment, the electric control system 3 controls the functions of mechanical movement, detection operation, data transmission and the like of the whole trolley, is driven by a mains supply motor, adopts PLC control and wireless Bluetooth transmission remote control, can perform visual operation on all electric and pneumatic components, and is convenient for technical personnel to operate. An emergency stop control function is additionally provided, and the operation can be stopped manually in case of emergency.
The mechanical motion control comprises the functions of trolley running driving, annular motion driving, longitudinal motion driving, lining surface fitting control and the like.
The electronic control system 3 controls the overall movement of the carriage by controlling a gear motor 134, a gear motor 135, and the like in the running mechanism. The steering wheel at the front end is driven by a speed reducing motor 135 to realize the steering of the trolley; the steering wheel adjustment angle is controlled by a laser ranging device 136 to ensure that the center of the trolley coincides with the center of the tunnel.
The electric control system 3 also controls the gear motor of the circular track crawling system 22 to control the circular track crawling system to slowly run on the arch 21. In addition, the electric control system 3 also controls a wire rope traction system 24, and controls the swing frame 23 to swing by controlling the forward rotation and the reverse rotation of the gear motor. The electronic control system 3 also controls the longitudinal movement driving mechanism to move on the longitudinal girder 233.
The lining surface attaching control includes two aspects of attaching the longitudinal girder 233 and attaching the detecting mechanism 4. The connection part of the longitudinal girder 233 and the annular crawling assembly can stretch out and draw back, and the pressure maintaining of the cylinder is controlled, so that the protection guide wheel on the support rod of the longitudinal girder 233 is always in contact with the lining surface with a certain pressure, and the detection work is accurate. The attachment of the detection mechanism 4 to the surface of the lining is controlled by the pressure maintaining cylinder, and a light force is applied to the detection instrument 44, so that the guide roller 432 is attached to the surface of the lining.
In the process of the trolley according to the present embodiment, the electronic control system 3 further has a function of detecting operation control, including functions of triggering control, obstacle avoidance control, positioning control, and the like of the detecting instrument 44.
Triggering control: the radar detector, the ultrasonic detector, the resiliometer and other detection instruments 44 are subjected to customized design, the traditional manual triggering mode is improved into digital triggering control, and the detection starting button in the upper computer software is used for direct control, so that the automatic operation of the detection mechanism 4 is facilitated.
Obstacle avoidance control: grouting pipes and other obstacles on the lining surface can cause obstruction to gridding fine inspection operation, and collision risks exist. Because the longitudinal girder 233 of the bearing mechanism 2 and the detecting mechanism 4 are attached to the surface of the tunnel lining for movement, the longitudinal girder 233 of the bearing mechanism 2 is used for protecting the guide wheel supporting rod and the obstacle detecting probe 433 arranged on the detecting mechanism 4 to automatically identify obstacles, and the electric control system 3 controls the radial swinging rod 231 and the detecting mechanism 4 to lift the expansion and contraction of the pressure maintaining cylinder 421 to automatically avoid the obstacles.
Positioning control: the trolley detection mechanism 4 is provided with a position sensor, can record corresponding position coordinates when the detection equipment detects a specific lining position, and is suitable for fixed-point detection of ultrasonic detection and rebound detection. For geological radar continuous scanning detection, the trolley detection mechanism 4 is provided with a ranging wheel, and can record the driving mileage of the detection equipment while radar detection.
The electronic control system 3 also has a data transmission control function, and transmits the data collected by the detecting instrument 44 to a remote server in real time. Firstly, according to an agreed interface protocol of the detection instrument 44 and an upper computer, or with reference to standard protocols such as Modbus-TCP, modbus-RTU and the like, uploading detection data acquired by different detection instruments 44 to the upper computer; further, the working state of the equipment is transmitted to a remote server system in real time through a wireless network, and the working state of the equipment is conveniently checked through terminals such as a mobile phone, an IPAD, a computer and the like.
The gridding precision inspection trolley is designed with an extensible interface for simultaneously placing a plurality of detection mechanisms 4 on the longitudinal main beam 233, so that parallel detection of a plurality of detection devices can be realized, and the efficiency of gridding full-coverage scanning can be effectively improved. The gridding precision inspection trolley is designed to actively avoid barriers, so that barriers such as grouting pipes and staggered platforms which cause uneven surface of the lining can be actively identified, the barriers can be automatically avoided, and the safe and stable development of inspection operation is ensured. The field detection data is transmitted to the remote server system in real time, so that the standardization and the reliability of the data are ensured, and the data tampering during off-line copying of the data is avoided.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all alterations and/or modifications that fall within the scope of the invention, and that are intended to be included within the scope of the invention.
Claims (10)
1. The utility model provides a steel wire rope towed tunnel lining gridding formula precision inspection platform truck which characterized in that includes:
a frame assembly (1);
the device comprises a frame assembly (1) and a bearing mechanism (2) arranged on the frame assembly, wherein the bearing mechanism (2) is provided with a detection mechanism (4), and the detection mechanism (4) is used for detecting tunnel lining defects; and
the electronic control system (3) is arranged on the frame assembly (1), and the electronic control system (3) controls the mechanical movement, detection operation and data transmission functions of the whole trolley;
the device comprises a bearing mechanism (2), wherein an arc-shaped annular guide rail (211) coaxial with a tunnel lining is arranged on the bearing mechanism (2), and an annular rail crawling system (22) for driving the detection mechanism (4) to slowly detect along the annular direction and a steel wire rope traction system (24) for driving the detection mechanism (4) to rapidly detect along the annular direction are arranged on the annular guide rail (211).
2. The steel wire rope traction type tunnel lining gridding precision inspection trolley according to claim 1, wherein the frame assembly (1) comprises a gantry main body (11), a plurality of layers of operation platforms (12) are respectively arranged on the side surface and the upper surface of the gantry main body (11), a running mechanism (13) is arranged at the lower end of the gantry main body (11), and a ladder system (14) for connecting the ground and each layer of operation platform (12) is arranged on the side surface of the gantry main body (11).
3. The steel wire rope traction type tunnel lining gridding precision inspection trolley is characterized in that the bearing mechanism (2) comprises arc-shaped arches (21) arranged at the front end and the rear end of the door-shaped main frame, and the annular guide rail (211) is arranged on the arches (21); the detection mechanism (4) is arranged on the swinging frame (23), and the swinging frame (23) moves slowly on the annular guide rail (211) through the annular rail crawling system (22) or swings rapidly on the annular guide rail (211) through the steel wire rope traction system (24).
4. A wire rope pull type tunnel lining gridding precision inspection trolley according to claim 3, characterized in that the swinging frame (23) comprises radial swinging rods (231) respectively connected to two ring rail crawling systems (22), bottoms of the two radial swinging rods (231) are connected through a longitudinal rotating shaft (232), longitudinal girders (233) are arranged at upper ends of the two radial swinging rods (231), the longitudinal girders (233) are connected with the wire rope pulling system (24) through the radial swinging rods (231), and the detection mechanism (4) is movably connected to the longitudinal girders (233).
5. The steel wire rope traction type tunnel lining gridding precision inspection trolley according to claim 4, wherein a steel wire rope (242) is arranged on the lower side of the arch (21), and the steel wire rope (242) is fixed on the lower side of the arch (21) through a plurality of rope positioning hoops (243);
the steel wire rope traction system (24) comprises a traction driving motor (241) connected with the circular track crawling system (22), a steel wire rope traction head (244) is arranged on a rotating shaft of the traction driving motor (241), and the steel wire rope (242) is wound on the steel wire rope traction head (244).
6. The wire rope pulling type tunnel lining gridding precision inspection trolley according to claim 5, characterized in that the circumferential guide rail (211) comprises an annular rack (212) outwards along an arc, and a fixed rack rail (213) arranged at the side;
the circular track crawling system (22) comprises a crawling frame (221), wherein one side of the crawling frame (221) is provided with a roller (222) matched with the fixed strip track (213), and the other side of the crawling frame is connected with the radial swing rod (231); the side of the crawling frame (221) is also provided with a crawling gear (223) meshed with the annular rack (212), and the crawling gear (223) is driven by a speed reducing motor (224).
7. The steel wire rope traction type tunnel lining gridding precision inspection trolley according to claim 4 or 5, wherein the detection mechanism (4) comprises a base (41) capable of moving and fixing on the longitudinal main beam (233), a lifting rotary device (42) is arranged on the base (41), a rotary platform (43) is arranged at the upper end of the lifting rotary device (42), a detection instrument (44) is connected to the rotary platform (43) through a detection device connecting piece (434), and a protection plate (441) is arranged on the outer side of the detection instrument (44).
8. The steel wire rope traction type tunnel lining gridding precision inspection trolley according to claim 7, wherein a guide rod (431) is arranged at the edge of the rotary platform (43), a guide roller (432) is arranged at the end part of the guide rod (431), and the end part of the guide roller (432) exceeds the protection plate (441); an obstacle detection probe (433) is arranged on the side surface of the detection instrument (44).
9. The steel wire rope traction type tunnel lining gridding precision inspection trolley according to claim 8, characterized in that a rod-shaped guide rail (2331) and a longitudinal rack (2332) are arranged on the longitudinal girder (233), and a base (41) moves on the longitudinal girder (233) through a longitudinal movement driving mechanism; the longitudinal movement driving mechanism comprises a guide block (411) matched with the rod-shaped guide rail (2331) and a gear (412) matched with the longitudinal rack (2332), and the gear (412) is driven by a direct-current variable-frequency gear motor (413).
10. The wire rope-towed tunnel lining gridding fine inspection trolley according to any one of claims 2 to 9, characterized in that the running mechanism includes a supporting member (131) connected to a lower end of the mast body (11), one side of the supporting member (131) is provided with a driving wheel (132), the driving wheel (132) is driven by a gear motor (134), the other side of the supporting member (131) is provided with a guide wheel (133), and the guide wheel (133) is provided with a gear motor (135);
the running mechanism (13) further comprises laser ranging devices (136) arranged on two sides, and the distance between the trolley and the side walls on two sides of the tunnel lining is measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310271215.6A CN116335766A (en) | 2023-03-20 | 2023-03-20 | Steel wire rope traction type tunnel lining gridding precision inspection trolley |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310271215.6A CN116335766A (en) | 2023-03-20 | 2023-03-20 | Steel wire rope traction type tunnel lining gridding precision inspection trolley |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116591726A (en) * | 2023-07-17 | 2023-08-15 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Portable tunnel lining nourishing and detecting integrated equipment |
| CN116773662A (en) * | 2023-08-24 | 2023-09-19 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Tunnel lining gridding precise inspection device |
-
2023
- 2023-03-20 CN CN202310271215.6A patent/CN116335766A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116591726A (en) * | 2023-07-17 | 2023-08-15 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Portable tunnel lining nourishing and detecting integrated equipment |
| CN116591726B (en) * | 2023-07-17 | 2023-09-26 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Portable tunnel lining nourishing and detecting integrated equipment |
| CN116773662A (en) * | 2023-08-24 | 2023-09-19 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Tunnel lining gridding precise inspection device |
| CN116773662B (en) * | 2023-08-24 | 2023-11-03 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Tunnel lining gridding precise inspection device |
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