CN116792121A - Tunnel lining nourishing and detecting integrated equipment - Google Patents
Tunnel lining nourishing and detecting integrated equipment Download PDFInfo
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- CN116792121A CN116792121A CN202311071372.9A CN202311071372A CN116792121A CN 116792121 A CN116792121 A CN 116792121A CN 202311071372 A CN202311071372 A CN 202311071372A CN 116792121 A CN116792121 A CN 116792121A
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- 230000007246 mechanism Effects 0.000 claims abstract description 105
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 238000012423 maintenance Methods 0.000 claims abstract description 36
- 239000007921 spray Substances 0.000 claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 18
- 230000008531 maintenance mechanism Effects 0.000 claims abstract description 15
- 238000007689 inspection Methods 0.000 claims abstract description 14
- 230000000712 assembly Effects 0.000 claims description 16
- 238000000429 assembly Methods 0.000 claims description 16
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims 2
- 238000001723 curing Methods 0.000 description 15
- 239000003550 marker Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009659 non-destructive testing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241001272720 Medialuna californiensis Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
- G01N3/52—Investigating hardness or rebound hardness by measuring extent of rebound of a striking body
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Engineering & Computer Science (AREA)
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- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
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- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
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- Lining And Supports For Tunnels (AREA)
Abstract
The invention relates to tunnel lining maintenance and inspection integrated equipment, which comprises a carrying truck; the mechanical arm mechanism is arranged on the carrying truck; the operation platform is arranged on the mechanical arm mechanism; the support mechanism comprises a horizontal track frame arranged on the operation platform through two hinged fixing components, a circumferential track frame arranged on the horizontal track frame and a plurality of groups of positioning mechanisms; the detection device is movably arranged along an arc-shaped annular track on the annular track frame; the maintenance mechanism comprises an arc-shaped spray pipe, a water source assembly and a water supply pipe which are arranged along the annular track, wherein a plurality of spray heads are arranged on the spray pipe; adjusting the hinged fixing assembly and/or the mechanical arm mechanism to enable the supporting mechanism to move along the circumferential direction of the tunnel; the annular track frame moves longitudinally along the tunnel so that the detection device and the maintenance mechanism complete longitudinal maintenance operation of the tunnel lining; and the carrying truck moves to a next maintenance operation place to complete the whole maintenance operation of the tunnel lining.
Description
Technical Field
The invention relates to the technical field of tunnel lining maintenance detection, in particular to tunnel lining maintenance detection integrated equipment.
Background
At present, common tunnel lining concrete curing methods include natural curing, spray curing, steam curing, standard curing and the like. The natural maintenance is maintenance without any auxiliary mode under the condition of the temperature and the humidity of the tunnel environment, and is only suitable for the specific condition that the temperature and the humidity in the tunnel are close to the standard value, and the universality is poor. The spray curing means that water is sprayed on the surface of concrete by using certain pressure to carry out moisture preservation and curing, so that the cost is low, the application is most common, but the low-temperature environment has influence on curing operation, and the difference between the water temperature and the internal temperature of the concrete needs to be controlled not to be too large. Steam curing means that a steam generator or a steam boiler is used for generating high-temperature and high-humidity gas to cure concrete, so that the curing effect is good, the construction period can be shortened, the curing effect of winter construction can be guaranteed, the curing cost is high, the economical efficiency is poor, and the method is not easy to popularize and use in a large range. The standard curing means that water is sprayed to the surface of a concrete test piece or the concrete test piece is soaked in water at the standard temperature of 20+/-1 ℃ so as to keep the humidity of the concrete surface to be more than 95%, and the standard curing is commonly adopted in a laboratory, but is not applicable to actual curing of tunnel lining.
According to the nondestructive testing regulations for railway tunnel lining quality (TB 10223-2004), nondestructive testing technologies such as a geological radar method, an ultrasonic method, a rebound method and the like are widely applied to quality acceptance and operation period disease detection links in the tunnel construction process, and can be used for detecting lining thickness, steel arch distribution, back hollows or incompact, insufficient strength and internal defects of a water-containing lining. The tunnel lining quality detection is carried out by adopting a manual operation mode, the data acquisition quality cannot be ensured under the influence of the working state and experience level of personnel, the workload is large, the efficiency is low, the stability is poor, spot measurement can only be carried out on key areas, the large-scale batch detection of the whole space of the tunnel lining cannot be realized, and the risk of collision and falling of personnel and equipment exists.
The equipment of tunnel lining trolleys is adopted to carry out maintenance operation on tunnel lining, and the trolley is inconvenient to transfer, transport and assemble due to the large volume and mass of the trolley.
Disclosure of Invention
The invention aims to solve the technical problem of providing tunnel lining maintenance and inspection integrated equipment with convenient and flexible transition and good maintenance and inspection coverage effect.
In order to solve the problems, the invention adopts the following technical scheme:
a tunnel lining maintenance and inspection integrated device, comprising:
a delivery truck;
the mechanical arm mechanism is arranged on the carrying truck;
the operation platform is arranged on the mechanical arm mechanism;
the support mechanism comprises a horizontal track frame, a circumferential track frame and a plurality of groups of positioning mechanisms, wherein the horizontal track frame is arranged on the operation platform through two symmetrically arranged hinging and fixing assemblies, the circumferential track frame is movably arranged on the horizontal track frame along the longitudinal direction of a tunnel, and the groups of positioning mechanisms are uniformly distributed on the horizontal track frame;
the detection device is movably arranged on an arc-shaped annular track of the annular track frame;
the maintenance mechanism comprises an arc-shaped spray pipe arranged along the circumferential track, a water source assembly arranged on the carrying truck and a water supply pipe used for connecting the spray pipe and the water source assembly, and a plurality of spray heads are arranged on the spray pipe at intervals;
the support mechanism moves along the circumferential direction of the tunnel by adjusting the hinged fixing assembly and/or the mechanical arm mechanism, so that the detection device and the maintenance mechanism complete the circumferential maintenance operation of the tunnel lining;
the annular track frame moves longitudinally along the tunnel so that the detection device and the maintenance mechanism complete longitudinal maintenance operation of a section of tunnel lining;
and the carrying truck moves to drive the supporting mechanism to move to a maintenance operation position of the next section of the tunnel lining.
As a preferred implementation mode, the horizontal track frame is wholly rectangular, and it includes two spandrel girders that the symmetry set up and two symmetry set up horizontal track girders, horizontal track girders set up two on the spandrel girders, the spandrel girders with operating platform passes through hinge fixed subassembly is connected, the symmetry is provided with two sets of horizontal walking subassemblies on the hoop track frame, the hoop track frame passes through two horizontal walking subassembly removes to be set up on two horizontal track girders.
As a preferred embodiment, a group of positioning mechanisms are arranged at four corners of the horizontal track frame, and each positioning mechanism comprises a positioning adjusting rod arranged on the spandrel girder and a marker fixedly arranged on the positioning adjusting rod;
the free end of the positioning adjusting rod is propped against the lining of the tunnel and used for supporting and positioning the supporting mechanism;
the marking device comprises a marking head and a marking cylinder for controlling the stretching of the marking head, wherein a positioning lamp is arranged on the marking head, the marking head is used for leaving marks on tunnel lining, and the positioning lamp coincides with the marks to indicate that the horizontal track frame moves in place.
As a preferred embodiment, the annular track frame comprises an annular support frame, the annular track arranged on the annular support frame and two horizontal walking components symmetrically arranged at two ends of the annular support frame;
the horizontal walking assembly comprises a horizontal walking driving component and a horizontal walking moving component, the horizontal walking moving component comprises a horizontal walking vertical plate arranged on the annular supporting frame and a plurality of horizontal walking wheels arranged on the horizontal walking vertical plate, one side of the horizontal track beam corresponds to the horizontal walking wheels, walking wheel accommodating grooves are formed in the horizontal walking wheels, and the horizontal walking wheels are arranged in the walking wheel accommodating grooves in a sliding mode so that the annular supporting frame is arranged on the horizontal track beam in a sliding mode.
As a preferred embodiment, the horizontal traveling driving part comprises a horizontal traveling driving motor arranged on the annular supporting frame through a horizontal traveling transverse plate and a horizontal traveling gear arranged on an output shaft of the horizontal traveling driving motor;
the horizontal traveling gear is meshed with the rack rail, the horizontal traveling driving motor drives the horizontal traveling gear to rotate so as to enable the annular track frame to move along the horizontal track beam, and the horizontal traveling driving motor is self-locked so as to enable the horizontal traveling gear to stop rotating so as to enable the annular track frame to stop moving.
As a preferred embodiment, the detection device comprises a detection running mechanism movably arranged on the annular track and a detection assembly arranged on the detection running mechanism;
the detection traveling mechanism comprises a pulley base, a traveling driving shaft rotatably arranged on one side of the pulley base, a traveling driving motor arranged on the pulley base, a traveling gear arranged on the traveling driving shaft and a plurality of guide wheel assemblies uniformly arranged on the lower end face of the pulley base;
the annular track is integrally arc-shaped and is provided with a plurality of gear holes corresponding to the walking gears, the guide wheel assembly comprises a lower guide wheel and an upper guide wheel, the annular track is clamped between the lower guide wheel and the upper guide wheel, and the walking gears are meshed with the gear holes;
the walking driving motor drives the walking gear to rotate so that the detection device moves along the annular track.
As a preferred implementation mode, the shower is erect through a plurality of shower pipe racks in circular orbit one side, the shower pipe racks include pipe rack horizontal part, vertical setting be in pipe rack connecting portion and the vertical setting of pipe rack horizontal part one end are in the pipe rack supporting part of pipe rack horizontal part other end, pipe rack supporting part with circular orbit's lower terminal surface is connected, the upper end of pipe rack supporting part is provided with the go-between, the shower is fixed in the go-between, pipe rack horizontal part is used for pipe rack supporting part dodges the coaster base is in avoid interfering detection device removes.
As a preferred embodiment, the hinge fixing assembly comprises a spandrel girder connecting disc arranged on one side of the middle part of the spandrel girder facing the operation platform and a platform hinge seat arranged on the operation platform corresponding to the spandrel girder connecting disc;
the bearing beam connecting disc is provided with a connecting disc shaft hole, the platform hinging seat is provided with a connecting shaft hole corresponding to the connecting disc shaft hole, and the connecting disc shaft hole and the connecting shaft hole are oppositely penetrated with a connecting shaft so as to rotationally connect the bearing beam with the operating platform.
As a preferable implementation mode, the bearing beam connecting disc is provided with a plurality of connecting disc pin holes at equal intervals in the circumferential direction by taking the connecting disc shaft hole as the circle center, the platform hinging seat is provided with a fixing pin hole corresponding to the connecting disc pin hole, and the fixing pin hole and the connecting disc pin hole are oppositely penetrated with pins so as to fix the bearing beam rotating to a preset angle with the operation platform.
As a preferable implementation mode, the two hinged fixing assemblies are provided with the same connecting shaft in a penetrating mode, the connecting shaft is provided with a connecting shaft swinging cylinder, and the connecting shaft swinging cylinder is used for rotating the connecting shaft so that the spandrel girder rotates relative to the operation platform.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in:
the maintenance mechanism is arranged on the supporting mechanism, the supporting mechanism is rotatably arranged on the operation platform, the operation platform is arranged on the carrying truck through the mechanical arm mechanism, the operation platform and the supporting mechanism can reach a preset position to carry out maintenance on the tunnel lining through unfolding and adjusting the mechanical arm mechanism, and the operation platform and the supporting mechanism can be collected on the carrying truck through the folding mechanical arm mechanism so as to facilitate transition.
According to the invention, the supporting mechanism and the maintenance mechanism correspond to one section of the circumferential direction of the tunnel lining, and the supporting mechanism is rotated to change the angle of the supporting mechanism relative to the operation platform and/or adjust the form of the mechanical arm structure, so that the supporting mechanism is rotated in the circumferential direction, and the maintenance of the whole circumferential direction of the tunnel lining is completed; after the circumferential tunnel lining maintenance is completed, the carrying truck moves, so that the supporting mechanism longitudinally moves to the position of the next section of circumferential maintenance along the tunnel, and further the whole maintenance of the tunnel is completed. In the process, through alternate marking and positioning of the 4 groups of positioning mechanisms, full-coverage maintenance and inspection in the circumferential direction and the longitudinal direction of the tunnel is realized, so that the quality and the effect of the maintenance and inspection of the tunnel are ensured while flexible transition is ensured.
Drawings
Fig. 1 is a front view of an embodiment.
Fig. 2 is a schematic perspective view of an embodiment.
Fig. 3 is a schematic structural view of the operation platform and the support mechanism after the mechanical arm structure of the embodiment is unfolded.
Fig. 4 is a schematic structural view of the supporting mechanism and the maintenance mechanism of the embodiment.
Fig. 5 is a top view of the support mechanism of the embodiment.
Fig. 6 is a schematic view of the structure of the embodiment after the circumferential rail frame and the horizontal rail frame are separated.
Fig. 7 is a schematic diagram of the structure at a in fig. 6.
Fig. 8 is a schematic diagram of the structure at B in fig. 6.
Fig. 9 is a schematic structural view of a positioning mechanism of the embodiment.
Fig. 10 is a schematic view of the structure at C in fig. 9.
Fig. 11 is a schematic view of the structure of fig. 6 at another angle.
Fig. 12 is a schematic structural view of a detection device of the embodiment.
Fig. 13 is a schematic view of the structure of fig. 12 at another angle.
Fig. 14 is a schematic structural view of the detection device of the embodiment with a part of the structure hidden.
Fig. 15 is a schematic view of the structure of fig. 14 at another angle.
Wherein: 100. a delivery truck; 200. a mechanical arm mechanism; 300. an operating platform; 301. the platform is hinged with the seat; 301-1 fixing pin holes; 302. a connecting shaft hole;
400 supporting mechanisms;
500. a circular movement track; 600. a tunnel longitudinal movement track;
700. a maintenance mechanism; 701. a water source assembly; 702. a water supply pipe; 703. a shower pipe; 704. spraying pipe frames; 704-1 pipe rack cross section; 704-2 pipe rack support parts; 704-3 pipe rack connecting parts;
1. a horizontal rail frame; 1-1 horizontal track beams; 1-2 rack tracks; 1-3 spandrel girder; 1-3-1 spandrel girder connection disc;
2. a circumferential track frame; 2-1 a circumferential track; 2-2 hoop support frames; 2-3 horizontal walking components; 2-3-1 horizontal walking transverse plates; 2-3-2 horizontal walking risers; 2-3-3 horizontal walking driving motor; 2-3-4 horizontal running gears; 2-3-5 horizontal travelling wheels;
3. a detection device; 3-1 detecting a running mechanism; 3-1-1 pulley base; 3-1-2 walking driving motor; 3-1-3 walking driving shafts; 3-1-4 walking gears; 3-1-5 lower guide wheels; 3-1-6 upper guide wheels;
3-2 lifting bins; 3-2-1 lifting bin connecting rod guide holes; 3-3 lifting and driving the electric push rod; 3-4 connecting rod assemblies; 3-5 lifting tables; 3-5-1 lifting table connecting rod guide holes; 3-5-2 lifting platform switching parts; 3-6 swinging cylinders; 3-7 supporting columns; 3-8 detection elements;
4. a positioning mechanism; 4-1 positioning adjusting rods; 4-2 labelers; 4-3, lighting lamp; 4-4 front end mounting plates; 4-5 rear end mounting plates; 4-6 header; 4-6-1 header body; 4-6-2 positioning lamp accommodating grooves; 4-6-3 header ribs; 4a first positioning mechanism; 4b; a second positioning mechanism; 4c a third positioning mechanism; 4d a fourth positioning mechanism; 4a1, marking a point by a first positioning mechanism; 4b1 second positioning means punctuation.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be clearly and completely described in connection with the following specific embodiments.
The tunnel lining maintenance and inspection integrated equipment as shown in fig. 1 to 15 includes:
a carrying truck 100, see fig. 1 and 2, the tail of the carrying truck 100 being provided with a balancing device for stabilizing the carrying truck 100 and guiding the carrying truck 100 to move;
the mechanical arm mechanism 200 is arranged on the carrying truck 100, and can enable the supporting mechanism to be stored on the carrying truck 100 in a contracted mode, so that the carrying truck is convenient to transport, and referring to fig. 1 and 2, the mechanical arm mechanism comprises a mechanical arm base, a mechanical arm rotating seat, a first mechanical arm, a second mechanical arm and a connecting mechanical arm which are sequentially connected; the mechanical arm base is arranged on the carrying truck 100, the mechanical arm rotating seat is horizontally and rotatably arranged on the mechanical arm base, the first mechanical arm can rotate in a vertical plane relative to the mechanical arm rotating seat, the second mechanical arm can rotate in a vertical plane relative to the first mechanical arm, and the connecting mechanical arm can rotate in a vertical plane relative to the second mechanical arm;
the operation platform 300 is arranged on the mechanical arm mechanism 200, and the free end of the connecting mechanical arm is in flange connection with the operation platform 300;
the support mechanism 400, see fig. 3, comprises a horizontal track frame 1 arranged on the operation platform 300 through two symmetrically arranged hinging and fixing components, a circumferential track frame 2 arranged on the horizontal track frame 1 along the longitudinal direction of a tunnel in a moving way, and a plurality of groups of positioning mechanisms 4 uniformly distributed on the horizontal track frame 1;
the detection device 3 is movably arranged on the annular track frame 2, and the detection device 3 moves along an arc-shaped annular track 2-1 on the annular track frame 2;
the maintenance mechanism 700, see fig. 3 and 4, comprises an arc-shaped spray pipe 703 arranged along the circumferential track 2-1, a water source component 701 arranged on the carrying truck 100 and a water supply pipe 702 used for connecting the spray pipe 703 and the water source component 701, wherein a plurality of spray heads are arranged on the spray pipe 703 at intervals.
By adjusting the hinged fixing assembly and/or the mechanical arm mechanism 200, the support mechanism 400 moves along the circumferential direction of the tunnel, so that the detection device 3 and the maintenance mechanism 700 complete the circumferential maintenance operation of the tunnel lining. The annular track frame 2 moves along the longitudinal direction of the tunnel so that the detection device 3 and the maintenance mechanism 700 complete the longitudinal maintenance operation of a section of tunnel lining. The carrying truck 100 moves to drive the supporting mechanism 400 to move to the maintenance operation of the next section of tunnel lining.
Referring to fig. 4 and 6, the horizontal track frame 1 is rectangular overall, and includes two symmetrically arranged spandrel girders 1-3 and two symmetrically arranged horizontal track girders 1-1, the horizontal track girders 1-1 are arranged on the two spandrel girders 1-3, the spandrel girders 1-3 and the operation platform 300 are connected by the hinged fixing assembly, two groups of horizontal walking assemblies 2-3 are symmetrically arranged on the annular track frame 2, and the annular track frame 2 is movably arranged on the two horizontal track girders 1-1 by the two horizontal walking assemblies 2-3.
Referring to fig. 1 to 5, a group of positioning mechanisms 4 are disposed at four corners of the horizontal rail frame 1, and referring to fig. 9 and 10, the positioning mechanisms 4 include a positioning adjusting rod 4-1 disposed on the spandrel girder 1-3 and a marker 4-2 fixedly disposed on the positioning adjusting rod 4-1.
The free end of the positioning adjusting rod 4-1 is propped against the lining of the tunnel to support the supporting mechanism. The positioning adjusting rods 4-1 adopt an electric push rod structure, and the piston rods of the positioning adjusting rods extend and are propped against the tunnel lining, so that the supporting mechanism 400 is supported and fixed under the action of the mechanical arm mechanism 200 and the four groups of positioning adjusting rods 4-1, and the stability of the supporting mechanism 400 in operation is improved.
Referring to fig. 9 and 10, the marker 4-2 includes a header 4-6 and a marking cylinder for controlling the header 4-6 to stretch and retract, a positioning lamp is arranged on the header 4-6, the header 4-6 is used for leaving a mark on the tunnel lining, and the positioning lamp coincides with the mark to indicate that the horizontal track frame 1 moves in place. Preferably, a rear end mounting plate 4-5 is arranged on the cylinder body of the positioning adjusting rod 4-1, a front end mounting plate 4-4 is arranged at the free end of the cylinder body of the positioning adjusting rod 4-1, a marker through hole is formed in the front end mounting plate 4-4 corresponding to the marker 4-2, a marker groove is formed in the rear end mounting plate 4-5 corresponding to the marker 4-2, one end of the cylinder body of the marker is pressed and fixed on the front end mounting plate 4-4 through a nut component after passing through the marker through hole, and the other end of the cylinder body of the marker is clamped in the marker groove. The front end mounting plate 4-4 is also fixedly provided with a lighting lamp 4-3 so as to clearly display marks left by the mark heads 4-6.
Referring to fig. 10, the header 4-6 is provided with crisscross header ribs 4-6-3, a positioning lamp accommodating groove 4-6-2 is arranged between adjacent header ribs 4-6-3, the positioning lamp is embedded in the positioning lamp accommodating groove 4-6-2, the header ribs 4-6-3 are used for leaving cross marks on the tunnel lining when working, and when a light spot emitted by a positioning lamp of another marker 4-2 corresponds to the position of the cross marks, the supporting mechanism 400 is indicated to be displaced in place.
The specific principle of the positioning mechanism 4 is as follows:
the marks 4-6 of the two markers 4-2 at the two ends of the spandrel girder 1-3 at one side of the horizontal track frame 1 leave marks on the tunnel lining, and after the carrying truck 100 moves to the next operation place, the positioning lamps of the markers 4-2 at the two ends of the spandrel girder 1-3 at the other side of the horizontal track frame 1 overlap with the marks to indicate that the support mechanism 400 moves in place in the longitudinal direction of the tunnel.
The marks 4-6 of the two markers 4-2 at the two ends of the rack rail 1-2 at one side of the horizontal rail frame 1 leave marks on the tunnel lining, and after the horizontal rail frame 1 moves in place in the circumferential direction, the positioning lamps of the two markers 4-2 at the two ends of the rack rail 1-2 at the other side of the horizontal rail frame 1 coincide with the marks to indicate that the support mechanism 400 moves in place in the circumferential direction of the tunnel.
In summary, the supporting mechanism 400 indicates displacement in place through the cooperation of the plurality of groups of positioning mechanisms 4, so that the tunnel lining is completely and internally checked, the omission phenomenon is avoided, and the quality and effect of lining checking are improved.
Taking fig. 1 as an example, when the header 4-6 of the marker 4-2 of the third positioning mechanism 4c leaves a mark on the tunnel lining, the supporting mechanism 400 is rotated to make the light spot of the positioning lamp of the marker 4-2 of the 4 th positioning mechanism 4d correspond to the mark position left by the third positioning mechanism 4c, so as to indicate that the supporting mechanism 400 is displaced in place in the circumferential direction.
Taking fig. 5 as an example, when the heads 4-6 of the markers 4-2 of the first positioning mechanism 4a and the second positioning mechanism 4b leave marks on the tunnel lining, the carrying truck 100 is advanced to make the light points of the positioning lamps of the markers 4-2 of the third positioning mechanism 4c and the fourth positioning mechanism 4d correspond to the marks to indicate that the supporting mechanism 400 is displaced in place along the tunnel longitudinal direction.
Referring to fig. 6 to 8, the circumferential track frame 2 includes a circumferential support frame 2-2, the circumferential track 2-1 disposed on the circumferential support frame 2-2, and two horizontal traveling assemblies 2-3 symmetrically disposed at two ends of the circumferential support frame 2-2, the horizontal traveling assemblies 2-3 include a horizontal traveling driving part and a horizontal traveling moving part, the horizontal traveling moving part includes a horizontal traveling riser 2-3-2 disposed on the circumferential support frame 2-2 and a plurality of horizontal traveling wheels 2-3-5 disposed on the horizontal traveling riser 2-3-2, a traveling wheel accommodating groove is disposed on one side of the horizontal track beam 1-1 corresponding to the horizontal traveling wheels 2-3-5, and the horizontal traveling wheels 2-3-5 are slidably disposed in the traveling wheel accommodating groove so that the circumferential support frame 2-2 is slidably disposed on the horizontal track beam 1-1. The horizontal walking driving component comprises a horizontal walking driving motor 2-3-3 arranged on the annular supporting frame 2-2 through a horizontal walking transverse plate 2-3-1 and a horizontal walking gear 2-3-4 arranged on an output shaft of the horizontal walking driving motor 2-3-3. The horizontal traveling gear 2-3-4 is meshed with the rack track 1-2, the horizontal traveling driving motor 2-3-3 drives the horizontal traveling gear 2-3-4 to rotate so as to enable the annular track frame 2 to move along the horizontal track beam 1-1, and the horizontal traveling driving motor 2-3-3 is self-locked so as to enable the horizontal traveling gear 2-3-4 to stop rotating so as to enable the annular track frame 2 to stop moving.
Referring to fig. 6, 11, 12 and 13, the detecting device 3 includes a detecting traveling mechanism 3-1 movably disposed on the endless track 2-1 and a detecting assembly disposed on the detecting traveling mechanism 3-1. The detection traveling mechanism 3-1 comprises a pulley base 3-1-1, a traveling driving shaft 3-1-3 rotatably arranged on one side of the pulley base 3-1-1, a traveling driving motor 3-1-2 arranged on the pulley base 3-1-1, a traveling gear 3-1-4 arranged on the traveling driving shaft 3-1-3 and a plurality of guide wheel assemblies uniformly arranged on the lower end face of the pulley base 3-1-1. The annular track 2-1 is integrally arc-shaped plate-shaped, a plurality of gear holes are arranged on the annular track corresponding to the walking gears 3-1-4, the guide wheel assembly comprises a lower guide wheel 3-1-5 and an upper guide wheel 3-1-6, the annular track 2-1 is clamped between the lower guide wheel 3-1-5 and the upper guide wheel 3-1-6, and the detection device 3 is movably arranged on the annular track 2-1. The walking gear 3-1-4 is meshed with the gear hole, and the walking driving motor 3-1-2 drives the walking gear 3-1-4 to rotate so that the detection device 3 moves along the annular track 2-1, and the detection assembly circumferentially detects lining of the tunnel.
Referring to fig. 12 to 15, the detection assembly includes a lifting bin 3-2 provided on the pulley base 3-1, two lifting driving electric push rods 3-3 symmetrically provided in the lifting bin 3-2, two link assemblies 3-4 symmetrically provided on the lifting bin 3-2, a lifting table 3-5 provided on the two link assemblies 3-4, a swing cylinder 3-6 provided in the lifting bin 3-2 and connected with the lifting table 3-5, a support column 3-7 provided on the swing cylinder 3-6, and a detection element 3-8 detachably provided on the upper end of the support column 3-7 through a half-moon type flange structure, wherein the detection element 3-8 may be an ultrasonic detector, a radar detector or a rebound detector. The two connecting rod assemblies 3-4, the two lifting driving electric push rods 3-3, the lifting bin 3-2 and the lifting table 3-5 form a scissor type lifting mechanism, one side of the swinging air cylinder 3-6 is connected with the lower end face of the lifting table 3-5 through the lifting table switching part 3-5-2, so that the swinging air cylinder 3-6 is driven to lift when the lifting table 3-5 lifts, the lifting table 3-5 is provided with a support column through hole for the support column 3-7 to pass through, the swinging air cylinder 3-6 drives the support column 3-7 to rotate so as to drive the detection element 3-8 to rotate, and the relative position of the detection element 3-8 and the tunnel lining can be adjusted by matching with the lifting of the lifting table 3-5, so that the accuracy of collected data is ensured. Meanwhile, the swinging air cylinder 3-6 is arranged in the lifting bin 3-2 and is connected with the lifting table 3-5 of the scissor type lifting mechanism, so that the whole occupied space of the detection assembly is reduced, the use in a tunnel is more flexible, and the coverage and accuracy of the detection assembly are further improved.
The detecting elements 3-8 in fig. 12-15 are ultrasonic detectors, four groups of spring-type in-place switches are uniformly arranged around the detecting elements 3-8, and the spring-type in-place switches are contacted with the tunnel lining in the detecting process to obtain the position relationship between the ultrasonic detectors and the tunnel lining, so that the lifting table 3-5 is controlled to lift and/or the supporting columns 3-7 are controlled to rotate, and the relative positions between the ultrasonic detectors and the tunnel lining are adjusted, so that the ultrasonic detectors are in the optimal detecting positions. The support column 3-7 adopts a semi-tubular shape, and is matched with a half-moon-shaped flange structure to form a support column accommodating groove, so that the support column accommodating groove can be used for accommodating a wire harness and devices of the detection element, the occupied space of the detection element 3-8 is reduced, meanwhile, the semi-tubular structure reduces the load of the detection travelling mechanism 3-1, and the detection element 3-8 and the support column 3-7 are simpler and more convenient to assemble.
Referring to fig. 4, the spray pipes 703 are erected on one side of the circumferential track 2-1 through a plurality of spray pipe racks 704, the spray pipe racks 704 comprise pipe rack transverse parts 704-1, pipe rack connecting parts 704-3 vertically arranged at one end of the pipe rack transverse parts 704-1, and pipe rack supporting parts 704-2 vertically arranged at the other end of the pipe rack transverse parts 704-1, the pipe rack supporting parts 704-2 are connected with the lower end face of the circumferential track 2-1, connecting rings are arranged at the upper ends of the pipe rack supporting parts 704-2, the spray pipes 703 are fixedly arranged in the connecting rings, and the pipe rack transverse parts 704-1 are used for the pipe rack supporting parts 704-2 to avoid interference with the movement of the detecting device 3.
Referring to fig. 6 and 8, the hinge fixing assembly includes a spandrel girder connection pad 1-3-1 provided at a side of a middle portion of the spandrel girder 1-3 toward the operation platform 300 and a platform hinge seat 301 provided at the operation platform 300 corresponding to the spandrel girder connection pad 1-3-1. The bearing beam connecting disc 1-3-1 is provided with a connecting disc shaft hole, the platform hinging seat 301 is provided with a connecting shaft hole 302 corresponding to the connecting disc shaft hole, and the connecting disc shaft hole and the connecting shaft hole 302 are oppositely penetrated with a connecting shaft so as to rotationally connect the bearing beam 1-3 with the operation platform 300. 3 connecting disc pin holes are circumferentially and equally arranged on the spandrel girder connecting disc 1-3-1 at equal intervals by taking the connecting disc shaft hole as a circle center, a fixing pin hole 301-1 is arranged on the platform hinging seat 301 corresponding to the connecting disc pin hole, a pin is oppositely penetrated through the fixing pin hole 301-1 and the connecting disc pin hole so as to fix the spandrel girder 1-3 rotating to a preset angle with the operation platform 300 (after the middle connecting disc pin hole and the fixing pin hole 301-1 penetrate through the pin, the spandrel girder 1-3 can be fixed at a horizontal position).
Preferably, the two hinged fixing assemblies are provided with the same connecting shaft in a penetrating manner, and a connecting shaft swinging cylinder (not shown in the figure) is arranged on the connecting shaft and is used for rotating the connecting shaft so as to enable the spandrel girder 1-3 to rotate relative to the operation platform 300.
In this embodiment, the step of breeding and checking may be as follows:
(1) The carrying truck 100 is centered, the mechanical arm mechanism 200 is adjusted to be tilted left, centered or tilted right, the operation platform 300 is kept horizontal, the angle of the supporting mechanism 400 relative to the operation platform 300 is adjusted by adjusting the hinged fixing assembly, the supporting mechanism 400 is rotated in a whole ring by penetrating pins through the fixing pin holes 301-1 of the 3 connecting disc pin holes in the ring, further, the circumferential maintenance of one section of the tunnel lining is completed, and then the carrying truck 10 moves longitudinally along the tunnel, so that the supporting mechanism 400 enters the next section of the tunnel lining for maintenance.
(2) The position of the carrying truck 100 is moved longitudinally preferentially, so that the carrying truck 100 is in 3 states of centering, left or right-right walking, the supporting mechanism 400 horizontally nourishes the top of the tunnel lining when the carrying truck walks centered, the supporting mechanism is inclined by a certain angle (smaller than the supporting mechanism in the mode (1)) when the carrying truck walks left or right, and the supporting mechanism 400 is adjusted to incline simultaneously so as to nourish the left section or the right section of the tunnel lining. Specifically, after detecting a longer length of the lining ring to the left part in the longitudinal direction, the position of the carrying truck 100 in the tunnel and the position of the mechanical arm mechanism are adjusted to complete the middle part detection, and finally the right part detection is completed.
Although the invention has been described in detail with reference to the foregoing embodiments, those skilled in the art may modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features thereof; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. Tunnel lining is supported and is examined integration equipment, its characterized in that includes:
a delivery truck (100);
a mechanical arm mechanism (200) provided on the carrying truck (100);
an operation platform (300) provided on the mechanical arm mechanism (200);
the support mechanism (400) comprises a horizontal track frame (1) arranged on the operation platform (300) through two symmetrically arranged hinging and fixing components, a circumferential track frame (2) movably arranged on the horizontal track frame (1) along the longitudinal direction of a tunnel, and a plurality of groups of positioning mechanisms (4) uniformly distributed on the horizontal track frame (1);
the detection device (3) is movably arranged on the arc-shaped annular track (2-1) of the annular track frame (2);
the maintenance mechanism (700) comprises an arc-shaped spray pipe (703) arranged along the annular track (2-1), a water source assembly (701) arranged on the carrying truck (100) and a water supply pipe (702) used for connecting the spray pipe (703) and the water source assembly (701), wherein a plurality of spray heads are arranged on the spray pipe (703) at intervals;
the support mechanism (400) moves along the circumferential direction of the tunnel by adjusting the hinged fixing assembly and/or the mechanical arm mechanism (200), so that the detection device (3) and the maintenance mechanism (700) complete the circumferential maintenance operation of the tunnel lining;
the annular track frame (2) moves longitudinally along the tunnel so that the detection device (3) and the maintenance mechanism (700) complete longitudinal maintenance operation of a section of tunnel lining;
the carrying truck (100) moves to drive the supporting mechanism (400) to move to a maintenance operation place of the next section of tunnel lining.
2. The tunnel lining nourishing and inspection integrated equipment according to claim 1, wherein the horizontal track frame (1) is integrally rectangular, and comprises two symmetrically arranged spandrel girders (1-3) and two symmetrically arranged horizontal track girders (1-1), the horizontal track girders (1-1) are arranged on the two spandrel girders (1-3), the spandrel girders (1-3) are connected with the operation platform (300) through hinged fixing components, two groups of horizontal walking components (2-3) are symmetrically arranged on the annular track frame (2), and the annular track frame (2) is movably arranged on the two horizontal track girders (1-1) through the two horizontal walking components (2-3).
3. The tunnel lining maintenance and inspection integrated equipment according to claim 2, wherein a group of positioning mechanisms (4) are arranged at four corners of the horizontal track frame (1), and the positioning mechanisms (4) comprise positioning adjusting rods (4-1) arranged on the spandrel girder (1-3) and marking devices (4-2) fixedly arranged on the positioning adjusting rods (4-1);
the free end of the positioning adjusting rod (4-1) is propped against the lining of the tunnel and used for supporting and positioning the supporting mechanism (400);
the marking device comprises a marking head (4-6) and a marking cylinder for controlling the stretching of the marking head (4-6), wherein a positioning lamp is arranged on the marking head (4-6), the marking head (4-6) is used for leaving marks on tunnel lining, and the positioning lamp is overlapped with the marks to indicate that the horizontal track frame (1) moves in place.
4. The tunnel lining maintenance and inspection integrated equipment according to claim 2, wherein the annular track frame (2) comprises an annular support frame (2-2), the annular track (2-1) arranged on the annular support frame (2-2) and two horizontal walking assemblies (2-3) symmetrically arranged at two ends of the annular support frame (2-2);
the horizontal walking assembly (2-3) comprises a horizontal walking driving component and a horizontal walking moving component, the horizontal walking moving component comprises a horizontal walking vertical plate (2-3-2) arranged on the annular supporting frame (2-2) and a plurality of horizontal walking wheels (2-3-5) arranged on the horizontal walking vertical plate (2-3-2), one side of the horizontal track beam (1-1) is provided with a walking wheel accommodating groove corresponding to the horizontal walking wheels (2-3-5), and the horizontal walking wheels (2-3-5) are arranged in the walking wheel accommodating groove in a sliding mode so that the annular supporting frame (2-2) is arranged on the horizontal track beam (1-1) in a sliding mode.
5. The tunnel lining maintenance and inspection integrated equipment according to claim 4, wherein the horizontal traveling driving part comprises a horizontal traveling driving motor (2-3-3) arranged on the annular supporting frame (2-2) through a horizontal traveling transverse plate (2-3-1) and a horizontal traveling gear (2-3-4) arranged on an output shaft of the horizontal traveling driving motor (2-3-3);
the horizontal track beam (1-1) is provided with a rack track (1-2) on the other side corresponding to the horizontal travelling gear (2-3-4), the horizontal travelling gear (2-3-4) is meshed with the rack track (1-2), the horizontal travelling driving motor (2-3-3) drives the horizontal travelling gear (2-3-4) to rotate so as to enable the annular track frame (2) to move along the horizontal track beam (1-1), and the horizontal travelling driving motor (2-3-3) is self-locked so as to enable the horizontal travelling gear (2-3-4) to stop rotating so as to enable the annular track frame (2) to stop moving.
6. The tunnel lining maintenance and inspection integrated equipment according to claim 1, wherein the detection device (3) comprises a detection running mechanism (3-1) movably arranged on the circumferential track (2-1) and a detection assembly arranged on the detection running mechanism (3-1);
the detection traveling mechanism (3-1) comprises a pulley base (3-1-1), a traveling driving shaft (3-1-3) rotatably arranged on one side of the pulley base (3-1-1), a traveling driving motor (3-1-2) arranged on the pulley base (3-1-1), a traveling gear (3-1-4) arranged on the traveling driving shaft (3-1-3) and a plurality of guide wheel assemblies uniformly arranged on the lower end face of the pulley base (3-1-1);
the annular track (2-1) is integrally arc-shaped plate-shaped, a plurality of gear holes are arranged on the annular track corresponding to the walking gears (3-1-4), the guide wheel assembly comprises a lower guide wheel (3-1-5) and an upper guide wheel (3-1-6), the annular track (2-1) is clamped between the lower guide wheel (3-1-5) and the upper guide wheel (3-1-6), and the walking gears (3-1-4) are meshed with the gear holes;
the walking driving motor (3-1-2) drives the walking gear (3-1-4) to rotate so as to enable the detection device (3) to move along the annular track (2-1).
7. The tunnel lining nourishing and inspection integrated equipment according to claim 6, wherein the spray pipes (703) are erected on one side of the annular track (2-1) through a plurality of spray pipe racks (704), the spray pipe racks (704) comprise pipe rack transverse parts (704-1), pipe rack connecting parts (704-3) vertically arranged at one ends of the pipe rack transverse parts (704-1) and pipe rack supporting parts (704-2) vertically arranged at the other ends of the pipe rack transverse parts (704-1), the pipe rack supporting parts (704-2) are connected with the lower end face of the annular track (2-1), connecting rings are arranged at the upper ends of the pipe rack supporting parts (704-2), the spray pipes (703) are fixedly arranged in the connecting rings, and the pipe rack transverse parts (704-1) are used for the pipe rack supporting parts (704-2) to avoid the pulley base (3-1-1) from moving in an interference manner.
8. The tunnel lining health care integrated equipment according to claim 2, wherein the hinged fixing assembly comprises a spandrel girder connecting disc (1-3-1) arranged on one side of the middle part of the spandrel girder (1-3) facing the operation platform (300) and a platform hinged seat (301) arranged on the operation platform (300) corresponding to the spandrel girder connecting disc (1-3-1);
the bearing beam connecting disc (1-3-1) is provided with a connecting disc shaft hole, a connecting shaft hole (302) is arranged on the platform hinging seat (301) corresponding to the connecting disc shaft hole, and the connecting disc shaft hole and the connecting shaft hole (302) are oppositely penetrated through a connecting shaft so as to rotationally connect the bearing beam (1-3) with the operating platform (300).
9. The tunnel lining maintenance and inspection integrated equipment according to claim 8, wherein a plurality of connecting disc pin holes are circumferentially and equally arranged on the bearing beam connecting disc (1-3-1) with the connecting disc shaft hole as a circle center, a fixing pin hole (301-1) is arranged on the platform hinging seat (301) corresponding to the connecting disc pin holes, and the fixing pin hole (301-1) and the connecting disc pin hole are oppositely penetrated with pins so as to fix the bearing beam (1-3) rotated to a preset angle with the operation platform (300).
10. The tunnel lining health care integration equipment according to claim 8, wherein two hinged fixing assemblies are provided with the same connecting shaft in a penetrating manner, and a connecting shaft swinging cylinder is arranged on the connecting shaft and used for rotating the connecting shaft so that the spandrel girder (1-3) rotates relative to the operation platform (300).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311071372.9A CN116792121B (en) | 2023-08-24 | 2023-08-24 | Tunnel lining nourishing and detecting integrated equipment |
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| CN202311071372.9A CN116792121B (en) | 2023-08-24 | 2023-08-24 | Tunnel lining nourishing and detecting integrated equipment |
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| CN116792121B CN116792121B (en) | 2023-11-03 |
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| JP2002303611A (en) * | 2001-04-05 | 2002-10-18 | Sato Kogyo Co Ltd | Method and device for nondestructive inspection of tunnel lining concrete |
| CN107678026A (en) * | 2017-09-08 | 2018-02-09 | 中国铁路总公司 | Tunnel-liner condition checkout gear |
| CN108362323A (en) * | 2018-02-11 | 2018-08-03 | 中国铁道科学研究院铁道建筑研究所 | Tunnel-liner inspecting manipuator arm |
| CN213149236U (en) * | 2020-10-12 | 2021-05-07 | 铁正检测科技有限公司 | Tunnel lining nondestructive test marking device |
| CN113266422A (en) * | 2021-06-16 | 2021-08-17 | 清华大学 | Automatic maintenance lining system for tunnel |
| 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 |
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2023
- 2023-08-24 CN CN202311071372.9A patent/CN116792121B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002303611A (en) * | 2001-04-05 | 2002-10-18 | Sato Kogyo Co Ltd | Method and device for nondestructive inspection of tunnel lining concrete |
| CN107678026A (en) * | 2017-09-08 | 2018-02-09 | 中国铁路总公司 | Tunnel-liner condition checkout gear |
| CN108362323A (en) * | 2018-02-11 | 2018-08-03 | 中国铁道科学研究院铁道建筑研究所 | Tunnel-liner inspecting manipuator arm |
| CN213149236U (en) * | 2020-10-12 | 2021-05-07 | 铁正检测科技有限公司 | Tunnel lining nondestructive test marking device |
| CN113266422A (en) * | 2021-06-16 | 2021-08-17 | 清华大学 | Automatic maintenance lining system for tunnel |
| 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 |
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| CN116792121B (en) | 2023-11-03 |
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