Tunnel Gas and Lining Quality Detection Device

Abstract

The present invention provides a tunnel gas and lining quality detection device, which includes a vehicle frame, a first walking unit, a second walking unit, a walking state driving unit, a detection support arm unit, a detection bracket and a detection unit; the first walking unit is used for walking on the track; the second walking unit includes a second wheel frame and second walking wheels, and the second wheel frame is rotatably connected to the vehicle frame; there are multiple walking state driving units, and each walking state driving unit includes a telescopic driving member, one end of the telescopic driving member is connected to the vehicle frame, and the other end is connected to the second wheel frame. The telescopic driving member enables the second walking wheels to have a walking state of supporting on the road surface and a disengaged state of disengaging from the road surface. The tunnel gas and lining quality detection device provided by the present invention expands the application range of the device and reduces the use cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel detection equipment, and particularly relates to a tunnel gas and lining quality detection device. Background Art

[0002] Building tunnels can reduce the driving distance of vehicles and the construction cost of roads, shorten the costs of highways and railways. Tunnels are closer to the straight-line distance between two places and can also play a role similar to that of water bridges, that is, reduce travel time and increase passenger volume.

[0003] After long-term use, there may be certain potential safety hazards in tunnels, so the safety detection of tunnels has become an essential task. Existing monitoring operations are generally carried out by operators holding monitoring equipment. However, this detection method has limitations in the detection area and low detection efficiency. When performing high-position detection, there are also certain potential safety hazards for operators.

[0004] Based on the above situation, there are some existing detection devices that can reduce manual participation. However, the existing detection devices are difficult to adapt to the detection of tunnels with various road surface types, have limitations in the working environment, and different types of detection devices need to be equipped for different types of tunnels, resulting in high usage costs. Summary of the Invention

[0005] An embodiment of the present invention provides a tunnel gas and lining quality detection device, aiming to improve the applicable range of the detection device and reduce the usage cost.

[0006] To achieve the above object, the technical solution adopted by the present invention is: providing a tunnel gas and lining quality detection device, including:

[0007] A vehicle frame;

[0008] A plurality of first walking units, provided at the bottom of the vehicle frame for walking on a track;

[0009] A plurality of second walking units, the second walking unit having a second wheel frame and second walking wheels, one end of the second wheel frame is rotatably connected to the bottom of the vehicle frame, and the second walking wheels are rotatably connected to the other end of the second wheel frame;

[0010] A plurality of walking state driving units, having telescopic driving members, the two ends of the telescopic driving members are respectively connected to the vehicle frame and the second wheel frame, and are in one-to-one correspondence with the second wheel frames. The telescopic driving members drive the second wheel frames to rotate around the vehicle frame, so that the second walking wheels have a walking state of supporting on the road surface and a disengaged state of disengaging from the road surface;

[0011] A detection support arm unit, one end of which is connected to the vehicle frame;

[0012] A detection bracket is provided at the free end of the detection arm unit; and

[0013] A detection unit is provided on the detection bracket.

[0014] In a possible implementation, the detection arm unit includes:

[0015] A turntable, with a first rotating shaft rotatably connected to the vehicle frame provided at the center of the turntable;

[0016] A rotation driving assembly, respectively connected to the vehicle frame and the turntable; and

[0017] An elastic telescopic arm, with one end fixedly connected to an eccentric position of the turntable and the other end connected to the detection bracket.

[0018] In a possible implementation, the rotation driving assembly includes:

[0019] A driving wheel, rotatably connected to the vehicle frame;

[0020] A driven structure, provided around the outer periphery of the turntable;

[0021] A transmission structure, through which the driving wheel and the driven structure are connected;

[0022] A driver, which has a driving part and a positioning disk. The positioning disk is coaxially fixed to the driving wheel, the driving part is connected to the positioning disk, and a plurality of positioning notches are provided along the circumferential direction of the positioning disk; and

[0023] A positioner, which has a positioning end, and the positioning disk realizes circumferential positioning through the engagement of the positioning end with the positioning notch.

[0024] In a possible implementation, the elastic telescopic arm includes:

[0025] An arm sleeve, with one end fixedly connected to the turntable;

[0026] An arm slide bar, with one end slidably inserted into the arm sleeve, and the detection bracket is connected to the other end of the arm slide bar; and

[0027] An elastic resetting member, provided inside the arm sleeve, and one end of the elastic resetting member abuts against the inserted end of the arm slide bar. The elastic resetting member is configured with a pre-tightening force to make the arm slide bar move away from the fixed end of the arm sleeve.

[0028] In a possible implementation, the detection bracket is rotatably connected to the free end of the arm slide bar through a second rotating shaft.

[0029] In a possible implementation, the detection bracket includes:

[0030] A base plate, one side of which is rotatably connected to the free end of the support arm slide rod via a second rotating shaft;

[0031] a plurality of pillars fixed to an edge of the base plate and extending toward a side away from the second rotation axis, wherein the plurality of pillars are distributed along a circumference of the base plate, and installation spaces are formed between the plurality of pillars; and

[0032] The abutment wheel is rotatably connected to the fixed end of the support, and the rotation axis of the abutment wheel is parallel to the second rotation axis.

[0033] In a possible implementation, the detection unit includes an air-coupled radar, a gas monitor, and a camera. The air-coupled radar and the gas monitor are arranged within the installation space, and the camera is arranged on a side of the substrate facing away from the installation space.

[0034] In one possible implementation, the vehicle frame includes:

[0035] There are two first oblique rods, and the rotation drive assembly is connected to at least one of the first oblique rods;

[0036] a second oblique rod, wherein the second oblique rod intersects with the top ends of the two first oblique rods and the bottom ends are separated from each other, and the turntable is rotatably connected to the intersection of the first oblique rods and the second oblique rods;

[0037] a crossbar connected to the bottom ends of the two first oblique bars;

[0038] a first connecting rod, one end of which is connected to one of the first diagonal rods, and the other end of which is connected to the second diagonal rod; and

[0039] a second connecting rod, one end of which is connected to the other of the first oblique rods, and the other end of which is connected to the second oblique rods;

[0040] The connection point of the first connecting rod on the second oblique rod and the connection point of the second connecting rod on the second oblique rod are staggered along the axial direction of the second oblique rod;

[0041] The bottoms of the second oblique rod and the two first oblique rods are respectively connected to the first walking units;

[0042] The bottoms of the second oblique rod and the two first oblique rods are respectively connected to the second walking units.

[0043] In a possible implementation, the second oblique rod and the tops of the two first oblique rods are movably connected via a pin;

[0044] The bottoms of the two first diagonal rods are provided with first fixing pins, and a plurality of first fixing holes adapted to the first fixing pins are distributed along the length direction of the cross bar;

[0045] Second fixing pins are provided on the first diagonal rod and the second diagonal rod, and a plurality of second fixing holes adapted to the second fixing pins are provided on the first connecting rod and the second connecting rod along their respective length directions;

[0046] A rotational connection is provided between the first traveling unit and the first diagonal rod, and between the first traveling unit and the second diagonal rod.

[0047] In a possible implementation manner, the first traveling unit includes a first wheel frame and a first traveling wheel. The top end of the first wheel frame is connected to the vehicle frame, and the first traveling wheel is rotationally connected to the bottom of the first wheel frame;

[0048] The first traveling wheel includes:

[0049] A hub, rotationally connected to the first wheel frame;

[0050] A tire carcass, sleeved on the outer periphery of the hub;

[0051] Two limiting piece groups, respectively located on the axial two side surfaces of the hub. Each limiting piece group has a plurality of limiting pieces evenly distributed along the circumferential direction of the hub. The limiting pieces are arc-shaped pieces. One end of each limiting piece is fixedly provided with a fourth rotating shaft, and the fourth rotating shaft is rotationally inserted into the hub; and

[0052] A limiting driving component, provided on the hub and connected to the fourth rotating shaft. The limiting driving component drives the fourth rotating shaft to rotate, so that the limiting piece has a first state of protruding out of the hub and a second state of being folded on the hub;

[0053] When the limiting piece is in the first state, the free end of the limiting piece protrudes radially out of the outer peripheral surface of the tire carcass along the hub.

[0054] In the solution shown in the embodiments of the present application, compared with the prior art, a first traveling unit and a second traveling unit are provided on the vehicle frame. When it is necessary to perform detection in a tunnel provided with a track, the second traveling wheel is kept in a state of being separated from the road surface, and the first traveling unit is made to contact the track; when it is necessary to perform detection in a highway tunnel, the telescopic driving member extends, causing the second wheel frame to rotate until the second traveling wheel is in a state of effectively contacting the road surface. At this time, the first traveling unit is lifted off the road surface, that is, at this time, it can travel on a flat road surface through the second traveling wheel, expanding the application range of the device and reducing the use cost. Description of the Drawings

[0055] Figure 1 Schematic diagram of the usage state of the tunnel gas and lining quality detection device provided in the first embodiment of the present invention;

[0056] Figure 2 Schematic diagram of the assembly structure of the first diagonal rod, driving wheel, driver and positioner adopted in the first embodiment of the present invention;

[0057] Figure 3 Schematic diagram of the assembly structure of the detection bracket, detection unit and detection arm unit adopted in the first embodiment of the present invention;

[0058] Figure 4 Partial schematic diagram of the internal structure of the elastic telescopic arm adopted in the first embodiment of the present invention;

[0059] Figure 5 Schematic diagram of the assembly structure of the first walking unit adopted in the first embodiment of the present invention;

[0060] Figure 6 Schematic diagram of the internal structure of the positioner adopted in the second embodiment of the present invention;

[0061] Figure 7 For Figure 6 Top view of the assembly structure of the third rotating shaft, positioning bracket, electromagnet and telescopic rod in [], where the electromagnet is in a power-off state;

[0062] Figure 8 Axial sectional view of the first walking wheel adopted in the third embodiment of the present invention, where the limiting piece is in the second state;

[0063] Figure 9 Front view structure diagram of the first walking wheel adopted in the third embodiment of the present invention, where the limiting piece is in the second state;

[0064] Figure 10 For Figure 9 Schematic diagram of the assembly structure of one of the limiting pieces and the limiting drive assembly in [], where the limiting piece is in the second state;

[0065] Figure 11 Schematic diagram of the assembly structure of one of the limiting pieces and the limiting drive assembly, where the limiting piece is in the first state.

[0066] Explanation of reference numerals:

[0067] 100, vehicle frame; 110, first diagonal rod; 120, second diagonal rod; 130, cross bar; 140, first connecting rod; 150, second connecting rod; 160, second fixing hole;

[0068] 200, first walking unit; 210, first wheel frame;

[0069] 220. First walking wheel; 221. Wheel hub; 222. Tire carcass; 223. Limiting piece; 224. Fourth rotating shaft; 225. Second positioning bracket; 226. Second electromagnet; 227. Slide block; 228. Torsion spring; 229. Limiting block;

[0070] 300. Second walking unit; 310. Second wheel frame; 320. Second walking wheel;

[0071] 400. Walking state driving unit; 410. Telescopic driving member;

[0072] 500. Detection support arm unit;

[0073] 510. Turntable; 520. Rotating driving assembly; 521. Driving wheel; 522. Driven structure; 523. Transmission structure;

[0074] 524. Driver; 5241. Driving part; 5242. Positioning disk; 5243. Positioning notch;

[0075] 525. Positioner; 5251. Housing; 5252. Third rotating shaft; 5253. Positioning rod; 5254. Positioning bracket; 5255. First electromagnet; 5256. Positioning groove; 5257. Control box; 5258. Telescopic sleeve; 5259. Telescopic head; 52510. Telescopic reset part;

[0076] 530. Elastic telescopic support arm; 531. Support arm sleeve; 532. Support arm slide rod; 533. Elastic reset part;

[0077] 600. Detection support; 610. Substrate; 620. Support pillar; 630. Contact wheel; 640. Second rotating shaft;

[0078] 700. Detection unit; 710. Air-coupled radar; 720. Gas monitor; 730. Camera;

[0079] 800. Inertial navigation unit;

[0080] 900. Track. Detailed implementation manners

[0081] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0082] Please refer to Figure 1 and Figure 2, the tunnel gas and lining quality detection device provided by the present invention will be described below. The tunnel gas and lining quality detection device includes a vehicle frame 100, a first walking unit 200, a second walking unit 300, a walking state driving unit 400, a detection arm unit 500, a detection bracket 600, and a detection unit 700. A plurality of first walking units 200 are provided, and the plurality of first walking units 200 are respectively arranged at the bottom of the vehicle frame 100 for walking on the track. A plurality of second walking units 300 are provided. The second walking unit 300 includes a second wheel frame 310 and a second walking wheel 320. One end of the second wheel frame 310 is rotatably connected to the vehicle frame 100, and the second walking wheel 320 is rotatably connected to the other end of the second wheel frame 310. A plurality of walking state driving units 400 are provided. The walking state driving unit 400 includes a telescopic driving member 410. One end of the telescopic driving member 410 is connected to the vehicle frame 100, and the other end is connected to the second wheel frame 310. Moreover, the telescopic driving members 410 and the second wheel frames 310 are in one-to-one correspondence. The telescopic driving member 410 drives the second wheel frame 310 to rotate around the vehicle frame 100, so that the second walking wheel 320 has a walking state of supporting on the road surface and a disengaged state of disengaging from the road surface. One end of the detection arm unit 500 is connected to the vehicle frame 100. The detection bracket 600 is arranged at the free end of the detection arm unit 500. The detection unit 700 is arranged on the detection bracket 600.

[0083] Compared with the prior art, the tunnel gas and lining quality detection device provided in this embodiment is provided with a first walking unit 200 and a second walking unit 300 on the vehicle frame 100. When it is necessary to perform detection in a tunnel provided with a track 900, the second walking wheel 320 is kept in a state of disengaging from the road surface, and the first walking unit 100 is made to contact the track. When it is necessary to perform detection in a highway tunnel, the telescopic driving member extends, causing the second wheel frame to rotate until the second walking wheel is in an effective contact state with the road surface. At this time, the first walking unit 100 is lifted off the road surface, that is, at this time, it can walk on a flat road surface through the second walking wheel 320, expanding the applicable range of the device and reducing the use cost.

[0084] A specific implementation manner of the detection arm unit 500 is referred to Figure 1 , the detection arm unit 500 includes a turntable 510, a rotation driving assembly 520, and an elastic telescopic arm 530. A first rotating shaft rotatably connected to the vehicle frame 100 is provided at the center of the turntable 510. The rotation driving assembly 520 is respectively connected to the vehicle frame 100 and the turntable 510. One end of the elastic telescopic arm 530 is fixedly connected to an eccentric position of the turntable 510, and the other end is connected to a detection bracket 600. Among them, the first rotating shaft is parallel to the traveling direction of the device.

[0085] In the free state, the length of the elastic telescopic arm 530 is relatively long. When entering the tunnel, the elastic telescopic arm 530 is compressed and shortened. This setting method can adapt to tunnels with different radii, and through its own elastic force, the detection unit 700 can be closest to the lining to the greatest extent, improving the accuracy of detection.

[0086] A specific implementation of the rotation drive assembly 520 is shown in Figure 1 and Figure 2 , the rotation drive assembly 520 includes a drive wheel 521, a driven structure 522, a transmission structure 523, a driver 524 and a locator 525; the drive wheel 521 is rotatably connected to the vehicle frame 100; the driven structure 522 is arranged around the outer circumference of the turntable 510; the drive wheel 521 and the driven structure 522 are connected through the transmission structure 523; the driver 524 has a drive part 5241 and a positioning disk 5242, the positioning disk 5242 is coaxially fixed to the drive 521 wheel, the drive part 5241 is connected to the positioning disk 5242, and a plurality of positioning notches 5243 are formed along the circumferential direction of the positioning disk 5242; the locator 525 forms a positioning end, and the positioning disk 5242 realizes circumferential positioning through the engagement of the positioning end with the positioning notch 5243.

[0087] In some embodiments, the drive part 5241 can be a manual drive structure, such as a crank (as shown in Figure 2 ); the drive part 5241 can also be an electric drive structure, such as a drive motor (not shown in the figure).

[0088] In some embodiments, the transmission structure 523 can be a gear transmission structure. On this premise, the drive wheel is a gear and the driven structure is a driven gear arranged on the outer circumference of the turntable; the transmission structure can be a belt transmission structure. On this premise, the drive wheel is a pulley and the driven structure is a rim structure arranged on the outer circumference of the turntable; the transmission structure can be a chain transmission structure. On this premise, the drive wheel is a sprocket and the driven structure is a tooth structure arranged on the outer circumference of the turntable (as shown in Figure 2 ).

[0089] A specific implementation of the locator 525 is shown in Figure 2 , Figure 6 and Figure 7, the locator 525 includes a housing 5251, a third rotating shaft 5252, a positioning rod 5253, a positioning bracket 5254, a first electromagnet 5255, and an expansion rod capable of elastic expansion and contraction; the third rotating shaft 5252 is rotatably disposed within the housing 5251 and is coaxially arranged with the rotating shaft of the positioning disk 5242; the positioning rod 5253 is located outside the housing 5251, one end of the positioning rod 5253 is fixed to the third rotating shaft 5252 and is perpendicular to the third rotating shaft 5252, and the free end of the positioning rod 5252 forms a positioning end; the positioning bracket 5254 is an annular bracket fixed within the housing 5251, which is sleeved outside the third rotating shaft 5252 and is spaced from the third rotating shaft 5252, and a plurality of positioning grooves 5256 are formed in the inner circumferential surface of the positioning bracket 5254 along the circumferential direction; the first electromagnet 5255 is an annular member, which is disposed within the positioning bracket 5254 and is coaxially arranged with the third rotating shaft 5252; the expansion rods are radially distributed outside the third rotating shaft 5252 around the axis of the third rotating shaft 5252, and the expansion end of the expansion rod is a ferromagnetic member.

[0090] In the free state, the expansion end of the expansion rod is far from the third positioning shaft 5252 and can be snapped into the positioning groove 5256. At this time, the third rotating shaft 5252 and the positioning rod 5253 cannot rotate. Furthermore, the positioning rod snapped into the positioning notch 5243 also makes the positioning disk 5242 unable to rotate; when the first electromagnet 5255 is energized, the first electromagnet 5255 repels the expansion end of the expansion rod, causing the expansion end to retract and disengage from the positioning groove 5256. At this time, the rotation of the third rotating shaft 5252 is not restricted. No matter how the positioning disk 5242 rotates, the positioning rod 5253 will not hinder its rotation.

[0091] Based on the above embodiments, refer to Figure 6 , a control box 5257 is further provided on the housing 5251. The control box 5257 is electrically connected to the first electromagnet 5255, and a control button is provided on the control box 5257.

[0092] Based on the above embodiments, refer to Figure 6 , the expansion rod includes an expansion sleeve 5258, an expansion head 5259, and an expansion reset member 52510. The expansion head 5259 is a ferromagnetic member and is slidably inserted into the expansion sleeve 5258. One end of the expansion sleeve 5258 is fixed to the third rotating shaft 5252, and the expansion reset member 52510 is located within the expansion sleeve 5258 and abuts against the expansion head 5259.

[0093] A specific implementation manner of the elastic expansion arm, refer to Figure 4The elastic telescopic arm includes an arm sleeve 531, an arm slide 532 and an elastic reset member 533; one end of the arm sleeve 531 is fixed to the turntable 510; one end of the arm slide 532 is slidably inserted into the arm sleeve 531, and the detection bracket 600 is connected to the other end of the arm slide 532; the elastic reset member 533 is arranged in the arm sleeve 531, and one end abuts against the insertion end of the arm slide 532, and the elastic reset member 533 is configured with a pre-tightening force to keep the arm slide 532 away from the fixed end of the arm sleeve 531.

[0094] Based on the above embodiments, see Figure 3 The inspection bracket 600 is rotatably connected to the free end of the support arm slide 532 via the second rotating shaft 640. When the elastic telescopic support arm swings, the inspection bracket 600 also swings accordingly. The rotational connection of the inspection bracket 600 allows the inspection unit 700 to be closer to the lining during this process, thereby realizing a circumferential walking inspection.

[0095] In some embodiments, see Figure 3 The detection bracket 600 includes a base plate 610, a support column 620, and an abutment wheel 630. One side surface of the base plate 610 is rotatably connected to the free end of the support arm slide 532 via a second rotation axis 640. A plurality of support columns 620 are provided, each fixed to an edge of the base plate 610 and extending away from the second rotation axis 640. The plurality of support columns 620 are distributed along the circumference of the base plate 610, with installation spaces formed between the plurality of support columns 620. The abutment wheel 630 is rotatably connected to the fixed end of the support column 620, and the rotation axis of the abutment wheel 630 is parallel to the second rotation axis 640. By providing the support column 620 and the abutment wheel 630, the abutment wheel 630 contacts the lining during use, thereby preventing damage to the detection unit 700 from colliding with the lining. The abutment wheel 630 also reduces wear on the detection bracket 600, extending the service life of the equipment.

[0096] In order to prevent the detection bracket 600 from having an inappropriate initial position and to ensure that each abutting wheel 630 can be in contact with the lining, a rotational elastic reset member is provided at the second rotating shaft 640 .

[0097] In some embodiments, see Figure 3 Detection unit 700 includes an air-coupled radar 710, a gas monitor 720, and a camera 730. Air-coupled radar 710 and gas monitor 720 are located within the installation space, while camera 730 is located on the side of base plate 610 facing away from the installation space. The gas monitor 720 and air-coupled radar 710, when installed together, can detect defects in the tunnel lining and interior when detecting changes in gas concentration, facilitating the identification of gas leaks and providing data for tunnel maintenance. Camera 730 allows for observation of the tunnel surface without affecting normal operation, allowing precise identification of defects and improving inspection quality.

[0098] Specifically, the camera 730 is an infrared camera or a high-definition camera, which can observe the surface condition of the tunnel during the day or at night without affecting the normal operation of the tunnel, and precisely mark the positions with defects on the tunnel surface, improving the detection quality.

[0099] Specifically, the type and detection parameters of the air-coupled detection radar 710 can be adjusted according to the geological conditions of the tunnel and the detection depth.

[0100] In some embodiments, referring to Figure 1 , the vehicle frame 100 includes a first diagonal rod 110, a second diagonal rod 120, a cross bar 130, a first connecting rod 140 and a second connecting rod 150; there are two first diagonal rods 110, and the rotation driving assembly 520 is connected to at least one of the first diagonal rods 110; the second diagonal rod 120 and the tops of the two first diagonal rods 110 meet, and the bottoms are away from each other, and the turntable 510 is rotatably connected to the meeting point of the first diagonal rod 110 and the second diagonal rod 120; the cross bar 130 is connected to the bottoms of the two first diagonal rods 110; one end of the first connecting rod 140 is connected to one of the first diagonal rods 110, and the other end is connected to the second diagonal rod 120; one end of the second connecting rod 150 is connected to the other first diagonal rod 110, and the other end is connected to the second diagonal rod 120. The connection points of the first connecting rod 140 on the second diagonal rod 120 and the connection points of the second connecting rod 150 on the second diagonal rod 120 are staggered along the axial direction of the second diagonal rod 120; the bottoms of the second diagonal rod 120 and the two first diagonal rods 110 are respectively connected with a first traveling unit 200; the bottoms of the second diagonal rod 120 and the two first diagonal rods 110 are respectively connected with a second traveling unit 300. Among them, the two first diagonal rods 110 are on the same side, while the second diagonal rod 120 is on the other side.

[0101] The vehicle frame 100 of this embodiment has a stable structure, roughly presenting a triangular structure, and stable traveling fulcrums can be formed through the three first traveling units or three second traveling units corresponding to the first diagonal rod 110 and the second diagonal rod 120; moreover, the main components of the vehicle frame 100 are all rod-shaped members, which are convenient to obtain materials and process, and are also convenient for assembly. The operators can easily push and pull the whole device, thereby realizing mobile measurement or transfer.

[0102] To provide reliable power for state switching, referring to Figure 1 , the rotation driving assembly 520 is a jack or a telescopic hydraulic cylinder.

[0103] Referring to Figure 1, the tops of the second diagonal rod 120 and the two first diagonal rods 110 are movably connected by a pin shaft; the bottoms of the two first diagonal rods 110 are provided with first fixing pins, and a plurality of first fixing holes adapted to the first fixing pins are distributed along the length direction on the cross bar; second fixing pins are provided on the first diagonal rod 110 and the second diagonal rod 120, and a plurality of second fixing holes 160 adapted to the second fixing pins are provided on the first connecting rod 140 and the second connecting rod 150 along their respective length directions; the first traveling unit 200 and the first diagonal rod 110, and the second traveling unit 300 and the first diagonal rod 110 are all rotatably connected. In this embodiment, the distance between the lower ends of the first diagonal rod 110 and the second diagonal rod 120 can be adjusted, and the distance between the two first diagonal rods 110 can also be adjusted, so that the position of the walking fulcrum can be adjusted according to different road conditions, and the use flexibility is stronger.

[0104] In some embodiments, referring to Figure 1 , the tunnel gas and lining quality detection device further includes an inertial navigation unit 800, and the inertial navigation unit 800 is arranged on the first traveling unit 200. The inertial navigation unit 800 is an autonomous navigation system that does not depend on external information and does not radiate energy to the outside. Its working environment includes not only the air and the ground, but also underwater. It can accurately present the driving route of the detection device without relying on external conditions, determine the detection position, and further determine the possible occurrence position of tunnel geological disasters.

[0105] In some embodiments, referring to Figures 8 to 11 , the first traveling unit 200 includes a first wheel frame 210 and a first traveling wheel 220. The top end of the first wheel frame 210 is connected to the vehicle frame 100, and the first traveling wheel 220 is rotatably connected to the bottom of the first wheel frame 210; the first traveling wheel 220 includes a wheel hub 221, a tire carcass 222, a limiting piece group and a limiting driving component; the wheel hub 221 is rotatably connected to the first wheel frame 210; the tire carcass 222 is sleeved on the outer periphery of the wheel hub 221; there are two limiting piece groups, and the two limiting piece groups are respectively located on the axial two side surfaces of the wheel hub 221. Each limiting piece group has a plurality of limiting pieces 223 evenly distributed along the circumferential direction of the wheel hub. The limiting piece 223 is an arc-shaped piece, and one end of the limiting piece 223 is fixedly provided with a fourth rotating shaft 224, and the fourth rotating shaft 224 is rotatably inserted into the wheel hub 221; the limiting driving component is arranged on the wheel hub 221 and is connected to the fourth rotating shaft 224. The limiting driving component drives the fourth rotating shaft 224 to rotate, so that the limiting piece 223 has a first state of protruding from the wheel hub 221 and a second state of being folded on the wheel hub 221; when the limiting piece 223 is in the first state, the free end of the limiting piece 223 protrudes radially from the outer peripheral surface of the tire carcass 222 along the wheel hub 221.

[0106] In the first state, a space capable of accommodating the track 900 is formed between two relatively arranged limit piece groups, and the outer peripheral surface of the tire carcass 222 is in direct rolling contact with the track 900, thereby achieving adaptation to the track 900; in the second state, the outer peripheral surface of the tire carcass 222 is in direct contact with the road surface, and the limit piece group does not affect the walking state. This embodiment enables the first walking wheel 220 to have the ability to adapt to various road surfaces. It is a backup for the second walking unit 300. When one of them fails, the other can continue to enable the entire device to have the ability to walk on various road surfaces, avoiding affecting the detection due to failures.

[0107] Based on the above embodiment, referring to Figure 8 , the tire carcass 222 can be an inflated tire, thereby improving the stability of walking on the road surface.

[0108] In some embodiments, referring to Figures 8 to 11 , the limit driving assembly includes a second positioning bracket 225, a second electromagnet 226, a slider 227, and a coil spring 228. The second positioning bracket 225 is an annular bracket, which is coaxially connected to the axial end surface of the hub 221 and is located between the fourth rotating shaft 224 and the central axis of the hub 221. The second electromagnet 226 is coaxially arranged within the second positioning bracket 225; the second positioning bracket 226 is formed with a sliding channel opening radially, and the sliding channel is located on the side of the second electromagnet 226 facing the fourth rotating shaft 224. The slider 227 is slidably arranged in the sliding channel, and a limit block 229 is provided at the opening of the sliding channel to prevent the slider 227 from slipping out of the sliding channel; one end of the coil spring 228 is fixed to the slider 227, and the other end is fixed to the fourth rotating shaft 224.

[0109] In the free state, when the second electromagnet 226 is not energized, the limit piece 223 is in the second state (as shown in Figures 8 to 10 ), the coil spring 228 is wound around the fourth rotating shaft 224, and at the same time, the slider 227 abuts against the limit block 229; when the second electromagnet 226 is energized, the slider 227 is attracted by the second electromagnet 226, the coil spring 228 is straightened, thereby driving the fourth rotating shaft 224 to rotate, and at the same time, the limit piece 223 unfolds and gradually transitions to the first state (as shown in Figure 11 ); when the second electromagnet 226 is de-energized, the coil spring 228 and the slider 227 gradually return to the initial state, and at the same time, the limit piece 223 gradually returns to the second state.

[0110] In this embodiment, by controlling the attraction force between the second electromagnet 226 and the slider 227, the state of the limit piece 223 can be controlled. The structure is simple, convenient to control, and the structure is evenly arranged. The first walking wheel 220 is evenly stressed during rotation, making the entire device more stable during movement.

[0111] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A tunnel gas and lining quality detection device, characterized in that Comprising: Frame; A plurality of first traveling units provided at the bottom of the frame for traveling on a track; A plurality of second traveling units, each of the second traveling units having a second wheel frame and a second traveling wheel, one end of the second wheel frame being rotatably connected to the bottom of the frame, and the second traveling wheel being rotatably connected to the other end of the second wheel frame; A plurality of traveling state driving units having telescopic driving members, two ends of each telescopic driving member being respectively connected to the frame and the second wheel frame, and corresponding to the second wheel frames one by one, the telescopic driving member driving the second wheel frame to rotate around the frame so that the second traveling wheel has a traveling state of supporting on the road surface and a disengaged state of disengaging from the road surface; A detection arm unit, one end of which is connected to the frame; A detection bracket provided at the free end of the detection arm unit; And A detection unit provided on the detection bracket; The detection arm unit includes: A turntable, a first rotating shaft rotatably connected to the frame being provided at the center of the turntable; A rotation driving assembly respectively connected to the frame and the turntable; and An elastic telescopic arm, one end of which is fixedly connected to an eccentric position of the turntable, and the other end of which is connected with the detection bracket; The detection bracket is rotatably connected to the end of the elastic telescopic arm through a second rotating shaft, and a rotational elastic reset member is provided at the second rotating shaft; The rotation driving assembly includes a driving wheel, a driven structure, a transmission structure, a driver and a positioner; the driving wheel is rotatably connected to the frame; the driven structure is disposed around the outer circumference of the turntable; the driving wheel and the driven structure are connected through the transmission structure; the driver has a driving portion and a positioning disk, the positioning disk is coaxially fixed to the driving wheel, the driving portion is connected to the positioning disk, and a plurality of positioning notches are formed in the circumferential direction of the positioning disk; the positioner is formed with a positioning end, and the circumferential positioning of the positioning disk is realized through the engagement of the positioning end with the positioning notch; The positioner includes a housing, a third rotating shaft, a positioning rod, a positioning bracket, a first electromagnet and an elastically telescopic rod; the third rotating shaft is rotatably disposed within the housing and is coaxially arranged with the rotating shaft of the positioning disk; the positioning rod is located outside the housing, one end of the positioning rod is fixed to the third rotating shaft and is perpendicular to the third rotating shaft, and the free end of the positioning rod forms the positioning end; the positioning bracket is an annular bracket fixed within the housing, which is sleeved outside the third rotating shaft and is spaced from the third rotating shaft, and a plurality of positioning grooves are formed in the circumferential direction of the inner ring surface of the positioning bracket; the first electromagnet is an annular member disposed within the positioning bracket and is coaxially arranged with the third rotating shaft; the telescopic rods are radially distributed outside the third rotating shaft around the axis of the third rotating shaft, and the telescopic end of the telescopic rod is a ferromagnetic member.

2. The tunnel gas and lining quality detection device according to claim 1, characterized in that, The rotation driving assembly includes: A driving wheel rotatably connected to the frame; A driven structure disposed around the outer circumference of the turntable; A transmission structure, the driving wheel and the driven structure being connected through the transmission structure; A driver, the driver comprising a driving portion and a positioning plate, the positioning plate being coaxially fixed to the driving wheel, the driving portion being connected to the positioning plate, and the positioning plate being provided with a plurality of positioning notches along its circumference; and The positioner is formed with a positioning end, and the positioning disc is circumferentially positioned by the engagement between the positioning end and the positioning notch.

3. The tunnel gas and lining quality detection device according to claim 1, characterized in that, The elastic telescopic support arm comprises: A support arm sleeve, one end of which is fixedly connected to the turntable; An arm slide rod, one end of which is slidably inserted into the arm sleeve, and the detection bracket is connected to the other end of the arm slide rod; and An elastic reset member is arranged in the support arm sleeve, and one end of the elastic reset member abuts against the insertion end of the support arm slide rod. The elastic reset member is configured with a pre-tightening force that causes the support arm slide rod to move away from the fixed end of the support arm sleeve.

4. The tunnel gas and lining quality detection device according to claim 3, characterized in that, The detection bracket is rotatably connected to the free end of the support arm slide rod through a second rotating shaft.

5. The tunnel gas and lining quality detection device according to claim 4, characterized in that, The detection bracket comprises: A base plate, one side of which is rotatably connected to the free end of the support arm slide rod via a second rotating shaft; a plurality of pillars fixed to an edge of the base plate and extending toward a side away from the second rotation axis, wherein the plurality of pillars are distributed along a circumference of the base plate, and installation spaces are formed between the plurality of pillars; and The abutment wheel is rotatably connected to the fixed end of the support, and the rotation axis of the abutment wheel is parallel to the second rotation axis.

6. The tunnel gas and lining quality detection device according to claim 5, wherein The detection unit includes an air-coupled radar, a gas monitor and a camera. The air-coupled radar and the gas monitor are arranged in the installation space, and the camera is arranged on a side of the substrate away from the installation space.

7. The tunnel gas and lining quality detection device according to claim 1, characterized in that The frame comprises: There are two first oblique rods, and the rotation drive assembly is connected to at least one of the first oblique rods; a second oblique rod, wherein the second oblique rod intersects with the top ends of the two first oblique rods and the bottom ends are separated from each other, and the turntable is rotatably connected to the intersection of the first oblique rods and the second oblique rods; a crossbar connected to the bottom ends of the two first oblique bars; a first connecting rod, one end of which is connected to one of the first diagonal rods, and the other end of which is connected to the second diagonal rod; and a second connecting rod, one end of which is connected to the other of the first oblique rods, and the other end of which is connected to the second oblique rods; The connection point of the first connecting rod on the second oblique rod and the connection point of the second connecting rod on the second oblique rod are staggered along the axial direction of the second oblique rod; The bottoms of the second oblique rod and the two first oblique rods are respectively connected to the first walking units; The bottoms of the second oblique rod and the two first oblique rods are respectively connected to the second walking units.

8. The tunnel gas and lining quality detection device according to claim 7, wherein, The second oblique rod and the tops of the two first oblique rods are movably connected via a pin; A first fixing pin is provided at the bottom of the two first oblique rods, and a plurality of first fixing holes adapted to the first fixing pin are distributed along the length direction of the cross rod; The first oblique rod and the second oblique rod are provided with a second fixing pin, and the first connecting rod and the second connecting rod are both provided with a plurality of second fixing holes adapted to the second fixing pin along their length direction; The first walking unit and the first oblique rod are both rotationally connected, as are the first walking unit and the second oblique rod.

9. The tunnel gas and lining quality detection device according to claim 1, wherein The first traveling unit includes a first wheel carrier and a first traveling wheel. The top end of the first wheel carrier is connected to the vehicle frame, and the first traveling wheel is rotatably connected to the bottom of the first wheel carrier. The first traveling wheel includes: a hub, rotatably connected to the first wheel carrier; a tire carcass, sleeved on the outer periphery of the hub; two limiting piece groups, respectively located on the two axial side surfaces of the hub. Each limiting piece group has a plurality of limiting pieces evenly distributed along the circumferential direction of the hub. The limiting pieces are arc-shaped pieces. One end of each limiting piece is fixedly provided with a fourth rotating shaft, and the fourth rotating shaft is rotatably inserted into the hub; and a limiting driving assembly, arranged on the hub and connected to the fourth rotating shaft. The limiting driving assembly drives the fourth rotating shaft to rotate, so that the limiting piece has a first state of protruding out of the hub and a second state of being folded on the hub; When the limiting piece is in the first state, the free end of the limiting piece protrudes radially out of the outer peripheral surface of the tire carcass along the hub.

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