Tunnel lining cavity knocking mechanism and automatic knocking detection device

Abstract

The present application relates to a kind of tunnel lining cavity knocking mechanism, including first fixed plate, knocking hammer, energy storage spring, cam and drive motor, the knocking hammer with the energy storage spring constitutes telescopic component, this telescopic component is connected on the first fixed plate, the drive motor is fixed on the first fixed plate, the cam is arranged on the first output shaft of the drive motor, cam face of cam is abutted on telescopic component.The present application also discloses an automatic knocking detection device comprising tunnel lining cavity knocking mechanism.The present application carries out automatic knocking to lining in tunnel by tunnel lining cavity knocking mechanism, improves the automation level, reduces the labor intensity of detection personnel, is convenient for detection personnel to carry out timely, accurate, fast detection to the cavity in lining, guarantees the safety of vehicle in tunnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel lining cavity detection, and particularly relates to a tunnel lining cavity knocking mechanism and an automatic knocking detection device. BACKGROUND

[0002] In recent years, the mileage of railway and highway construction in China is continuously increasing. The tunnel is a passageway built in the ground or mountain for vehicle driving, which can effectively shorten the driving distance between two places and improve the transportation efficiency. The lining, as the main structure of the tunnel, plays a role in bearing the stratum pressure and preventing the deformation of surrounding rock. During the construction of the lining, due to the improper construction technology, non-standard operation of construction personnel, unreasonable disposal of excavation collapse and other factors, a part of the lining in some sections has the construction defect of cavity.

[0003] If these cavities cannot be disposed in time, and then affected by the operating period load and natural environment, the cavities are easy to cause the lining to leak water, crack and fall off, thereby reducing the safety and stability of the tunnel structure and causing a serious threat to the driving safety.

[0004] In order to ensure the safety of vehicles driving in the tunnel, it is of great significance to detect the cavities in the lining in time, accurately and quickly. At present, the methods for detecting the cavities mainly include the geological radar method and the artificial knocking echo method. The geological radar method is easily affected by factors such as steel bars, water and steam, and cannot realize real-time and effective identification. The artificial knocking echo method is to knock the surface of the lining by artificial knocking, and to judge whether there is a cavity by the sound heard by the human ear. The automatic level of the artificial knocking echo method is low, the detection result is easy to be affected by human factors, the accuracy is poor, and the labor intensity is large. SUMMARY

[0005] The present application provides a tunnel lining cavity knocking mechanism and an automatic knocking detection device and a control method thereof, so as to solve the technical problems of low automatic level and large labor intensity of the artificial knocking echo method.

[0006] The tunnel lining cavity knocking mechanism of the present application comprises a first fixed plate, a knocking hammer, an energy storage spring, a cam and a driving motor. The knocking hammer and the energy storage spring constitute a telescopic assembly, the telescopic assembly is connected to the first fixed plate, the driving motor is fixedly connected to the first fixed plate, the cam is arranged on the first output shaft of the driving motor, and the cam surface of the cam abuts against the telescopic assembly.

[0007] The automatic knocking detection device for the tunnel lining cavity of the present application comprises: the tunnel lining cavity knocking mechanism as described above; a lifting mechanism, one end of which is connected to the tunnel lining cavity knocking mechanism; a rotating mechanism, which has a mounting connected to a moving tool; one end of the rotating mechanism is connected to the other end of the lifting mechanism; and a cavity detection processing module, which is arranged on the tunnel lining cavity knocking mechanism, the lifting mechanism or the rotating mechanism.

[0008] The tunnel lining cavity knocking mechanism and the automatic knocking detection device can realize the following technical effects:

[0009] The tunnel lining cavity knocking mechanism can automatically knock the lining in the tunnel, and convert manual knocking into mechanical automatic knocking, thereby improving the automation level, reducing the labor intensity of the detection personnel, facilitating the detection personnel to timely, accurately and quickly detect the cavity in the lining, and ensuring the safety of vehicles passing through the tunnel.

[0010] The foregoing general description and the following description are only exemplary and explanatory, and are not used to limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0011] One or more embodiments are exemplarily illustrated by corresponding drawings, which do not constitute limitation on the embodiments, elements with the same reference numerals in the drawings are regarded as similar elements, and wherein:

[0012] Figure 1 is a structural schematic diagram of a tunnel lining cavity knocking mechanism provided by an embodiment of the present application;

[0013] Figure 2 is an exploded structural schematic diagram of a tunnel lining cavity knocking mechanism provided by an embodiment of the present application;

[0014] Figure 3 is a structural schematic diagram of a guide assembly provided by an embodiment of the present application;

[0015] Figure 4 is a schematic diagram of a tunnel lining cavity knocking mechanism provided by an embodiment of the present application Figure 1 ;

[0016] Figure 5 is a schematic diagram of a tunnel lining cavity knocking mechanism provided by an embodiment of the present application Figure 2 ;

[0017] Figure 6 is a schematic diagram of an information processing module provided by an embodiment of the present application;

[0018] Figure 7 is a structural schematic diagram of an identification module provided by an embodiment of the present application;

[0019] Figure 8 is a structural schematic diagram of an information processing module provided by an embodiment of the present application;

[0020] Figure 9 is a structural schematic diagram of a rotating mechanism provided by an embodiment of the present application;

[0021] Figure 10 is an explosion structure schematic diagram of a rotating mechanism provided by an embodiment of the present application;

[0022] Figure 11 is a structure schematic diagram of a lifting mechanism provided by an embodiment of the present application;

[0023] Figure 12 is Figure 11 an enlarged view of A of

[0024] Figure 13 is a schematic diagram of a tunnel lining cavity automatic knocking detection device provided by an embodiment of the present application Figure 1 ;

[0025] Figure 14 is a schematic diagram of a tunnel lining cavity automatic knocking detection device provided by an embodiment of the present application Figure 2 .

[0026] Reference signs:

[0027] 1, tunnel lining cavity knocking mechanism; 11, first fixed plate; 111, first side surface; 112, second side surface; 113, support plate; 115, fixed hole; 12, knocking hammer; 121, hammer head; 122, second fixed plate; 123, movable rod; 124, first protrusion; 125, second protrusion; 126, first installation cavity; 127, connecting block; 13, energy storage spring; 14, cam; 15, driving motor; 151, first output shaft; 21, through hole; 22, connecting bolt; 23, bearing seat; 24, flat key block; 25, flat key groove; 26, protective shell; 261, opening; 3, guiding assembly; 31, guiding rod; 311, limiting protrusion; 32, guiding frame; 33, guiding wheel; 34, guiding hole; 4, damping table; 41, connecting rod; 411, third protrusion; 42, damping spring; 43, damping plate; 5, information processing module; 51, circuit board; 52, processor; 53, microphone; 54, distance measuring sensor; 55, information storage; 56, installation shell; 57, battery; 6, identification module; 61, alarm; 611, sleeve; 612, support rod; 613, alarm lamp; 62, marking assembly; 621, first clamp; 622, second clamp; 623, electric watering can; 7, rotating mechanism; 71, mounting piece; 72, second installation cavity; 73, rotating shaft; 74, rotating gear; 75, transmission gear; 76, rotating motor; 761, second output shaft; 8, lifting mechanism; 81, lifting frame; 82, mounting plate; 83, lifting motor; 831, third output shaft; 84, lead screw; 85, guide rail; 86, sliding block; 87, limiting block; 91, moving tool. DETAILED DESCRIPTION

[0028] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0029] As shown in Figure 1 , Figure 2 , the tunnel lining cavity knocking mechanism 1 provided by the present embodiment comprises a first fixed plate 11, a knocking hammer 12, an energy storage spring 13, a cam 14 and a driving motor 15. One side of the first fixed plate 11 is a first side 111, and the other side opposite to the first side 111 is a second side 112. Two support plates 113 are configured on the first side 111, and the two support plates 113 are symmetrically arranged. The knocking hammer 12 and the energy storage spring 13 constitute a telescopic assembly.

[0030] The knocking hammer 12 comprises a hammer head 121, a second fixed plate 122 and a movable rod 123. The hammer head 121 is used for knocking the surface of the tunnel lining, and one end of the hammer head 121 is fixedly connected to one side of the second fixed plate 122. When the hammer head 121 is located at the center position of the second fixed plate 122, the force of the hammer head 121 when knocking the lining is more uniform, and the knocking effect is good. The upper end of the movable rod 123 is fixedly connected to the second fixed plate 122. A first protrusion 124 is configured at the middle and lower part of the movable rod 123 close to the first side 111, and then the energy storage spring 13 is sleeved on the other end of the movable rod 123, and the other end of the movable rod 123 penetrates through the first fixed plate 11 to the second side 112. At this time, one end of the energy storage spring 13 abuts against the first protrusion 124 at the middle and lower part of the movable rod 123, and the other end abuts against the first side 111. A second protrusion 125 is arranged at the end of the other end of the movable rod 123, and the second protrusion 125 abuts against the second side 112 due to the tension of the energy storage spring 13, and at this time the second protrusion 125 plays a limiting role. The end of the movable rod 123 provided with the second protrusion 125 is regarded as the connecting end of the knocking hammer 12. Two groups of movable rods 123 are arranged on the second fixed plate 122, and the two groups of movable rods 123 are symmetrically arranged, and the space formed between the two groups of movable rods 123 is regarded as the first installation cavity 126 of the knocking hammer 12. Each group of movable rods 123 comprises two movable rods 123. In one group of movable rods 123, a connecting block 127 is arranged between the two movable rods 123, the connecting block 127 can strengthen the connection structure of the two movable rods 123, and a through hole is configured on the connecting block 127. A connecting bolt 22 is arranged through the through holes on the connecting blocks 127 of the two groups of movable rods 123, which can strengthen the integrity of the two groups of movable rods 123. The connecting bolt 22 is regarded as the cavity bottom of the first installation cavity 126.

[0031] The driving motor 15 comprises a first output shaft 151. The bearing seats 23 are arranged at the ends of the two support plates 113 of the first fixed plate 11. The cam 14 is arranged in the first mounting cavity 126 and is provided with a through hole 21 at the center position. The first output shaft 151 penetrates the bearing seat 23 of one support plate 113, penetrates the through hole 21 of the cam 14, and finally penetrates the bearing seat 23 of the other support plate 113. The flat key block 24 is welded on the first output shaft 151, the flat key groove 25 matched with the flat key block 24 is arranged in the through hole 21 of the cam 14, and the first output shaft 151 and the cam 14 are connected through the flat key by arranging the flat key block 24 in the flat key groove 25.

[0032] When the driving motor 15 works, the first output shaft 151 drives the cam 14 to rotate. The position where the cam surface of the cam 14 just contacts the connecting bolt 22 can be regarded as the first position, or the positions where the cam surface of the cam 14 contacts the connecting bolt 22 can all be regarded as the first position. The positions where the cam surface of the cam 14 does not contact the connecting bolt 22 can all be regarded as the second position. When the cam surface of the cam 14 extrudes the connecting bolt 22 with the rotation of the cam 14, the connecting bolt 22 moves to the first side surface 111, the hammer head 121 moves to the first fixed plate 11, the first protrusion 124 extrudes the energy storage spring 13, and the energy storage spring 13 is compressed to store energy. When the cam surface of the cam 14 rotates to the second position, the cam surface of the cam 14 does not contact the connecting bolt 22, the energy storage spring 13 is reset due to its own tension, and the hammer head 121 moves away from the first fixed plate 11.

[0033] The tunnel lining cavity knocking mechanism can automatically knock the lining in the tunnel, convert manual knocking into mechanical automatic knocking, improve the automation level, reduce the labor intensity of the detection personnel, facilitate the detection personnel to timely, accurately and quickly detect the cavity in the lining, and ensure the safety of vehicles passing through the tunnel.

[0034] As Figure 3 , Figure 4As shown, the tunnel lining cavity knocking mechanism 1 further comprises a guide assembly 3 for guiding the knocking hammer 12. The guide assembly 3 comprises a guide rod 31, a guide frame 32 and guide wheels 33. One end of the guide rod 31 is configured with a limiting protrusion 311, which penetrates through the first fixed plate 11 to the second side surface 112, and at this time the limiting protrusion 311 abuts against the first side surface 111, and the guide rod 31 is fixedly connected with the first fixed plate 11 through the cooperation of the screw nut and the threads at the end of the guide rod 31. The other end of the guide rod 31 is fixedly connected with the guide frame 32, and the guide frame 32 is provided with a plurality of guide wheels 33, which are detachably connected to the guide frame 32 through bolts. The guide wheels 33 can adopt V-shaped wheels. The space formed between the V-shaped grooves of the adjacent two guide wheels 33 on the guide frame 32 is regarded as a guide hole 34. The guide hole 34 can pass through the hammer head 121. By setting the guide assembly 3 on the tunnel lining cavity knocking mechanism 1 and guiding the knocking direction of the knocking hammer 12 through the guide assembly 3, the knocking hammer 12 can be more accurate when knocking the lining surface, and the deviation of the knocking direction of the knocking hammer 12 can be avoided.

[0035] As shown in Figure 4 , Figure 5 As shown, the tunnel lining cavity knocking mechanism 1 further comprises a protective shell 26. The protective shell 26 covers the knocking hammer 12, the energy storage spring 13, the cam 14, the first fixed plate 11, the driving motor 15 and the guide assembly 3. The protective shell 26 is fixed on the first fixed plate 11 by screws. The protective shell 26 is integrally formed with a long strip-shaped opening 261, and the hammer head 121 of the knocking hammer 12 and the guide wheels 33 of the guide assembly 3 are exposed outside the protective shell 26 through the opening 261. A large amount of dust is easily generated when the knocking hammer 12 knocks the lining, and the dust scattered on the knocking hammer 12 and other structures of the knocking mechanism will affect the normal work of the knocking mechanism. The protective shell 26 provided on the tunnel lining cavity knocking mechanism 1 can reduce the risk of dust entering the knocking mechanism. When the knocking hammer 12 knocks the lining, the hammer head 121 will take the air in the protective shell 26 out of the protective shell 26 through the opening 261, thereby generating an air flow to prevent dust from entering the protective shell 26 through the opening 261.

[0036] As shown in Figures 3 to 5As shown, the tunnel lining cavity knocking mechanism 1 further comprises a damping platform 4. The damping platform 4 comprises a connecting rod 41, a damping spring 42, and a damping plate 43. One end of the connecting rod 41 is configured with a cylindrical third protrusion 411, and the first fixed plate 11 is configured with a fixed hole 115, the inner diameter of which is the same as the outer diameter of the cylindrical connecting rod 41. The one end of the connecting rod 41 penetrates through the fixed hole 115, and the third protrusion 411 is in contact with the first fixed plate 11. At this point, the connecting mode of the one end of the connecting rod 41 provided with the third protrusion 411 and the first fixed plate 11 can adopt welding or bolt fixing. The other end of the connecting rod 41 is sleeved with the damping spring 42, and penetrates from one side of the damping plate 43 to the other side of the damping plate 43. At this point, the connecting mode of the other end of the connecting rod 41 and the damping plate 43 can adopt welding or bolt fixing. When the connecting rod 41 and the damping plate 43 are fixedly connected, one end of the damping spring 42 is in contact with the third protrusion 411, and the other end is in contact with one side of the damping plate 43. For example, the other end of the connecting rod 41 is configured with a thread, and when the one end of the connecting rod 41 provided with the thread penetrates through the damping plate 43, a nut is used to connect the connecting rod 41 and the damping plate 43. When the knocking hammer 12 knocks the lining, a reaction force will be generated. By providing the damping platform 4 on the tunnel lining cavity knocking mechanism 1, flexible buffering can be provided for the knocking hammer 12, and the damage of the reaction force to the tunnel lining cavity knocking mechanism 1 can be reduced.

[0037] As shown in the above embodiments, the tunnel lining cavity knocking mechanism 1, the lifting mechanism 8, the rotating mechanism 7, and the cavity detection processing module are provided. Figures 6 to 14 As shown in the above embodiments, the tunnel lining cavity knocking mechanism 1, the lifting mechanism 8, the rotating mechanism 7, and the cavity detection processing module are provided.

[0038] Optionally, the moving tool 91 can adopt a track car, an engineering vehicle, or a train. The moving tool 91 is used to drive the tunnel lining cavity automatic knocking detection device to move.

[0039] As shown in the above embodiments, the tunnel lining cavity knocking mechanism 1, the lifting mechanism 8, the rotating mechanism 7, and the cavity detection processing module are provided. Figures 6 to 8As shown, the cavity detection processing module comprises an information processing module 5. The information processing module 5 is arranged on the first fixed plate 11; or, the information processing module 5 is arranged on the damping platform 4; or, the information processing module 5 is arranged on the lifting mechanism 8 of the tunnel lining cavity automatic knocking detection device, and the information processing module 5 is arranged on the guide rail 85 of the lifting mechanism 8.

[0040] The information processing module 5 comprises a circuit board 51, a processor 52, a microphone 53, a distance measuring sensor 54 and an information storage 55. The processor 52, the microphone 53, the distance measuring sensor 54 and the information storage 55 are all arranged on the circuit board 51. The processor 52 is used for processing and analyzing the echo data collected by the microphone 53. For example, the processor 52 can adopt a BCM2836 processor 52 developed and produced by Raspberry Pi. The microphone 53 is electrically connected with the processor 52. The collection end of the microphone 53 is directed towards the hammer head 121 of the knocking hammer 12 or the connection end of the knocking hammer 12. The microphone 53 is used for collecting the echo data generated when the knocking hammer 12 knocks the lining, and transmitting the echo data to the processor 52. For example, the microphone 53 can adopt an OM242 microphone 53 developed and produced by Beijing Shengwang Acoustics. The distance measuring sensor 54 is electrically connected with the processor 52. The axis of the distance measuring sensor 54 is parallel to the axis of the hammer head 121, so that the distance measuring sensor 54 can more accurately detect the distance from the hammer head 121 to the lining. For example, the distance measuring sensor 54 can adopt an EX-L291 laser distance measuring sensor 54 developed and produced by Matsushita. The information storage 55 is electrically connected with the processor 52. When the processor 52 processes and analyzes the echo data collected by the microphone 53, the processor 52 sends the echo data to the information storage 55, and the information storage 55 is used for storing the processed echo data. For example, the information storage 55 can adopt a storage TF card. The information storage 55 is arranged on the processor 52, which is convenient for the detection personnel to retrieve the echo data later. The information processing module 5 further comprises a mounting shell 56, which is arranged on the circuit board 51 and is fixed to the damping plate 43 by screws. The mounting shell 56 protects the parts on the circuit board 51. The mounting shell 56 is provided with a through hole 21, and the collection end of the microphone 53 passes through the through hole 21 of the mounting shell 56 to be exposed outside the mounting shell 56, so as to collect the echo generated by the knocking hammer 12. The circuit board 51 is further provided with a battery 57, which is electrically connected with the circuit board. The battery 57 is used for supplying power to other elements on the circuit board.

[0041] As shown in FIG. 1, the tunnel lining cavity automatic knocking detection device comprises a detection platform 1, a knocking hammer 12, a lifting mechanism 8 and a control box 9. The detection platform 1 is arranged on the ground. The knocking hammer 12 is arranged on the detection platform 1. The lifting mechanism 8 is arranged on the detection platform 1. The control box 9 is arranged on the detection platform 1. The control box 9 is electrically connected with the knocking hammer 12 and the lifting mechanism 8. Figure 6 、 Figure 7As shown, the cavity detection processing module further comprises an identification module 6. The identification module 6 comprises an alarm 61, a marking assembly 62. The alarm 61 and the marking assembly 62 can be arranged on the first fixed plate 11; or, the alarm 61 and the marking assembly 62 can be arranged on the damping platform 4; or, the alarm 61 and the marking assembly 62 can be arranged on the lifting mechanism 8 of the tunnel lining cavity automatic knocking detection device, and the alarm 61 and the marking assembly 62 can be arranged on the guide rail 85 of the lifting mechanism 8. The alarm 61 is electrically connected with the processor 52, and the marking assembly 62 is electrically connected with the processor 52.

[0042] Specifically, the alarm 61 comprises a sleeve 611, a support rod 612 and an alarm lamp 613. The sleeve 611 is welded on the second side surface 112 of the first fixed plate 11. The support rod 612 is in the shape of L. One end of the support rod 612 is inserted into the sleeve 611, and the support rod 612 is fixed on the sleeve 611 by screws or bolts. The alarm lamp 613 is bonded on the other end of the support rod 612, and the alarm lamp 613 is electrically connected with the processor 52.

[0043] Specifically, the marking assembly 62 comprises a first clamp 621, a second clamp 622 and an electric sprinkler 623. The first clamp 621 is fixed on the support rod 612 near the alarm lamp 613. The second clamp 622 is welded on the first clamp 621, and the central axis of the second clamp 622 is perpendicular to the central axis of the first clamp 621. The second clamp 622 is used for fixing the water bottle of the electric sprinkler 623. The nozzle of the electric sprinkler 623 is directed to the position where the hammer head 121 knocks the lining. For example, the electric sprinkler 623 can adopt the electric sprinkler 623 produced by Qianque.

[0044] By arranging the identification module 6 on the tunnel lining cavity knocking mechanism 1, the alarm lamp 613 reminds the detection personnel that the cavity has been found through sound, and reminds the detection personnel of the current position of the cavity knocking mechanism in the tunnel through light. At the same time, the cavity position is marked by spraying color through the marking assembly 62, which is convenient for the maintenance personnel to process the cavity later.

[0045] As shown in Figure 9 , Figure 10 As shown, the rotating mechanism 7 comprises a mounting piece 71, a second mounting cavity 72, a rotating shaft 73, a rotating gear 74, a transmission gear 75 and a rotating motor 76. The mounting piece 71 can adopt a box structure or a shelf structure. The second mounting cavity 72 is integrally formed in the mounting piece 71, and the mounting piece 71 is fixed on the moving tool 91 by penetrating the cavity bottom of the second mounting cavity 72 with bolts or screws. The rotating shaft 73 is rotatably arranged at the cavity opening of the second mounting cavity 72, or the rotating shaft 73 is rotatably arranged in the second mounting cavity 72.

[0046] Optionally, two bearing seats 23 are arranged at the cavity opening of the second mounting cavity 72, and the two bearing seats 23 are symmetrically arranged on the opposite two side walls of the second mounting cavity 72. The bearing seats 23 are fixed on the opposite two side walls of the second mounting cavity 72 by screws. One end of the rotating shaft 73 is fixed in one bearing seat 23, and the other end of the rotating shaft 73 is fixed in the other bearing seat 23. The rotating gear 74 is a semicircular gear, and the rotating gear 74 is coaxially arranged with the rotating shaft 73 and located in the second mounting cavity 72. The rotating shaft 73 is provided with a flat key block 24, and the rotating shaft 73 is configured with a flat key groove 25 matched with the flat key block 24. The through hole 21 of the rotating gear 74 is also configured with a flat key groove 25 matched with the flat key block 24. First, a part of the flat key block 24 is placed in the flat key groove 25 of the rotating shaft 73, then the rotating shaft 73 is inserted into the through hole 21 of the rotating gear 74, and the other part of the flat key block 24 is located in the flat key groove 25 of the rotating gear 74, so that the rotating shaft 73 and the rotating gear 74 are detachably mounted. The rotating motor 76 is fixed to the bottom of the second mounting cavity 72 by bolts. The second output shaft 761 of the rotating motor 76 is provided with a flat key block 24. The second output shaft 761 is configured with a flat key groove 25 matched with the flat key block 24, and the through hole 21 of the transmission gear 75 is also configured with a flat key groove 25 matched with the flat key block 24. First, a part of the flat key block 24 is placed in the flat key groove 25 of the second output shaft 761, then the second output shaft 761 is inserted into the through hole 21 of the transmission gear 75, and the other part of the flat key block 24 is located in the flat key groove 25 of the transmission gear 75, so that the second output shaft 761 and the transmission gear 75 are detachably mounted. When the transmission gear 75 is mounted on the second output shaft 761, the transmission gear 75 is engaged with the rotating gear 74. The second output shaft 761 of the rotating motor 76 rotates, the transmission gear 75 rotates with the second output shaft 761, the transmission gear 75 drives the rotating gear 74 to rotate, the rotating gear 74 drives the rotating shaft 73 to rotate, and since the lifting mechanism 8 is arranged on the rotating shaft 73, the lifting mechanism 8 can rotate with the rotating shaft 73. The detection personnel can drive the lifting mechanism 8 to rotate through the rotating mechanism 7, so that the knocking angle of the knocking hammer 12 is more flexible.

[0047] As Figure 11 , Figure 12As shown, the lifting mechanism 8 comprises a lifting frame 81, a mounting plate 82, a lifting motor 83, a lead screw 84, a guide rail 85 and a sliding block 86. One end of the lifting frame 81 is fixedly connected to the rotating shaft 73 of the rotating mechanism 7, and the lifting frame 81 can rotate with the rotating shaft 73. The mounting plate 82 is arranged at the middle position of the lifting frame 81, or the mounting plate 82 is welded to one end of the lifting frame 81 close to the rotating shaft 73. The lifting motor 83 is fixedly installed on the mounting plate 82 by screws or bolts. The lifting motor 83 is arranged on the side of the mounting plate 82 facing the rotating shaft 73, and the third output shaft 831 of the lifting motor 83 penetrates through the mounting plate 82 to the side of the mounting plate 82 facing the knocking hammer 12. One end of the lead screw 84 is welded to the third output shaft 831 of the lifting motor 83, or the one end of the lead screw 84 is connected to the third output shaft 831 in a bolted manner. The guide rail 85 is welded to the lifting frame 81, or the guide rail 85 is welded to the mounting plate 82. The sliding block 86 is slidingly connected to the guide rail 85. The sliding block 86 is provided with a T-shaped groove or a dovetail groove, and the shape of the guide rail 85 is matched with the T-shaped groove or the dovetail groove of the sliding block 86. Such arrangement can make the sliding block 86 slide along the guide rail 85, and the T-shaped groove or the dovetail groove of the sliding block 86 can prevent the sliding block 86 from sliding off the guide rail 85. The sliding block 86 is arranged on the lead screw 84, and the lead screw 84 can drive the sliding block 86 to move. A limiting block 87 is arranged at the end of the lead screw 84 away from the third output shaft 831, and the limiting block 87 is welded to the one end of the lead screw 84, or the limiting block 87 is fixedly installed on the one end of the lead screw 84 by screws. When the third output shaft 831 of the lifting motor 83 rotates, the lead screw 84 rotates with the third output shaft 831, and the rotation of the lead screw 84 drives the sliding block 86 to move up and down along the guide rail 85. After the detection personnel drives the rotating mechanism 7 to adjust the angle of the knocking hammer 12, the distance between the hammer head 121 of the knocking hammer 12 and the surface of the lining increases, and the detection personnel can drive the lifting mechanism 8 to lift the knocking hammer 12 to ensure that the knocking hammer 12 can still knock the surface of the lining after the angle adjustment.

[0048] As shown in Figure 13 , Figure 14 , the detection personnel installs and fixes the tunnel lining cavity automatic knocking detection device on the moving tool 91, and the tunnel lining cavity automatic knocking detection device moves with the moving tool 91. When the moving tool 91 enters the tunnel, the detection personnel controls the rotating structure 7 to drive the lifting mechanism 8 to rotate around the rotating shaft 73, which facilitates the detection personnel to flexibly adjust the knocking angle of the knocking hammer. Then the detection personnel controls the lifting mechanism 8 to lift, and adjusts the distance between the knocking hammer and the lining.

[0049] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A device for automatic detection of a cavity in a tunnel lining, characterized in that The tunnel lining cavity knocking mechanism (1) comprises a first fixed plate (11), a knocking hammer (12), an energy storage spring (13), a cam (14) and a driving motor (15); the knocking hammer (12) and the energy storage spring (13) constitute a telescopic assembly, the telescopic assembly is connected to the first fixed plate (11), the driving motor (15) is fixedly connected to the first fixed plate (11), the cam (14) is arranged on a first output shaft (151) of the driving motor (15), and a cam surface of the cam (14) abuts against the telescopic assembly; a lifting mechanism (8) connected to one end of the tunnel lining cavity knocking mechanism (1); a rotating mechanism (7) having a mounting piece (71) connected to a moving tool (91); one end of the rotating mechanism (7) is connected to the other end of the lifting mechanism (8); a cavity detection processing module arranged on the tunnel lining cavity knocking mechanism (1), the lifting mechanism (8) or the rotating mechanism (7); the rotating mechanism (7) comprises: a second mounting cavity (72); a rotating shaft (73) rotatably arranged at an opening of the second mounting cavity (72) or in the second mounting cavity (72); a rotating gear (74) arranged on the rotating shaft (73) and located in the second mounting cavity (72); the rotating gear (74) is coaxially arranged with the rotating shaft (73); a transmission gear (75) rotatably arranged in the second mounting cavity (72) and engaged with the rotating gear (74); a rotating motor (76) arranged in the second mounting cavity (72); a second output shaft (761) of the rotating motor (76) is connected with the transmission gear (75); the lifting mechanism (8) comprises: a lifting motor (83) arranged on the rotating shaft (73); a lead screw (84) having one end connected with a third output shaft (831) of the lifting motor (83); a guide rail (85) arranged on the rotating shaft (73); a sliding block (86) slidably connected to the guide rail (85); the sliding block (86) is arranged on the lead screw (84); the cavity detection processing module comprises an information processing module (5); the information processing module comprises: a processor (52); a microphone (53) having a collection end facing the knocking hammer (12); the microphone (53) is connected with the processor (52); a distance measuring sensor (54) having an axis parallel to an axis of a hammer head (121) of the knocking hammer (12); the distance measuring sensor (54) is connected with the processor (52); an information storage (55) connected with the processor (52). The cavity detection processing module further comprises an identification module (6), and the identification module (6) comprises:

2. The tunnel lining void automatic knock detection apparatus according to claim 1, wherein an alarm (61) arranged on the first fixed plate (11), a damping platform (4) or the lifting mechanism (8) of the tunnel lining cavity automatic knocking detection device; the alarm (61) is connected with the processor (52). ​ 3. The apparatus according to claim 2, wherein The identification module (6) further comprises: A marking assembly (62) is arranged on the first fixed plate (11), the damping platform (4) or the lifting mechanism (8); the marking assembly (62) is connected with the processor (52).

4. The tunnel lining void automatic knock detection apparatus according to claim 1, wherein The tunnel lining cavity knocking mechanism further comprises: A guide assembly (3) comprises a guide rod (31) and a guide wheel (33); one end of the guide rod (31) is arranged on the first fixed plate (11), and the other end of the guide rod (31) is provided with the guide wheel (33); guide holes (34) are formed between adjacent guide wheels (33), and the hammer head (121) of the knocking hammer (12) is inserted into the guide holes (34).

5. The apparatus according to claim 4, wherein The tunnel lining cavity knocking mechanism further comprises: A protective shell (26) covers the knocking hammer (12), the energy storage spring (13), the cam (14), the first fixed plate (11), the driving motor (15) and the guide assembly (3).

6. The tunnel lining void automatic knock detection apparatus according to claim 4, wherein The tunnel lining cavity knocking mechanism further comprises: A damping platform (4) comprises a connecting rod (41), a damping spring (42) and a damping plate (43); one end of the connecting rod (41) is connected with the first fixed plate (11), and the other end of the connecting rod (41) is connected with the damping plate (43); the damping spring (42) is sleeved on the other end of the connecting rod (41) and arranged between the connecting rod (41) and the damping plate (43).

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