Steel wire rope traction type tunnel lining gridding precision inspection trolley

Abstract

This invention proposes a wire rope-traction tunnel lining grid-based precision inspection trolley, comprising a frame assembly; a support mechanism mounted on the frame assembly, on which a detection mechanism is mounted for detecting defects in the tunnel lining; and an electrical control system mounted on the frame assembly, controlling the mechanical movement, inspection operations, and data transmission of the entire trolley. The support mechanism is equipped with an arc-shaped circumferential guide rail coaxial with the tunnel lining. The circumferential guide rail is equipped with a circumferential crawling system for slowly driving the detection mechanism along the circumferential direction and a wire rope traction system for rapidly driving the detection mechanism along the circumferential direction. This invention can carry different types of inspection equipment to perform circumferential, longitudinal, or combined scanning grid-based precision inspection of the entire tunnel lining space, achieving continuous full-coverage inspection of the lining while ensuring rapid inspection efficiency.

Description

Technical Field

[0001] This invention relates to a wire rope traction type tunnel lining grid precision inspection trolley, belonging to the field of tunnel inspection and maintenance technology. Background Technology

[0002] Due to factors such as geological and hydrological conditions, material factors, construction technology, and construction equipment, tunnel linings may have quality defects that are not easily visible to the naked eye, such as voids, lack of compactness, insufficient thickness, and insufficient strength. Under the influence of stress redistribution, temperature and humidity changes, and aerodynamic loads, tunnel lining defects are prone to occur at specific times, affecting the quality, safety, and service life of the tunnel.

[0003] To proactively address and maintain tunnel lining defects in a timely and effective manner, ensuring tunnel lining quality and operational safety, it is essential to accurately identify the scale and spatial distribution of internal defects before they develop into serious damage. However, considering that lining quality defects can occur anywhere within the lining, current detection technologies and equipment cannot achieve comprehensive and continuous inspection. Summary of the Invention

[0004] To address the aforementioned technical problems in existing technologies, this invention proposes a wire rope-traction tunnel lining grid-based precision inspection trolley, which can be equipped with different types of inspection equipment to perform circumferential, longitudinal, or combined scanning grid-based precision inspection of the entire tunnel lining space, achieving continuous full-coverage inspection of the lining while ensuring rapid inspection efficiency.

[0005] This invention proposes a wire rope-traction type tunnel lining grid-based precision inspection trolley, comprising:

[0006] Chassis assembly;

[0007] A load-bearing mechanism is mounted on the chassis assembly, and a detection mechanism is mounted on the load-bearing mechanism for detecting defects in tunnel lining; and

[0008] An electronic control system is installed on the frame assembly, which controls the mechanical movement, detection operations, and data transmission functions of the entire trolley.

[0009] The supporting mechanism is equipped with an arc-shaped circumferential guide rail coaxial with the tunnel lining. The circumferential guide rail is equipped with a circumferential crawling system that drives the detection mechanism to perform slow detection along the circumferential direction, and a wire rope traction system that drives the detection mechanism to perform fast detection along the circumferential direction.

[0010] A further improvement of the present invention is that the frame assembly includes a mast body, the sides and top of the mast body are respectively provided with multi-level working platforms, the lower end of the mast body is provided with a traveling mechanism, and the sides of the mast body are provided with a ladder system connecting the ground and each working platform.

[0011] A further improvement of the present invention is that the bearing mechanism includes an arc-shaped arch frame disposed at the front and rear ends of the gantry body, and the circumferential guide rail is disposed on the arch frame; the detection mechanism is disposed on the swing frame, and the swing frame moves slowly on the circumferential guide rail by means of a circumferential guide rail crawling system or swings rapidly on the circumferential guide rail by means of a wire rope traction system.

[0012] A further improvement of the present invention is that the swing frame includes radial swing rods respectively connected to the two ring track crawling systems, the bottoms of the two radial swing rods are connected by a longitudinal pivot, the upper ends of the two radial swing rods are provided with a longitudinal main beam, the longitudinal main beam is connected to the wire rope traction system through the radial swing rods, and the detection mechanism is movably connected to the longitudinal main beam.

[0013] A further improvement of the present invention is that a steel wire rope is provided on the lower side of the arch frame, and the steel wire rope is fixed to the lower side of the arch frame by a plurality of rope positioning hoops;

[0014] The wire rope traction system includes a traction drive motor connected to the ring track crawling system, and a wire rope traction head is provided on the shaft of the traction drive motor, with the wire rope wound around the wire rope traction head.

[0015] A further improvement of the present invention is that the circumferential guide rail includes an annular rack extending outward along the arc direction, and a fixed rail disposed on the side.

[0016] The ring track crawling system includes a crawling frame, one side of which is provided with rollers that cooperate with the fixed rail, and the other side is connected to the radial swing rod; the side of the crawling frame is also provided with a crawling gear that meshes with the annular rack, and the crawling gear is driven by a reduction motor.

[0017] A further improvement of the present invention is that the detection mechanism includes a base that can move and be fixed on the longitudinal main beam, a lifting and rotating device is provided on the base, a rotating platform is provided at the upper end of the lifting and rotating device, a detection instrument is connected to the rotating platform through a detection device connector, and a protective plate is provided on the outside of the detection instrument.

[0018] A further improvement of the present invention is that a guide rod is provided on the edge of the rotary platform, a guide roller is provided at the end of the guide rod, and the end of the guide roller extends beyond the protective plate; an obstacle detection probe is provided on the side of the detection instrument.

[0019] A further improvement of the present invention is that a rod-shaped guide rail and a longitudinal rack are provided on the longitudinal main beam, and the base moves on the longitudinal main beam through a longitudinal motion drive mechanism; the longitudinal motion drive mechanism includes a guide block that cooperates with the rod-shaped guide rail and a gear that cooperates with the longitudinal rack, and the gear is driven by a DC variable frequency reduction motor.

[0020] A further improvement of the present invention is that the traveling mechanism includes a support component connected to the lower end of the gantry body, a drive wheel is provided on one side of the support component and the drive wheel is driven by a geared motor, and a guide wheel is provided on the other side of the support component and a geared motor is provided on the guide wheel;

[0021] The traveling mechanism also includes laser ranging devices installed on both sides to measure the distance between the trolley and the side walls of the tunnel lining.

[0022] Compared with the prior art, the advantages of the present invention are as follows:

[0023] The present invention discloses a wire rope traction-type tunnel lining grid-based precision inspection trolley, which can be equipped with different types of inspection equipment such as ground-penetrating radar detectors, ultrasonic detectors, and rebound hammers. Through an automated control system, the inspection equipment is driven to perform longitudinal, circumferential, or combined scanning grid-based inspections, realizing full-coverage precision inspection data collection of internal defects in the tunnel lining. The on-site inspection data is transmitted in real time to a remote server system through a wireless network for subsequent data processing, interpretation, and identification of internal defects in the lining.

[0024] The grid-based precision inspection trolley offers three inspection modes: longitudinal, circumferential, or a combination thereof, allowing selection of the appropriate mode based on the needs of different inspection equipment. For ultrasonic testing, rebound testing, and 3D ground-penetrating radar (GPR) inspection, full-coverage continuous precision inspection of the lining space can be achieved by prioritizing scanning in either the longitudinal or circumferential direction and combining it with movement in the other direction. For 2D GPR inspection, a combined longitudinal and circumferential scanning method can be considered to ensure grid accuracy in both the circumferential and longitudinal directions. The grid spacing for circumferential and longitudinal movement is adjustable according to the size of different inspection equipment and the required grid-based inspection accuracy. In the circumferential direction, two movement modes—a crawling system and a swinging system—are also available to adapt to different inspection equipment.

[0025] The wire rope traction tunnel lining grid precision inspection trolley can be equipped with different types of inspection equipment such as ground-penetrating radar detectors, ultrasonic detectors, and rebound hammers. It can achieve rapid and automated operation and can be quickly and easily disassembled and assembled. It can detect various types of internal defects behind the lining, such as voids, lack of compactness, insufficient thickness, abnormal distribution of reinforcing bars, insufficient strength, and water-rich fractures.

[0026] The gridded precision inspection trolley is suitable for inspecting tunnel linings with different cross-sectional shapes. With the trolley position and arch frame shape fixed, considering that the longitudinal main beam has different distances relative to different parts of the tunnel circumferentially, the radial swing arm telescopic design can be adjusted according to different circumferential inspection parts of the tunnel to ensure the fit between the inspection mechanism and the lining surface. Attached Figure Description

[0027] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, in which:

[0028] Figure 1 The diagram shown is a structural schematic of a wire rope traction tunnel lining grid precision inspection trolley according to an embodiment of the present invention.

[0029] Figure 2 The diagram shown is a structural schematic of a bench assembly according to an embodiment of the present invention;

[0030] Figure 3 The diagram shown is a structural schematic of a load-bearing mechanism according to an embodiment of the present invention;

[0031] Figure 4 The diagram shown is a structural schematic of a wire rope traction system according to an embodiment of the present invention.

[0032] Figure 5 The diagram shown is a structural schematic of a ring track crawling system according to an embodiment of the present invention;

[0033] Figure 6 The diagram shown is a structural schematic of a detection mechanism according to an embodiment of the present invention;

[0034] Figure 7 The diagram shown is a structural schematic of a longitudinal motion drive mechanism according to an embodiment of the present invention.

[0035] Figure 8 The diagram shown is a structural schematic of a traveling mechanism according to an embodiment of the present invention;

[0036] In the accompanying drawings, the same parts use the same reference numerals.

[0037] The accompanying drawings are not drawn to scale.

[0038] The meanings of the reference numerals in the attached figures are as follows:

[0039] 1. Chassis assembly; 2. Load-bearing mechanism; 3. Electrical control mechanism; 4. Detection mechanism; 11. Gantry body; 12. Working platform; 13. Traveling mechanism; 131. Support components; 132. Drive wheel; 133. Guide wheel; 134. Gear motor; 135. Gear reducer; 136. Laser rangefinder; 14. Climbing system; 21. Arch frame; 212. Ring rack; 213. Fixed rail; 22. Ring rail crawling system; 221. Climbing frame; 222. Roller; 223. Climbing gear; 224. Gear motor; 23. Swing frame; 231. Radial swing arm; 232. Longitudinal pivot; 233. 1. Longitudinal main beam; 2331. Rod-shaped guide rail; 2332. Longitudinal rack; 234. Connecting frame; 24. Wire rope traction system; 241. Swinging geared motor; 242. Sprocket; 243. Chain; 244. Wire rope traction head; 41. Base; 411. Guide block; 412. Gear; 413. DC frequency conversion geared motor; 42. Lifting and slewing device; 421. Lifting and pressure holding cylinder; 422. Slewing drive cylinder; 43. Slewing platform; 431. Guide rod; 432. Guide roller; 433. Obstacle detection probe; 44. Detection instrument; 441. Protective plate; 434. Detection device connector; 441. Protective plate. Detailed Implementation

[0040] To make the technical solutions and advantages of the present invention clearer, exemplary embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not an exhaustive list of all embodiments. Furthermore, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0041] Figure 1 The diagram schematically illustrates a wire rope-traction tunnel lining grid-based precision inspection trolley according to the present invention, comprising a frame assembly 1. The frame assembly 1 supports other components and drives their movement. A load-bearing mechanism 2 is mounted on the frame assembly 1 to support an inspection mechanism 4, which is used to detect defects in the tunnel lining. Depending on different inspection requirements, various inspection instruments 44, such as radar detectors, ultrasonic detectors, and rebound hammers, can be selected. An electronic control system 3 is mounted on the frame assembly 1 to control the mechanical movement, inspection operations, and data transmission functions of the entire trolley.

[0042] The bearing mechanism 2 is provided with an arc-shaped circumferential guide rail coaxial with the tunnel lining. The circumferential guide rail is provided with a circumferential track crawling system 22 that drives the detection mechanism 4 to perform slow detection along the circumferential direction, and a wire rope traction system 24 that drives the detection mechanism 4 to perform fast detection along the circumferential direction.

[0043] The wire rope traction tunnel lining grid-based precision inspection trolley described in this embodiment can be equipped with different types of inspection equipment such as ground-penetrating radar detectors, ultrasonic detectors, and rebound hammers. The electronic control system 3 enables automated control to drive the inspection equipment to perform longitudinal, circumferential, or combined scanning grid-based inspections, achieving full coverage precision inspection data collection of internal defects in the tunnel lining. The on-site inspection data is then transmitted in real time to a remote server system via a wireless network for subsequent data processing, interpretation, and identification of internal defects in the lining.

[0044] The supporting mechanism 2 drives the detection mechanism 4 to move in the circumferential direction. The circumferential drive has two systems: a circumferential guide rail crawling system 22 and a wire rope traction system 24, which perform relatively slow and fast circumferential detection respectively. When the circumferential guide rail crawling system 22 is running, the reduction motor in the wire rope traction system 24 disengages, and the reduction motor drive gear of the circumferential guide rail crawling system 22 slowly crawls on the large gear ring. When the wire rope traction system 24 is running, the reduction motor in the circumferential guide rail crawling system 22 disengages, and the reduction motor of the wire rope traction system 24 drives the sprocket to drive the longitudinal rotating shaft 232 to rotate, which in turn drives the radial rocker arm 231 to rotate slightly faster.

[0045] In one embodiment, such as Figure 2 As shown, the frame assembly 1 includes a mast body 11, with multi-level working platforms 12 respectively provided on the side and top of the mast body 11, a traveling mechanism 13 provided at the lower end of the mast body 11, and a ladder system 14 connecting the ground and each working platform 12 provided on the side of the mast body 11.

[0046] The gantry main body 11 is a portal frame structure, including a top transverse frame and side frames on both sides. The gantry main body 11 serves as the construction foundation platform for lining inspection, providing support for all operations of the entire trolley, and is constructed of structural steel. Working platforms 12 are located on both sides and the top of the gantry main body 11. In this embodiment, the working platforms 12 are divided into four levels: low, medium, high, and extended height, providing a safe and stable working environment for personnel at different heights. A ladder system 14 is installed between each level of the working platforms 12, facilitating easy access for personnel to perform equipment maintenance and other tasks at the appropriate height.

[0047] In one embodiment, such as Figure 3 As shown, the bearing mechanism 2 includes an arc-shaped arch frame 21 disposed at the front and rear ends of the gantry body, the circumferential guide rail is disposed on the arch frame 21, and the crawling system 22 is disposed on the circumferential guide rail.

[0048] The detection mechanism 4 is mounted on the swing frame 23, which moves slowly on the ring guide rail via the ring track crawling system 22 or swings rapidly on the ring guide rail via the wire rope traction system 24.

[0049] In the trolley according to this embodiment, the swing frame 23 moves as a whole by moving along the arch frame 21 via the ring track crawling system 22. Since the ring track crawling system 22 moves slowly, it is suitable for supporting slower-speed detection, such as ultrasonic detection. The wire rope traction system 24 drives the swing frame 23 to swing, enabling the detection mechanism 4 above it to move faster with the swing, supporting faster-speed detection, such as radar detection.

[0050] In one embodiment, such as Figure 3 The swing frame 23 includes radial swing rods 231 respectively connected to the two ring track crawling systems 22. The bottoms of the two radial swing rods 231 are connected by a longitudinal pivot 232, and a longitudinal main beam 233 is provided at the upper end of the two radial swing rods 231. The detection mechanism 4 is movably connected to the main beam. Preferably, the radial swing rods 231 are telescopic. (In this embodiment, both radial and longitudinal directions are based on the radial and longitudinal directions of the tunnel.)

[0051] In this embodiment, two radial swing arms 231 are designed on the outside of the arch frame 21 to support the longitudinal main beam 233. Driven by the ring track crawling system 22 and the wire rope traction system 24, the radial swing arms 231 cause the longitudinal main beam 233 to swing circumferentially. The ring track crawling system 22 moves on the arch frame 21, causing the radial swing arms 231 to move in a ring, achieving slow circumferential swing. The wire rope traction system 24 pulls the crawling frame 221 connected to the radial swing arms 231, achieving rapid circumferential swing. With the trolley position and the dimensions of the arch frame 21 fixed, considering that the longitudinal main beam 233 has different distances relative to different parts of the tunnel circumferentially, the radial swing arms 231 are designed to be telescopic, allowing for adjustment based on different circumferential detection points in the tunnel.

[0052] In one embodiment, such as Figure 4 As shown, a steel wire rope 242 is provided on the lower side of the arch frame 21, and the steel wire rope 242 is fixed to the lower side of the arch frame 21 by a plurality of rope positioning hoops 243; the steel wire rope traction system 24 includes a traction drive motor 241 connected to the ring track crawling system 22, and a steel wire rope traction head 244 is provided on the rotating shaft of the traction drive motor 241, and the steel wire rope 242 is wound on the steel wire rope traction head 244.

[0053] In the integrated tunnel lining maintenance and inspection trolley according to this embodiment, when the traction drive motor 241 starts, the ring track crawling system 22 disengages from the ring guide rail, the traction drive motor 241 rotates, thereby driving the wire rope traction head 244 to rotate, thereby driving the wire rope 242 to traction the crawling frame 221, and then driving the swing frame 23 to move.

[0054] In one embodiment, such as Figure 5 As shown, the circumferential guide rail includes an annular rack 212 extending outward along the arc and a fixed rail 213 disposed on the side. The circumferential track crawling system 22 includes a crawling frame 221, one side of which is provided with a roller 222 that cooperates with the fixed rail 213, and the other side is rotatably connected to the radial rocker arm 231; the side of the crawling frame 221 is also provided with a crawling gear 223 that meshes with the annular rack 212, and the crawling gear 223 is driven by a reduction motor 224.

[0055] In one embodiment, such as Figure 6 As shown, the detection mechanism 4 includes a base 41 that can move and be fixed on the longitudinal main beam 233. A lifting and rotating device 42 is provided on the base 41. A rotating platform 43 is provided at the upper end of the lifting and rotating device 42. A detection instrument 44 is connected to the rotating platform 43 through a detection device connector 434. A protective plate 441 is provided on the outside of the detection instrument 44.

[0056] In the wire rope traction type tunnel lining grid precision inspection trolley according to this embodiment, the lifting and rotating device 42 includes a lifting and pressure-holding cylinder 421 and a rotating drive cylinder 422. The lifting and pressure-holding cylinder 421 applies a light force to the inspection instrument 44 to ensure it fits the inspection surface. The rotating drive cylinder 422 controls the direction switching of the rotating platform 43 through the extension and retraction of the cylinder. The rotating platform 43 can switch directions by 90 degrees to adjust the inspection device to move and inspect longitudinally or circumferentially. The inspection device connector 434 is designed with a uniform buckle to facilitate the replacement of various instruments.

[0057] In a preferred embodiment, a guide rod 431 is provided at the edge of the rotary platform 43, and a guide roller 432 is provided at the end of the guide rod 431. The end of the guide roller 432 extends beyond the protective plate 441. The guide roller 432 is in contact with and bears the pressure of the lining surface, reducing frictional resistance and protecting the instrument from damage. An obstacle detection probe 433 is provided on the side of the detection instrument 44. When an obstacle is encountered during detection, the probe stops moving and retracts the longitudinal main beam 233 and the detection instrument 44 to prevent damage to the detection instrument 44.

[0058] In one embodiment, such as Figure 7 As shown, a rod-shaped guide rail 2331 and a longitudinal rack 2332 are provided on the longitudinal main beam 233. The base 41 moves on the longitudinal main beam 233 through a longitudinal motion drive mechanism. The longitudinal motion drive mechanism includes a guide block 411 that cooperates with the rod-shaped guide rail 2331 and a gear 412 that cooperates with the longitudinal rack 2332. The gear 412 is driven by a DC variable frequency reduction motor 413.

[0059] In one embodiment, such as Figure 8 As shown, the traveling mechanism includes a support component 131 connected to the lower end of the gantry body 11. A drive wheel 132 is provided on one side of the support component 131, driven by a reduction motor 134. A guide wheel 133 is provided on the other side of the support component 131, and a reduction motor 135 is mounted on the guide wheel 133. Both the drive wheel 132 and the guide wheel 133 are solid tires. The traveling mechanism 13 also includes laser rangefinders 136 located on both sides to measure the distance between the trolley and the sidewalls of the tunnel lining.

[0060] The geared motor 134 (1.1KW power) is located at the rear end of the traveling mechanism 13, driving the sprocket to propel the entire vehicle forward at a speed of approximately 2 meters per minute. The geared motor 135, serving as a steering adjustment component, is located at the front end of the traveling mechanism 13. The geared motor 135 (0.75KW power) drives the steering wheels to adjust the traveling direction at a speed of approximately 5° per second. The adjustment of the traveling direction is controlled by laser rangefinders 136. One laser rangefinder 136 is installed on the outer side of each of the two steering adjustment components to measure the distance between the trolley and the two sidewalls of the tunnel lining. This determines the offset between the trolley center and the center of the tunnel lining surface, further controlling the steering to maintain center alignment.

[0061] The longitudinal inspection distance of each movement of the trolley is 6 meters, and the circumferential inspection range covers the entire lining arch wall, together forming an inspection unit. By moving the trolley along the tunnel mileage direction, full coverage inspection of the entire tunnel lining can be achieved.

[0062] In one embodiment, the electronic control system 3 controls the mechanical movement, inspection operations, and data transmission of the entire trolley via a mains-powered motor driven by a PLC, with wireless Bluetooth remote control. It allows for visual operation of all electric and pneumatic components, facilitating technician work. An emergency stop control function is also included, allowing manual intervention in case of emergencies.

[0063] Mechanical motion control includes functions such as trolley travel drive, circumferential motion drive, longitudinal motion drive, and lining surface bonding control.

[0064] The electrical control system 3 controls the overall movement of the trolley by controlling the geared motor 134 and geared motor 135 in the traveling mechanism. The steering wheels at the front end are driven by the geared motor 135 to turn the trolley; the steering wheel adjustment angle is controlled by the laser rangefinder 136 to ensure that the center of the trolley matches the center of the tunnel.

[0065] The electronic control system 3 also controls the geared motor of the ring track crawling system 22, controlling its slow movement on the arch frame 21. Furthermore, the electronic control system 3 also controls the wire rope traction system 24, controlling the swing frame 23 to swing by controlling the forward and reverse rotation of the geared motor. The electronic control system 3 also controls the longitudinal motion drive mechanism to move on the longitudinal main beam 233.

[0066] The lining surface adhesion control includes two aspects: the adhesion of the longitudinal main beam 233 and the adhesion of the detection mechanism 4. The connection between the longitudinal main beam 233 and the circumferential crawling assembly is extendable, controlled by a built-in cylinder to maintain pressure and ensure that the protective guide wheel on the support rod of the longitudinal main beam 233 is always in contact with the lining surface under a certain pressure, ensuring accurate detection. The adhesion between the detection mechanism 4 and the lining surface is controlled by a pressure-maintaining cylinder, which applies a light force to the detection instrument 44 to ensure that the guide roller 432 is in contact with the lining surface.

[0067] During the operation of the trolley according to this embodiment, the electronic control system 3 also has the function of detection operation control, including the detection instrument 44 trigger control, obstacle avoidance control and positioning control.

[0068] Trigger control: The radar detector, ultrasonic detector and rebound hammer and other testing instruments 44 are customized. The traditional manual triggering method is improved to digital trigger control, which is directly controlled by the "Detection Start" button in the host computer software, which facilitates the automated operation of the testing mechanism 4.

[0069] Obstacle avoidance control: Grouting pipes and other obstacles on the lining surface can hinder the grid-based precision inspection operation and pose a collision risk. Since the longitudinal main beam 233 of the bearing mechanism 2 and the detection mechanism 4 move in close contact with the tunnel lining surface, the longitudinal main beam 233 of the bearing mechanism 2 and the obstacle detection probe 433 installed on the detection mechanism 4 are used to automatically identify obstacles. The electrical control system 3 controls the extension and retraction of the radial swing arm 231 and the lifting and pressure-holding cylinder 421 of the detection mechanism 4 to automatically avoid obstacles.

[0070] Positioning control: The trolley inspection mechanism 4 is equipped with a position sensor, which can record the corresponding position coordinates when the inspection equipment is inspecting a specific lining position. This is suitable for fixed-point inspections such as ultrasonic testing and springback testing. For continuous scanning inspection by ground-penetrating radar, the trolley inspection mechanism 4 is equipped with a ranging wheel, which can record the mileage of the inspection equipment while the radar is being inspected.

[0071] The electronic control system 3 also has a data transmission control function, which transmits the data collected by the testing instrument 44 to the remote server in real time. First, according to the interface protocol agreed upon between the testing instrument 44 and the host computer, or referring to standard protocols such as Modbus-TCP and Modbus-RTU, the testing data collected by different testing instruments 44 is uploaded to the host computer; then, it is further transmitted to the remote server system in real time via wireless network, so that the working status of the equipment can be viewed through terminals such as mobile phones, iPads, and computers.

[0072] The grid-based precision inspection trolley features an expandable interface that allows multiple inspection mechanisms 4 to be placed simultaneously on the longitudinal main beam 233, enabling parallel inspection by multiple devices and effectively improving the efficiency of grid-based full-coverage scanning. The trolley incorporates an active obstacle avoidance design, proactively identifying obstacles such as grouting pipes and misalignments that cause unevenness on the lining surface and automatically avoiding them, ensuring the safe and stable conduct of inspection operations. On-site inspection data is transmitted to a remote server system in real time, ensuring data standardization and reliability and preventing data tampering during offline data copying.

[0073] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and / or modifications falling within the scope of the invention, and all changes and / or modifications made according to embodiments of the invention should be covered within the protection scope of the invention.

Claims

1. A wire rope traction type tunnel lining grid-based precision inspection trolley, characterized in that, include: Chassis assembly (1); A load-bearing mechanism (2) is mounted on the frame assembly (1), and a detection mechanism (4) is mounted on the load-bearing mechanism (2) for detecting defects in the tunnel lining; and The electronic control system (3) installed on the frame assembly (1) controls the mechanical movement, detection operation and data transmission functions of the entire trolley; The bearing mechanism (2) is provided with an arc-shaped circumferential guide rail coaxial with the tunnel lining. The circumferential guide rail is provided with a circumferential crawling system (22) that drives the detection mechanism (4) to perform slow detection along the circumferential direction and a wire rope traction system (24) that drives the detection mechanism (4) to perform fast detection along the circumferential direction. The frame assembly (1) includes a gantry body (11), with multi-level work platforms (12) respectively provided on the side and top of the gantry body (11), a traveling mechanism (13) provided at the lower end of the gantry body (11), and a ladder system (14) connecting the ground and each work platform (12) provided on the side of the gantry body (11). The bearing mechanism (2) includes an arc-shaped arch frame (21) set at the front and rear ends of the gantry body, and the circumferential guide rail is set on the arch frame (21); the detection mechanism (4) is set on the swing frame (23), and the swing frame (23) moves slowly on the circumferential guide rail through the circumferential guide rail crawling system (22) or swings rapidly on the circumferential guide rail through the wire rope traction system (24); The swing frame (23) includes radial swing rods (231) respectively connected to the two ring track crawling systems (22). The bottoms of the two radial swing rods (231) are connected by a longitudinal pivot (232). A longitudinal main beam (233) is provided at the upper end of the two radial swing rods (231). The longitudinal main beam (233) is connected to the wire rope traction system (24) through the radial swing rods (231). The detection mechanism (4) is movably connected to the longitudinal main beam (233).

2. The wire rope traction type tunnel lining grid precision inspection trolley according to claim 1, characterized in that, A steel wire rope (242) is provided on the lower side of the arch frame (21), and the steel wire rope (242) is fixed to the lower side of the arch frame (21) by multiple rope positioning hoops (243); The wire rope traction system (24) includes a traction drive motor (241) connected to the ring track crawling system (22), and a wire rope traction head (244) is provided on the shaft of the traction drive motor (241), and the wire rope (242) is wound on the wire rope traction head (244).

3. The wire rope traction type tunnel lining grid precision inspection trolley according to claim 2, characterized in that, The circumferential guide rail includes an annular rack (212) extending outward along the arc direction, and a fixed rail (213) disposed on the side. The ring track crawling system (22) includes a crawling frame (221), one side of which is provided with a roller (222) that cooperates with the fixed rail (213), and the other side is connected to the radial rocker arm (231); the side of the crawling frame (221) is also provided with a crawling gear (223) that meshes with the ring rack (212), and the crawling gear (223) is driven by a reduction motor (224).

4. The wire rope traction type tunnel lining grid precision inspection trolley according to claim 3, characterized in that, The testing mechanism (4) includes a base (41) that can move and be fixed on the longitudinal main beam (233). A lifting and rotating device (42) is provided on the base (41). A rotating platform (43) is provided at the upper end of the lifting and rotating device (42). A testing instrument (44) is connected to the rotating platform (43) through a testing device connector (434). A protective plate (441) is provided on the outside of the testing instrument (44).

5. The wire rope traction type tunnel lining grid precision inspection trolley according to claim 4, characterized in that, The rotating platform (43) is provided with a guide rod (431) at its edge, and a guide roller (432) is provided at the end of the guide rod (431), with the end of the guide roller (432) extending beyond the protective plate (441); the detection instrument (44) is provided with an obstacle detection probe (433) on its side.

6. The wire rope traction type tunnel lining grid precision inspection trolley according to claim 5, characterized in that, The longitudinal main beam (233) is provided with a rod-shaped guide rail (2331) and a longitudinal rack (2332). The base (41) moves on the longitudinal main beam (233) through a longitudinal motion drive mechanism. The longitudinal motion drive mechanism includes a guide block (411) that cooperates with the rod-shaped guide rail (2331) and a gear (412) that cooperates with the longitudinal rack (2332). The gear (412) is driven by a DC variable frequency reduction motor (413).

7. The wire rope traction type tunnel lining grid precision inspection trolley according to claim 6, characterized in that, The traveling mechanism includes a support component (131) connected to the lower end of the gantry body (11). A drive wheel (132) is provided on one side of the support component (131), and the drive wheel (132) is driven by a geared motor (134). A guide wheel (133) is provided on the other side of the support component (131), and a geared motor (135) is provided on the guide wheel (133). The traveling mechanism (13) also includes laser ranging devices (136) on both sides to measure the distance between the trolley and the side walls of the tunnel lining.

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