A detection device for non-destructive testing of underwater tunnels

Abstract

The application relates to the technical field of underwater tunnel detection, in particular to a detection device for nondestructive detection of an underwater tunnel, which comprises a cabin body, a detection mechanism, a communication mechanism, a flange sealing cover, a clamping mechanism and a driving mechanism arranged on the cabin body, and the driving mechanism comprises a first propelling assembly and two second propelling assemblies. The cabin body can always move along the laying path of a pipeline or a cable through the clamping mechanism, the problem that the detection device needs to be repeatedly positioned due to the assistance of the underwater environment is solved, the operation difficulty of the whole equipment is reduced, the power consumption of the equipment is reduced, the driving force of the cabin body along the pipeline or the cable is improved through the transmission connection mode of the rotation angle of the two second propelling assemblies and the clamping mechanism, the moving capacity of the detection device in water is improved, the detection mechanism is arranged, the equipment can detect the underwater tunnel without damaging the underwater tunnel, and the cost of detection is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater tunnel detection technical field, specifically to a kind of detection device for underwater tunnel nondestructive testing. BACKGROUND

[0002] In the underwater tunnel detection field, because the factor of underwater environment is complex, detection and later maintenance are particularly difficult, especially for the hydropower station tunnel, they are generally long, and the tunnel is full of water, if according to the conventional method, detection is needed, the tunnel needs to be drained, and then personnel enter the tunnel to observe and measure the tunnel, so as to complete the corresponding detection. This method cannot completely operate according to its own conditions, and the subsequent chain of associated devices is long, which not only wastes a lot of resources, but also changes the pressure state of the tunnel after pumping, which will affect the service life of the tunnel. Moreover, some tunnels are complex in structure, and personnel and devices cannot enter the tunnel for corresponding detection. Due to the many limitations of underwater tunnel detection, the cable of underwater detection device will limit the travel range of the device, especially for complex pipelines, the longer the measurement distance, the cable may bend, which will generate a very large resistance to the underwater device movement, and in severe cases, it may cause the device to stop moving. SUMMARY

[0003] To solve the above problems, a detection device for underwater tunnel nondestructive testing is provided. The device can clamp the outer wall of the pipeline or cable in the underwater tunnel through the clamping mechanism, so that the cabin can always move along the laying path of the pipeline or cable, reducing the need for repeated positioning of the detection device due to the underwater environment, reducing the operation difficulty of the entire device, reducing the power consumption of the device, improving the driving force of the cabin along the pipeline or cable by the transmission connection between the rotation angle of the two second propulsion assemblies and the clamping mechanism, improving the movement ability of the detection device in water, and detecting the underwater tunnel without damaging it through the detection mechanism, reducing the cost of detection.

[0004] To solve the problems in the prior art, the technical solution adopted by the present application is as follows:

[0005] A detection device for non-destructive testing of underwater tunnels includes a cabin, one end of which is provided with a detection mechanism and a communication mechanism, and the other end of the cabin is provided with a flange sealing cover. The cabin is provided with a clamping mechanism for clamping a pipeline and a driving mechanism for driving the cabin to move. The driving mechanism includes a first propulsion assembly for driving the cabin to move horizontally and two second propulsion assemblies for driving the cabin to move vertically. The two second propulsion assemblies are respectively located on both sides of the cabin, and the two second propulsion assemblies are rotatably located on the cabin. The rotation angle of the two second propulsion assemblies is transmission-connected with the clamping mechanism. When the clamping mechanism is working, the second propulsion assembly can move the cabin horizontally.

[0006] Preferably, the clamping mechanism includes two clamping claws, and two support shafts extending along the length direction of the cabin are provided at the bottom of the cabin. The two clamping claws are respectively mounted on the two support shafts in a mirror-symmetrical state, and the two clamping claws are arc-shaped structures.

[0007] Preferably, each clamping claw comprises two arc-shaped plates, a plurality of balls are provided on the inner walls of the arc-shaped plates, and a connecting shaft parallel to the axis of the support shaft is provided between the two arc-shaped plates.

[0008] Preferably, an avoidance groove is provided on the arc-shaped plate of one of the clamping claws.

[0009] Preferably, a driving block is provided above the two clamping claws, and mounting plates are provided on both sides of the bottom of the cabin. The two driving blocks are located on the two mounting plates in a mirror-symmetrical state and can slide horizontally. The sliding direction of the driving block is perpendicular to the axial direction of the support shaft. A first sliding groove that matches the connecting shaft is provided on the driving block, and the connecting shaft slides in cooperation with the first sliding groove.

[0010] Preferably, the clamping mechanism also includes a driving frame, which is located at the bottom of the cabin body and can slide in the vertical direction. Two guide shafts are provided at the bottom of the driving frame, and the two guide shafts are slidably matched with the bottom of the cabin body. An adjustment plate is provided at the bottom of the two guide shafts. Two second slide grooves are provided on the driving frame, and the two second slide grooves are both inclined. A sliding shaft matching the second slide groove is provided on the driving block, and the sliding shaft is slidably matched with the second slide groove.

[0011] Preferably, both guide shafts are provided with elastic parts, and the clamping mechanism also includes a stabilizing mechanism for fixing the driving frame, the stabilizing mechanism includes a screw rod, a guide column, a rotary drive motor and a stabilizing head, the screw rod and the guide column are respectively located on both sides of the driving frame in a vertical state, and the screw rod is rotatably located in the cabin, the rotary drive motor is located at the bottom of the screw rod, and the screw rod is transmission-connected to the rotary drive motor, the stabilizing head is sleeved on the screw rod and the guide column, and the screw rod is threadedly matched with the stabilizing head, a receiving plate is provided in the center of the driving frame, and a U-shaped groove matching the receiving plate is provided on the stabilizing head, and when the stabilizing head moves, the receiving plate of the driving frame can be driven to move through the top or bottom of the U-shaped groove.

[0012] Preferably, the two second propulsion assemblies are each provided with a mounting shaft at one end close to the cabin body, the mounting shaft sleeve is rotatably mounted on the cabin body, the mounting shaft at one end located inside the cabin body is each provided with a gear, and two racks are provided on the top of the stabilizing head, the two racks are vertically located on both sides of the top of the stabilizing head, and the gears on the mounting shafts of the two second propulsion assemblies are respectively meshed and connected with the two racks on the stabilizing head.

[0013] Preferably, the communication mechanism includes a wireless communication module and a control module.

[0014] Preferably, the detection mechanism is an electromagnetic pulse transmitting transducer, and a protective shell is provided on the outside of the electromagnetic pulse transmitting transducer.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention uses a clamping mechanism to clamp the outer wall of the pipe or cable in the underwater tunnel, so that the cabin can always move along the laying path of the pipe or cable, reducing the problem of the detection device needing to repeatedly position the equipment due to the auxiliary underwater environment, reducing the difficulty of operating the entire device, and reducing the power consumption of the device.

[0017] 2. When the clamping mechanism of the present invention clamps a pipe or cable, the movement of the cabin will be restricted by the clamping mechanism, increasing the resistance to movement. By connecting the rotation angles of the two second propulsion assemblies with the clamping mechanism, the second propulsion assemblies can change their angles, thereby enhancing the power of the first propulsion assembly, increasing the driving force of the cabin along the pipe or cable, and improving the ability of the detection device to move underwater.

[0018] 3. The present invention provides a detection mechanism so that the equipment can detect underwater tunnels without destroying them, thereby reducing the cost of detection. The communication mechanism allows the equipment to provide real-time feedback and receive information from ground operators, thereby improving the operator's operation of the detection device and improving the underwater sealing of the cabin.

[0019] 4. After adjusting the clamping force angle with the clamping mechanism, the adjustment plate of the present invention is fixed by a stabilizing mechanism, thereby improving the stability of the connection between the cabin and the cable or pipe, avoiding direct clamping by the driving device to drive the clamping claws, causing damage to the cables or pipes in the underwater tunnel, and also extending the service life of the equipment and avoiding damage to the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of a detection device used for non-destructive testing of underwater tunnels. Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the three-dimensional structure of a detection device used for non-destructive testing of underwater tunnels. Figure 2 ;

[0022] Figure 3 It is a side view of a detection device used for non-destructive testing of underwater tunnels;

[0023] Figure 4 This is an exploded view of a detection device used for non-destructive testing of underwater tunnels;

[0024] Figure 5 This is a schematic diagram of a partial three-dimensional structure of a clamping mechanism in a detection device used for non-destructive testing of underwater tunnels;

[0025] Figure 6 This is a schematic diagram of the three-dimensional structure of the clamping claw in the detection device used for non-destructive testing of underwater tunnels.

[0026] Figure 7 This is a schematic diagram of the three-dimensional structure of the stabilizing mechanism in a detection device used for non-destructive testing of underwater tunnels.

[0027] Figure 8 This is an exploded view of a stabilizing mechanism in a detection device used for non-destructive testing of underwater tunnels;

[0028] Figure 9 This is a schematic diagram of the three-dimensional structure of the drive frame in a detection device used for non-destructive testing of underwater tunnels.

[0029] Figure 10 yes Figure 2 Enlarged view of point A in the middle;

[0030] Figure 11 yes Figure 3 Enlarged view of point B in the middle.

[0031] The numbers in the figure are:

[0032] 1- Cabin;

[0033] 11-Detection mechanism; 111-Electromagnetic pulse transmitting transducer;

[0034] 12-communication mechanism; 121-wireless communication module; 122-control module;

[0035] 13- flange sealing cover;

[0036] 14-driving mechanism; 141-first propulsion assembly; 142-second propulsion assembly; 1421-mounting shaft; 1422-gear;

[0037] 15-Mounting plate;

[0038] 2-Clamping mechanism;

[0039] 21-clamping claw; 211-arc plate; 2111-avoidance groove; 212-ball; 213-connecting shaft;

[0040] 22-support shaft; 221-driving block; 2211-first slide groove; 2212-sliding shaft;

[0041] 23-driving frame; 231-guide shaft; 2311-elastic member; 2312-adjusting plate; 232-supporting plate; 233-second slide;

[0042] 24-stabilizing mechanism; 241-screw; 242-guide column; 243-rotation drive motor; 244-stabilizing head; 2441-U-shaped groove; 2442-rack. DETAILED DESCRIPTION

[0043] In order to further understand the features, technical means, specific objectives and functions achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] like Figures 1 to 4 As shown: A detection device for non-destructive testing of underwater tunnels, including a cabin 1, one end of the cabin 1 is provided with a detection mechanism 11 and a communication mechanism 12, the other end of the cabin 1 is provided with a flange sealing cover 13, the cabin 1 is provided with a clamping mechanism 2 for clamping the pipeline and a driving mechanism 14 for driving the cabin 1 to move, the driving mechanism 14 includes a first propulsion assembly 141 for driving the cabin 1 to move horizontally and two second propulsion assemblies 142 for driving the cabin 1 to move vertically, the two second propulsion assemblies 142 are respectively located on both sides of the cabin 1, and the two second propulsion assemblies 142 are rotatably located on the cabin 1, the rotation angle of the two second propulsion assemblies 142 is transmission-connected with the clamping mechanism 2, when the clamping mechanism 2 is working, the second propulsion assembly 142 can move the cabin 1 horizontally.

[0045] First, the detection device is placed underwater, and the first propulsion component 141 and the second propulsion component 142 of the driving mechanism 14 cooperate with each other to enable the cabin 1 to move in any direction underwater. After the detection device enters the underwater tunnel, in order to prevent the detection device from being damaged by underwater undercurrents or foreign objects, pipes and cables are generally set in the tunnel. When the detection device enters one end of the tunnel under the tree, the outer wall of the pipe or cable in the underwater tunnel is clamped by opening the clamping mechanism 2, so that the cabin 1 can always move along the laying path of the pipe or cable, reducing the problem of the detection device needing to be repeatedly positioned due to the assistance of the underwater environment, reducing the operating difficulty of the entire device, and reducing the power consumption of the device. At the same time, due to the clamping of the clamping mechanism 2 and the pipe or cable, the movement of the cabin 1 will be clamped. The limitation of the holding mechanism 2 increases the resistance to movement. Through the rotation angle of the two second propulsion components 142 and the transmission connection with the clamping mechanism 2, the second propulsion component 142 can change the angle, which is convenient for strengthening the power of the first propulsion component 141, improving the driving force of the cabin 1 along the pipeline or cable, and improving the ability of the detection device to move underwater. Through the setting of the detection mechanism 11, the equipment can detect the underwater tunnel without destroying it, reducing the cost of detection. Through the setting of the communication mechanism 12, the equipment can provide real-time feedback and reception of information with the ground operator, improving the operator's operation of the detection device. The wires inside the cabin 1 all use watertight connectors, and an airtight test hole can be set on the flange sealing cover 13 to facilitate pressure testing and improve the underwater sealing of the cabin 1.

[0046] like Figures 2 to 6 and Figure 10 As shown: the clamping mechanism 2 includes two clamping claws 21, and two support shafts 22 extending along the length direction of the cabin body 1 are provided at the bottom of the cabin body 1. The two clamping claws 21 are respectively mounted on the two support shafts 22 in a mirror-symmetrical state, and the two clamping claws 21 are arc-shaped structures.

[0047] By setting the arc-shaped structure of the clamping claw 21, when the two clamping claws 21 approach each other during rotation, the arc-shaped inner wall of the clamping claw 21 can better fit the outer wall of the pipe or cable, facilitating the connection between the cabin 1 and the cable and pipe, making it easier for the cabin 1 to move along the pipe or cable, reducing the problem of the detection device needing to repeatedly position the equipment due to the assistance of the underwater environment, reducing the operating difficulty of the entire equipment, and reducing the power consumption of the equipment.

[0048] like Figures 2 to 6 As shown, each clamping claw 21 includes two arc-shaped plates 211 , a plurality of balls 212 are provided on the inner walls of the arc-shaped plates 211 , and a connecting shaft 213 parallel to the axis of the support shaft 22 is provided between the two arc-shaped plates 211 .

[0049] By setting the two curved plates 211, the cabin 1 can be better fixed to the pipe or cable, improving the stability of the equipment and avoiding the problem of the equipment being inconvenient to position due to unstable connection of the guide column 242. By setting the ball 212, after the cabin 1 is connected to the pipe and cable through the clamping mechanism 2, it can still be driven to move by the driving mechanism 14, and the cabin 1 will not be unable to move due to excessive clamping force. On the one hand, the ball 212 can maintain the gap between the curved plate 211 and the pipe or cable, and on the other hand, it can reduce the friction between the cabin 1 and the pipe or cable, improve the ability of the cabin 1 to slide in the clamping state, and further improve the stability of the equipment. By setting the connecting shaft 213, the two curved plates 211 can move at the same time, improving the synchronization of the equipment.

[0050] like Figure 6 As shown, an avoidance groove 2111 is provided on the arc-shaped plate 211 of one of the clamping claws 21 .

[0051] When the clamping mechanism 2 clamps some pipes or cables with smaller diameters, the two clamping claws 21 may collide with each other after clamping. By setting the avoidance groove 2111, the two clamping claws 21 can be staggered when clamping smaller pipes or cables, so that the cabin 1 can be better connected to the pipes or cables, avoiding the two clamping claws 21 colliding with each other when clamping pipes or cables with smaller diameters, and even causing damage to the clamping claws 21. This can improve the adaptability of the equipment and reduce damage to the equipment.

[0052] like Figure 5 、 Figure 6 and Figure 10 As shown: a driving block 221 is provided above the two clamping claws 21, and mounting plates 15 are provided on both sides of the bottom of the cabin 1. The two driving blocks 221 are in a mirror-symmetrical state and can slide horizontally on the two mounting plates 15. The sliding direction of the driving block 221 is perpendicular to the axial direction of the support shaft 22. A first sliding groove 2211 that matches the connecting shaft 213 is provided on the driving block 221, and the connecting shaft 213 slides in cooperation with the first sliding groove 2211.

[0053] The driving block 221 slides on the mounting plate 15, and the driving block 221 drives the movement of the first slide groove 2211, and the connecting shaft 213 that slides with it is driven by the first slide groove 2211, and the clamping claw 21 connected to it is driven by the connecting shaft 213, so that the clamping claw 21 makes a circular motion around the axis of the support shaft 22, so that the two clamping claws 21 are close to or away from each other with respect to the pipe or cable, thereby realizing the driving of the two clamping claws 21, and the movement of the driving block 221 can be driven by the electric push rod.

[0054] like Figures 5 to 10As shown: the clamping mechanism 2 also includes a driving frame 23, which is located at the bottom of the cabin body 1 and can slide in the vertical direction. Two guide shafts 231 are provided at the bottom of the driving frame 23, and the two guide shafts 231 slide in cooperation with the bottom of the cabin body 1. An adjustment plate 2312 is provided at the bottom of the two guide shafts 231. Two second slide grooves 233 are provided on the driving frame 23, and the two second slide grooves 233 are both inclined. A sliding shaft 2212 matching the second slide groove 233 is provided on the driving block 221, and the sliding shaft 2212 slides in cooperation with the second slide groove 233.

[0055] In order to facilitate the cabin body 1 to better adjust the clamping force and angle of the two clamping claws 21, the adjustment plate 2312 is set, so that when the cabin body 1 is connected to the pipe or cable, the adjustment plate 2312 is first connected to the pipe or cable. Since the two guide shafts 231 slide in cooperation with the cabin body 1, the adjustment plate 2312 drives the guide shaft 231 to move toward the inside of the cabin body 1 after abutting against the pipe or cable. The movement of the guide shaft 231 drives the movement of the driving frame 23, and the driving frame 23 drives the second sliding groove 233, which drives the sliding shaft 2212 that slides with it through the second sliding groove 233. The sliding shaft 2212 drives the driving block 221, so that the driving block 221 slides along the mounting plate 15, and the driving block 221 drives the movement of the clamping claw 21, thereby realizing that the adjustment plate 2312 drives the clamping of the clamping claw 21, and the clamping force and angle are adjusted by the contact distance between the adjustment plate 2312 and the cabin body 1, thereby improving the automation level of the equipment and improving the stability of the equipment.

[0056] like Figures 5 to 11 As shown: Both guide shafts 231 are provided with elastic members 2311, and the clamping mechanism 2 further includes a stabilizing mechanism 24 for fixing the drive frame 23. The stabilizing mechanism 24 includes a screw rod 241, a guide column 242, a rotation drive motor 243 and a stabilizing head 244. The screw rod 241 and the guide column 242 are respectively located on both sides of the drive frame 23 in a vertical state, and the screw rod 241 is rotatably located in the cabin 1. The rotation drive motor 243 is located at the bottom of the screw rod 241. The screw rod 241 is in transmission connection with the rotary drive motor 243, the stabilizing head 244 is sleeved on the screw rod 241 and the guide column 242, and the screw rod 241 and the stabilizing head 244 are threadedly matched. A receiving plate 232 is provided in the center of the driving frame 23, and a U-shaped groove 2441 is provided on the stabilizing head 244 that matches the receiving plate 232. When the stabilizing head 244 moves, it can drive the receiving plate 232 of the driving frame 23 to move through the top or bottom of the U-shaped groove 2441.

[0057] The movement of the driving frame 23 is achieved by the contact of the adjusting plate 2312 with the pipe or cable, and the two driving blocks 221 are adjusted by the driving frame 23 to achieve the adjustment of the clamping claw 21. The setting of the elastic member 2311 makes it possible for the adjusting plate 2312 to be reset when the elastic member 2311 is reset after the adjusting plate 2312 is away from the cable or pipe. Since the driving frame 23 is provided with a receiving plate 232, the receiving plate 232 is set, and the stabilizing head 244 is located at the bottom of the cabin body 1. At this time, the movement of the driving frame 23 can drive the receiving plate 232 to slide in the U-shaped groove 2441. After the receiving plate 232 is in contact with the pipe or cable, the clamping claw 21 will clamp the pipe or cable. In order to stabilize the clamping state of the clamping claw 21, the rotation driving motor 243 is started. The rotation driving motor 243 drives the screw rod 241 connected thereto, and the rotation of the screw rod 241 drives the stabilizing head 244 engaged with its thread. The stabilizing head 244 slides along the axial direction of the guide column 242 to drive the U-shaped groove to move, so that the bottom of the U-shaped groove touches and abuts the bottom of the receiving plate 232, so that the adjusting plate 2312 cannot be driven to reset by the elastic member 2311, thereby ensuring the stability of the connection between the cabin 1 and the pipe or cable through the clamping claw 21, and avoiding loosening of the clamping claw 21. When the adjusting plate 2312 needs to be reset, the stabilizing head 244 will move to the bottom of the cabin 1, so that the adjusting plate 2312 can be reset under the action of the elastic member 2311, which is convenient for re-clamping the pipe or cable. After the adjusting plate 2312 adjusts the clamping force angle with the clamping mechanism 2, it is fixed by the stabilizing mechanism 24, so that the stability of the connection between the cabin 1 and the cable or pipe is improved, avoiding the direct clamping of the clamping claw 21 by the driving device, causing damage to the cable or pipe in the underwater tunnel, and at the same time, it can also extend the service life of the equipment and avoid damage to the equipment.

[0058] like Figures 7 to 10 As shown: the two second propulsion components 142 are each provided with a mounting shaft 1421 at one end close to the cabin body 1, the mounting shaft 1421 is rotatably sleeved on the cabin body 1, and the end of the mounting shaft 1421 located inside the cabin body 1 is provided with a gear 1422, and two racks 2442 are provided on the top of the stabilizing head 244, and the two racks 2442 are vertically located on both sides of the top of the stabilizing head 244, and the gears 1422 on the mounting shafts 1421 of the two second propulsion components 142 are respectively engaged with the two racks 2442 on the stabilizing head 244.

[0059] When the adjusting head is stabilized by the stabilizing head 244, the movement of the stabilizing head 244 will drive the movement of its rack 2442, and the movement of the rack 2442 will drive the rotation of the gear 1422 meshing with it. The rotation of the gear 1422 drives the rotation of the mounting shaft 1421 connected to it, and the rotation of the second propulsion assembly 142 is driven by the mounting shaft 1421, so that the second propulsion assembly 142 changes its driving direction, so that the second propulsion assembly 142 can move together with the first propulsion assembly 141, and at the same time increase the driving force of the cabin 1 when it moves along the pipeline or cable, so that the movement of the cabin 1 can be smoother, and the stability of the equipment is improved.

[0060] like Figures 1 to 4 As shown, the communication mechanism 12 includes a wireless communication module 121 and a control module 122 .

[0061] The wireless communication module 121 facilitates the detection device to exchange information with ground operators in real time, reducing the difficulty of the detection device. The control module 122 can process the signals received by the detection device, and can better control the accurate startup and shutdown of each mechanism.

[0062] like Figures 1 to 4 As shown, the detection mechanism 11 is an electromagnetic pulse transmitting transducer 111 , and a protective shell is provided on the outer side of the electromagnetic pulse transmitting transducer 111 .

[0063] By setting up the electromagnetic pulse transmitting transducer 111, the detection device can detect the underwater tunnel without damaging the underwater tunnel structure. The protective shell is preferably a non-metallic shell, which helps to transmit the electromagnetic pulse signal and reduce interference with the signal.

[0064] The above embodiments merely represent one or several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A detection device for non-destructive testing of underwater tunnels, comprising a cabin (1), characterized in that: A detection mechanism (11) and a communication mechanism (12) are provided at one end of the cabin (1), and a flange sealing cover (13) is provided at the other end of the cabin (1). A clamping mechanism (2) for clamping a pipe and a driving mechanism (14) for driving the cabin (1) to move are provided on the cabin (1). The driving mechanism (14) includes a first propulsion assembly (141) for driving the cabin (1) to move in a horizontal direction and two second propulsion assemblies (142) for driving the cabin (1) to move in a vertical direction. The two second propulsion assemblies (142) are respectively located on both sides of the cabin (1), and the two second propulsion assemblies (142) are rotatably located on the cabin (1). The rotation angles of the two second propulsion assemblies (142) are transmission-connected with the clamping mechanism (2). When the clamping mechanism (2) is working, the second propulsion assembly (142) can move the cabin (1) in a horizontal direction. The clamping mechanism (2) includes two clamping claws (21). Two support shafts (22) extending along the length direction of the cabin (1) are provided at the bottom of the cabin (1). The two clamping claws (21) are respectively sleeved on the two support shafts (22) in a mirror-symmetrical state. The two clamping claws (21) are arc-shaped structures. Each clamping claw (21) includes two arc-shaped plates (211), a plurality of balls (212) are provided on the inner walls of the arc-shaped plates (211), and a connecting shaft (213) parallel to the axis of the support shaft (22) is provided between the two arc-shaped plates (211); A avoiding groove (2111) is provided on the arc-shaped plate (211) of one of the clamping claws (21); A driving block (221) is provided above each of the two clamping claws (21), and mounting plates (15) are provided on both sides of the bottom of the cabin (1). The two driving blocks (221) are located on the two mounting plates (15) in a mirror-symmetrical state and can slide horizontally. The sliding direction of the driving block (221) is perpendicular to the axial direction of the support shaft (22). A first sliding groove (2211) matching the connecting shaft (213) is provided on the driving block (221), and the connecting shaft (213) and the first sliding groove (2211) are in sliding cooperation. The clamping mechanism (2) further comprises a driving frame (23), the driving frame (23) being able to slide in a vertical direction and being located at the bottom of the cabin (1), the driving frame (23) being provided with two guide shafts (231) at the bottom, the two guide shafts (231) being in sliding engagement with the bottom of the cabin (1), the bottoms of the two guide shafts (231) being provided with an adjustment plate (2312), the driving frame (23) being provided with two second slide grooves (233) in mirror symmetry, the two second slide grooves (233) being both inclined, the driving block (221) being provided with a sliding shaft (2212) that matches the second slide groove (233), the sliding shaft (2212) being in sliding engagement with the second slide groove (233).

2. The detection device for non-destructive testing of underwater tunnels according to claim 1, characterized in that: Both guide shafts (231) are provided with elastic members (2311). The clamping mechanism (2) further comprises a stabilizing mechanism (24) for fixing the driving frame (23). The stabilizing mechanism (24) comprises a screw (241), a guide post (242), a rotary drive motor (243) and a stabilizing head (244). The screw (241) and the guide post (242) are respectively located on both sides of the driving frame (23) in a vertical state. The screw (241) is rotatably located in the cabin (1). The rotary drive motor (243) is located at the bottom of the screw (241). The screw rod (241) is connected to the rotary drive motor (243) in a transmission manner, the stabilizing head (244) is sleeved on the screw rod (241) and the guide column (242), and the screw rod (241) and the stabilizing head (244) are threadedly matched. A receiving plate (232) is provided at the center of the driving frame (23), and a U-shaped groove (2441) matching the receiving plate (232) is provided on the stabilizing head (244). When the stabilizing head (244) moves, it can drive the receiving plate (232) of the driving frame (23) to move through the top or bottom of the U-shaped groove (2441).

3. The detection device for non-destructive testing of underwater tunnels according to claim 2, characterized in that: The two second propulsion assemblies (142) are each provided with a mounting shaft (1421) at one end close to the cabin (1), and the mounting shaft (1421) is rotatably sleeved on the cabin (1). The mounting shaft (1421) is sleeved with a gear (1422) at one end located inside the cabin (1). Two racks (2442) are provided on the top of the stabilizing head (244), and the two racks (2442) are vertically located on both sides of the top of the stabilizing head (244), and the gears (1422) on the mounting shafts (1421) of the two second propulsion assemblies (142) are respectively engaged with the two racks (2442) on the stabilizing head (244).

4. A detection device for non-destructive testing of underwater tunnels according to any one of claims 1 to 3, characterized in that: The communication mechanism (12) includes a wireless communication module (121) and a control module (122).

5. A detection device for non-destructive testing of underwater tunnels according to any one of claims 1 to 3, characterized in that: The detection mechanism (11) is an electromagnetic pulse transmitting transducer (111), and a protective shell is further provided on the outside of the electromagnetic pulse transmitting transducer (111).

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