Pointer pendulum rod type tunnel lining maintenance detection integrated trolley

Abstract

This invention proposes an integrated pointer-type pendulum tunnel lining maintenance and inspection trolley, comprising a frame assembly; a load-bearing mechanism mounted on the frame assembly, on which a detection mechanism is installed for detecting defects in the tunnel lining; a maintenance mechanism also mounted on the load-bearing mechanism, configured to perform maintenance operations on the tunnel lining; and an electronic control system mounted on the frame assembly, controlling the mechanical movement, inspection, maintenance operations, and data transmission of the entire trolley; the load-bearing mechanism is equipped with an arc-shaped circumferential guide rail coaxial with the tunnel lining, on which a circumferential guide rail crawling system and a pointer-type pendulum system are installed. This invention enables automated control of maintenance and inspection, allowing rapid switching between inspection and maintenance modes, facilitating simultaneous self-inspection by construction units during the maintenance process.

Description

Technical Field

[0001] This invention relates to an integrated pointer-type tunnel lining maintenance and inspection trolley, belonging to the field of tunnel inspection and maintenance technology. Background Technology

[0002] Currently, commonly used methods for curing tunnel lining concrete include natural curing, spray curing, steam curing, and standard curing. Natural curing refers to curing without any auxiliary methods under the temperature and humidity conditions of the tunnel environment. It is only applicable to specific situations where the temperature and humidity inside the tunnel are close to standard values, and its universality is poor. Spray curing involves spraying water onto the concrete surface under certain pressure for moisturizing. It is inexpensive and the most widely used method, but low temperatures can affect the curing process, and the temperature difference between the water and the internal temperature of the concrete must be controlled to be minimal. Steam curing uses a steam generator or boiler to produce high-temperature, high-humidity gas for curing the concrete. It has good curing effects, can shorten the construction period, and ensure curing effects during winter construction. However, it is costly and not economically viable, making it difficult to promote its widespread use. Standard curing involves spraying water onto the surface of concrete specimens or immersing them in water at a standard temperature of (20±1)℃ to maintain a surface humidity of over 95%. It is commonly used in laboratories but is not suitable for actual tunnel lining curing.

[0003] According to the "Specification for Non-destructive Testing of Railway Tunnel Lining Quality" (TB 10223—2004), non-destructive testing technologies such as ground-penetrating radar (GPR), ultrasonic testing, and rebound testing are widely used in the quality acceptance and operational defect detection stages of tunnel construction. These technologies can detect lining thickness, steel arch distribution, backfill voids or looseness, insufficient strength, and internal defects in water-bearing linings. Manual tunnel lining quality inspection is hampered by the working conditions and experience levels of personnel, resulting in inconsistent data acquisition quality, high workload, low efficiency, and poor stability. It can only perform point measurements in key areas, failing to achieve large-scale batch testing of the entire tunnel lining and posing risks of personnel and equipment collisions and falls. Tunnel lining inspection vehicles equipped with GPR equipment effectively improve the efficiency and automation of lining quality inspection. However, with two-dimensional GPR, only a limited number of survey lines can be measured along the longitudinal mileage of the tunnel, making it difficult to achieve comprehensive and precise inspection of the lining, thus posing a risk of missed inspections. Moreover, the self-inspection of lining quality during tunnel construction is merely a formality, with construction units failing to conduct sufficient or even no self-inspection, leading to significant potential risks later on.

[0004] In summary, current tunnel lining maintenance and inspection equipment relies heavily on manual labor and has a low level of automation and intelligence. It still faces certain problems in terms of efficiency and information technology, and cannot quickly conduct continuous full-coverage inspections of tunnel linings. Moreover, maintenance and inspection require independent mechanical equipment, making the maintenance and inspection process cumbersome and of low quality. Summary of the Invention

[0005] To address the aforementioned technical problems in existing technologies, this invention proposes an integrated pointer-type tunnel lining maintenance and inspection trolley, which achieves automated control of maintenance and inspection, and allows for rapid switching between inspection and maintenance modes. This facilitates simultaneous self-inspection by construction units during the maintenance process, effectively improving the quality and efficiency of inspection and acceptance.

[0006] This invention proposes an integrated pointer-type rocker arm tunnel lining maintenance and inspection trolley, comprising:

[0007] Chassis assembly;

[0008] 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 the tunnel lining; a maintenance mechanism is also mounted on the load-bearing mechanism, and the maintenance mechanism is configured to perform maintenance operations on the tunnel lining; and

[0009] The electronic control system installed on the frame assembly controls the mechanical movement, inspection, maintenance and data transmission functions of the entire trolley.

[0010] The bearing mechanism 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 that drives the detection mechanism and the maintenance mechanism to perform slow detection along the circumferential direction, and a pointer-type pendulum system that drives the detection mechanism and the maintenance mechanism to perform fast detection along the circumferential direction.

[0011] 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.

[0012] 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 portal frame, the circumferential guide rail is disposed on the arch frame, the detection mechanism and the maintenance mechanism are disposed on the swing frame, and the swing frame moves slowly on the circumferential track by means of a circumferential track crawling system or swings rapidly on the circumferential track by means of a pointer-type swing arm system.

[0013] 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 detection mechanism is movably connected to the longitudinal main beam, and the maintenance mechanism is provided on the side of the longitudinal main beam.

[0014] A further improvement of the present invention is that the maintenance mechanism includes a spraying device and a water supply device. The spraying device includes a fixed spray pipe fixed to the side of the longitudinal main beam. The two ends of the fixed spray pipe are provided with telescopic spray pipes that extend and retract along the axial direction. The fixed spray pipe and the telescopic spray pipe are provided with a plurality of nozzles. The telescopic spray pipe is extended and retracted by a cylinder.

[0015] 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.

[0016] 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.

[0017] A further improvement of the present invention is that a connecting frame is provided in the middle of the arch frame;

[0018] The pointer-type rocker system includes a swing reduction motor mounted on the connecting frame, a sprocket mounted on the longitudinal rotating shaft, and the swing reduction motor connected to the sprocket via a chain; the swing reduction motor drives the swing frame to swing forward and backward by rotating forward and backward.

[0019] 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.

[0020] 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.

[0021] 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.

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

[0023] The present invention discloses an integrated pointer-type tunnel lining maintenance and inspection trolley, which realizes automated control of maintenance and inspection, and can quickly switch between inspection and maintenance modes, facilitating construction units to perform simultaneous self-inspection during the maintenance process, and effectively improving the quality and efficiency of inspection and acceptance.

[0024] The present invention discloses an integrated pointer-type tunnel lining maintenance and inspection trolley. The spraying device automatically extends and features multiple nozzles arranged at intervals. Each movement of the trolley constitutes a spraying operation unit, enabling uniform circumferential spraying maintenance over a longitudinal length of 12 meters. By moving the trolley along the tunnel's mileage direction, full coverage maintenance of the entire tunnel lining can be achieved.

[0025] The pointer-type pendulum tunnel lining maintenance and testing integrated trolley described in this invention is equipped with a concrete temperature and humidity monitoring device, which can monitor the temperature and humidity conditions of the concrete in real time, guiding the start and stop of maintenance operations and the setting of maintenance parameters. Simultaneously, it utilizes various types of sensors to record monitoring data such as water temperature, flow rate, and pressure during the maintenance process, as well as information such as the number of maintenance cycles, time, and water inflow, providing high-quality process management.

[0026] The pointer-type integrated tunnel lining maintenance and inspection trolley described in this invention, in inspection mode, has a longitudinal inspection distance of 6 meters per movement and a circumferential inspection range covering the entire lining arch wall, together forming an inspection operation unit. By moving the trolley along the tunnel mileage direction, full coverage inspection of the entire tunnel lining can be achieved.

[0027] The pointer-type integrated tunnel lining maintenance and inspection trolley described in this invention can be quickly and easily assembled and disassembled to carry different types of inspection equipment such as ground-penetrating radar detectors, ultrasonic detectors, and rebound hammers, enabling the detection of various types of internal defects behind the lining, such as voids, lack of compactness, insufficient thickness, abnormal steel reinforcement distribution, insufficient strength, and water-rich fractures.

[0028] The pointer-type integrated tunnel lining maintenance and inspection trolley described in this invention features an active obstacle avoidance design. It can proactively identify obstacles such as grouting pipes and misalignments that cause unevenness on the lining surface and automatically avoid them, ensuring the safe and stable conduct of maintenance and inspection operations. The integrated maintenance and inspection trolley's electrical control system transmits maintenance information, inspection data, and on-site video to a remote server system in real time, ensuring data standardization and reliability. This serves the process analysis and quality control of maintenance and inspection operations, demonstrating a high level of intelligence and informatization. Attached Figure Description

[0029] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, in which:

[0030] Figure 1The diagram shown is a schematic representation of the integrated pointer-type tunnel lining maintenance and testing trolley according to an embodiment of the present invention.

[0031] Figure 2 The diagram shown is a structural schematic of a bench assembly according to an embodiment of the present invention;

[0032] Figure 3 The diagram shown is a structural schematic of a load-bearing mechanism according to an embodiment of the present invention;

[0033] Figure 4 The diagram shown is a schematic representation of a pointer-type lever system according to an embodiment of the present invention.

[0034] Figure 5 The diagram shown is a structural schematic of a ring track crawling system according to an embodiment of the present invention;

[0035] Figure 6 The diagram shown is a structural schematic of a maintenance mechanism according to an embodiment of the present invention;

[0036] Figure 7 The diagram shown is a structural schematic of a spray device according to an embodiment of the present invention;

[0037] Figure 8 The diagram shown is a structural schematic of a detection mechanism according to an embodiment of the present invention;

[0038] Figure 9 The diagram shown is a structural schematic of a longitudinal motion drive mechanism according to an embodiment of the present invention.

[0039] Figure 10 The diagram shown is a structural schematic of a traveling mechanism according to an embodiment of the present invention;

[0040] In the accompanying drawings, the same parts use the same reference numerals.

[0041] The accompanying drawings are not drawn to scale.

[0042] The meanings of the reference numerals in the attached figures are as follows:

[0043] 1. Chassis assembly; 2. Load-bearing mechanism; 3. Electrical control mechanism; 4. Testing mechanism; 5. Maintenance mechanism; 11. Gantry body; 12. Working platform; 13. Traveling mechanism; 131. Support components; 132. Drive wheel; 133. Steering wheel; 134. Gear motor; 135. Gear reducer; 136. Laser rangefinder; 14. Climbing system; 21. Arch frame; 211. Circular guide rail; 212. Circular rack; 213. Fixed rail; 22. Circular rail crawling system; 221. Climbing frame; 222. Roller; 223. Climbing gear; 224. Gear motor; 23. Swing frame; 231. Radial swing arm; 232. Longitudinal shaft; 233. Longitudinal main beam. 2331. Rod-shaped guide rail; 2332. Longitudinal rack; 234. Connecting frame; 24. Pointer-type swing arm system; 241. Swing geared motor; 242. Sprocket; 243. Chain; 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; 51. Spraying device; 52. Water supply device; 511. Fixed spray pipe; 512. Telescopic spray pipe; 513. Nozzle; 514. Cylinder. Detailed Implementation

[0044] 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.

[0045] Figure 1 The diagram schematically illustrates a pointer-type integrated tunnel lining maintenance and inspection trolley according to the present invention, comprising a frame assembly 1. The frame assembly 1 supports and moves other components. A load-bearing mechanism 2 is mounted on the frame assembly 1, supporting an inspection mechanism 4 for detecting tunnel lining defects. Depending on different inspection requirements, various inspection instruments 44, such as radar detectors, ultrasonic detectors, and rebound hammers, can be selected. A maintenance mechanism 5 is also mounted on the load-bearing mechanism 2, configured to perform maintenance operations on the tunnel lining.

[0046] The frame assembly 1 is equipped with an electronic control system 3, which controls the mechanical movement, detection operation, and data transmission functions of the entire trolley.

[0047] The bearing mechanism 2 is provided with an arc-shaped circumferential guide rail 211 coaxial with the tunnel lining. The circumferential guide rail 211 is provided with a circumferential crawling system 22 that drives the detection mechanism 4 and the maintenance mechanism 5 to perform slow detection along the circumferential direction, and a pointer-type swing arm system 24 that drives the detection mechanism 4 and the maintenance mechanism 5 to perform fast detection along the circumferential direction.

[0048] In the pointer-type integrated tunnel lining maintenance and inspection trolley described in this embodiment, the system can quickly switch between inspection and maintenance modes, effectively improving the trolley's utilization rate and the efficiency of maintenance and inspection. In maintenance mode, the 12-meter-long longitudinal spraying device moves circumferentially to complete one ring of spraying maintenance. In inspection mode, the trolley can be equipped with different types of inspection equipment such as ground-penetrating radar detectors, ultrasonic detectors, and rebound hammers to perform longitudinal, circumferential, or combined scanning grid inspections, achieving full-coverage and precise data collection of internal defects in the tunnel lining.

[0049] 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 pointer-type rocker arm 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 pointer-type rocker arm 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 pointer-type rocker arm system 24 is running, the reduction motor in the circumferential guide rail crawling system 22 disengages, and the reduction motor of the pointer-type rocker arm 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.

[0050] 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.

[0051] 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.

[0052] In one embodiment, such as Figure 3As shown, the bearing mechanism 2 includes an arc-shaped arch frame 21 disposed at the front and rear ends of the portal frame, the arch frame 21 is provided with a circumferential guide rail 211, and the circumferential guide rail 211 is provided with a circumferential guide rail crawling system 22 that can move on the circumferential guide rail 211.

[0053] The ring track crawling system 22 is equipped with a swing frame 23. The detection mechanism 4 and the maintenance mechanism 5 are installed on the upper end of the swing frame 23, and the swing frame 23 swings left and right at a certain angle under the drive of the pointer-type swing arm system 24.

[0054] 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 swing frame 23 can be swung by the pointer-type lever system 24, which allows the detection mechanism 4 above it to move faster with the swing, enabling faster-speed detection, such as radar detection.

[0055] In one embodiment, such as Figure 4 As shown, 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.)

[0056] 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 and drive the longitudinal main beam 233 to swing circumferentially. With the trolley position and the dimensions of the arch frame 21 fixed, and 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 locations within the tunnel.

[0057] In a preferred embodiment, such as Figure 6 As shown, the maintenance mechanism 5 includes a spraying device 51 and a water supply device 52. Figure 7 As shown, the spraying device includes a fixed spray pipe 511 fixed to the side of the longitudinal main beam, and telescopic spray pipes 512 that extend and retract along the axial direction are provided at both ends of the fixed spray pipe 511; a plurality of nozzles 513 are provided on the fixed spray pipe 511 and the telescopic spray pipe 512, and the telescopic spray pipe 512 is driven to extend and retract by a cylinder 514.

[0058] The spraying device 51 is fixed to the side of the longitudinal main beam. Both the fixed spray pipe 511 and the telescopic spray pipe 512 are 6 meters long. Two of the telescopic spray pipes 512 are placed in a semi-enclosed, semi-U-shaped groove and their extension and retraction are controlled by a cylinder 514. In the testing state, the telescopic spray pipes 512 retract, and the total length of the spraying device 51 is 6 meters. In the maintenance state, the telescopic spray pipes 512 extend 3 meters at each end, for a total length of 12 meters. Thirty nozzles 513 are evenly arranged longitudinally, with a spacing of 0.4 meters between adjacent nozzles. The spraying device 51 swings circumferentially with the longitudinal main beam, evenly spraying water mist onto the entire lining surface.

[0059] In this embodiment, the water supply device 52 mainly consists of a water tank, a high-pressure water pump and water pipes, which provide a water source for the spray curing of tunnel lining and control the water temperature.

[0060] The maintenance unit 5 also includes a monitoring device, which is mainly composed of various sensors. It uses infrared temperature sensors and humidity sensors to monitor the temperature and humidity of the lining concrete in real time, providing guidance for maintenance operations and recording data such as water temperature, flow rate, and pressure during the maintenance process.

[0061] In one embodiment, such as Figure 3 and Figure 4 As shown, a connecting frame 234 is provided in the middle of the arch frame 21. The connecting frame 234 is arranged laterally, and the pointer-type swing arm system 24 is fixed on the connecting frame 234. The pointer-type swing arm system 24 includes a swing reduction motor 241 mounted on the connecting frame 234. A sprocket 242 is mounted on the longitudinal rotating shaft 232. The swing reduction motor 241 is connected to the sprocket 242 via a chain 243. The swing reduction motor 241 drives the swing frame 23 to swing forward and backward by rotating in both directions.

[0062] In the pointer-type integrated tunnel lining maintenance and inspection trolley according to this embodiment, when the swing reduction motor 241 rotates forward or reverses, it drives the chain 243 to move. The chain 243 pulls the sprocket 242, and the sprocket 242 and the longitudinal rotating shaft 232 remain stationary, thereby realizing the swing of the radial swing arm 231.

[0063] In one embodiment, such as Figure 5 As shown, the annular guide rail 211 includes an annular rack 212 extending outward along the arc and a fixed rail 213 disposed on the side. The annular 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, which can be a hinge or other means that can rotate and lock; 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.

[0064] In one embodiment, such as Figure 8 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.

[0065] In the pointer-type integrated tunnel lining maintenance and testing trolley described in 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 testing instrument 44 to ensure it is in contact with the testing 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 movement of the testing device along the longitudinal or circumferential direction for testing. The connecting part 434 of the testing device is designed with a uniform buckle to facilitate the replacement of various instruments.

[0066] In a preferred embodiment, such as Figure 8 As shown, the rotating platform 43 has a guide rod 431 at its edge, and a guide roller 432 at its end. 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. The detection instrument 44 has an obstacle detection probe 433 on its side. 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 instrument.

[0067] In one embodiment, such as Figure 9 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.

[0068] In one embodiment, the traveling mechanism 13 includes a support member 131 connected to the lower end of the gantry body 11. A solid tire is provided on the support member 131. The solid tire includes a drive wheel 132 and a steering wheel 133. The solid tire is driven by a reduction motor 134 and a reduction motor 135.

[0069] The traveling mechanism 13 also includes laser rangefinders 136 installed on both sides to measure the distance between the trolley and the side walls of the tunnel lining.

[0070] 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.

[0071] In one embodiment, the electronic control system 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. This allows for visual operation of all electric and pneumatic components, facilitating technician work. An emergency stop control function is also included, allowing for manual shutdown in case of emergencies.

[0072] Mechanical motion control includes functions such as trolley travel drive, circumferential motion drive, longitudinal motion drive, and lining surface bonding control.

[0073] 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.

[0074] 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 pointer-type swing arm 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.

[0075] 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.

[0076] The electrical control system 3 controls the curing operation, including functions such as telescopic control, spray control, and water temperature control. Telescopic control is achieved by two cylinders mounted on the spray device, controlling the extension and retraction of the two telescopic spray pipes at both ends, thus opening and closing the spray device. After opening, it enters curing mode; after retraction, it enters detection mode. Once the spray device is fully extended, the host computer sets the spray parameters and automatically adjusts the spray control motor, controlling the circumferential scanning speed, water pressure, and flow rate. Infrared thermometers measure the temperature of the lining concrete surface, providing a target value for water temperature control. Based on parameters such as the water tank capacity, water specific heat capacity, heating time, and final water temperature, the electrical power is calculated, and a suitable heating element is selected. The slave computer acquires the temperature parameters from the host computer and automatically adjusts the PID controller to maintain the water temperature within ±2℃ of the target value.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] The electronic control system 3 also features data transmission control, which targets three main categories of data: first, data collected by the testing instruments; second, monitoring data such as water temperature, flow rate, and pressure during the maintenance process, as well as information on the number of maintenance cycles, time, and water inflow; and third, on-site video of the trolley operation. First, the interface protocol between the system and the host computer is determined based on the parameters of the data acquisition instruments and their formats. Multiple types of data are then uniformly aggregated and uploaded to the host computer. Further, the data is transmitted in real-time via wireless network to a remote server system, allowing users to easily view the equipment's operating status using mobile phones, iPads, computers, and other terminals.

[0082] The integrated maintenance and testing trolley enables automated control of maintenance and testing, and allows for quick switching between testing and maintenance modes. This facilitates simultaneous self-inspection by construction units during the maintenance process, effectively improving the quality and efficiency of testing and acceptance.

[0083] 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 pointer-type integrated trolley for tunnel lining maintenance and testing, characterized in that, include: Chassis assembly (1); The load-bearing mechanism (2) is provided on the frame assembly (1), and the load-bearing mechanism (2) is provided with a detection mechanism (4) for detecting tunnel lining defects; the load-bearing mechanism (2) is also provided with a maintenance mechanism (5) configured to perform maintenance work on the tunnel lining; as well as The electronic control system installed on the frame assembly controls the mechanical movement, inspection, maintenance and data transmission functions of the entire trolley. The bearing mechanism (2) is provided with an arc-shaped circumferential guide rail (211) coaxial with the tunnel lining. The circumferential guide rail (211) is provided with a circumferential crawling system (22) that drives the detection mechanism (4) and the maintenance mechanism (5) to perform slow detection along the circumferential direction, and a pointer-type swing arm system (24) that drives the detection mechanism (4) and the maintenance mechanism (5) to perform fast detection along the circumferential direction. The bearing mechanism (2) includes an arc-shaped arch frame (21) disposed at the front and rear ends of the frame assembly (1), the circumferential guide rail (211) is disposed on the arch frame (21), the detection mechanism (4) and the maintenance mechanism (5) are disposed on the swing frame (23), the swing frame (23) moves slowly on the circumferential guide rail (211) through the circumferential guide rail crawling system (22) or swings rapidly on the circumferential guide rail (211) through the pointer-type swing arm 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 rotating shaft (232). The upper ends of the two radial swing rods (231) are provided with a longitudinal main beam (233). The detection mechanism (4) is movably connected to the longitudinal main beam (233). The maintenance mechanism (5) is located on the side of the longitudinal main beam (233). A connecting frame (234) is provided in the middle of the arch frame (21); the pointer-type swing arm system (24) includes a swing reduction motor (241) provided on the connecting frame (234), a sprocket (242) is provided on the longitudinal rotating shaft (232), and the swing reduction motor (241) is connected to the sprocket (242) through a chain (243); the swing reduction motor (241) drives the swing frame (23) to swing forward and backward by rotating forward and backward; The circumferential guide rail (211) 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).

2. The pointer-type integrated tunnel lining maintenance and testing trolley according to claim 1, characterized in that, 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).

3. The pointer-type integrated tunnel lining maintenance and testing trolley according to claim 2, characterized in that, The maintenance mechanism (5) includes a spraying device (51) and a water supply device (52). The spraying device (51) includes a fixed spray pipe (511) fixed on the side of the longitudinal main beam. The two ends of the fixed spray pipe (511) are provided with telescopic spray pipes (512) that extend and retract along the axial direction. A number of nozzles (513) are provided on the fixed spray pipe (511) and the telescopic spray pipe (512). The telescopic spray pipe (512) is driven to extend and retract by a cylinder (514).

4. The pointer-type integrated tunnel lining maintenance and testing 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 pointer-type integrated tunnel lining maintenance and testing 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 pointer-type integrated tunnel lining maintenance and testing 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).

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