A high-efficiency integrated trolley for tunnel maintenance and inspection

Abstract

The present invention relates to a high-efficiency integrated trolley for tunnel maintenance and inspection. It solves the technical problems of poor inspection effect of existing inspection trolleys. It comprises a trolley frame, arc-shaped arch frames are respectively provided on both sides of the trolley frame, an arch frame crawling seat is provided on the arc-shaped arch frame through a crawling structure, and a movable crossbeam is provided on the upper end of the trolley frame, which is axially extended and can be swung circumferentially with the arch frame crawling seat, and anti-collision structures are provided at both ends of the movable crossbeam, and a detection structure is provided between the anti-collision structures, a stroke buffer structure is provided on the detection structure, and a telescopic maintenance structure is provided on one side of the anti-collision structure, and a trolley walking structure is provided at the lower end of the trolley frame. The advantage is that the movable crossbeam and the arch frame crawling seat can be swung synchronously through the swing linkage assembly and the swing frame, so as to ensure the swing stability of the movable crossbeam. The crawling brake assembly can facilitate the user to brake the arch frame crawling seat according to the usage.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel inspection trolleys, and in particular relates to a high-efficiency integrated trolley for tunnel maintenance and inspection. Background Art

[0002] At present, in order to ensure the quality of tunnels, tunnels need to be maintained and inspected. Most of the existing maintenance methods use liquid spraying to maintain tunnels. However, a large amount of manpower is required in the process of tunnel maintenance, resulting in excessively high labor costs and low maintenance efficiency. Most of the existing tunnel inspections are carried out manually, and the inspection effect is affected by the working status and experience level of the personnel, resulting in inaccurate inspection results. In addition, a large amount of manpower is required during the inspection process and personnel have certain risks during the inspection process, resulting in excessively high labor costs and poor inspection efficiency.

[0003] In order to solve the deficiencies of the existing technology, people have conducted long-term exploration and proposed various solutions. For example, a Chinese patent document discloses a wire rope traction type tunnel lining maintenance and inspection integrated trolley [202310271386.9], which includes a frame assembly; a bearing mechanism arranged on the frame assembly, a detection mechanism arranged on the bearing mechanism, and the detection mechanism is used to detect tunnel lining defects; a maintenance mechanism is also arranged on the bearing mechanism, and the maintenance mechanism is configured to be able to perform maintenance operations on the tunnel lining; and an electric control system arranged on the frame assembly, the electric control system controls the mechanical movement, detection operation, maintenance operation and data transmission function of the entire trolley; wherein, the bearing mechanism is provided with an arc-shaped annular guide rail coaxial with the tunnel lining, and the annular guide rail is provided with an annular rail crawling system and a wire rope traction system.

[0004] The above scheme has solved the problem of low efficiency of existing tunnel maintenance inspection to a certain extent, but the scheme still has many shortcomings. For example, the structure of its detection mechanism is too complicated, the structural cost is too high, and the linkage effect of the circular rail crawling system on the circular guide rails on both sides is poor, which affects the detection effect of the detection mechanism. Summary of the invention

[0005] The purpose of the present invention is to provide a high-efficiency integrated trolley for tunnel maintenance and inspection in view of the above problems.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: a high-efficiency integrated trolley for tunnel maintenance and detection, comprising a trolley frame, wherein arc-shaped arch frames are respectively provided on both sides of the trolley frame, and an arch frame crawling seat is provided on the arc-shaped arch frame through a crawling structure, and an axially extending movable crossbeam is provided on the upper end of the trolley frame and can be swung circumferentially with the arch frame crawling seat, anti-collision structures are provided at both ends of the movable crossbeam, a detection structure slidably provided on the movable crossbeam is provided between the anti-collision structures, a stroke buffer structure is provided on the detection structure, and the A telescopic maintenance structure is provided on one side of the anti-collision structure, and a trolley walking structure that can drive the trolley frame to travel is provided at the lower end of the trolley frame. When the movable crossbeam can be abutted against the tunnel in advance through the anti-collision structure during the activity, it can play a buffering and protective role for the detection structure and the telescopic maintenance structure, thereby improving the service life of the detection structure and the telescopic maintenance structure. When the anti-collision structure abuts against the tunnel and the detection structure needs to detect the tunnel, the detection structure rises and can abut against the tunnel in advance through the stroke buffer structure to transmit a stop rising signal. The detection structure stops rising for detection, thereby ensuring the detection effect of the detection structure.

[0007] In the above-mentioned high-efficiency integrated trolley for tunnel maintenance and inspection, an arc-shaped plate matching the shape of the arc-shaped arch is provided on the outer side of the arc-shaped arch, and a swing linkage component linked to the crawling structure is provided between adjacent arc-shaped arches, the crawling structure includes a crawling rack arranged on the arc-shaped plate, crawling gears meshing with the crawling rack are provided at both ends of the arch crawling seat, and a crawling drive component for driving the arch crawling seat is provided at one end of the arch crawling seat, a rope pulling component capable of driving the arch crawling seat to slide on the crawling rack is provided on the arc-shaped arch, and a crawling brake component is provided on the arch crawling seat. The crawling brake assembly includes a brake driver arranged on one side of the arch frame crawling seat, and one end of the brake driver is provided with a brake gear meshing with the crawling rack through a telescopic shaft, wherein the crawling drive assembly can drive the arch frame crawling seat to crawl slowly on the arc plate, and can drive the arch frame crawling seat to crawl quickly on the arc plate through the rope pulling assembly. The crawling drive assembly and the rope pulling assembly can enable the user to select different arch frame crawling seat driving modes according to usage requirements, and the brake gear can be used to brake the arch frame crawling seat during the crawling process, which can facilitate the user to control the arch frame crawling seat according to the usage environment.

[0008] In the above-mentioned high-efficiency tunnel maintenance and inspection integrated trolley, guide wheel frames are extended downwardly on both sides of the upper end of the arch frame crawling seat, and the guide wheel frames are provided with a plurality of guide wheel bodies abutting against the inner side of the arc plate. The crawling drive assembly includes a crawling drive motor arranged at one end of the arch frame crawling seat, and the output shaft of the crawling drive motor is provided with a crawling drive gear meshing with a crawling rack. The rope pulling assembly includes a large pulling pulley arranged at both ends of the arc plate and a plurality of small pulling pulleys arranged in sequence on the inner side of the arc plate. A pulling rope is wound around the large pulling pulley and the small pulling pulley. The two ends of the arch frame crawling seat correspond to and are connected with the two ends of the pulling rope one by one, and the pulling rope The pulling rope slides through the arc bar and the crawling rack on one side of the arc plate, a pulling drive motor is provided on the inner side of the arc plate, and the pulling drive motor is provided with a pulling drive wheel, and the pulling rope is wound around the pulling drive wheel, a rope straightening driver is provided on the trolley frame, a straightening telescopic rod is provided on the rope straightening driver, and a straightening drive wheel for winding the pulling rope is provided on the straightening telescopic rod, and the swing linkage assembly includes a swing linkage rod arranged between two arc arch frames, and both ends of the swing linkage rod are respectively connected to the crawling drive motor through a linkage gear set, and the swing linkage rod and the linkage gear set can ensure that the arch frame crawling seats on the arc arch frames on both sides can perform synchronous and stable crawling.

[0009] The cam is an airbag that can be used to lift and lower the movable beam to a desired location, and the cam is used to lift and lower the movable beam to a desired location.

[0010] In the above-mentioned high-efficiency integrated trolley for tunnel maintenance and inspection, the anti-collision structure includes anti-collision mounting columns vertically arranged at both ends of the movable crossbeam, the anti-collision mounting columns are provided with anti-collision wheels, the telescopic maintenance structure includes a plurality of water spray support frames axially arranged on one side of the anti-collision mounting columns and connected to the anti-collision mounting columns, the water spray support frame is provided with a telescopic water spray pipe, and one side of the water spray support frame is provided with a water spray telescopic cylinder capable of driving the telescopic water spray pipe to be telescopically set, the water spray telescopic cylinder is provided with a water spray telescopic rod fixedly connected to the telescopic water spray pipe, the telescopic water spray pipe is provided with a plurality of water spray nozzles, the telescopic water spray pipe can be conveniently installed through the water spray support frame, and the telescopic water spray pipe can be controlled to be telescopically set through the water spray telescopic cylinder, wherein the normal length of the telescopic water spray pipe is 3m and the length in the telescopic state is 6m, and the water spray nozzle can be used to facilitate water spraying maintenance of the tunnel.

[0011] In the above-mentioned high-efficiency tunnel maintenance and detection integrated trolley, the detection structure includes a detection sliding seat axially slidingly arranged on a movable crossbeam, the detection sliding seat is provided with a detection lifting structure, the detection lifting structure is fixedly connected to the detection device through a detection rotating structure, the detection device is any one or more combinations of an ultrasonic detection component, a radar detection component and a rebound detection component, the detection lifting structure includes a lifting base arranged on the detection sliding seat, the lifting base is provided with a lifting top seat, at least one group of lifting rod groups is provided between the inner side of the lifting base and the inner side of the lifting top seat, and the lifting rod group includes two lifting rod groups arranged in an X-shape. The lifting rods, one end of the two lifting rods located at the top is respectively hingedly arranged on both sides of the lifting top seat, and the other ends of the two lifting rods located at the bottom are respectively hingedly arranged on both sides of the lifting base, a vertically arranged lifting drive is arranged on the inner side of the lifting base, and the telescopic rod of the lifting drive is hingedly connected to the intersection of the two lifting rods, and the corresponding sides of the lifting rods on both sides are connected through a lifting linkage rod, which can ensure that the lifting rods on both sides can be lifted and lowered synchronously to ensure the lifting stability, and the lifting stability of the lifting top seat can be further improved by the lifting rods cross-arranged in an X-shape, and the lifting top seat can be driven to lift and lower by the lifting drive, thereby driving the detection device to perform lifting detection, thereby improving the detection effect.

[0012] In the above-mentioned high-efficiency tunnel maintenance and detection integrated trolley, the stroke buffer structure includes a detection mounting frame arranged on one side of the detection device, and buffer mounting plates are provided on the four corners of the detection mounting frame, and telescopic travel switches are provided on one side of the buffer mounting plate, and a rectangular buffer frame connected to the telescopic travel switch is provided on the detection mounting frame, and one end of the buffer mounting plate is bent and extended away from the telescopic travel switch to be provided with a spring seat, and a buffer rod passing through the detection mounting frame is provided on the spring seat, and a buffer spring is sleeved on the buffer rod, one end of the buffer spring abuts against the spring seat, and the other end of the buffer spring abuts against the detection mounting frame, and the detection rotating structure includes setting A connecting seat on one side of the lifting top seat is provided with a rotary motor, and the rotary motor is provided with a rotary connecting column fixedly connected to the detection mounting frame. The rotary connecting column can drive the detection mounting frame to rotate after the detection mounting frame is lifted through the detection lifting structure, thereby driving the detection device to perform rotary detection to ensure the detection effect, and when the detection mounting frame is lifted through the detection lifting structure, the rectangular buffer frame abuts against the tunnel, and the detection lifting structure stops rising through the telescopic stroke switch transmission signal, and the buffer mounting plate is pressed down through the buffer rod and the buffer spring, and when the detection lifting structure is lowered, the buffer mounting plate and the rectangular buffer frame can be automatically reset through the buffer spring.

[0013] In the above-mentioned high-efficiency tunnel maintenance and inspection integrated trolley, the trolley walking structure includes walking support frames respectively arranged on both sides of the lower end of the trolley frame, one end of the walking support frame is provided with a walking drive assembly, and the other end of the walking support frame is provided with a walking steering assembly, the walking drive assembly includes a walking mounting frame arranged on the lower side of the walking support frame, both sides of the walking mounting frame are provided with walking wheel bodies connected by a walking shaft, and a driven gear sleeved on the walking shaft is provided between the walking mounting frame and the walking wheel body, and a transmission box is provided on the upper side of the walking support frame, a walking motor is provided on one side of the transmission box, and a transmission shaft is provided on both sides of the transmission box, and a driving gear is provided on the transmission shaft, and the driving gear and the driven gear are connected by an oblique chain transmission, and the driving motor and the transmission box can drive the driving shaft to rotate, and the driving shaft can drive the driving gear to rotate, and the oblique chain can make the driving gear drive the driven gear to rotate, so that the walking wheel body can rotate and walk.

[0014] In the above-mentioned high-efficiency integrated trolley for tunnel maintenance and inspection, adjacent traveling steering assemblies are connected by a steering linkage structure, the traveling steering assembly includes a steering mounting seat arranged at one end of a traveling support frame, the steering mounting seat is fixedly provided with a steering motor, the output shaft of the steering motor is connected to the steering cylinder through a coupling, and the steering cylinder is provided with a steering seat, and steering wheels connected by a steering rod are provided on both sides of the steering seat, the steering cylinder can be driven to rotate by the steering motor, and the output shaft of the steering cylinder is connected to the steering seat to drive the steering seat to steer, thereby driving the steering wheel on the steering rod to steer, thereby ensuring steering efficiency.

[0015] In the above-mentioned high-efficiency integrated tunnel maintenance and inspection trolley, the steering linkage structure includes two vertical steering linkage shafts respectively arranged vertically on the sides of the trolley frame, one end of the vertical steering linkage shaft extends upward and a horizontal steering linkage shaft is arranged between adjacent vertical steering linkage shafts, linkage bevel gears are arranged at both ends of the horizontal steering linkage shaft and the vertical steering linkage shaft and are meshed and driven by the linkage bevel gears, a steering gear is arranged on the circumferential outer side of one end of the coupling, a transmission gear is meshed on one side of the steering gear, a transmission bevel gear is arranged at one end of the transmission gear, the transmission bevel gear is meshed and driven by the linkage bevel gear at the lower end of the vertical steering linkage shaft through the horizontally arranged bevel gear shaft, the steering gear can be rotated synchronously with the coupling, and the transmission gear and the transmission bevel gear can drive the bevel gear shaft to mesh and drive, thereby driving the vertical steering linkage shaft and the horizontal steering linkage shaft to rotate.

[0016] Compared with the prior art, the advantages of the present invention are:

[0017] 1. Through the crawling drive assembly and the rope pulling assembly, users can choose different arch crawling seat drive modes according to their needs to improve detection efficiency;

[0018] 2. The swing linkage assembly can ensure that the arch frame crawling seats on both sides can crawl synchronously, and the swing frame can make the movable crossbeam and the arch frame crawling seat swing synchronously, thereby ensuring the swing stability of the movable crossbeam;

[0019] 3. The crawling brake assembly can brake the arch crawling seat, which is convenient for users to control the arch crawling seat according to the usage conditions and convenient for users to operate and control;

[0020] 4. The detection rotary structure can drive the detection device to perform rotary detection, thereby improving the detection efficiency;

[0021] 5. The detection lifting structure and the stroke buffer structure can protect the detection device, shorten the distance between the detection device and the tunnel, and improve the detection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention.

[0023] Figure 2 It is a structural schematic diagram of the swing frame in the present invention.

[0024] Figure 3 It is a structural schematic diagram of the crawling brake assembly in the present invention.

[0025] Figure 4 It is a structural schematic diagram of the telescopic curing structure in the present invention.

[0026] Figure 5 It is a structural schematic diagram of the stroke buffer structure in the present invention.

[0027] Figure 6 It is a structural schematic diagram of the detection rotation structure in the present invention.

[0028] Figure 7 It is a structural schematic diagram of the walking and steering assembly in the present invention.

[0029] Figure 8 It is a structural schematic diagram of the travel drive assembly in the present invention.

[0030] In the figure: trolley frame 1, movable crossbeam 11, arc-shaped arch frame 2, arch frame crawling seat 21, guide wheel frame 211, guide wheel body 212, arc-shaped plate 22, swing linkage assembly 23, swing linkage rod 231, linkage gear set 232, crawling structure 3, crawling rack 31, crawling gear 32, crawling drive assembly 33, crawling drive motor 331, crawling drive gear 332, rope pulling assembly 34, pulling large pulley 341, pulling small pulley 342, pulling rope 343, arc-shaped bar 344, pulling drive motor 345, pulling drive wheel 34 6. Rope straightening driver 347, straightening telescopic rod 348, straightening driving wheel 349, creeping brake assembly 35, brake driver 351, brake gear 352, anti-collision structure 4, anti-collision mounting column 41, anti-collision wheel 42, detection structure 5, detection sliding seat 51, detection lifting structure 52, lifting base 521, lifting top seat 522, lifting rod group 523, lifting rod 524, lifting driver 525, detection rotary structure 53, connecting seat 531, rotary motor 532, rotary connecting column 533, detection device 54, stroke buffer structure 6, Detection mounting frame 61, buffer mounting plate 62, telescopic travel switch 63, rectangular buffer frame 64, spring seat 65, buffer rod 66, buffer spring 67, telescopic maintenance structure 7, water spray support frame 71, telescopic water spray pipe 72, water spray telescopic cylinder 73, water spray telescopic rod 74, water spray nozzle 75, trolley walking structure 8, walking support frame 81, walking drive assembly 82, walking mounting frame 821, walking shaft 822, walking wheel body 823, driven gear 824, transmission box 825, walking motor 826, transmission shaft 827, driving gear 82 8. Oblique chain 829, travel steering assembly 83, steering mounting seat 831, steering motor 832, coupling 833, steering cylinder 834, steering seat 835, steering rod 836, steering wheel body 837, swing frame 9, telescopic frame 91, crossbeam telescopic drive cylinder 92, crossbeam telescopic rod 93, linkage rod 94, rotating seat 95, steering linkage structure 10, vertical steering linkage shaft 101, horizontal steering linkage shaft 102, linkage bevel gear 103, steering gear 104, transmission gear 105, transmission bevel gear 106, bevel gear shaft 107. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, a high-efficiency integrated trolley for tunnel maintenance and detection comprises a trolley frame 1, arc-shaped arch frames 2 are respectively provided on both sides of the trolley frame 1, an arch frame crawling seat 21 is provided on the arc-shaped arch frame 2 and is slidably arranged on the arc-shaped arch frame 2 through a crawling structure 3, and a movable crossbeam 11 is provided at the upper end of the trolley frame 1, which is axially extended and can be circumferentially swung along with the arch frame crawling seat 21, anti-collision structures 4 are provided at both ends of the movable crossbeam 11, and a detection structure 5 slidably arranged on the movable crossbeam 11 is provided between the anti-collision structures 4, the height of the detection structure 5 is less than that of the anti-collision structure 4, a stroke buffer structure 6 is provided on the detection structure 5, and one side of the anti-collision structure 4 A telescopic maintenance structure 7 is provided, and a trolley walking structure 8 which can drive the trolley frame 1 to move is provided at the lower end of the trolley frame 1. When the movable crossbeam 11 can be abutted against the tunnel in advance through the anti-collision structure 4 during the activity, it can play a buffering and protective role for the detection structure 5 and the telescopic maintenance structure 7, thereby improving the service life of the detection structure 5 and the telescopic maintenance structure 7. When the anti-collision structure 4 abuts against the tunnel and the detection structure 5 needs to detect the tunnel, the detection structure 5 rises and can be abutted against the tunnel in advance through the travel buffer structure 6 to transmit a stop rising signal. The detection structure 5 stops rising for detection, thereby ensuring the detection effect of the detection structure 5.

[0033] Specifically, an arc plate 22 matching the shape of the arc arch 2 is provided on the outside of the arc arch 2, and a swing linkage assembly 23 linked to the crawling structure 3 is provided between adjacent arc arches 2, so that the arch crawling seat 21 can crawl stably through the arc plate 22, and the swing linkage assembly 23 can ensure that the arch crawling seats 21 on the arc arches 2 on both sides can crawl synchronously and stably, and the crawling structure 3 includes a crawling rack 31 arranged on the arc plate 22, and crawling gears 32 meshing with the crawling rack 31 are provided at both ends of the arch crawling seat 21, and a crawling drive assembly 33 for driving the arch crawling seat 21 is provided at one end of the arch crawling seat 21, and a rope pulling assembly 34 that can drive the arch crawling seat 21 to slide on the crawling rack 31 is provided on the arc arch 2, and the arch A crawling brake assembly 35 is provided on the crawling seat 21, and the crawling brake assembly 35 includes a brake driver 351 arranged on one side of the arch frame crawling seat 21, and one end of the brake driver 351 is provided with a brake gear 352 meshing with the crawling rack 31 through a telescopic shaft, wherein the crawling drive assembly 33 can drive the arch frame crawling seat 21 to crawl slowly on the arc plate 22, and can drive the arch frame crawling seat 21 to crawl quickly on the arc plate 22 through the rope pulling assembly 34. The crawling drive assembly 33 and the rope pulling assembly 34 can enable the user to select different driving modes of the arch frame crawling seat 21 according to usage requirements, and the brake gear 352 can be used to brake the arch frame crawling seat 21 during the crawling process, which can facilitate the user to control the arch frame crawling seat 21 according to the usage environment.

[0034] Among them, guide wheel frames 211 are extended downwardly on both sides of the upper end of the arch frame crawling seat 21, and a plurality of guide wheel bodies 212 are provided on the guide wheel frames 211, which abut against the inner side of the arc plate 22. The guide wheel frames 211 can facilitate the installation of the guide wheel bodies 212, and the guide wheel bodies 212 can play a crawling guiding role for the arch frame crawling seat 21 to ensure the crawling stability of the arch frame crawling seat 21. The crawling drive assembly 33 includes a crawling drive motor 331 arranged at one end of the arch frame crawling seat 21, and a crawling drive gear 332 meshing with the crawling rack 31 is provided on the output shaft of the crawling drive motor 331. The crawling drive motor 331 can drive the crawling The driving gear 332 rotates on the crawling rack 31 to drive the arch crawling seat 21 to crawl on the arc plate 22. The rope pulling assembly 34 includes a large pulling pulley 341 arranged at both ends of the arc plate 22 and a plurality of small pulling pulleys 342 arranged in sequence on the inner side of the arc plate 22. A pulling rope 343 is wound around the large pulling pulley 341 and the small pulling pulley 342. The two ends of the arch crawling seat 21 correspond to and are connected to the two ends of the pulling rope 343 one by one. The large pulling pulley 341 can facilitate the winding of the pulling rope 343 on the arc plate 22, and the small pulling pulley 342 can facilitate the winding and installation of the pulling rope 343 and can be used for The pulling rope 343 plays a guiding role, and the pulling rope 343 slides between the arc strip 344 and the crawling rack 31 on one side of the arc plate 22, and the arc strip 344 and the crawling rack 31 can limit the pulling rope 343. A pulling drive motor 345 is provided on the inner side of the arc plate 22, and a pulling drive wheel 346 is provided on the pulling drive motor 345. The pulling rope 343 is wound around the pulling drive wheel 346, and the pulling drive motor 345 and the pulling drive wheel 346 can drive the pulling rope 343 to drive the arch frame crawling seat 21 to crawl quickly. A rope straightening driver 347 is provided on the trolley frame 1, and the rope straightening driver The device 347 is provided with a straightening telescopic rod 348, and the straightening telescopic rod 348 is provided with a straightening driving wheel 349 for winding the pulling rope 343. The rope straightening driver 347 can control the tightness of the pulling rope 343 on the straightening driving wheel 349, so as to ensure the pulling effect of the pulling rope 343. The swing linkage assembly 23 includes a swing linkage rod 231 arranged between the two arc-shaped arch frames 2, and both ends of the swing linkage rod 231 are respectively connected to the crawling drive motor 331 through a linkage gear set 232. The swing linkage rod 231 and the linkage gear set 232 can ensure that the arch frame crawling seats 21 on the arc-shaped arch frames 2 on both sides can perform synchronous and stable crawling.

[0035] like Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6As shown, the movable cross beam 11 is fixedly connected to the arch frame crawling seat 21 through a swing frame 9, the swing frames 9 are respectively fixedly arranged on one side of the arch frame crawling seat 21, and the upper end of the swing frame 9 is provided with a telescopic frame 91 capable of driving the movable cross beam 11 to be lifted and lowered, and a cross beam telescopic driving cylinder 92 is provided on one side of the swing frame 9, and one end of the cross beam telescopic driving cylinder 92 is provided with a cross beam telescopic rod 93 fixedly connected to the movable cross beam 11, and the lower ends of adjacent swing frames 9 are connected by a linkage rod 94, and the linkage rod 94 is vertically arranged with the swing frame 9 and the linkage rod 94 is rotatably arranged on the trolley. In the rotating seat 95 in the frame 1, the movable crossbeam 11 and the arch frame crawling seat 21 can be swung synchronously through the swing frame 9, which can facilitate the detection and water spray maintenance of the detection structure 5 and the telescopic maintenance structure 7, and the telescopic frame 91 and the crossbeam telescopic driving cylinder 92 can facilitate the adjustment of the height of the movable crossbeam 11, which can further improve the detection effect of the detection structure 5, and the swing frames 9 on both sides can be swung synchronously through the linkage rod 94 and the rotating seat 95, thereby ensuring the swing stability of the two ends of the movable crossbeam 11 and the detection effect of the detection structure 5.

[0036] Furthermore, the anti-collision structure 4 includes anti-collision mounting columns 41 vertically arranged at both ends of the movable cross beam 11, and anti-collision wheels 42 are arranged on the anti-collision mounting columns 41. The anti-collision wheels 42 are made of elastic material, and the service life of the anti-collision wheels 42 is long and can play a buffering effect. The height of the anti-collision wheel 42 can be increased by the anti-collision mounting columns 41 to ensure that the height of the anti-collision wheel 42 is higher than the detection structure 5 to ensure the protection effect. The telescopic maintenance structure 7 includes a plurality of water spray support frames 71 axially arranged on one side of the anti-collision mounting columns 41 and connected to the anti-collision mounting columns 41. The water spray support frames 71 are provided with telescopic water spray pipes 7 2, and a water spray telescopic cylinder 73 capable of driving the telescopic water spray pipe 72 to be telescopically set is provided on one side of the water spray support frame 71, a water spray telescopic rod 74 fixedly connected to the telescopic water spray pipe 72 is provided on the water spray telescopic cylinder 73, and a plurality of water spray nozzles 75 are provided on the telescopic water spray pipe 72. The telescopic water spray pipe 72 can be conveniently installed through the water spray support frame 71, and the telescopic water spray pipe 72 can be controlled to be telescopically set through the water spray telescopic cylinder 73, wherein the length of the telescopic water spray pipe 72 in the normal state is 3m and the length in the telescopic state is 6m, and the water spray nozzles 75 can be conveniently used to spray water for maintenance of the tunnel.

[0037] Among them, the detection structure 5 includes a detection sliding seat 51 axially slidingly arranged on the movable crossbeam 11, and sliding guide rails extending axially are arranged on both sides of the movable crossbeam 11, and sliders slidingly arranged on the sliding guide rails are arranged on both sides of the detection sliding seat 51. The detection sliding seat 51 can be slidably arranged on the movable crossbeam 11 through the sliding guide rails and the sliders. A detection lifting structure 52 is provided on the detection sliding seat 51, and the detection lifting structure 52 is fixedly connected with the detection device 54 through a detection rotating structure 53. The detection device 54 can be driven to rotate through the detection rotating structure 53, and the detection lifting structure 52 can drive the detection device 54 to be lifted and lowered through the detection rotating structure 53 to improve the detection effect. The detection device 54 is any one or more combinations of ultrasonic detection components, radar detection components and rebound detection components, which can ensure the detection effect of the detection device 54 on the tunnel. The detection lifting structure 52 includes a lifting base 521 arranged on the detection sliding seat 51, and a lifting top seat 522 is provided on the lifting base 521. Two groups of lifting rod groups 523 are provided between the inner side of the base 521 and the inner side of the lifting top seat 522. The lifting stability can be ensured by the two groups of lifting rod groups 523. The lifting rod group 523 includes two lifting rods 524 arranged in an X-shape, one end of the two lifting rods 524 located at the top is respectively hingedly arranged on both sides of the lifting top seat 522, and the other ends of the two lifting rods 524 located at the bottom are respectively hingedly arranged on both sides of the lifting base 521. A vertically arranged lifting driver 525 is provided on the inner side of the lifting base 521, and the telescopic rod of the lifting driver 525 is hingedly connected to the intersection of the two lifting rods 524, and the corresponding sides of the lifting rods 524 on both sides are connected by a lifting linkage rod, which can ensure that the lifting rods 524 on both sides can be lifted and lowered synchronously to ensure the lifting stability. The lifting stability of the lifting top seat 522 can be further improved by the lifting rods 524 arranged in an X-shape, and the lifting top seat 522 can be driven to lift and lower by the lifting driver 525, thereby driving the detection device 54 to perform lifting detection, thereby improving the detection effect.

[0038] Combination Figure 5 , Figure 6 , Figure 7 , Figure 8As shown, the travel buffer structure 6 includes a detection mounting frame 61 arranged on one side of the detection device 54, and the detection mounting frame 61 can facilitate the installation of the detection device 54. Buffer mounting plates 62 are provided on the four corners of the detection mounting frame 61, and a telescopic travel switch 63 is provided on one side of the buffer mounting plate 62. A rectangular buffer frame 64 connected to the telescopic travel switch 63 is provided on the detection mounting frame 61, and one end of the buffer mounting plate 62 is bent away from the telescopic travel switch 63 and extended to be provided with a spring seat 65. A buffer rod 66 that runs through the detection mounting frame 61 is provided on the spring seat 65, and a buffer spring 67 is sleeved on the buffer rod 66. One end of the buffer spring 67 abuts against the spring seat 65, and the other end of the buffer spring 67 abuts against the detection mounting frame 61. The detection rotary structure 53 includes a connecting seat 522 arranged on one side of the lifting top seat 52. 31. A rotary motor 532 is provided on the connecting seat 531. A rotary connecting column 533 fixedly connected to the detection mounting frame 61 is provided on the rotary motor 532. The rotary connecting column 533 can drive the detection mounting frame 61 to rotate after the detection mounting frame 61 is lifted by the detection lifting structure 52, thereby driving the detection device 54 to perform rotary detection to ensure the detection effect. When the detection mounting frame 61 is lifted by the detection lifting structure 52, the rectangular buffer frame 64 abuts against the tunnel, and the detection lifting structure 52 stops rising by transmitting a signal through the telescopic travel switch 63. The buffer mounting plate 62 is pressed down by the buffer rod 66 and the buffer spring 67. When the detection lifting structure 52 is lowered, the buffer mounting plate 62 and the rectangular buffer frame 64 can be automatically reset by the buffer spring 67.

[0039] Among them, the trolley walking structure 8 includes a walking support frame 81 respectively arranged on both sides of the lower end of the trolley frame 1, a walking drive assembly 82 is provided at one end of the walking support frame 81, and a walking steering assembly 83 is provided at the other end of the walking support frame 81. The trolley frame 1 can be driven to walk in the tunnel through the walking drive assembly 82, and the trolley frame 1 can be turned during the walking process through the walking steering assembly 83 to ensure the walking efficiency of the trolley frame 1. The walking drive assembly 82 includes a walking mounting frame 821 arranged on the lower side of the walking support frame 81, and walking wheels 823 connected by walking shafts 822 are provided on both sides of the walking mounting frame 821. The walking shaft 822 can be easily installed through the walking mounting frame 821, and the walking shaft 822 can drive the walking wheels 823 on both sides. The walking support frame 81 is provided with a transmission box 825 on the upper side, a walking motor 826 is provided on one side of the transmission box 825, and transmission shafts 827 are provided on both sides of the transmission box 825. A driving gear 828 is provided on the transmission shaft 827, and the driving gear 828 is connected to the driven gear 824 through an oblique chain 829. The driving motor 826 and the transmission box 825 can drive the transmission shaft 827 to rotate, and the transmission shaft 827 can drive the driving gear 828 to rotate, and the oblique chain 829 can make the driving gear 828 drive the driven gear 824 to rotate, so that the walking wheel body 823 can rotate and walk.

[0040] Specifically, adjacent walking steering assemblies 83 are connected by a steering linkage structure 10. The steering linkage structure 10 can make the walking steering assemblies 83 on both sides turn synchronously to ensure the steering effect and steering stability of the walking steering assemblies 83. The walking steering assembly 83 includes a steering mounting seat 831 arranged at one end of the walking support frame 81. The steering mounting seat 831 is fixed with a steering motor 832. The output shaft of the steering motor 832 is connected to the steering cylinder 834 through a coupling 833, and the steering cylinder 834 is provided with a steering seat 835. Steering wheel bodies 837 connected by steering rods 836 are provided on both sides of the steering seat 835. The steering cylinder 834 can be driven to rotate by the steering motor 832, and the output shaft of the steering cylinder 834 is connected to the steering seat 835 to drive the steering seat 835 to turn, thereby driving the steering wheel body 837 on the steering rod 836 to turn, thereby ensuring steering efficiency.

[0041] Combination Figure 7As shown, the steering linkage structure 10 includes two vertical steering linkage shafts 101 respectively arranged vertically on the sides of the trolley frame 1, one end of the vertical steering linkage shaft 101 extends upward and a horizontal steering linkage shaft 102 is arranged between adjacent vertical steering linkage shafts 101, and linkage bevel gears 103 are arranged at both ends of the horizontal steering linkage shaft 102 and the vertical steering linkage shaft 101 and are meshed and driven by the linkage bevel gears 103, and a steering gear 104 is arranged on the circumferential outer side of one end of the coupling 833, and one side of the steering gear 104 is meshed. It is equipped with a transmission gear 105, and a transmission bevel gear 106 is provided at one end of the transmission gear 105. The transmission bevel gear 106 is meshed with the linkage bevel gear 103 at the lower end of the vertical steering linkage shaft 101 through a horizontally arranged bevel gear shaft 107. It can rotate synchronously with the coupling 833 through the steering gear 104, and the bevel gear shaft 107 can be driven to mesh and transmit through the transmission gear 105 and the transmission bevel gear 106, thereby driving the vertical steering linkage shaft 101 and the horizontal steering linkage shaft 102 to rotate.

[0042] The principle of this embodiment is that the trolley frame 1 can travel in the tunnel through the travel drive component 82 and can turn during the travel through the travel steering component 83 to ensure the travel efficiency. The arch frame crawling seat 21 is slidably set on the arc-shaped arch frame 2 through the crawling structure 3, and the arch frame crawling seat 21 is provided with a crawling brake component 35 that can control the arch frame crawling seat 21 to stop. It is set on the arc-shaped arch frame 2, which can facilitate the user to flexibly control the arch frame crawling seat 21 according to the usage situation, wherein the movable crossbeam 11 can swing with the arch frame crawling seat 21 through the swing frame 9, and the swing frame 9 can drive the movable crossbeam 11 to rise and fall to increase the height of the detection structure 5 and the telescopic maintenance structure 7, thereby improving the maintenance effect and detection. The movable crossbeam 11 has an anti-collision structure 4 at both ends thereof which is connected to the swing frame 9 for control. The anti-collision structure 4 can protect the detection structure 5. When the swing frame 9 drives the movable crossbeam 11 to rise and the anti-collision structure 4 abuts against the tunnel, the swing frame 9 stops rising. The detection device 54 is connected to the detection lifting structure 52 through the detection rotating structure 53. The detection rotating structure 53 can drive the detection device 54 to rotate after the detection lifting structure 52 has raised the detection device 54, thereby improving the detection effect. When the tunnel abuts against the stroke buffer structure 6 during the rising process of the detection lifting structure 52, the detection lifting structure 52 stops rising, thereby ensuring the safety of the detection device 54 and improving the detection effect.

[0043] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0044] Although this article uses more trolley frame 1, movable crossbeam 11, arc-shaped arch frame 2, arch frame crawling seat 21, guide wheel frame 211, guide wheel body 212, arc-shaped plate 22, swing linkage assembly 23, swing linkage rod 231, linkage gear set 232, crawling structure 3, crawling rack 31, crawling gear 32, crawling drive assembly 33, crawling drive motor 331, crawling drive gear 332, rope pulling assembly 34, pulling large pulley 341, pulling small pulley 342, pulling rope 343, arc-shaped bar 344, pulling drive motor 345, pulling drive wheel 34 6. Rope straightening driver 347, straightening telescopic rod 348, straightening driving wheel 349, creeping brake assembly 35, brake driver 351, brake gear 352, anti-collision structure 4, anti-collision mounting column 41, anti-collision wheel 42, detection structure 5, detection sliding seat 51, detection lifting structure 52, lifting base 521, lifting top seat 522, lifting rod group 523, lifting rod 524, lifting driver 525, detection rotary structure 53, connecting seat 531, rotary motor 532, rotary connecting column 533, detection device 54, stroke buffer structure 6, detection mounting frame 6 1. Buffer mounting plate 62, telescopic travel switch 63, rectangular buffer frame 64, spring seat 65, buffer rod 66, buffer spring 67, telescopic maintenance structure 7, water spray support frame 71, telescopic water spray pipe 72, water spray telescopic cylinder 73, water spray telescopic rod 74, water spray nozzle 75, trolley walking structure 8, walking support frame 81, walking drive assembly 82, walking mounting frame 821, walking shaft 822, walking wheel body 823, driven gear 824, transmission box 825, walking motor 826, transmission shaft 827, driving gear 828, oblique chain 829, walking shaft The terms such as steering assembly 83, steering mounting seat 831, steering motor 832, coupling 833, steering cylinder 834, steering seat 835, steering rod 836, steering wheel body 837, swing frame 9, telescopic frame 91, cross beam telescopic drive cylinder 92, cross beam telescopic rod 93, linkage rod 94, rotating seat 95, steering linkage structure 10, vertical steering linkage shaft 101, horizontal steering linkage shaft 102, linkage bevel gear 103, steering gear 104, transmission gear 105, transmission bevel gear 106, bevel gear shaft 107, etc., but the possibility of using other terms is not excluded. The use of these terms is only for more convenient description and explanation of the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. A high-efficiency integrated trolley for tunnel maintenance and inspection, comprising a trolley frame (1), wherein arc-shaped arch frames (2) are respectively provided on both sides of the trolley frame (1), and an arch frame crawling seat (21) is provided on the arc frame (2) and is slidably arranged on the arc frame (2) through a crawling structure (3), and an upper end of the trolley frame (1) is provided with an axially extending movable crossbeam (11) that can swing circumferentially with the arch frame crawling seat (21), characterized in that: Anti-collision structures (4) are provided at both ends of the movable crossbeam (11); a detection structure (5) slidably arranged on the movable crossbeam (11) is provided between the anti-collision structures (4); a travel buffer structure (6) is provided on the detection structure (5); and a telescopic maintenance structure (7) is provided on one side of the anti-collision structure (4); a trolley walking structure (8) capable of driving the trolley frame (1) to walk is provided at the lower end of the trolley frame (1); an arc plate (22) matching the shape of the arc plate (2) is provided on the outer side of the arc arch frame (2); and a swing linkage component (23) linked to the crawling structure (3) is provided between adjacent arc arch frames (2); the crawling structure (3) includes a crawling member (23) arranged on the arc plate (22) and a crawling member (23) linked to the crawling structure (3). The arch frame crawling seat (21) is provided with a crawling gear (32) meshing with the crawling gear (31) at both ends, and a crawling drive component (33) for driving the arch frame crawling seat (21) is provided at one end, the arc-shaped arch frame (2) is provided with a rope pulling component (34) capable of driving the arch frame crawling seat (21) to slide on the crawling gear (31), and the arch frame crawling seat (21) is provided with a crawling brake component (35), the crawling brake component (35) includes a brake driver (351) arranged on one side of the arch frame crawling seat (21), and one end of the brake driver (351) is provided with a brake gear meshing with the crawling gear (31) through a telescopic shaft. (352), the upper end of the arch frame crawling seat (21) is provided with guide wheel frames (211) extending downward on both sides, the guide wheel frames (211) are provided with a plurality of guide wheel bodies (212) abutting against the inner side of the arc plate (22), the crawling drive assembly (33) comprises a crawling drive motor (331) arranged at one end of the arch frame crawling seat (21), the output shaft of the crawling drive motor (331) is provided with a crawling drive gear (332) meshingly connected with the crawling rack (31), the rope pulling assembly (34) comprises a large pulling pulley (341) arranged at both ends of the arc plate (22) and a plurality of small pulling pulleys (342) arranged in sequence on the inner side of the arc plate (22), the large pulling pulley (34 1) and a pulling pulley (342) are wound with a pulling rope (343), the two ends of the arch frame crawling seat (21) correspond to and are connected to the two ends of the pulling rope (343), and the pulling rope (343) is slidably passed between the arc strip (344) on one side of the arc plate (22) and the crawling rack (31), a pulling drive motor (345) is provided on the inner side of the arc plate (22), and a pulling drive wheel (346) is provided on the pulling drive motor (345), and the pulling rope (343) is wound on the pulling drive wheel (346), the trolley frame (1) is provided with a rope straightening driver (347), and the rope straightening driver (347) is provided with a straightening telescopic rod (348),The straightening telescopic rod (348) is provided with a straightening driving wheel (349) for winding the pulling rope (343), the swing linkage assembly (23) includes a swing linkage rod (231) arranged between two arc-shaped arch frames (2), and the two ends of the swing linkage rod (231) are respectively connected to the creeping drive motor (331) through a linkage gear set (232), and the detection structure (5) includes a detection sliding seat (51) axially slidably arranged on the movable crossbeam (11), and the detection sliding seat (51) is provided with a detection lifting structure (52), and the detection lifting structure (52) is fixedly connected to the detection device (54) through a detection rotating structure (53), and the detection device The device (54) is any one or more combinations of an ultrasonic detection component, a radar detection component and a rebound detection component, the detection lifting structure (52) comprises a lifting base (521) arranged on a detection sliding seat (51), a lifting top seat (522) is arranged on the lifting base (521), at least one lifting rod group (523) is arranged between the inner side of the lifting base (521) and the inner side of the lifting top seat (522), the lifting rod group (523) comprises two lifting rods (524) arranged crosswise in an X shape, the upper ends of the two lifting rods (524) are respectively hingedly arranged on both sides of the lifting top seat (522), and the lower ends of the two lifting rods (524) are respectively hingedly arranged on both sides of the lifting top seat (522). The lifting base (521) is hingedly arranged on both sides, and a vertically arranged lifting drive (525) is arranged on the inner side of the lifting base (521), and the telescopic rod of the lifting drive (525) is hingedly connected to the intersection of the two lifting rods (524), and the travel buffer structure (6) includes a detection mounting frame (61) arranged on one side of the detection device (54), and buffer mounting plates (62) are arranged on the four corners of the detection mounting frame (61), and telescopic travel switches (63) are arranged on one side of the buffer mounting plate (62), and a rectangular buffer frame (64) connected to the telescopic travel switch (63) is arranged on the detection mounting frame (61), and one end of the buffer mounting plate (62) is away from the telescopic travel switch (63). The travel switch (63) is bent and extended to be provided with a spring seat (65), the spring seat (65) is provided with a buffer rod (66) penetrating the detection mounting frame (61), the buffer rod (66) is sleeved with a buffer spring (67), one end of the buffer spring (67) abuts against the spring seat (65), and the other end of the buffer spring (67) abuts against the detection mounting frame (61), the detection rotary structure (53) comprises a connecting seat (531) arranged on one side of the lifting top seat (522), a rotary motor (532) is provided on the connecting seat (531), and a rotary connecting column (533) fixedly connected to the detection mounting frame (61) is provided on the rotary motor (532).

2. The high-efficiency integrated tunnel maintenance and inspection trolley according to claim 1 is characterized in that: The movable crossbeam (11) and the arch frame crawling seat (21) are fixedly connected via a swing frame (9), the swing frames (9) are respectively fixedly arranged on one side of the arch frame crawling seat (21), and the upper end of the swing frame (9) is provided with a telescopic frame (91) capable of driving the movable crossbeam (11) to be lifted and lowered, and one side of the swing frame (9) is provided with a crossbeam telescopic driving cylinder (92), one end of the crossbeam telescopic driving cylinder (92) is provided with a crossbeam telescopic rod (93) fixedly connected to the movable crossbeam (11), and the lower ends of adjacent swing frames (9) are connected via a linkage rod (94), the linkage rod (94) is vertically arranged with the swing frame (9), and the linkage rod (94) is rotatably arranged in a rotating seat (95) arranged in the trolley frame (1).

3. The high-efficiency integrated tunnel maintenance and inspection trolley according to claim 1 is characterized in that: The anti-collision structure (4) comprises anti-collision mounting columns (41) vertically arranged at both ends of the movable cross beam (11), the anti-collision mounting columns (41) being provided with anti-collision wheels (42), the telescopic maintenance structure (7) comprising a plurality of water spray support frames (71) axially arranged on one side of the anti-collision mounting columns (41) and connected to the anti-collision mounting columns (41), the water spray support frames (71) being provided with a telescopic water spray pipe (72), and a water spray telescopic cylinder (73) capable of driving the telescopic water spray pipe (72) to be telescopically arranged is provided on one side of the water spray support frames (71), the water spray telescopic cylinder (73) being provided with a water spray telescopic rod (74) fixedly connected to the telescopic water spray pipe (72), and the telescopic water spray pipe (72) being provided with a plurality of water spray nozzles (75).

4. The high-efficiency integrated tunnel maintenance and inspection trolley according to claim 1 is characterized in that: The trolley walking structure (8) comprises walking support frames (81) respectively arranged on both sides of the lower end of the trolley frame (1), one end of the walking support frame (81) is provided with a walking drive assembly (82), and the other end of the walking support frame (81) is provided with a walking steering assembly (83), the walking drive assembly (82) comprises a walking mounting frame (821) arranged on the lower side of the walking support frame (81), both sides of the walking mounting frame (821) are provided with walking wheels (823) connected via a walking shaft (822), and the walking A driven gear (824) sleeved on a travel shaft (822) is provided between the mounting frame (821) and the travel wheel body (823), and a transmission box (825) is provided on the upper side of the travel support frame (81), a travel motor (826) is provided on one side of the transmission box (825), and transmission shafts (827) are provided on both sides of the transmission box (825), a driving gear (828) is provided on the transmission shaft (827), and the driving gear (828) and the driven gear (824) are connected to each other by an oblique chain (829).

5. The high-efficiency integrated tunnel maintenance and inspection trolley according to claim 4 is characterized in that: Adjacent travel steering assemblies (83) are connected via a steering linkage structure (10); the travel steering assembly (83) comprises a steering mounting seat (831) arranged at one end of a travel support frame (81); a steering motor (832) is fixedly mounted on the steering mounting seat (831); an output shaft of the steering motor (832) is connected to a steering cylinder (834) via a coupling (833); a steering seat (835) is provided on the steering cylinder (834); and steering wheels (837) connected via steering rods (836) are provided on both sides of the steering seat (835).

6. The high-efficiency integrated tunnel maintenance and inspection trolley according to claim 5, characterized in that: The steering linkage structure (10) comprises two vertical steering linkage shafts (101) respectively arranged vertically on the sides of the trolley frame (1); one end of the vertical steering linkage shaft (101) is extended upward and a horizontal steering linkage shaft (102) is arranged between adjacent vertical steering linkage shafts (101); both ends of the horizontal steering linkage shaft (102) and the vertical steering linkage shaft (101) are provided with linkage bevel gears (103) and are meshed and driven through the linkage bevel gears (103); a steering gear (104) is arranged on the circumferential outer side of one end of the coupling (833); a transmission gear (105) is meshed on one side of the steering gear (104); a transmission bevel gear (106) is arranged on one end of the transmission gear (105); the transmission bevel gear (106) is meshed and driven with the linkage bevel gear (103) at the lower end of the vertical steering linkage shaft (101) through a horizontally arranged bevel gear shaft (107).

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