Expressway tunnel supporting structure construction quality detection equipment and control method thereof

Abstract

The invention discloses equipment for detecting the construction quality of a supporting structure of an expressway tunnel and a control method of the equipment, and relates to equipment for detecting the construction quality of a wall tunnel of the supporting structure of the expressway tunnel during the construction period. An electric push rod is controlled to drive a motor to rotate to ensure that the radar antenna is tightly attached to the tunnel wall surface, and direct-current brushless motors at joints are driven to rotate by observing the tunnel wall surface to prevent the radar antenna from colliding with obstacles such as reinforcing steel bar heads on the wall surface. The method can effectively avoid obstacles on the wall surface of the supporting structure in the tunnel construction period in the detection process, guarantees that the radar antenna is constantly attached to the wall surface of the tunnel in the detection state, solves the problem that the surface of the tunnel lining is uneven in the construction period, and can obviously improve the detection efficiency and quality compared with a traditional detection technology. The method has good environment adaptability, and it is ensured that a detection instrument and the lining surface are always in a good contact state under the complex environment condition.

Description

Technical Field

[0001] The invention relates to a device for detecting the construction quality of a wall surface of a highway tunnel support structure during the construction period, in particular to a device for detecting the construction quality of a highway tunnel support structure and a control method thereof. Background Art

[0002] With the rapid development of economy and transportation, more and more highway tunnels are being built. As an important carrier of the transportation industry, by the end of 2020, the total mileage of national highways was 5.1991 million kilometers, an increase of 185,600 kilometers from the end of 2019, and its construction scale is gradually moving towards 10 or even 12 lanes in both directions. Due to the long construction of tunnels, construction quality defects, engineering geological environment and other reasons, the problem of highway tunnel diseases has become more and more serious, and traditional tunnel disease detection technology has become difficult to apply to modern tunnel construction work.

[0003] Highway tunnel construction monitoring and measurement is one of the fundamental contents of NATM construction and an important information basis for ensuring tunnel construction safety. Monitoring and measurement can be used to grasp the dynamics of the surrounding rock and the working status of the support structure. After analysis and processing of the measurement data, it can be used to predict the deformation trend of the surrounding rock, thereby scientifically organizing and guiding the construction and ensuring the safety of tunnel construction. Tunnels are underground projects with complex engineering geological environments and construction conditions. During the excavation and support process, they often encounter a series of deformation and damage phenomena of the surrounding rock or structure, such as landslides, water and mud gushing, block falling, support structure damage, etc., which leads to frequent construction safety accidents, resulting in casualties, construction delays, economic losses and other negative effects.

[0004] The current conventional detection method relies on manpower to lift the radar antenna for wall detection, which has the problems of high work intensity, poor detection effect, and great safety hazards. The low detection accuracy and efficiency cannot meet the requirements of construction monitoring specifications, and the safety hazards cannot be presented in time, which causes relatively large safety hazards during construction and after the opening of the road. How to solve the transportation safety problems caused by tunnel diseases has become a global problem, and the research on highway tunnel construction quality detection is urgent. Summary of the invention

[0005] The purpose of the present invention is to provide a highway tunnel support structure construction quality detection device and a control method thereof, so as to overcome the problems of high work intensity, low detection efficiency and great safety hazards in the existing detection methods. The present invention can ensure that the radar antenna can be close to the tunnel side wall, arch and arch waist during detection, and at the same time realize fast, efficient and continuous safety detection.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A highway tunnel support structure construction quality inspection equipment includes a transport vehicle, an inspection platform lifting system, an angle adjustment system for adjusting the angle of the inspection platform lifting system, an inspection position adjustment system, and a tunnel wall quality inspection system; The angle adjustment system and the detection platform lifting system are arranged on the transport vehicle, the detection position adjustment system is arranged on the detection platform lifting system, and the tunnel wall surface quality detection system is arranged on the detection position adjustment system; The tunnel wall quality detection system comprises a single-degree-of-freedom telescopic module, a two-degree-of-freedom rotary joint module and a tunnel wall contact module, wherein the two-degree-of-freedom rotary joint module is connected to the end of the single-degree-of-freedom telescopic module, and the tunnel wall contact module is connected to a three-stage connecting rod.

[0007] The two-degree-of-freedom rotary joint module includes a primary connecting rod, a primary rotary joint, a primary connecting joint, a secondary connecting rod, a secondary rotary joint, a secondary connecting joint, and a tertiary connecting rod. The top end of the primary connecting rod is connected to the fixed input end of the primary rotary joint, the rotation output end of the primary rotary joint is connected to the fixed input end of the primary connecting joint, the other end of the primary connecting joint is connected to the fixed input end of the secondary rotary joint through the secondary connecting rod, the rotation output end of the secondary rotary joint is connected to the fixed input end of the secondary connecting joint, the other end of the secondary connecting joint is fixedly connected to the bottom end of the tertiary connecting rod, the other end of the tertiary connecting joint is connected to the bottom end of the lower end cover, and the output axes of the primary rotary joint and the secondary rotary joint are parallel to the ground.

[0008] The tunnel wall contact module includes a lower end cover, a spring baffle, a preload spring group, a slider guide module that plays a guiding role during buffering, a shock-absorbing spring, a universal wheel, a radar antenna for detecting the wall, a radar fixed shell, a radar housing, a preload connecting rod, a preload baffle, a cylinder, a sliding baffle, and a sliding hollow shaft. The lower end cover is connected to the top of the three-stage connecting rod, and the cylinder is coaxially fixedly connected to the top of the lower end cover with the three-stage connecting rod. The preload connecting rod, the preload baffle, the sliding baffle and the sliding hollow shaft are coaxially installed and fixed with the cylinder. The radar housing is arranged at the top of the preload connecting rod, and the slider guide module is arranged at the top of the radar housing. The two ends of the radar fixed shell are respectively connected to the top of the two slider guide module sliders, and the spring baffle is fixedly connected to the two ends of the top of the lower end cover for detecting the forward direction. Two groups of four shock-absorbing springs are respectively installed on both sides of the inner side of the spring baffle, and two groups of four universal wheels are arranged on both sides of the outer side of the spring baffle.

[0009] The single-degree-of-freedom telescopic module includes an electric push rod with an encoder, a connecting cylinder, a push rod cylinder, and a push rod sleeve. The connecting cylinder is connected to the detection base of the detection position adjustment system. The push rod cylinder and the push rod sleeve are installed coaxially with the connecting cylinder. The electric push rod with an encoder rises or falls.

[0010] The detection position adjustment system includes a sliding guide rail, a sliding platform, a shock-absorbing spring seat, and a detection base. The sliding guide rail is set on a workbench, and the ball bearing at the bottom end of the sliding platform is installed in cooperation with the sliding guide rail. Four shock-absorbing springs are set on the top of the sliding platform, and the detection base is fixedly connected to the shock-absorbing spring seat.

[0011] The detection platform lifting system and angle adjustment system include a lifting winch, a primary lifting link, a secondary lifting link, a gantry, and a lifting pulley group. The angle adjustment system includes a support base, a primary support frame, a base winch, a support connecting frame, a locking mechanism, a secondary support frame, and a base sliding roller. The support base is arranged on the chassis of the transport vehicle walking system, the primary support frame is arranged near the front of the vehicle, the secondary support frame is arranged at the rear of the vehicle, two groups of eight support connecting frames are arranged on the front and rear sides of the secondary support frame, the base winch is arranged between the primary support frame and the secondary support frame, the base sliding roller is arranged at the rear of the vehicle, the primary lifting link is connected to the secondary support frame in a rotating pair, the lifting winch, the secondary lifting link are connected to the primary lifting link groove-type, the gantry is connected via a wire rope passing around the lifting pulley group, and when the detection platform lifting system rises to the working detection position, the locking mechanism locks the connection between the secondary support frame and the primary lifting link.

[0012] The locking mechanism is provided with a buckle handle, a buckle, a buckle fixing base, a locking connecting frame, and a locking connecting frame. When the lifting mechanism is controlled by the lying mechanism to flip to the upright detection state, the locking mechanism is locked at the bracket and the lifting connecting rod.

[0013] The present invention also discloses a control method for the above-mentioned highway tunnel support structure construction quality detection equipment, comprising the following steps: Step 1: The operator drives a transport vehicle into the tunnel during construction, controls the angle adjustment system to make the detection platform lifting system enter an upright working state, places the tunnel wall quality detection system on the workbench to enter a state to be detected, and controls the detection platform lifting system to continuously perform rough position adjustments according to different detection height positions; Step 2: Control the single-degree-of-freedom telescopic module to make fine adjustments so that the radar antenna and the tunnel wall are fitted with a certain preload force, drive the transport vehicle to move, and repeat the steps to ensure the height requirements of the arch, waist, and side wall. At the same time, control the two-degree-of-freedom rotary joint module to avoid obstacles such as steel bar heads and protrusions on the tunnel wall; Step 3: After the tunnel detection is completed, the detection equipment is controlled to reset and recycle.

[0014] Preferably, the step 1 specifically includes: Step 1.1: remotely control the base winch to adjust speed and rotate forward and reverse through PC-side host computer communication. The wire rope transmits force according to the base sliding roller, so that the detection platform lifting system slowly enters the upright detection state; Step 1.2, the PC host computer remotely sends a command to reset the single-degree-of-freedom telescopic arm module and the two-degree-of-freedom rotary joint module to the waiting state to ensure that the tunnel wall quality inspection system has sufficient inspection space; Step 1.3: The PC host computer remotely sends instructions to control the forward and reverse rotation of the lifting winch, so that the detection platform lifting system can reach different detection positions.

[0015] Preferably, the step 2 specifically includes: Step 2.1, switch the host computer communication module to the real-time graphical display module of the tunnel wall, and perform inverse kinematics modeling and solution according to the spatial information collected by the camera / range-measuring sensor, combined with the detection range of the tunnel wall quality detection system, and the relative detection position between the tunnel wall contact module and the tunnel wall, calculate the motor rotation angle of the rotary joint and the electric push rod, and determine the detection sequence and control scheme of the single-degree-of-freedom telescopic module and the two-degree-of-freedom rotary joint module when detecting the vault, arch waist, and side wall; Step 2.2, when detecting the vault, according to the rotation angle of the two rotary joint rotation output shafts relative to the initial position and the displacement change of the electric push rod relative to the initial position calculated by the modeling in step 2.1, switch the host computer communication module to the tunnel wall quality detection system module, and send a target rotation angle instruction to the drive motor of the first-level rotary joint, drive the drive motor of the second-level rotary joint to work without affecting the spatial activity of the tunnel wall contact module to cope with the tunnel wall detection plan, control the output axis of the second-level rotary joint to be parallel to the tangent of the tunnel vault wall, according to the feedback reading of the spoke pressure sensor in the tunnel wall contact module, the host computer sends a target displacement instruction to the electric push rod in the single-degree-of-freedom telescopic module, and controls the radar antenna and the wall preload to be 10N; then, based on the obstacles such as the wall steel bar head and rock protrusion detected by the tunnel wall real-time graphical display module, the host computer sends instructions to the single-degree-of-freedom telescopic arm module and the two-degree-of-freedom rotary joint module to drive the motor to operate, control the tunnel wall quality detection system to the obstacle avoidance posture to achieve obstacle avoidance, and determine the detection plan and control sequence according to the real-time detection space environment of the tunnel wall; Step 2.3, when detecting the arch waist, the host computer remotely sends a command to the tunnel wall quality detection system to switch the detection posture. The detection posture is switched as in step 2.2. The host computer sends a target rotation angle command to the drive motors of the primary swivel joint and the secondary swivel joint to control the output axis of the secondary swivel joint to be parallel to the tangent of the tunnel arch wall; sends a target displacement command to the electric push rod in the single-degree-of-freedom telescopic module to ensure that the preload force between the radar antenna and the wall is within the allowable detection range; Step 2.4, when detecting the side wall, the detection posture is switched as in steps 2.2 and 2.3; the host computer sends a command to the detection position adjustment system to drive the sliding platform to adjust the direction position along the sliding guide rail until the tunnel wall contact module can cover the side wall detection area; Step 2.5, when passing the trolley, the equipment needs to be reset to meet the transport height requirement of 4.0m; the host computer sends instructions to drive the detection platform lifting system and the winch of the angle adjustment system used to adjust the angle of the detection platform lifting system to reset.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention discloses a highway tunnel support structure construction quality inspection equipment, which controls the electric push rod to drive the motor to rotate by reading information of a pressure sensor provided in a tunnel wall contact module to ensure that the radar antenna is closely fitted with the tunnel wall, and drives the DC brushless motor at the joint to rotate by observing the tunnel wall to avoid collision between the radar antenna and obstacles such as steel bar heads on the wall. During the inspection process, this invention can effectively avoid obstacles on the wall of the support structure during the tunnel construction period, and at the same time ensure that the radar antenna in the inspection state is always in fit with the tunnel wall, thus overcoming the problem of uneven tunnel lining surface during the construction period. Therefore, compared with traditional inspection technologies, it can significantly improve the inspection efficiency and quality.

[0017] The detection system of the present invention adopts a detection platform lifting system, which can meet the height requirements of detecting the arch, arch waist and side walls. At the same time, when the trolley passes through the tunnel during the construction period, the angle of the detection platform lifting system can be adjusted through the angle adjustment system, which effectively solves the problem of different heights of the measuring line positions in the tunnel during the construction period and the huge challenge of the arch height.

[0018] The detection system of the present invention is mounted on a transport vehicle, is easy to transport and disassemble, can realize continuous and rapid detection of the lining surface of the construction tunnel, has good adaptability to complex detection environments, and can meet the basic detection requirements of the tunnel during the construction period; Aiming at the current engineering scenario where construction workers still use contact radar and the complexity of the wall surface of the tunnel support structure during the construction period, the present invention proposes a detection system using contact radar, which has good adaptability to complex wall surfaces; The detection system of the present invention has a simple structure, is easy to assemble and control, is suitable for the detection of the initial lining during the construction period of the highway tunnel support structure, and has a good prospect for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the transport state structure of the quality inspection equipment recorded in an embodiment of the present invention.

[0020] Figure 2It is a schematic diagram of the structure of a tunnel wall quality detection system according to an embodiment of the present invention.

[0021] Figure 3 It is a schematic diagram of the structure of a two-degree-of-freedom rotary joint module recorded in an embodiment of the present invention.

[0022] Figure 4 It is a schematic diagram of the structure of a single-degree-of-freedom telescopic module recorded in an embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of the structure of the tunnel wall contact module recorded in an embodiment of the present invention.

[0024] Figure 6 It is a schematic diagram of the structure of the detection position adjustment system recorded in an embodiment of the present invention.

[0025] Figure 7 It is a schematic diagram of the working state structure of the detection platform lifting system and the angle adjustment system recorded in the embodiment of the present invention.

[0026] Figure 8 This is a schematic diagram of the transport state structure of the detection platform lifting system and the angle adjustment system recorded in the embodiment of the present invention Fig. 9 It is a schematic diagram of the working state structure of the quality inspection equipment recorded in the embodiment of the present invention.

[0027] The meaning of the symbols in the accompanying drawings: 1- transport vehicle, 2- detection platform lifting system, 3- angle adjustment system, 4- detection position adjustment system, 5- tunnel wall quality detection system; 201-lifting winch, 202-first-stage lifting connecting rod, 203-second-stage lifting connecting rod, 204-gantry, 205-lifting pulley block; 301-support base, 302-first-level support frame, 303-base winch, 304-support connecting frame, 305-locking mechanism, 306-second-level support frame, 307-base sliding roller; 401-sliding guide rail, 402-sliding platform, 403-shock-absorbing spring seat, 404-detection base; 50201-primary connecting rod, 50202-primary swivel joint, 50203-primary connecting joint, 50204-secondary connecting rod, 50205-secondary swivel joint, 50206-secondary connecting joint, 50207-third-level connecting rod; 50301-lower end cover, 50302-spring baffle, 50303-preload spring assembly, 50304-slider guide module, 50305-shock-absorbing spring, 50306-universal wheel, 50307-radar antenna, 50308-radar fixed shell, 50309-radar casing, 50310-preload connecting rod, 50311-preload baffle, 50312-cylinder, 50313-sliding baffle, 50314-sliding hollow shaft. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] In view of the complex detection environment and structural characteristics of the wall surface detection of highway tunnel support structures, such as the rugged tunnel ground, uneven lining surface, different heights of the measuring line position, and huge challenges in the height of the vault, the research and development of quality inspection equipment should meet the following requirements: First, the geographical locations of the highway tunnels to be inspected are far apart. In order to facilitate disassembly and transportation, the quality inspection equipment should have the characteristics of being able to be quickly disassembled and assembled. Second, in view of the problems of different heights of the measuring line position and huge challenges in the height of the vault, the quality inspection equipment should meet the inspection height requirements of the vault, waist and side wall of the highway tunnel. Third, in view of the uneven surface of the tunnel wall lining and the difficulty in ensuring the inspection quality, the contact module of the quality inspection equipment is required to have a certain load bearing capacity, and the ability to run smoothly and avoid obstacles. Fourth, the quality inspection equipment is in the same posture for a long time during the inspection process. In order to ensure the quality of tunnel wall disease detection and protect the radar antenna, the quality inspection equipment is required to have the mechanical locking ability to maintain different inspection postures.

[0031] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0032] Example 1 This embodiment discloses a highway tunnel support structure construction quality detection device, such as Figure 1 As shown, it includes a transport vehicle 1, an inspection platform lifting system 2, an angle adjustment system 3, an inspection position adjustment system 4, and a tunnel wall quality inspection system 5; wherein, the inspection platform lifting system 2 and the angle adjustment system 3 are arranged on the transport vehicle 1, and the inspection position adjustment system 4 and the tunnel wall quality inspection system 5 are arranged on the inspection platform lifting system 2.

[0033] like Figure 7 As shown, the detection platform lifting system 2 of this embodiment includes a lifting winch 201, a primary lifting connecting rod 202, a secondary lifting connecting rod 203, a door frame 204, and a lifting pulley block 205.

[0034] The first-level lifting link 202 is a channel steel with a concave cross section. There are pin holes on both sides near the bottom for installation and positioning with the second-level support frame 306 of the angle adjustment mechanism 3. A platform is welded near the bottom, and a circular hole is set on the platform for installing the lifting winch 201 in the detection platform lifting system 2, and the circuit wiring is led to the bottom of the platform through the remaining space of the circular hole. Bolt holes are set on both ends of the inner side of the first-level lifting link 202 for installing the inverter for positioning and controlling the lifting winch 201. The circuit wiring is connected to the wiring of the lifting winch 201 through the circular hole of the platform. The bottom and top of the first-level lifting link 202 and the top of the second-level lifting link 203 are respectively provided with a lifting pulley group 205 composed of six lifting pulleys. The wire rope starts from the lifting winch 201 and passes through the lifting pulley group 205 to be fixedly connected through the circular hole on the platform. The secondary lifting link 203 is configured to be installed in cooperation with the groove structure of the primary lifting link 202 channel steel. Cross-connecting frames are provided at the left and right inner ends to improve the rigidity of the detection platform lifting system 2. The left and right outer sides of the gantry 204 are connected to the inner groove of the secondary lifting link 203 and can move up and down along the groove guide.

[0035] In order to ensure that the quality inspection of highway tunnel support structure construction can meet the high requirements of highway transportation and tunnel inspection, and at the same time be easy to control, such as Figure 7As shown, the angle adjustment mechanism 3 includes a support base 301, a primary support frame 302, a base winch 303, a support connecting frame 304, a locking mechanism 305, a secondary support frame 306, and a base sliding roller 307. The support base 301 is designed to be well-shaped and is provided with bolt holes for connection with the chassis of the transport vehicle. Similarly, the base winch 303 and the base sliding roller 307 are connected to the chassis of the transport vehicle through the threaded holes at the bottom ends. The wire rope starts from the base winch 303, bypasses the base sliding roller 307, and is fixedly connected through the circular hole at the bottom end of the secondary lifting link 203.

[0036] When the angle adjustment mechanism 3 is in the initial position, Figure 8 As shown, the detection platform lifting system 2 is in a lying state, which is convenient for the transport vehicle to transfer the quality inspection equipment to the inspection site tunnel; when the transport vehicle walks to the tunnel to be inspected during the construction period, it is necessary to control the angle adjustment mechanism 3, specifically, the frequency converter receives the command information sent by the PC host computer through the RS485 communication terminal, drives the base winch 303 to work according to the command information, and the first-level lifting link 202 is connected to the second-level support frame 306 for rotation through the pin shaft. The wire rope disturbs the base sliding roller 307 to transmit force so that the detection platform lifting system 2 slowly enters the upright detection state, and the locking mechanism 305 locks the first-level lifting link 202 and the second-level support frame 306 near the bottom to improve Detection safety, prevent the detection platform lifting system 2 from tipping over during the detection process; when the height of the tunnel wall to be detected is relatively high, it is necessary to control the detection platform lifting system 2 to raise the tunnel wall quality detection system 5 to complete the detection of the tunnel wall. Specifically, the frequency converter receives the command information sent by the PC host computer through the RS485 communication terminal to drive the lifting winch 201 to work, and the wire rope disturbs the lifting pulley group 205 to transmit force to make the secondary lifting connecting rod 203 rise, driving the tunnel wall quality detection system 5 on the gantry 204 to lift. At the same time, the actual lifting height information collected by the encoder is used as feedback information to perform height fine-tuning, providing sufficient detection activity space for the tunnel wall quality detection system 5; like Figure 6 As shown, the detection position adjustment system 4 of this embodiment includes a sliding guide rail 401, a sliding platform 402, a damping spring seat 403, and a detection base 404. The sliding guide rail 401 is arranged on the door frame 204, and the ball bearing at the bottom end of the sliding platform 402 is installed in cooperation with the groove on the surface of the sliding guide rail 401. Four damping springs 403 are arranged on the top of the sliding platform 402, and the detection base 404 is fixed on the damping spring seat 403 by bolt connection; In order to ensure that the tunnel wall quality detection system 5 can still fit the wall surface when detecting the arch waist and the arch top, it is necessary to control the sliding platform 402 to adjust the detection position on the sliding guide rail 401. Specifically, the PC host computer sends instructions to the control module through CAN communication, and the drive motor works to move the tunnel wall quality detection system 5 set on the sliding platform 402 to the target detection position through the pull rope. The four shock-absorbing spring seats 403 on the sliding platform 402 can play a shock-absorbing role during the detection process; like Figure 2 As shown, in order to meet the actual engineering requirements of highway tunnel support structure construction quality inspection, the tunnel wall quality inspection system 5 of this embodiment includes a single-degree-of-freedom telescopic module 501, a two-degree-of-freedom rotary joint module 502 and a tunnel wall contact module 503, as shown in FIG. Figure 2 As shown, the two-degree-of-freedom rotary joint module 502 is connected to the end of the single-degree-of-freedom telescopic module 501, and the tunnel wall contact module 503 is connected to the three-stage connecting rod 50207.

[0037] like Figure 3 As shown, the two-degree-of-freedom swivel joint module 502 of this embodiment includes a primary connecting rod 50201, a primary swivel joint 50202, a primary connecting joint 50203, a secondary connecting rod 50204, a secondary swivel joint 50205, a secondary connecting joint 50206, and a tertiary connecting rod 50207. The top of the primary connecting rod 50201 is connected to the fixed input end of the primary swivel joint 50202, the rotation output end of the primary swivel joint 50202 is connected to the fixed input end of the primary connecting joint 50203, the other end of the primary connecting joint 50203 is connected to the fixed input end of the secondary swivel joint 50205 through the secondary connecting rod 50204, the rotation output end of the secondary swivel joint 50205 is connected to the fixed input end of the secondary connecting joint 50206, and the secondary connecting joint 50 The other end of 206 is fixedly connected to the bottom end of the three-stage connecting rod 50207, and the other end of the three-stage connecting rod 50207 is connected to the bottom end of the lower end cover 50901. The output axes of the primary slewing joint 50202 and the secondary slewing joint 50205 are parallel to the ground; the control module of the slewing joint is connected to the primary slewing joint 50202 and the secondary connecting joint 50206, including a communication control module, a drive board, a feedback module and circuit wiring. The communication module is used to establish CAN communication with the PC host computer to exchange command information, the drive board is used for PWM signal to drive the joint DC brushless motor to operate, and the feedback module reads the position and speed information through the Hall sensor or encoder for the communication control module to perform PID single-loop or double-loop control, thereby improving the precise control of the motor rotation speed and angle; like Figure 4As shown, the single-degree-of-freedom telescopic module 501 of this embodiment includes an electric push rod 50101 with an encoder, a connecting cylinder 50102, a push rod cylinder 50103, and a push rod sleeve 50104. The connecting cylinder 50102 is connected to the detection base 404 of the detection position adjustment system 4. The push rod cylinder 50103 and the push rod sleeve 50104 are coaxially installed with the connecting cylinder 50102. The electric push rod 50101 with an encoder is raised or lowered; the control module of this embodiment is connected in the cylinder 50102, and the composition structure is the same as the control module at the rotary joint; like Figure 5 As shown, the tunnel wall contact module 503 of this embodiment includes a lower end cover 50301, a spring baffle 50302, a preload spring group 50303, a slider guide module 50304 that plays a guiding role during buffering, a shock-absorbing spring 50305, a universal wheel 50306, a radar antenna 50307 for detecting the wall, a radar fixed shell 50308, a radar cover 50309, a preload connecting rod 50310, a preload baffle 50311, a cylinder 50312, a sliding baffle 50313, and a sliding hollow shaft 50314; the radar fixed shell 50308 contains eight bolt holes at the bottom, and each group of four bolt holes is fixed to the bolt holes of the slider platform of the slider guide module 50304, and a gasket can be preset in the middle to make it more firmly locked. Limit blocks are set at both ends of the guide rail of the slider guide module 50304 to limit the axial position movement of the thunder sky antenna 50307 during detection. Furthermore, four shock-absorbing springs 50305 are fixedly installed between the radar fixed shell 50308 and the inner side of the spring baffle 50302 by bolt connection, which can buffer the vibration caused by the radar antenna 50307 when detecting the wall surface. Furthermore, four universal wheels 50306 are respectively fixedly installed on the outer side of the spring baffle 50302 by bolt connection, which play a guiding role when detecting the wall surface. The radar shell 50309 is connected to the preload connecting rod 50310 by bolt connection, and the preload baffle 50311 is also connected to the preload connecting rod 50310 by bolt connection. At the same time, the preload spring group 50303 is installed in a circular array around the sliding hollow shaft 50314; the cylinder 50312 and the sliding baffle 50313 are coaxial with the sliding hollow shaft 50314 and are fixedly connected by bolts; like Fig. 9 As shown, the single-degree-of-freedom telescopic module 501 is controlled to perform fine adjustment so that the radar antenna 50307 and the tunnel wall are fitted with a certain pre-tightening force, and the transport vehicle 1 is driven to move, while the two-degree-of-freedom rotary joint module 502 is controlled to perform obstacle avoidance detection on the tunnel wall, such as steel bar heads, protrusions, etc.; Switch the host computer communication module to the real-time graphical display module of the tunnel wall, and perform inverse kinematics modeling and solving according to the spatial information collected by the camera / range-finding sensor and the detection range of the tunnel wall quality detection system 5, and calculate the motor rotation angle of the rotary joint and the electric push rod, and determine the detection sequence and control scheme of the single-degree-of-freedom telescopic module 501 and the two-degree-of-freedom rotary joint module 502 when detecting the vault, waist and side wall; When detecting the vault, according to the rotation angle of the two rotary joint rotation output shafts relative to the initial position and the displacement change of the electric push rod relative to the initial position calculated by the modeling, the upper computer communication module is switched to the tunnel wall quality detection system 5 module, and the target rotation angle instruction is sent to the drive motor of the first-level rotary joint 50202, and the drive motor of the second-level rotary joint 50205 is driven to work without affecting the spatial activity of the tunnel wall contact module 503 in response to the tunnel wall detection plan, and the output axis of the second-level rotary joint 50205 is controlled to be parallel to the tangent of the tunnel vault wall, and the tunnel wall contact module 503 is connected to the tunnel wall. The spoke pressure sensor in the touch module 503 feeds back the reading, and the host computer sends a target displacement command to the electric push rod in the single-degree-of-freedom telescopic module 501, and controls the radar antenna 50307 and the wall preload force to be 10N; then, based on the obstacles such as the wall steel bar head and rock protrusions detected by the real-time graphical display module of the tunnel wall, the host computer sends a command to the single-degree-of-freedom telescopic arm module 501 and the two-degree-of-freedom rotary joint module 502 to drive the motor to operate, control the tunnel wall quality detection system 5 to the obstacle avoidance posture to achieve obstacle avoidance, and determine the detection plan and control sequence according to the real-time detection space environment of the tunnel wall; When detecting the arch waist, the host computer remotely sends instructions to the tunnel wall quality detection system 5 to switch the detection posture. Specifically, the host computer communicates to send target rotation angle instructions to the drive motors of the primary rotary joint 50202 and the secondary rotary joint 50205 to control the output axis of the secondary rotary joint 50205 to be parallel to the tangent of the tunnel arch wall; sends target displacement instructions to the electric push rod in the single-degree-of-freedom telescopic module 501 to ensure that the radar antenna 50307 and the wall preload are within the allowable detection range; When detecting the side wall, the host computer sends a command to the detection position adjustment system 4 to drive the sliding platform 402 to adjust the direction and position along the sliding guide rail 401 until the tunnel wall contact module 503 can cover the side wall detection area; When passing the trolley, the equipment needs to be reset to meet the transportation height requirement of 4.0m; the upper computer sends instructions to drive the detection platform lifting system 2 and the winch of the angle adjustment system 3 used to adjust the angle of the detection platform lifting system to reset; at this point, the highway tunnel support structure construction quality inspection equipment of the present invention completes a working cycle.

Claims

1. A highway tunnel support structure construction quality inspection equipment, characterized in that: It comprises a transport vehicle (1), a detection platform lifting system (2), an angle adjustment system (3) for adjusting the angle of the detection platform lifting system, a detection position adjustment system (4), and a tunnel wall quality detection system (5); The detection platform lifting system (2) and the angle adjustment system (3) are arranged on the transport vehicle (1), and the detection position adjustment system (4) and the tunnel wall quality detection system (5) are arranged on the detection platform lifting system (2); The tunnel wall quality detection system (5) comprises a single-degree-of-freedom telescopic module (501), a two-degree-of-freedom rotary joint module (502) and a tunnel wall contact module (503), wherein the two-degree-of-freedom rotary joint module (502) is connected to the end of the single-degree-of-freedom telescopic module (501), the tunnel wall contact module (503) is connected to a three-stage connecting rod (50207), and a pressure sensor for data acquisition is provided on the tunnel wall contact module (503); The angle adjustment system (3) for adjusting the angle of the detection platform lifting system is installed on the chassis of the transport vehicle (1), and the detection platform lifting system (2) is connected to the secondary support frame (306) of the angle adjustment system (3).

2. The highway tunnel support structure construction quality inspection equipment according to claim 1 is characterized in that: The two-degree-of-freedom swivel joint module (502) comprises a primary connecting rod (50201), a primary swivel joint (50202), a primary connecting joint (50203), a secondary connecting rod (50204), a secondary swivel joint (50205), a secondary connecting joint (50206), and a tertiary connecting rod (50207), wherein the top end of the primary connecting rod (50201) is connected to the fixed input end of the primary swivel joint (50202), the rotation output end of the primary swivel joint (50202) is connected to the fixed input end of the primary connecting joint (50203), and the primary connecting joint (50204) is connected to the fixed input end of the primary swivel joint (50205). The other end of the joint (50203) is connected to the fixed input end of the secondary swivel joint (50205) through the secondary connecting rod (50204), the rotating output end of the secondary swivel joint (50205) is connected to the fixed input end of the secondary connecting joint (50206), the other end of the secondary connecting joint (50206) is fixedly connected to the bottom end of the tertiary connecting rod (50207), the other end of the tertiary connecting rod (50207) is connected to the bottom end of the lower end cover (50901), and the output axes of the primary swivel joint (50202) and the secondary swivel joint (50205) are parallel to the ground.

3. The highway tunnel support structure construction quality inspection equipment according to claim 1 is characterized in that: The tunnel wall contact module (503) comprises a lower end cover (50301), a spring baffle (50302), a preload spring group (50303), a slider rail module (50304) that plays a guiding role during buffering, a shock-absorbing spring (50305), a universal wheel (50306), a radar antenna (50307) for detecting the wall, a radar fixing shell (50308), a radar casing (50309), a preload connecting rod (50310), a preload baffle (50311), a cylinder (50312), a sliding baffle (50313), and a sliding hollow shaft (50314); the lower end cover (50301) is connected to the top of the three-stage connecting rod (50207); the cylinder (50312) and the three-stage connecting rod (50207) are coaxially fixedly connected to the top of the lower end cover (50301); The preload connecting rod (50310), the preload baffle (50311), the sliding baffle (50313) and the sliding hollow shaft (50314) are coaxially installed and fixed with the cylinder (50312); the radar housing (50309) is arranged at the top of the preload connecting rod (50310); the slider guide module (50304) is arranged at the top of the radar housing (50309); the two ends of the radar fixed housing (50308) are respectively connected to the top of the sliders of the two slider guide modules (50304); the spring baffle (50302) is fixedly connected to the two ends of the top of the lower end cover (50301) for detecting the forward direction; two groups of four shock-absorbing springs (50305) are respectively installed on both sides of the inner side of the spring baffle (50302); and two groups of four universal wheels (50306) are arranged on both sides of the outer side of the spring baffle (50302).

4. The highway tunnel support structure construction quality inspection equipment according to claim 1 is characterized in that: The single-degree-of-freedom telescopic module (501) comprises an electric push rod (50101), a connecting cylinder (50102), a push rod cylinder (50103), and a push rod sleeve (50104); the connecting cylinder (50102) is connected to a detection base (404) of a detection position adjustment system (4); and the push rod cylinder (50103) and the push rod sleeve (50104) are coaxially mounted on the connecting cylinder (50102).

5. The highway tunnel support structure construction quality inspection equipment according to claim 1 is characterized in that: The detection position adjustment system (4) comprises a sliding guide rail (401), a sliding platform (402), a shock absorbing spring seat (403), and a detection base (404); the sliding guide rail (401) is arranged on a workbench; a ball bearing at the bottom end of the sliding platform (402) is installed in cooperation with the sliding guide rail (401); four shock absorbing springs (403) are arranged at the top end of the sliding platform (402); and the detection base (404) is fixedly connected to the shock absorbing spring seat (403).

6. The highway tunnel support structure construction quality inspection equipment according to claim 1 is characterized in that: The angle adjustment system (3) comprises a support base (301), a primary support frame (302), a base hoist (303), a support connecting frame (304), a locking mechanism (305), a secondary support frame (306), and a base sliding roller (307); the support base (301) is arranged on a chassis of a transport vehicle walking system (1); the primary support frame (302) is arranged near the front of the vehicle; the secondary support frame (306) is arranged at the rear of the vehicle; two groups of eight support connecting frames (304) are arranged on the front and rear sides of the secondary support frame (306); the base hoist (303) is arranged between the primary support frame (302) and the secondary support frame (306); and the base sliding roller (307) is arranged at the rear of the vehicle.

7. The highway tunnel support structure construction quality inspection equipment according to claim 6 is characterized in that: The detection platform lifting system (2) and the angle adjustment system (3) comprise a lifting winch (201), a primary lifting connecting rod (202), a secondary lifting connecting rod (203), a door frame (204), and a lifting pulley block (205); the primary lifting connecting rod (202) and the secondary supporting frame (306) are connected in a rotational pair; the lifting winch (201), the secondary lifting connecting rod (203) and the primary lifting connecting rod (202) are connected in a groove-matching manner; the door frame (204) is connected via a steel wire rope passing around the lifting pulley block (205); when the detection platform lifting system (2) rises to a working detection position, the locking mechanism (305) locks the connection between the secondary supporting frame (306) and the primary lifting connecting rod (202).

8. The control method of the highway tunnel support structure construction quality detection equipment according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1, driving a transport vehicle (1) into a tunnel during construction, controlling an angle adjustment system (3) to make the detection platform lifting system (2) enter an upright working state, placing a tunnel wall quality detection system (5) on a workbench to enter a state to be detected, and controlling the detection platform lifting system (2) to continuously perform rough position adjustment according to different detection height positions; S2, controlling the single-degree-of-freedom telescopic module (501) to perform fine adjustment so that the radar antenna (50307) and the tunnel wall are fitted with a certain pre-tightening force, driving the transport vehicle (1) to move, and repeating the steps to ensure that the height requirements of the arch top, arch waist, and side wall are met, while controlling the two-degree-of-freedom rotary joint module (502) to perform obstacle avoidance detection on the tunnel wall, such as steel bar heads, protrusions, etc.; Step 3: After the tunnel detection is completed, the detection equipment is controlled to reset and recycle.

9. The control method of the highway tunnel support structure construction quality detection equipment according to claim 8, characterized in that: The step 1 specifically includes: S1.1, remotely controlling the base hoist (303) to adjust the speed and forward and reverse rotation through communication with the PC host computer, and the steel wire rope transmits force according to the base sliding roller (307), so that the detection platform lifting system (2) slowly enters the upright detection state; S1.2, the PC host computer remotely sends a command to reset the single-degree-of-freedom telescopic arm module (501) and the two-degree-of-freedom rotary joint module (502) to a state to be inspected, thereby ensuring that the tunnel wall quality inspection system (5) has sufficient inspection space; S1.3, the PC host computer remotely sends instructions to control the lifting winch (201) to rotate forward and reverse, so that the detection platform lifting system (2) can reach different detection positions.

10. The control method of the highway tunnel support structure construction quality detection equipment according to claim 8, characterized in that: The step 2 specifically includes: S2.1, switching the host computer communication module to the tunnel wall real-time graphical display module, based on the spatial information collected by the camera / range-measuring sensor, combined with the detection range of the tunnel wall quality detection system (5), inverse kinematics modeling and solving are performed according to the relative detection position between the tunnel wall contact module (503) and the tunnel wall, the motor rotation angles of the rotary joint and the electric push rod are calculated, and the detection sequence and control scheme of the single-degree-of-freedom telescopic module (501) and the two-degree-of-freedom rotary joint module (502) are determined when detecting the arch, the arch waist, and the side wall; S2.2, when detecting the vault, according to the rotation angle of the two rotary joint rotation output shafts relative to the initial position and the displacement change of the electric push rod relative to the initial position calculated by the modeling of S2.1, the host computer communication module is switched to the tunnel wall quality detection system (5) module, and the target rotation angle instruction is sent to the drive motor of the first-level rotary joint (50202), and the drive motor of the second-level rotary joint (50205) is driven to work without affecting the spatial activity of the tunnel wall contact module (503) in response to the tunnel wall detection plan, and the output axis of the second-level rotary joint (50205) is controlled to be parallel to the tangent of the tunnel vault wall, according to the tunnel The spoke pressure sensor in the wall contact module (503) feeds back the reading, and the host computer sends a target displacement command to the electric push rod in the single-degree-of-freedom telescopic module (501), and controls the radar antenna (50307) and the wall preload force to be 10N; then, based on the obstacles such as the wall steel bar head and rock protrusions detected by the tunnel wall real-time graphical display module, the host computer sends a command to the single-degree-of-freedom telescopic arm module (501) and the two-degree-of-freedom rotary joint module (502) to drive the motor to operate, and controls the tunnel wall quality detection system (5) to an obstacle avoidance posture to achieve obstacle avoidance, and determines the detection plan and control sequence according to the real-time detection space environment of the tunnel wall; S2.3, when detecting the arch waist, the host computer remotely sends a command to the tunnel wall quality detection system (5) to switch the detection posture. The detection posture switching is as in step 2.

2. The host computer communicates and sends a target rotation angle command to the drive motors of the primary rotary joint (50202) and the secondary rotary joint (50205), and controls the output axis of the secondary rotary joint (50205) to be parallel to the tangent of the tunnel arch wall; sends a target displacement command to the electric push rod in the single-degree-of-freedom telescopic module (501) to ensure that the preload force of the radar antenna (50307) and the wall is within the allowable detection range; S2.4, when detecting the side wall, the detection posture is switched as in S2.2 and S2.3; the host computer sends a command to the detection position adjustment system (4), driving the sliding platform (402) to adjust the direction and position along the sliding guide rail (401) until the tunnel wall contact module (503) can cover the side wall detection area; S2.5, when passing the trolley, the equipment needs to be reset to meet the transport height requirement of 4.0m; the upper computer sends a command to drive the winch of the detection platform lifting system (2) and the angle adjustment system (3) for adjusting the angle of the detection platform lifting system to reset.

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