Tunnel surface inspection equipment

Abstract

The tunnel surface detection device disclosed in the present invention comprises: a walking base, on which a rotary drive device is provided; a first arcuate shell and a second arcuate shell, both of which are slidably connected to a drive ring, on which a detection unit for photographing the detection area of ​​the tunnel surface is provided; a first transmission shaft and a second transmission shaft, the first transmission shaft being rotatably connected to a drive gear, and the first transmission shaft being fixedly connected to a travel gear; the rotating end of the rotary drive device is connected to the second transmission shaft, the second transmission shaft being fixedly connected to a driving pulley, the driving gear being coaxially provided with a driven pulley, a synchronous belt being sleeved between the driving pulley and the driven pulley, and the second transmission shaft being fixedly connected to a transmission gear. In the tunnel surface detection device of the present invention, the two detection units rotate in opposite directions along the circumference of the drive ring at the front and rear sides of the walking base, respectively, so that the detection is more comprehensive and the detection accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel engineering detection, and in particular to a tunnel surface detection device. Background Art

[0002] Tunnels are important infrastructure for highway and rail transit. With long-term operation, tunnel structures made mainly of concrete will experience surface defects such as water leakage, hollowing, cracks, and spalling, as well as deformation of the tunnel cross-section. Therefore, regular surface inspections of tunnels are necessary. Currently, tunnel inspections are mostly done manually, which has problems such as low efficiency, poor reliability, and large detection errors. In the existing technology, there are some methods that install detection equipment on a carrier vehicle to achieve the purpose of traveling along the length of the tunnel and detecting the surface defects of the tunnel. However, a single detection device is used for detection, which only adapts to changes in the contour of the tunnel top wall. Its detection range is limited, making it difficult to fully and accurately detect the surface defects of the tunnel. Summary of the Invention

[0003] The purpose of the present invention is to solve the shortcomings of the above-mentioned technology and to provide a tunnel surface detection device. The two detection units are respectively located on the front and rear sides of the walking base and rotate in opposite directions along the circumference of the drive ring, so that the detection is more comprehensive and the accuracy of the detection is improved.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a tunnel surface detection device, comprising:

[0005] A walking base, the walking base being provided with docking grooves and travel grooves arranged at intervals, a first fixing frame being provided on the front side of the walking base, a second fixing frame being provided on the rear side of the walking base, and a telescopic drive device and a rotation drive device being provided on the second fixing frame;

[0006] A first arcuate shell and a second arcuate shell are arranged opposite and coaxially, the first arcuate shell is inserted into the docking groove, the second arcuate shell is slidably connected to the travel groove, the telescopic end of the telescopic drive device is connected to the second arcuate shell, the end surfaces of the first arcuate shell and the second arcuate shell are both opened, and the first arcuate shell and the second arcuate shell are both slidably connected to a drive ring, the drive ring is capable of rotating around its axis, and the drive ring is provided with a detection unit for photographing a detection area on the tunnel surface;

[0007] a first transmission shaft and a second transmission shaft arranged at intervals, the first transmission shaft passing through the hollow areas of the two drive rings, and having two ends rotatably connected to the first fixing frame and the second fixing frame respectively; a driving gear is rotatably connected to the position of the first transmission shaft relative to the first arcuate shell, the outer peripheral side wall of the driving gear is meshed with the inner wall of the drive ring adjacent to it; a travel gear is fixedly connected to the position of the first transmission shaft relative to the second arcuate shell, the outer peripheral side wall of the travel gear extends along the length direction of the travel groove, and the outer peripheral side wall of the travel gear is meshed with the inner wall of the drive ring adjacent to it;

[0008] The rotating end of the rotary drive device is connected to the second transmission shaft, the second transmission shaft passes through the hollow areas of the two drive rings, and its two ends are rotatably connected to the first fixed frame and the second fixed frame respectively, the second transmission shaft is fixedly connected to a driving pulley at a position relative to the first arc shell, the driving gear is coaxially provided with a driven pulley, a synchronous belt is sleeved between the driving pulley and the driven pulley, the second transmission shaft is fixedly connected to a transmission gear at a position relative to the second arc shell, and the outer peripheral side wall of the transmission gear is meshed with the outer peripheral side wall of the travel gear.

[0009] Preferably, the inner wall of the first arc-shaped shell and the inner wall of the second arc-shaped shell are both provided with a guide track groove extending along the circumference of the drive ring, and the outer wall of the drive ring is convexly provided with a guide ring, the detection unit is fixedly connected to the guide ring, and the guide ring is rotatably connected to the guide track groove.

[0010] Preferably, an outwardly protruding tooth ring portion is coaxially provided on the inner wall of the drive ring, and the two tooth ring portions are respectively engaged with the outer peripheral side wall of the drive gear and the outer peripheral side wall of the travel gear.

[0011] Preferably, both ends of the travel gear are formed with a limit ring, and the inner side wall of the limit ring is in contact with the gear ring portion adjacent thereto.

[0012] Preferably, a plurality of gear holes evenly distributed in a circular array are provided on the side wall of the drive ring close to the gear ring part, and the first arc shell and the second arc shell are both provided with ball screws, and the steel balls of the ball screws extend into the guide track groove and are plugged into the corresponding gear holes.

[0013] Preferably, the outer wall of the first arc-shaped shell and the outer wall of the second arc-shaped shell are each provided with at least one alignment member, the inner wall of the docking groove is provided with an alignment groove for the alignment member to be inserted, and the inner wall of the travel groove is provided with a sliding groove for the alignment member to be slidably connected.

[0014] Preferably, a connecting frame is fixedly connected to the second arc-shaped shell, a connecting plate is fixedly connected to the connecting frame at a position relative to the axis of the drive ring, and the connecting plate is fixedly connected to the driving end of the telescopic drive device.

[0015] Preferably, two guide rods are symmetrically provided on the connecting frame, and a guide sleeve for sliding connection of the guide rods is provided on the second fixing frame.

[0016] Preferably, the rotation drive device is a stepping motor, the telescopic drive device is an electric cylinder, a controller is provided on the walking base, and the rotation drive device and the telescopic drive device are both electrically connected to and controlled by the controller.

[0017] Preferably, the two detection units are each provided with a sensing device electrically connected to the controller on opposite sides, and the opposite sides of the first arc-shaped shell and the second arc-shaped shell are each provided with a driving part for sensing by the sensing device. When the sensing side of the sensing device corresponds to the driving part, the sensing device triggers a signal, and under the control of the controller, the rotating end of the rotation drive device switches to the opposite direction for rotation.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Driven by the rotary drive device, the two drive rings rotate in opposite directions along their circumferences, so that the two detection units rotate in opposite directions along the circumferences of the drive rings at the front and rear sides of the walking base. The detection unit on the rear side observes the tunnel from another direction, supplementing the area that the detection unit on the front side cannot cover, ensuring that each detection area on the tunnel surface can be effectively detected and photographed, and the detection is more comprehensive. In addition, through repeated detection and photography by the detection units on the front and rear sides, the same detection area on the tunnel surface can be observed multiple times, thereby improving the accuracy of detection.

[0020] 2. The first arc-shaped shell is inserted into the docking groove to position the first arc-shaped shell on the walking base, and the second arc-shaped shell is slidably connected to the travel groove. Driven by the telescopic drive device, the second arc-shaped shell translates along the length direction of the travel groove, thereby adjusting the distance between the two drive rings, and then adjusting the distance between the two detection units to change the shooting angle, thereby better adapting to different tunnel structures and detection areas, and having good applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the detection device in the embodiment Figure 1 ;

[0022] Figure 2 This is a schematic diagram of the structure of the detection device in the embodiment Figure 2 ;

[0023] Figure 3 is a cross-sectional view of the detection device in the embodiment Figure 1 ;

[0024] Figure 4 This is a cross-sectional view of the detection device in the embodiment Figure 2 .

[0025] In the figure: 1. Travel base; 101. Front headlight; 102. Rear headlight; 2. Docking slot; 201. Alignment slot; 3. Travel slot; 301. Slide slot; 4. First fixing bracket; 5. Second fixing bracket; 501. Guide sleeve; 6. Telescopic drive device; 7. Rotary drive device; 8. First arc-shaped shell; 9. Second arc-shaped shell; 10. Drive ring; 1001. Guide ring; 1002. Gear ring; 1003. Gear hole; 11. Detection Unit; 12. First transmission shaft; 13. Driving gear; 1301. Driven pulley; 14. Travel gear; 1401. Limiting ring; 15. Second transmission shaft; 16. Active pulley; 17. Transmission gear; 18. Synchronous belt; 19. Guide track groove; 20. Ball screw; 21. Connecting frame; 2101. Connecting plate; 2102. Guide rod; 22. Controller; 23. Sensing device; 24. Driving unit; 25. Positioning member. DETAILED DESCRIPTION

[0026] The present invention will be further described below with reference to the accompanying drawings and examples.

[0027] refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 A tunnel surface detection device includes a walking base 1, a first curved shell 8, a second curved shell 9, a first transmission shaft 12 and a second transmission shaft 15. The walking base 1 is a rail car, and the front and rear sides of the walking base 1 are respectively provided with front lights 101 and rear lights 102 for illuminating the tunnel.

[0028] The walking base 1 is provided with a docking groove 2 and a travel groove 3 arranged at intervals. The docking groove 2 is close to the front side of the walking base 1, and the travel groove 3 is close to the rear side of the walking base 1. A first fixed frame 4 is provided on the front side of the walking base 1, and a second fixed frame 5 is provided on the rear side of the walking base 1, as well as a telescopic drive device 6 and a rotation drive device 7 provided on the second fixed frame 5. The telescopic drive device 6 is an electric cylinder, and the rotation drive device 7 is a stepping motor. A controller 22 is provided on the walking base 1, and the rotation drive device 7 and the telescopic drive device 6 are both electrically connected to the controller 22 and controlled by it.

[0029] The first arc shell 8 and the second arc shell 9 are arranged opposite to each other and coaxially. The outer wall of the first arc shell 8 and the outer wall of the second arc shell 9 are both provided with at least one alignment member 25. The inner wall of the docking groove 2 is provided with an alignment groove 201 for the alignment member 25 to be inserted. The first arc shell 8 is inserted into the docking groove 2 to position the first arc shell 8 on the walking base 1; the inner wall of the travel groove 3 is provided with a sliding groove 301 for the alignment member 25 to be slidably connected. The second arc shell 9 is slidably connected in the travel groove 3 so that the second arc shell 9 can be translated relative to the walking base 1 along the length direction of the travel groove 3.

[0030] The end faces of the first curved shell 8 and the second curved shell 9 are both open, and the first curved shell 8 and the second curved shell 9 are both slidably connected to a drive ring 10. The drive ring 10 can rotate about its axis. The drive ring 10 is provided with a detection unit 11 for photographing the detection area of ​​the tunnel surface. The detection unit 11 can be a detection camera. Preferably, the inner wall of the first curved shell 8 and the inner wall of the second curved shell 9 are both provided with a guide track groove 19 extending along the circumference of the drive ring 10. The outer wall of the drive ring 10 is provided with a guide ring 1001 protruding outward. The detection unit 11 is fixedly connected to the guide ring 1001. The detection unit 11 is fixedly connected to the guide ring 1001. The guide ring 1001 is rotatably connected to the guide track groove 19 to guide the rotation of the drive ring 10.

[0031] The first transmission shaft 12 and the second transmission shaft 15 are arranged at intervals. The first transmission shaft 12 passes through the hollow area of ​​the two drive rings 10, and its two ends are rotatably connected to the first fixing frame 4 and the second fixing frame 5 respectively. The first transmission shaft 12 is rotatably connected to the drive gear 13 at a position relative to the first arc-shaped shell 8, and the outer peripheral side wall of the drive gear 13 is engaged with the inner wall of the drive ring 10 adjacent to it. The first transmission shaft 12 is fixedly connected to the position relative to the second arc-shaped shell 9. The outer peripheral side wall of the travel gear 14 extends along the length direction of the travel groove 3, and the outer peripheral side wall of the travel gear 14 is engaged with the inner wall of the drive ring 10 adjacent to it.

[0032] The second transmission shaft 15 passes through the hollow area of ​​the two drive rings 10, and its two ends are rotatably connected to the first fixed frame 4 and the second fixed frame 5 respectively. The second transmission shaft 15 is fixedly connected to a driving pulley 16 at a position relative to the first arc-shaped shell 8. The driving gear 13 is coaxially provided with a driven pulley 1301. A synchronous belt 18 is sleeved between the driving pulley 16 and the driven pulley 1301. The second transmission shaft 15 is fixedly connected to a transmission gear 17 at a position relative to the second arc-shaped shell 9. The outer peripheral side wall of the transmission gear 17 is engaged with the outer peripheral side wall of the travel gear 14.

[0033] The inner wall of the drive ring 10 is coaxially provided with an outwardly projecting toothed ring portion 1002. The two toothed ring portions 1002 mesh with the outer peripheral sidewalls of the drive gear 13 and the outer peripheral sidewalls of the travel gear 14, respectively. A limit ring 1401 is formed at each end of the travel gear 14. The outer diameter of the limit ring 1401 is larger than that of the travel gear 14, and the inner sidewall of the limit ring 1401 engages with the adjacent toothed ring portion 1002. The two limit rings 1401 are used to limit the translation of the drive ring 10 on the second curved housing 9, ensuring gear transmission cooperation between the drive ring 10 on the second curved housing 9 and the travel gear 14 after translation.

[0034] The rotating end of the rotary drive device 7 is connected to the second transmission shaft 15, and a connecting frame 21 is fixedly connected to the second curved shell 9. A connecting plate 2101 is fixedly connected to the connecting frame 21 at a position relative to the axis of the drive ring 10. The connecting plate 2101 is fixedly connected to the driving end of the telescopic drive device 6. Two guide rods 2102 are symmetrically arranged on the connecting frame 21, and a guide sleeve 501 for sliding connection of the guide rod 2102 is provided on the second fixed frame 5, so as to guide the translation of the second curved shell 9 and provide a certain supporting effect on the second curved shell 9.

[0035] When the walking base 1 is walking in the tunnel, the second transmission shaft 15 is driven to rotate by the rotary drive device 7 so that the driving transmission gear 17 and the driving pulley 16 rotate in the same circumferential direction. The transmission gear 17 and the driving ring 10 on the second arc-shaped shell 9 are driven by gears, so that the driving ring 10 on the second arc-shaped shell 9 rotates around its axis relative to the second arc-shaped shell 9. The direction of the driving ring 10 on the second arc-shaped shell 9 is opposite to the direction of the second transmission shaft 15; the driving pulley 16 drives the driven pulley 1301 to rotate through the synchronous belt 18, so that the driving gear 13 is driven to rotate, so that the driving ring 10 on the first arc-shaped shell 8 rotates around its axis relative to the first arc-shaped shell 8. The direction of the driving ring 10 is the same as that of the second transmission shaft 15; under the drive of the rotary driving device 7, the two driving rings 10 rotate in opposite directions along their circumference, so that the two detection units 11 rotate in opposite directions along the circumference of the driving ring 10 at the front and rear sides of the walking base 1, respectively. The detection unit 11 located on the rear side observes the tunnel from another direction, supplementing the area that the detection unit 11 located on the front side cannot cover, ensuring that each detection area on the tunnel surface can be effectively detected and photographed, the detection is more comprehensive, and through repeated detection and photography by the detection units 11 on the front and rear sides, the same detection area on the tunnel surface can be observed multiple times, thereby improving the accuracy of the detection.

[0036] When the rotary drive device 7 stops, the operator can adjust the spacing between the two detection units 11 using the telescopic drive device 6. Driven by the telescopic drive device 6, the second arc-shaped shell 9 translates along the length of the travel slot 3, thereby adjusting the spacing between the two drive rings 10. This, in turn, adjusts the spacing between the two detection units 11 to change the shooting angle, thereby better adapting to different tunnel structures and inspection areas, and achieving better applicability. In particular, when high-precision inspection is required, the spacing between the two detection units 11 can be appropriately reduced, thereby increasing the overlap of the images captured by the two detection units 11. Through image stitching and processing techniques, it is easier to detect surface defects such as tiny cracks and spalling on the tunnel surface.

[0037] Preferably, the two detection units 11 are each provided with a sensing device 23 on the opposite side thereof, and a driving unit 24 for sensing by the sensing device 23 is provided on the opposite side of the first curved shell 8 and the second curved shell 9. Preferably, the sensing device 23 is a metal sensor, and the driving unit 24 is a sensing metal. The sensing device 23 is electrically connected to the controller 22. When the sensing side of the sensing device 23 corresponds to the driving unit 24, the sensing device 23 triggers a signal. Under the control of the controller 22, the rotating end of the rotary driving device 7 switches to rotate in opposite directions, thereby preventing the two detection units 11 from colliding with the first curved shell 8 and the second curved shell 9, respectively.

[0038] Preferably, a plurality of gear holes 1003 are evenly distributed in an annular array on the side wall of the drive ring 10 near the gear ring portion 1002. Both the first curved shell 8 and the second curved shell 9 are provided with ball screws 20. The steel balls of the ball screws 20 extend into the guide track groove 19 and engage with the corresponding gear holes 1003. During the rotation of the drive ring 10, the ball screws 20 achieve gear-type rotation, allowing the drive ring 10 to accurately stop at the corresponding angular position, thereby helping the operator quickly and accurately position the camera to the desired angle, reducing adjustment time and errors. Furthermore, the ball screws 20 provide a certain amount of resistance to the corresponding drive ring 10 in the gear position, preventing the drive disk from accidentally rotating during the detection unit 11 shooting process, thereby ensuring that the image quality captured by the detection unit 11 is not affected.

[0039] Of course, the above are only typical examples of the present invention. In addition, the present invention may also have many other specific implementation methods. Any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

Claims

1. A tunnel surface detection device, characterized in that: include: A walking base (1), the walking base (1) is provided with docking grooves (2) and travel grooves (3) arranged at intervals, a first fixing frame (4) is provided on the front side of the walking base (1), a second fixing frame (5) is provided on the rear side of the walking base (1), and a telescopic drive device (6) and a rotation drive device (7) provided on the second fixing frame (5); A first arcuate shell (8) and a second arcuate shell (9) are arranged oppositely and coaxially, the first arcuate shell (8) is inserted into the docking groove (2), the second arcuate shell (9) is slidably connected to the travel groove (3), the telescopic end of the telescopic drive device (6) is connected to the second arcuate shell (9), the end surfaces of the first arcuate shell (8) and the second arcuate shell (9) are both opened, and the first arcuate shell (8) and the second arcuate shell (9) are both slidably connected to a drive ring (10), the drive ring (10) can rotate around its axis, and the drive ring (10) is provided with a detection unit (11) for photographing a detection area of ​​a tunnel surface; A first transmission shaft (12) and a second transmission shaft (15) are arranged at intervals, the first transmission shaft (12) passes through the hollow areas of the two drive rings (10), and its two ends are rotatably connected to the first fixing frame (4) and the second fixing frame (5) respectively, the first transmission shaft (12) is rotatably connected to a driving gear (13) at a position relative to the first arc-shaped shell (8), the outer peripheral side wall of the driving gear (13) is meshed with the inner wall of the drive ring (10) adjacent to it, the first transmission shaft (12) is fixedly connected to a travel gear (14) at a position relative to the second arc-shaped shell (9), the outer peripheral side wall of the travel gear (14) extends along the length direction of the travel groove (3), and the outer peripheral side wall of the travel gear (14) is meshed with the inner wall of the drive ring (10) adjacent to it; The rotating end of the rotary drive device (7) is connected to the second transmission shaft (15), the second transmission shaft (15) passes through the hollow areas of the two drive rings (10), and its two ends are rotatably connected to the first fixed frame (4) and the second fixed frame (5), respectively. The second transmission shaft (15) is fixedly connected to a driving pulley (16) at a position relative to the first arc-shaped shell (8), the driving gear (13) is coaxially provided with a driven pulley (1301), and a synchronous belt (18) is sleeved between the driving pulley (16) and the driven pulley (1301), and the second transmission shaft (15) is fixedly connected to a transmission gear (17) at a position relative to the second arc-shaped shell (9), and the outer peripheral side wall of the transmission gear (17) is meshed with the outer peripheral side wall of the travel gear (14).

2. The tunnel surface detection device according to claim 1, characterized in that: The inner wall of the first arc-shaped shell (8) and the inner wall of the second arc-shaped shell (9) are both provided with a guide track groove (19) extending along the circumference of the drive ring (10); the outer wall of the drive ring (10) is provided with a guide ring (1001) protruding outward; the detection unit (11) is fixedly connected to the guide ring (1001), and the guide ring (1001) is rotatably connected in the guide track groove (19).

3. The tunnel surface detection device according to claim 2, characterized in that: An outwardly protruding tooth ring portion (1002) is coaxially provided on the inner wall of the drive ring (10), and the two tooth ring portions (1002) are respectively meshed with the outer peripheral side wall of the drive gear (13) and the outer peripheral side wall of the travel gear (14).

4. The tunnel surface detection device according to claim 3, characterized in that: Both ends of the travel gear (14) are formed with a limiting ring (1401), and the inner side wall of the limiting ring (1401) is in contact with the adjacent gear ring portion (1002).

5. The tunnel surface detection device according to claim 3, characterized in that: The drive ring (10) is provided with a plurality of gear holes (1003) evenly distributed in a circular array on the side wall close to the gear ring portion (1002), and the first arc shell (8) and the second arc shell (9) are both provided with ball screws (20), and the steel balls of the ball screws (20) extend into the guide track groove (19) and are plugged into the corresponding gear holes (1003).

6. The tunnel surface detection device according to claim 1, characterized in that: The outer wall of the first arc-shaped shell (8) and the outer wall of the second arc-shaped shell (9) are both provided with at least one alignment member (25); the inner wall of the docking groove (2) is provided with an alignment groove (201) for the alignment member (25) to be inserted; and the inner wall of the travel groove (3) is provided with a sliding groove (301) for the alignment member (25) to be slidably connected.

7. The tunnel surface detection device according to claim 1, characterized in that: A connecting frame (21) is fixedly connected to the second arc-shaped shell (9), a connecting plate (2101) is fixedly connected to the connecting frame (21) at a position relative to the axis of the drive ring (10), and the connecting plate (2101) is fixedly connected to the drive end of the telescopic drive device (6).

8. The tunnel surface detection device according to claim 7, characterized in that: Two guide rods (2102) are symmetrically arranged on the connecting frame (21), and a guide sleeve (501) for sliding connection of the guide rods (2102) is arranged on the second fixing frame (5).

9. The tunnel surface detection device according to claim 1, characterized in that: The rotary drive device (7) is a stepping motor, the telescopic drive device (6) is an electric cylinder, a controller (22) is provided on the walking base (1), and the rotary drive device (7) and the telescopic drive device (6) are both electrically connected to and controlled by the controller (22).

10. The tunnel surface detection device according to claim 9, characterized in that: The two detection units (11) are each provided with a sensing device (23) electrically connected to the controller (22) on the opposite side, and the first arc-shaped shell (8) and the second arc-shaped shell (9) are each provided with a driving part (24) for sensing by the sensing device (23) on the opposite side. When the sensing side of the sensing device (23) corresponds to the driving part (24), the sensing device (23) triggers a signal, and under the control of the controller (22), the rotating end of the rotation drive device (7) switches to the opposite direction for rotation.

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