Multi-degree-of-freedom radar antenna bracket

Abstract

The invention relates to the technical field of tunnel vault lining construction quality, in particular to a multi-degree-of-freedom radar antenna bracket which comprises a carrying trolley, an antenna tray, a ball head connector, a supporting frame and a hydraulic supporting rod, a connecting steel plate is arranged on the supporting frame, the ball head connector is installed on the connecting steel plate through a connecting rod piece, and the hydraulic supporting rod is arranged on the carrying trolley. The connecting steel plate is connected with an antenna tray through a ball head connector, a tension spring is connected between the antenna tray and the connecting steel plate, L-shaped supporting rods are arranged on the two sides of the supporting frame respectively, pulley assemblies are arranged at the free ends of the L-shaped supporting rods, and a hydraulic supporting rod of the supporting frame is connected with a carrying trolley. According to the invention, the surface of the secondary lining concrete at any height in the tunnel can be detected without manpower, and the surface of the antenna tray is always attached to the surface of the secondary lining concrete; the device can smoothly climb over when encountering slab staggering or a large obstacle, avoids midway jamming, pause or jumping, improves the accuracy of a detection result, and also improves the efficiency of detection work.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel vault lining construction quality, in particular to a multi-degree-of-freedom radar antenna bracket. Background Art

[0002] One of the most important parameters in tunnel quality inspection is the lining thickness and backing voids (compactness). The inspection method mainly uses radar technology to continuously scan the proposed survey line, and the inspection results are obtained through software analysis for quality inspection and evaluation. The current radar inspection operation method is mainly to use a loader or aerial platform as a walking and lifting platform, and 2 to 3 operators stand in the lifting bucket of the carrier to lift the antenna for inspection. However, after experience summary and analysis, the current operation method still has the following problems.

[0003] Firstly, the operators standing in the transport equipment to work are high-altitude operations while walking, which poses a great safety hazard. Secondly, due to the shaking of the lifting bucket during the movement, the operators need to constantly adjust their body position to maintain balance and safety, which makes it difficult to place the antenna parallel or coincide with the direction of the survey line, thereby affecting the accuracy of the test results. Furthermore, due to the misalignment between the two molds of the secondary cast concrete lining, or the presence of protrusions and obstacles on the concrete surface, the antenna gets stuck, pauses or jumps when it moves to this point, thereby affecting the normal operation and work of the antenna, greatly affecting the continuity of the test, the accuracy of the test results and the work efficiency. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a radar antenna bracket with multiple degrees of freedom.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows: A multi-degree-of-freedom radar antenna bracket comprises a transport trolley moving longitudinally along a tunnel, and also comprises an antenna tray equipped with a radar antenna, a ball connector, a connecting steel plate and a hydraulic support rod, wherein the ball connector is installed on the connecting steel plate through a connecting rod, a connecting groove for the ball connector to be connected is provided on the antenna tray, the free end of the ball connector is adaptively connected to the connecting groove, tension springs connected to the connecting steel plate are provided at four corners of the antenna tray facing the connecting steel plate, L-shaped support rods are respectively provided on both sides of the connecting steel plate, a pulley assembly is provided at the free end of the L-shaped support rod, a traction rope is provided on the pulley assembly, an active cavity for the traction rope to pass through is provided in the L-shaped support rod and the connecting steel plate, the traction rope passes through the active cavity and is connected to the antenna tray, the connecting steel plate is connected to one end of the hydraulic support rod through an elastic component, and the other end of the hydraulic support rod is connected to the transport trolley.

[0006] Furthermore, the connecting steel plate is a column structure, and a slot is provided at one end of the connecting steel plate facing the hydraulic support rod, and the elastic component is provided in the slot and connected to the hydraulic support rod. When the pulley assembly encounters a misalignment, a protrusion on the concrete surface or an obstacle in the tunnel, the roller will be squeezed and generate a certain pressure. At this time, the force is transmitted to the L-shaped support rod through the roller, and then acts on the connecting steel plate. The elastic component is compressed to absorb the impact force from the obstacle. The elastic component can provide sufficient elastic displacement. The limit groove enables the hydraulic support rod to always keep the motion trajectory in the same vertical direction when relative displacement occurs with the connecting steel plate, thereby avoiding the phenomenon of tilting of the connecting steel plate during the force application of the elastic component.

[0007] Furthermore, the side wall of the slot is provided with a limiting slot, and the connecting end of the hydraulic support rod and the connecting steel plate is provided with a limiting part, and the limiting part is movably arranged in the limiting slot. When the connecting steel plate is subjected to an external force transmitted by the pulley assembly, the connecting steel plate moves toward the direction of the hydraulic support rod. At this time, the elastic component is compressed by the force, and the slot can make the hydraulic support rod move along the direction of the slot. After the elastic component releases the elastic potential energy, since one end of the hydraulic support rod is connected to the carrying trolley, the elastic component will apply a force to the connecting steel plate to keep it away from the hydraulic support rod. At this time, the limiting part will be limited in the slot by the action of the limiting slot, so that the connecting steel plate and the hydraulic support rod will not be separated, and during the compression and release process of the elastic component, the connecting steel plate can also be kept on the same vertical plane with the hydraulic support rod.

[0008] Furthermore, the pulley assembly includes a triangular bracket and rollers, the rollers are respectively rotatably connected to the ends of the rods of the triangular bracket, a triangular slot is provided on one side of the triangular bracket, and a slider is provided on the triangular slot. When the pulley assembly moves on a plane, any two rollers are in contact with the plane, at which time the slider is located on the triangular slot away from the plane, and the traction rope is just in a straightened state. When the roller is impacted by a smaller raised obstacle, the roller can be impacted by the speed in the moving direction, so that the roller bounces up, and then transmitted to the connecting steel plate, so that the elastic component is compressed, and then the smaller obstacle is crossed. When the roller passes through a misaligned platform or a larger raised obstacle, the first roller in the direction of travel is stuck and stopped by the resistance in the direction of travel, but the speed in the direction of travel will cause the triangular bracket to rotate, and the obstacle will be crossed by the roller at the rear end, and the connecting steel plate will be lifted as a whole. However, since the lifting of the steel plate is a momentary action, the antenna tray will instantly resume contact after briefly leaving the contact surface. Therefore, in order to ensure that the antenna tray has a time period to fall off the contact surface, a traction force on the antenna tray is required. At this time, the slider follows the triangular bracket to make a circular motion, the traction rope is pulled upward, and the antenna tray is pulled away from the contact surface. The traction rope reaches the maximum stretching distance until the roller on which the slider is located contacts the plane. After that, the antenna tray is elastically acted upon by the compression spring and the elastic component, and moves toward the contact surface. The traction rope is stretched, causing the slider to slide along the triangular groove and slide to the end of the roller away from the contact surface, and the antenna tray touches the contact surface again.

[0009] Furthermore, a rotating shaft is provided at the free end of the L-shaped support rod, and the center of the other side of the triangular bracket is rotatably connected to the rotating shaft. Both sides of any group of triangular brackets are equipped with L-shaped support rods, and a triangular slide groove is provided on one side of the triangular bracket, and the middle part of the other side of the triangular bracket is rotatably connected to the rotating shaft. When the roller encounters a larger obstacle, the roller will be stuck in front of the obstacle because its radius of crossing is limited. At this time, the power of forward movement can drive the rotation of the triangular bracket, and then drive the pulley assembly to cross the obstacle through the flipping of the triangular bracket. When the pulley assembly crosses the obstacle, the connecting steel plate will be lifted as a whole, thereby driving the antenna tray to temporarily leave the concrete contact surface. When the antenna tray returns to the contact surface, it can contact the obstacle or the rear end of the obstacle, and continue to move over the obstacle to avoid being affected by the obstacle's clamping.

[0010] Furthermore, a first through hole for the traction rope to pass through is provided on the rod body of the L-shaped support rod, and a second through hole for the traction rope to pass through is provided on the side of the connecting steel plate facing the antenna tray, one end of the traction rope is connected to the slider, and the other end of the traction rope passes through the first through hole, the movable cavity, the second through hole in sequence and is connected to the connecting steel plate. The L-shaped support rod connected to the rotating shaft can ensure the stable operation of the pulley assembly, and a first through hole is provided on the L-shaped support rod facing the side of the triangular slide groove, and the traction rope passes through the first through hole and the movable cavity, passes through the second through hole, and is connected to the antenna tray on that side. Therefore, when the transport trolley moves in any direction, when that side encounters an obstacle, the pulley assembly that rotates first in the direction of travel will drive the antenna tray on that side to rise, and then cross the obstacle.

[0011] Furthermore, the connecting rod is connected to the connecting steel plate through a compression spring. The radar antenna is fixedly placed in the antenna tray, and the direction of the antenna will not change due to the slight shaking of the carrier. When the carrier causes the antenna tray to separate from the lining surface or over-extend the lining surface due to the slight unevenness of the ground, the compression spring axially connected to the connecting rod can be adjusted by automatic expansion and contraction to ensure that the antenna tray is in close contact with the lining surface.

[0012] Furthermore, a steering adjustment assembly is installed on the top of the transport vehicle, and the hydraulic support rod is installed on the steering adjustment assembly. Since the interior of the tunnel is an arc structure, when the transport vehicle moves to different positions to inspect the construction quality of the tunnel vault lining, the inspection height is different and the angle will also change. Therefore, according to the changes in the shape and structure of the interior of the tunnel, the steering adjustment assembly can make the antenna tray change its angle according to the actual situation, and ensure that the transport vehicle can move flexibly in complex terrain, ensuring that the radar antenna can accurately scan every area of ​​the tunnel.

[0013] Furthermore, the transport trolley is provided with a control system for controlling the lifting and lowering of the hydraulic support rod and the rotation of the steering adjustment component, and the control system is wirelessly connected to an external wireless module. A control system is set on the transport trolley and wirelessly connected to an external wireless module, so that the operator can remotely control the lifting and lowering of the hydraulic support rod and the rotation of the steering adjustment component through a wireless device. The convenience of operation is improved, especially in the narrow and complex working environment in the tunnel. The operator can accurately adjust the equipment without approaching it, making the operation more efficient and safe. Through remote control, the waiting time and manual intervention during the operation can be greatly reduced, thereby improving the work efficiency of the entire detection process. Especially in tunnel detection, this efficient adjustment can ensure the efficient scanning of the radar antenna and avoid affecting the detection accuracy due to improper equipment position or untimely adjustment.

[0014] Furthermore, the antenna tray is provided with an arc guide on one side away from the connecting steel plate. When the transport trolley is moving, the antenna tray detects the surface of the secondary lining concrete. When encountering a small raised obstacle, the pulley assembly can easily cross the obstacle. When the antenna tray moves in front of the obstacle, the edge of the arc guide can lift the antenna tray along the arc surface, allowing the antenna tray to pass through the obstacle surface smoothly, avoiding the obstacle from contacting the antenna tray, causing the antenna tray to be stuck and unable to move.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can detect the surface of the secondary lining concrete at any height in the tunnel by setting an adjustable hydraulic support rod, and is connected to the antenna tray through a ball connector and a tension spring, so that the antenna tray can be adjusted in any direction and angle. Under the support of the elastic component, the surface of the antenna tray always fits the surface of the secondary lining concrete, ensuring the continuity and accuracy of the radar scanning data; 2. The present invention can improve the smoothness of the moving process by arranging pulley assemblies on both sides of the antenna tray, so that the antenna tray can be smoothly climbed over when encountering a misaligned platform or a large obstacle. The pulley assembly rotates to drive the traction rope 10 to pull the antenna tray 2, thereby driving the connecting steel plate to separate from the contact surface. The separation time period is the time required for the pulley assembly to flip, ensuring that the antenna tray will not be reset immediately after being temporarily separated from the second lining concrete surface, thereby ensuring that the antenna tray will not be stuck, paused or jumped midway; 3. The present invention does not require manual operation, avoids the potential safety hazards in the tunnel secondary lining radar scanning detection process, reduces labor costs, ensures close contact between the antenna and the secondary lining concrete surface during the detection process, improves the accuracy of the detection results, and improves the efficiency of the detection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the transport vehicle during tunnel inspection; Figure 2 is a plan perspective schematic diagram of the support frame; Figure 3 It is a three-dimensional structural schematic diagram of the support frame and the antenna tray; Figure 4 is a schematic diagram of the structure of the pulley assembly; Figure identification: 1-carrying trolley, 2-antenna tray, 3-ball head connector, 4-connecting steel plate, 5-hydraulic support rod, 6-connecting rod, 7-tension spring, 8-L-shaped support rod, 9-pulley assembly, 10-traction rope, 11-movable cavity, 12-elastic component, 13-slot, 14-limiting groove, 15-limiting part, 16-triangular bracket, 17-roller, 18-triangular slide groove, 19-slider, 20-rotating shaft, 21-first through hole, 22-second through hole, 23-compression spring, 24-steering adjustment assembly. DETAILED DESCRIPTION

[0017] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0018] Embodiment 1, as Figure 1-Figure 4 As shown, a multi-degree-of-freedom radar antenna bracket disclosed in the present invention includes a carrier 1 that moves longitudinally along a tunnel, an antenna tray 2 equipped with a radar antenna, a ball connector 3, a connecting steel plate 4 and a hydraulic support rod 5, wherein the ball connector 3 is installed on the connecting steel plate 4 through a connecting rod 6, and a connecting groove for the ball connector 3 to be connected is provided on the antenna tray 2, and the free end of the ball connector 3 is adapted to be connected with the connecting groove, and the antenna tray 2 is provided with four corners facing the connecting steel plate 4 for connecting with the connecting steel plate 4, L-shaped support rods 8 are respectively arranged on both sides of the connecting steel plate 4, pulley assemblies 9 are arranged at the free ends of the L-shaped support rods 8, and a traction rope 10 is arranged on the pulley assembly 9, and an active cavity 11 for the traction rope 10 to pass through is arranged in the L-shaped support rod 8 and the connecting steel plate 4, and the traction rope 10 passes through the active cavity 11 and is connected to the antenna tray 2, the connecting steel plate 4 is connected to one end of the hydraulic support rod 5 through the elastic component 12, and the other end of the hydraulic support rod 5 is connected to the carrying trolley 1.

[0019] The connecting steel plate 4 is a cylindrical structure, and a slot 13 is provided at one end of the connecting steel plate 4 facing the hydraulic support rod 5. The elastic component 12 is provided in the slot 13 and connected to the hydraulic support rod 5. Specifically, when the pulley assembly 9 encounters a misalignment, a protrusion on the concrete surface or an obstacle in the tunnel, the roller 17 will be squeezed and generate a certain pressure. At this time, the force is transmitted to the L-shaped support rod 8 through the roller 17, and then acts on the connecting steel plate 4. The elastic component 12 is compressed to absorb the impact force from the obstacle. The elastic component 12 can provide sufficient elastic displacement. The limit groove 14 enables the hydraulic support rod 5 to always keep the motion trajectory in the same vertical direction when it is relatively displaced with the connecting steel plate 4, thereby avoiding the phenomenon of the connecting steel plate 4 tilting during the force application of the elastic component 12.

[0020] The side wall of the slot 13 is provided with a limiting slot 14, and the connection end of the hydraulic support rod 5 and the connecting steel plate 4 is provided with a limiting portion 15, and the limiting portion 15 is movably arranged in the limiting slot 14. Specifically, when the connecting steel plate 4 is subjected to the external force transmitted by the pulley assembly 9, the connecting steel plate 4 moves toward the direction of the hydraulic support rod 5, and the elastic component 12 is compressed at this time, and the slot 13 can make the hydraulic support rod 5 move along the direction of the groove. After the elastic component 12 releases the elastic potential energy, since one end of the hydraulic support rod 5 is connected to the carrying trolley 1, the elastic component 12 will apply a force to the connecting steel plate 4 to keep it away from the hydraulic support rod 5. At this time, the limiting portion 15 will be limited in the slot 13 by the limiting slot 14, so that the connecting steel plate 4 and the hydraulic support rod 5 will not be separated, and during the compression and release process of the elastic component 12, the connecting steel plate 4 can also be kept on the same vertical plane with the hydraulic support rod 5.

[0021] The pulley assembly 9 includes a triangular bracket 16 and a roller 17, wherein the roller 17 is rotatably connected to the rod end of the triangular bracket 16, and a triangular chute 18 is provided on one side of the triangular bracket 16, and a slider 19 is provided on the triangular chute 18. Specifically, when the pulley assembly 9 moves on a plane, any two rollers 17 are in contact with the plane, and at this time, the slider 19 is located on the triangular chute 18 away from the plane, and the traction rope 10 is just in a straightened state. When the roller 17 is impacted by a smaller raised obstacle, the roller 17 can be impacted by the speed in the moving direction, so that the roller 17 bounces up, and then is transmitted to the connecting steel plate 4, so that the elastic component 12 is compressed, and then the smaller obstacle is crossed. When the roller 17 passes through a misaligned or larger raised obstacle, the first roller 17 in the direction of travel is stuck and stopped by the resistance in the direction of travel, but the speed in the direction of travel will cause the triangular bracket 16 to rotate, and the roller 17 at the rear end will cross the obstacle, and drive the connecting steel plate 4 to lift up as a whole. However, since the lifting of the connecting steel plate 4 is a momentary action, the antenna tray 2 will instantly resume contact after briefly leaving the contact surface. Therefore, in order to ensure that the antenna tray 2 has a time period to fall off the contact surface, a traction force on the antenna tray 2 is required. At this time, the slider 19 follows the triangular bracket 16 to make a circular motion, and the traction rope 10 is pulled upward, and the antenna tray 2 is pulled away from the contact surface. Until the roller 17 where the slider 19 is located contacts the plane, the traction rope 10 reaches the maximum stretching distance. Thereafter, the antenna tray 2 is subjected to the elastic action of the compression spring 23 and the elastic component 12, and moves toward the side of the contact surface. The traction rope 10 is stretched by force, so that the slider 19 slides along the triangular slide 18 and slides to the end of the roller 17 away from the side of the contact surface, and the antenna tray 2 touches the contact surface again. In this process, the antenna tray 2 will briefly leave the contact surface and will not quickly resist the contact surface, so as to ensure that the raised obstacle is passed through, the continuity of detection is ensured, and the jamming or damage caused by the direct impact of the antenna tray 2 on the obstacle can be avoided.

[0022] The free end of the L-shaped support rod 8 is provided with a rotating shaft 20, and the center of the other side of the triangular bracket 16 is rotatably connected to the rotating shaft 20. Specifically, both sides of any group of triangular brackets 16 are equipped with L-shaped support rods 8, one side of the triangular bracket 16 is provided with a triangular slide 18, and the middle part of the other side of the triangular bracket 16 is rotatably connected to the rotating shaft 20. When the roller 17 encounters a large obstacle, the roller 17 will be stuck in front of the obstacle due to the limited radius of its crossing. At this time, the power of moving forward can drive the rotation of the triangular bracket 16, and then drive the pulley assembly 9 to cross the obstacle through the flipping of the triangular bracket 16. When the pulley assembly 9 crosses the obstacle, the connecting steel plate 4 will be lifted as a whole, thereby driving the antenna tray 2 to temporarily leave the concrete contact surface. When the antenna tray 2 returns to the contact surface, it can contact the obstacle or the rear end of the obstacle, and continue to move over the obstacle to avoid being affected by the obstacle.

[0023] The rod body of the L-shaped support rod 8 is provided with a first through hole 21 for the traction rope 10 to pass through, and the side of the connecting steel plate 4 facing the antenna tray 2 is provided with a second through hole 22 for the traction rope 10 to pass through. One end of the traction rope 10 is connected to the slider 19, and the other end of the traction rope 10 passes through the first through hole 21, the movable cavity 11, and the second through hole 22 in sequence and is connected to the connecting steel plate 4. Specifically, the L-shaped support rod 8 connected to the rotating shaft 20 can ensure the stable operation of the pulley assembly 9. The first through hole 21 is provided on the L-shaped support rod 8 facing the side of the triangular slide 18. The traction rope 10 passes through the first through hole 21 and the movable cavity 11, passes through the second through hole 22, and is connected to the antenna tray 2 on this side. Therefore, when the transport trolley 1 moves in any direction, when this side encounters an obstacle, the pulley assembly 9 that rotates first in the direction of travel will drive the antenna tray 2 on this side to rise, and then cross the obstacle.

[0024] In addition, when the antenna tray 2 moves on the plane of the second lining concrete surface, the contact surface of the antenna tray 2 contacts the second lining concrete surface. At this time, the two rollers 17 on any set of triangular brackets 16 contact the second lining concrete surface at the same time, and the contact surface of the antenna tray 2 is parallel to the contact surfaces of the two rollers 17. When the roller 17 touches the raised obstacle, the triangular bracket 16 flips over, and the single roller 17 contacts the second lining concrete surface, which will lift the antenna tray 2, causing the antenna tray 2 to temporarily detach from the contact surface, ensuring that the antenna tray 2 can be smoothly lifted above the obstacle or directly cross the obstacle. In this process, the rotation of the triangular bracket 16 drives the rotation of the roller 17, and the rotation of the roller 17 will not touch the side of the antenna tray 2, ensuring the normal movement and operation of the equipment.

[0025] The connecting rod 6 is connected to the connecting steel plate 4 through a compression spring 23. Specifically, the radar antenna is fixedly placed in the antenna tray 2, and the direction of the antenna will not change due to a slight shake of the carrier 1. When the carrier 1 causes the antenna tray 2 to separate from the lining surface or over-extend the lining surface due to a slight unevenness of the ground, the compression spring 23 axially connected to the connecting rod 6 can be adjusted by automatic expansion and contraction to ensure that the antenna tray 2 is in close contact with the lining surface.

[0026] A steering adjustment assembly 24 is installed on the top of the transport vehicle 1, and the hydraulic support rod 5 is installed on the steering adjustment assembly 24. Specifically, since the interior of the tunnel is an arc structure, when the transport vehicle 1 moves to different positions to inspect the construction quality of the tunnel vault lining, the inspection height is different and the angle will also change. Therefore, according to the changes in the shape and structure of the interior of the tunnel, the steering adjustment assembly 24 can make the antenna tray 2 change its angle according to the actual situation, and ensure that the transport vehicle 1 can move flexibly in complex terrain, ensuring that the radar antenna can accurately scan each area of ​​the tunnel.

[0027] The transport trolley 1 is provided with a control system for controlling the lifting and lowering of the hydraulic support rod 5 and the rotation of the steering adjustment component 24, and the control system is wirelessly connected to an external wireless module. Specifically, a control system is provided on the transport trolley 1 and is wirelessly connected to an external wireless module, so that the operator can remotely control the lifting and lowering of the hydraulic support rod 5 and the rotation of the steering adjustment component 24 through a wireless device. The convenience of operation is improved, especially in the narrow and complex working environment in the tunnel, the operator can accurately adjust the equipment without approaching it, making the operation more efficient and safe. Through remote control, the waiting time and manual intervention during the operation can be greatly reduced, thereby improving the work efficiency of the entire detection process. Especially in tunnel detection, this efficient adjustment can ensure the efficient scanning of the radar antenna and avoid affecting the detection accuracy due to improper equipment position or untimely adjustment.

[0028] The antenna tray 2 is provided with an arc guide on one side away from the connecting steel plate 4. Specifically, during the movement of the transport trolley 1, the antenna tray 2 detects the surface of the secondary lining concrete. When encountering a small raised obstacle, the pulley assembly 9 can easily cross the obstacle. When the antenna tray 2 moves in front of the obstacle, the edge of the arc guide can lift the antenna tray 2 along the arc surface, allowing the antenna tray 2 to pass through the obstacle surface smoothly, thereby preventing the obstacle from contacting the antenna tray 2, causing the antenna tray 2 to be stuck and unable to move.

[0029] Embodiment 2: Based on embodiment 1, this embodiment proposes a specific working principle of a multi-degree-of-freedom radar antenna bracket.

[0030] The specific implementation principle process is as follows: During radar detection, the transport vehicle 1 moves along the longitudinal direction of the tunnel, the radar is in close contact with the tunnel vault lining surface, and the antenna passes through the designated measuring line position. When it moves to the corresponding detection pile number position, the secondary lining concrete surface is continuously scanned and detected.

[0031] The antenna tray 2 is in contact with the lining surface. Through the components such as the ball connector 3, the tension spring 7 and the compression spring 23, it is ensured that the radar antenna set in the antenna tray 2 is always parallel or coincident with the proposed survey line during the movement, and the radar antenna is always in close contact with the surface of the secondary lining concrete, thereby improving the accuracy of the detection result. When the radar antenna is detected, the carrier 1 walks to the corresponding detection pile number position, and the radar antenna is lifted to the designated survey line position through the hydraulic support rod 5. The hydraulic support rod 5 is adjusted by telescopic adjustment to make the radar antenna close to the surface of the secondary lining concrete with appropriate pressure, and then the carrier 1 moves forward along the longitudinal direction of the tunnel to perform radar continuous scanning detection. During the detection process, due to the action of the ball connector 3 at the bottom of the antenna tray 2 and the four tension springs 7 under the antenna tray 2, the radar antenna and the antenna tray 2 have the function of multi-directional rotation. When the hydraulic support rod 5 lifts the radar antenna to the survey line position, the radar antenna can adapt to the surface fitting requirements at any different heights such as the arch or the arch top. By fine-tuning the length of the hydraulic support rod 5, the radar antenna is initially in close contact with the surface of the secondary lining concrete with appropriate pressure. During this process, the pulley assembly 9 can easily overcome the misalignment between the two molds and the protrusions or obstacles on the concrete surface.

[0032] The present invention not only eliminates the potential safety hazard during the radar scanning detection process of the tunnel secondary lining, but also ensures that the antenna is always in close contact with the secondary lining concrete surface during the detection process, and also ensures that the equipment is not affected by obstacles and other factors during normal movement and detection. This not only improves the accuracy of the detection results, but also improves the efficiency of the detection work, and eliminates the need for manual high-altitude operations during movement, thus eliminating potential safety hazards.

[0033] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A multi-degree-of-freedom radar antenna bracket, comprising a transport vehicle (1) moving longitudinally along a tunnel, characterized in that: The invention also comprises an antenna tray (2) equipped with a radar antenna, a ball connector (3), a connecting steel plate (4) and a hydraulic support rod (5), wherein the ball connector (3) is installed on the connecting steel plate (4) via a connecting rod (6), the antenna tray (2) is provided with a connecting groove for the ball connector (3) to be connected, the free end of the ball connector (3) is adapted to be connected to the connecting groove, the antenna tray (2) is provided with tension springs (7) connected to the connecting steel plate (4) at four corners facing the connecting steel plate (4), and the two sides of the connecting steel plate (4) are respectively An L-shaped support rod (8) is provided, a pulley assembly (9) is provided at the free end of the L-shaped support rod (8), a traction rope (10) is provided on the pulley assembly (9), an active cavity (11) for the traction rope (10) to pass through is provided in the L-shaped support rod (8) and the connecting steel plate (4), the traction rope (10) passes through the active cavity (11) and is connected to the antenna tray (2), the connecting steel plate (4) is connected to one end of the hydraulic support rod (5) through an elastic assembly (12), and the other end of the hydraulic support rod (5) is connected to the carrying trolley (1).

2. A multi-degree-of-freedom radar antenna bracket according to claim 1, characterized in that: The connecting steel plate (4) is a cylindrical structure, and one end of the connecting steel plate (4) facing the hydraulic support rod (5) is provided with a slot (13), and the elastic component (12) is arranged in the slot (13) and connected to the hydraulic support rod (5).

3. A multi-degree-of-freedom radar antenna bracket according to claim 2, characterized in that: A limiting groove (14) is provided on the side wall of the slot (13), and a limiting portion (15) is provided at the connection end between the hydraulic support rod (5) and the connecting steel plate (4), and the limiting portion (15) is movably disposed in the limiting groove (14).

4. The multi-degree-of-freedom radar antenna bracket according to claim 1, characterized in that: The pulley assembly (9) comprises a triangular bracket (16) and a roller (17), wherein the roller (17) is rotatably connected to the ends of the rods of the triangular bracket (16), a triangular slide groove (18) is provided on one side of the triangular bracket (16), and a slider (19) is provided on the triangular slide groove (18).

5. The multi-degree-of-freedom radar antenna bracket according to claim 4, characterized in that: A rotating shaft (20) is provided at the free end of the L-shaped support rod (8), and the center of the other side of the triangular bracket (16) is rotatably connected to the rotating shaft (20).

6. The multi-degree-of-freedom radar antenna bracket according to claim 5, characterized in that: The L-shaped support rod (8) is provided with a first through hole (21) for the traction rope (10) to pass through, and the connecting steel plate (4) is provided with a second through hole (22) for the traction rope (10) to pass through on the side facing the antenna tray (2). One end of the traction rope (10) is connected to the slider (19), and the other end of the traction rope (10) passes through the first through hole (21), the movable cavity (11), the second through hole (22) in sequence and is connected to the connecting steel plate (4).

7. The multi-degree-of-freedom radar antenna bracket according to claim 1, characterized in that: The connecting rod (6) is connected to the connecting steel plate (4) via a compression spring (23).

8. The multi-degree-of-freedom radar antenna bracket according to claim 1, characterized in that: A steering adjustment assembly (24) is installed on the top of the transport trolley (1), and the hydraulic support rod (5) is installed on the steering adjustment assembly (24).

9. The multi-degree-of-freedom radar antenna bracket according to claim 8, characterized in that: The transport trolley (1) is provided with a control system for controlling the lifting and lowering of the hydraulic support rod (5) and the rotation of the steering adjustment component (24), and the control system is wirelessly connected to an external wireless module.

10. The multi-degree-of-freedom radar antenna bracket according to claim 1, characterized in that: The antenna tray (2) is provided with an arc guide along a circumference of a side away from the connecting steel plate (4).

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