A radar antenna bracket with multiple degrees of freedom

Abstract

The present invention relates to the technical field of the construction quality of tunnel vault linings, and particularly to a radar antenna bracket with multiple degrees of freedom. It includes a carrier trolley, an antenna tray, a ball head connector, a support frame, and a hydraulic support rod. A connecting steel plate is provided on the support frame. The ball head connector is installed on the connecting steel plate through a connecting rod member. The connecting steel plate is connected to the antenna tray through the ball head connector. A tension spring is connected between the antenna tray and the connecting steel plate. L-shaped support rods are respectively arranged on both sides of the support frame. Pulley assemblies are arranged at the free ends of the L-shaped support rods. The hydraulic support rod of the support frame is connected to the carrier trolley. The present invention can detect the surface of the secondary lining concrete at any height in the tunnel without manual labor and ensure that the surface of the antenna tray always fits the surface of the secondary lining concrete; when encountering a stepped surface or a large obstacle, it can smoothly climb over, avoiding getting stuck, pausing, or bouncing halfway, improving the accuracy of the detection results and also improving the efficiency of the detection work.

Description

Technical Field

[0001] The present invention relates to the technical field of the construction quality of tunnel vault linings, and particularly relates to a radar antenna bracket with multiple degrees of freedom. Background Art

[0002] One of the most important parameters in tunnel quality inspection is the lining thickness and the void (compactness) behind the lining. The main detection method is to continuously scan the proposed survey line using radar technology, and analyze the detection results through software for quality inspection and evaluation. The current main method of radar detection operation is as follows: using a loading machine or an aerial work vehicle and other transportation equipment as the platform for walking and lifting, and 2 to 3 operators stand in the lifting bucket of the transportation equipment to lift the antenna for detection. However, through experience summary and analysis, the current operation method still has the following problems.

[0003] Firstly, the operation of the operator standing inside the transportation equipment belongs to high-altitude operation during walking, which has relatively large safety hazards. Secondly, due to the shaking generated by the lifting bucket during travel, the operator needs to continuously adjust the body position to maintain balance and safety, which makes it difficult for the antenna placement position to be parallel or coincident with the survey line direction, thereby affecting the accuracy of the detection results. Moreover, due to the misalignment between two molds of the secondary cast-in-place concrete lining, or the protrusions and obstacles on the concrete surface, when the antenna moves to this place, it gets stuck, pauses or jumps midway, thereby affecting the normal operation and work of the antenna, and greatly affecting the continuity of detection, the accuracy of detection results and work efficiency. Summary of the Invention

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

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A radar antenna bracket with multiple degrees of freedom includes a transportation trolley traveling longitudinally along the tunnel, and also includes an antenna tray equipped with a radar antenna, a ball head connector, a connecting steel plate and a hydraulic support rod. The ball head connector is installed on the connecting steel plate through a connecting rod member. A connecting groove for the ball head connector to access is provided on the antenna tray. The free end of the ball head connector is adaptively connected to the connecting groove. Tension springs connected to the connecting steel plate are arranged at the four corners of the antenna tray facing the connecting steel plate. L-shaped support rods are respectively arranged on both sides of the connecting steel plate. A pulley assembly is arranged at the free end of the L-shaped support rod. A towing rope is arranged on the pulley assembly. An activity cavity for the towing rope to pass through is arranged inside the L-shaped support rod and the connecting steel plate. The towing rope passes through the activity 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. The other end of the hydraulic support rod is connected to the transportation trolley.

[0007] Furthermore, the connecting steel plate is of a column cylinder structure. One end of the connecting steel plate facing the hydraulic support rod is provided with a slotted groove, and the elastic component is arranged in the slotted groove and connected to the hydraulic support rod. When the pulley assembly encounters a step, a concrete surface protrusion or an obstacle in the tunnel, the roller will be squeezed and a certain pressure will be generated. 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 compresses to absorb the impact force from the obstacle. The elastic component can provide sufficient elastic displacement. The limiting groove enables the hydraulic support rod to always maintain its movement track in the same vertical direction when there is a relative displacement with the connecting steel plate, avoiding the phenomenon that the connecting steel plate tilts during the force application process of the elastic component.

[0008] Furthermore, the side wall of the slotted groove is provided with a limiting groove, 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 groove. When the connecting steel plate is subjected to the external force transmitted by the pulley assembly, the connecting steel plate moves towards the hydraulic support rod. At this time, the elastic component is compressed by the force, and the slotted groove enables the hydraulic support rod to move along the direction of the groove. After the elastic component releases its elastic potential energy, since one end of the hydraulic support rod is connected to the transport trolley, the elastic component will apply the acting force to the connecting steel plate at this time, making it move away from the hydraulic support rod. At this time, the limiting part will be restricted in the slotted groove by the action of the limiting groove, 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 as the hydraulic support rod.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 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;

[0018] 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;

[0019] 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

[0020] Figure 1 It is a schematic diagram of the structure of the transport vehicle during tunnel inspection;

[0021] Figure 2 is a plan perspective schematic diagram of the support frame;

[0022] Figure 3 It is a three-dimensional structural schematic diagram of the support frame and the antenna tray;

[0023] Figure 4 is a schematic diagram of the structure of the pulley assembly;

[0024] Attached drawing reference numerals: 1 - carrier trolley, 2 - antenna tray, 3 - ball head connector, 4 - connecting steel plate, 5 - hydraulic support rod, 6 - connecting rod member, 7 - tension spring, 8 - L-shaped support rod, 9 - pulley assembly, 10 - towing rope, 11 - movable cavity, 12 - elastic component, 13 - slotted opening, 14 - limiting groove, 15 - limiting portion, 16 - triangular bracket, 17 - roller, 18 - triangular chute, 19 - slider, 20 - rotating shaft, 21 - first through hole, 22 - second through hole, 23 - compression spring, 24 - steering adjustment component. Detailed implementation manner

[0025] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with embodiments and attached drawings. The illustrative implementation manners and descriptions of the present invention are only used to explain the present invention and are not used to limit the present invention.

[0026] Embodiment 1, as Figures 1 - 4 shown, a multi-degree-of-freedom radar antenna bracket disclosed by the present invention includes a carrier trolley 1 traveling longitudinally along a tunnel, and further includes an antenna tray 2 equipped with a radar antenna, a ball head connector 3, a connecting steel plate 4 and a hydraulic support rod 5. The ball head connector 3 is installed on the connecting steel plate 4 through a connecting rod member 6. A connecting groove for the ball head connector 3 to access is provided on the antenna tray 2. The free end of the ball head connector 3 is adaptively connected to the connecting groove. Tension springs 7 connected to the connecting steel plate 4 are provided at the four corners of the antenna tray 2 facing the connecting steel plate 4. L-shaped support rods 8 are respectively provided on both sides of the connecting steel plate 4. A pulley assembly 9 is provided at the free end of the L-shaped support rod 8. A towing rope 10 is provided on the pulley assembly 9. A movable cavity 11 for the towing rope 10 to pass through is provided in the L-shaped support rod 8 and the connecting steel plate 4. The towing rope 10 passes through the movable 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 component 12. The other end of the hydraulic support rod 5 is connected to the carrier trolley 1.

[0027] The connecting steel plate 4 is of a columnar cylinder structure. A slotted opening 13 is provided at one end of the connecting steel plate 4 facing the hydraulic support rod 5. The elastic component 12 is arranged in the slotted opening 13 and connected to the hydraulic support rod 5. Specifically, when the pulley assembly 9 encounters a step, a concrete surface protrusion or an obstacle in the tunnel, the roller 17 will be squeezed and a certain pressure will be generated. 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 compresses to absorb the impact force from the obstacle. The elastic component 12 can provide sufficient elastic displacement. The limiting groove 14 enables the hydraulic support rod 5 to always maintain the movement track in the same vertical direction when there is a relative displacement with the connecting steel plate 4, avoiding the phenomenon that the connecting steel plate 4 tilts during the force application process of the elastic component 12.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Embodiment 2: Based on embodiment 1, this embodiment proposes a specific working principle of a multi-degree-of-freedom radar antenna bracket.

[0038] The specific implementation principle process is as follows:

[0039] During radar detection, the carrier trolley 1 moves along the longitudinal direction of the tunnel. The radar is in close contact with the surface of the tunnel vault lining. When passing through the designated survey line position through the antenna and reaching the corresponding detection mileage position, continuous scanning detection is carried out on the surface of the secondary lining concrete.

[0040] The antenna tray 2 is in contact with the lining surface. Through components such as the ball head connector 3, tension spring 7, and compression spring 23, it is ensured that the radar antenna arranged in the antenna tray 2 is always parallel or coincident with the planned survey line during travel, and it is ensured that the radar antenna is always in close contact with the surface of the secondary lining concrete, thereby improving the accuracy of the detection results. When the radar antenna is detected, the carrier trolley 1 moves to the corresponding detection mileage position, and the radar antenna is lifted to the designated survey line position through the hydraulic support rod 5. By telescopically adjusting the hydraulic support rod 5, the radar antenna is in close contact with the surface of the secondary lining concrete with appropriate pressure. Then, the carrier trolley 1 moves forward along the longitudinal direction of the tunnel for continuous radar scanning detection. During the detection process, due to the action of the ball head 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 rotating in multiple directions. 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 vault. By finely adjusting 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, it can easily cross the step between two molds and the protrusions or obstacles on the concrete surface under the action of the pulley assembly 9.

[0041] The present invention not only eliminates the potential safety hazards in the process of radar scanning detection of the tunnel secondary lining, but also ensures that the antenna is always in close contact with the surface of the secondary lining concrete during the detection process, and also ensures that the equipment can move forward and detect normally without being affected by obstacles. This not only improves the accuracy of the detection results, but also improves the efficiency of the detection work, and also eliminates the need for manual high-altitude operation during travel, thus eliminating potential safety hazards.

[0042] Certainly, the present invention can also have many other implementation manners. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformations should all fall within the protection scope of the appended claims of 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); The pulley assembly (9) comprises a triangular bracket (16) and a roller (17), wherein the roller (17) is rotatably connected to the end of the rod body 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). 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). A first through hole (21) for the traction rope (10) to pass through is provided on the rod body of the L-shaped support rod (8), and a second through hole (22) for the traction rope (10) to pass through is provided on the side of the connecting steel plate (4) 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), and the second through hole (22) in sequence and is connected to the connecting steel plate (4).

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 connecting rod (6) is connected to the connecting steel plate (4) via a compression spring (23).

5. 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).

6. The multi-degree-of-freedom radar antenna bracket according to claim 5, 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.

7. 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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