Coupling type tunnel lining detection device and detection method thereof

Abstract

The invention discloses a coupling type tunnel lining detection device and a detection method thereof, belongs to the technical field of tunnel lining detection, and aims to solve the problem that the existing tunnel lining detection efficiency is low. The coupling type tunnel lining detection device comprises a rotary platform (1), a telescopic mechanical arm (2), a first lifting arm (3), a second lifting arm (4), a first radar (501), a second radar (502), a third radar (503) and a fourth radar (504). According to the coupling type tunnel lining detection device and the detection method thereof, the air coupling radar is firstly used for carrying out rapid coarse detection on the tunnel lining, and then the geological radar is used for carrying out fine redetection on key defects screened out through coarse detection, so that low-speed walking fine detection does not need to be carried out on the whole tunnel lining; and only segmental low-speed walking detection needs to be carried out on the roughly detected key defects, so that the detection time is shortened, and the detection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel lining detection, specifically to a coupled tunnel lining detection device and a detection method for the coupled tunnel lining detection device. Background Art

[0002] Tunnels play an irreplaceable and important role in the overall transportation network. The safe operation of tunnels is related to everyone's life and property safety, and the quality inspection of tunnel linings is an important link to ensure the structural safety and stability of tunnels. Looking at the newly built and operating tunnels, quite a number of tunnels have various defects, seriously threatening the safe operation of the existing lines.

[0003] The internal structure of tunnel linings includes lining thickness, the distribution state of steel bars and steel arch frames, and internal defects such as cavities, non-compaction, and cracks. Among them, lining cracks are very common and are one of the defect forms that have a relatively significant impact on the safety of tunnel lining structures; since water seepage and leakage are important factors causing the deterioration of concrete linings, lining water leakage will bring many potential safety hazards to the tunnels, and it mostly occurs at construction joints, settlement joints, and expansion joints during tunnel construction; lining cavities are also a common defect, mostly located in the arch part of the tunnel, mainly related to construction technology and on-site quality control; insufficient strength of the concrete itself, or looseness after corrosion, or the combined action of many other factors will cause lining spalling and falling blocks, endangering the safety of vehicles and pedestrians in the tunnel.

[0004] At present, the detection of tunnel linings is carried out by using ground penetrating radar to detect the entire tunnel lining. During the detection process, the moving speed is very slow, about 2 km / h, and the detection efficiency is low. This is because the detection arm needs to extend outside the vehicle body during the detection process. If the moving speed is too fast, it cannot avoid obstacles in time and is easy to damage the detection arm. Summary of the Invention

[0005] In order to solve the problem of low detection efficiency of existing tunnel linings, the present invention provides a coupled tunnel lining detection device and its detection method. The coupled tunnel lining detection device and its detection method first use an air-coupled radar to quickly and roughly detect the tunnel lining, and then use ground penetrating radar to finely re-detect the key defects screened out by the rough detection. Therefore, it is not necessary to perform a low-speed walking and precise detection on the entire tunnel lining, and only need to perform a sectional low-speed walking detection on the key defects detected by the rough detection, which shortens the detection time and improves the detection efficiency.

[0006] The technical solution adopted by the embodiments of the present invention to solve its technical problems is:

[0007] A coupled tunnel lining detection device, comprising: a slewing platform;

[0008] A telescopic robotic arm is installed on a slewing platform through a support platform. The support platform can rotate around the axis of the slewing platform, and the telescopic robotic arm can extend and retract in the left-right direction. Fourth radars are installed on both the front and rear sides of the support platform.

[0009] A first lifting arm is installed on the telescopic robotic arm, and a first radar is installed on the first lifting arm.

[0010] A second lifting arm is installed at one end of the telescopic robotic arm. A second radar is detachably installed at the top of the second lifting arm, and a third radar is installed at the lower part of the second lifting arm.

[0011] Both the first radar and the fourth radar are air-coupled radars, and the third radar is a ground-penetrating radar.

[0012] When the coupled tunnel lining detection device is in the rough inspection state, the second radar is an air-coupled radar, and the first radar, the second radar, and the fourth radar can perform rough inspection on the tunnel lining.

[0013] When the coupled tunnel lining detection device is in the fine inspection state, the second radar is a ground-penetrating radar. The second radar can perform fine inspection on the top and the arch waist parts of the tunnel lining, and the third radar can perform fine inspection on the side wall part of the tunnel lining.

[0014] A detection method for a coupled tunnel lining detection device. The detection method of the coupled tunnel lining detection device uses the above-mentioned coupled tunnel lining detection device, and the detection method of the coupled tunnel lining detection device sequentially includes the following steps:

[0015] Step 1, rough inspection;

[0016] The coupled tunnel lining detection device is in the rough inspection state. The support platform rotates to the rough inspection position, the telescopic robotic arm extends in the front-rear direction, the first lifting arm and the second lifting arm are both in the retracted limit state. The first radar, the second radar, and the fourth radar are all within the limit range of the detection vehicle. The first radar is located on the left and right sides of the second radar. The emission directions of the second radar and the two first radars are all upward, and the emission directions of the two fourth radars are respectively leftward and rightward. The first radar performs rough inspection on the arch waist part of the tunnel lining, the second radar performs rough inspection on the top part of the tunnel lining, and the fourth radar performs rough inspection on the side wall part of the tunnel lining. The traveling speed of the coupled tunnel lining detection device is 70 km / h to 80 km / h.

[0017] Step 2, fine inspection;

[0018] The coupled tunnel lining detection device is in the fine inspection state. The support platform rotates to the fine inspection position, and the telescopic robotic arm extends in the left-right direction.

[0019] The telescopic robotic arm is in the extended limit state, and the third radar conducts a detailed inspection on the sidewall part of the tunnel lining;

[0020] The telescopic robotic arm is between the extended limit state and the retracted limit state, and the second lifting arm is between the extended limit state and the retracted limit state. The second radar conducts a detailed inspection on the haunch part of the tunnel lining;

[0021] The telescopic robotic arm is in the retracted limit state, the second lifting arm is in the extended limit state, the second lifting arm swings left and right, and the second radar conducts a detailed inspection on the top of the tunnel lining. The traveling speed of the coupled tunnel lining detection device is 1 km / h to 3 km / h.

[0022] The beneficial effects of the embodiments of the present invention are as follows:

[0023] 1. First, the present invention uses an air-coupled radar to quickly conduct a rough inspection on the tunnel lining, and then uses a ground-penetrating radar to conduct a detailed re-inspection on the key defects screened out by the rough inspection. Therefore, it is not necessary to conduct a low-speed walking detailed inspection on the entire tunnel lining. It only needs to conduct a sectional low-speed walking detection on the key defects detected by the rough inspection, which shortens the detection time and improves the detection efficiency;

[0024] 2. During the rough inspection, each robotic arm retracts within the boundary of the detection vehicle, and the robotic arm will not be damaged due to failed obstacle avoidance during high-speed walking;

[0025] 3. The radar is installed through a rotary platform and can adjust the radar angle;

[0026] 4. The multi-stage lifting arms achieve synchronous lifting through a wire rope linkage mechanism;

[0027] 5. The two first radars are independently rotated by a rotary motor and can be linearly moved by a linear module, so as to realize the transformation of angle and position;

[0028] 6. The slewing platform adopts an internal-tooth single-row four-point contact ball slewing bearing, which has a compact structure, light weight, and four-point contact between the steel balls and the arc raceway, and can simultaneously bear axial force, radial force, and overturning moment; in addition, the upper mechanism of the slewing platform can rotate 180° in the traveling direction of the vehicle body to achieve the purpose that the same set of mechanisms can detect the surface of the tunnel linings on both sides. Description of the Drawings

[0029] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0030] Figure 1 It is a schematic diagram of the overall structure of the coupled tunnel lining detection device of the present invention.

[0031] Figure 2 is Figure 1 The enlarged view of part A in

[0032] Figure 3 is the structural schematic diagram of the slewing platform.

[0033] Figure 4 is the schematic diagram of the position and connection relationship between the wire rope linkage mechanism and each telescopic sleeve.

[0034] Figure 5 is the schematic diagram of the coupling type tunnel lining detection device described in the present invention during rough inspection.

[0035] Figure 6 is the schematic diagram of the coupling type tunnel lining detection device described in the present invention during fine inspection of the side wall.

[0036] Figure 7 is the schematic diagram of the coupling type tunnel lining detection device described in the present invention during fine inspection of the waist of the arch.

[0037] Figure 8 is the schematic diagram of the coupling type tunnel lining detection device described in the present invention during fine inspection of the crown of the arch.

[0038] The description of the reference numerals is as follows:

[0039] 1. Slewing platform; 101. Base; 102. Inner gear type slewing bearing; 103. Pinion; 104. Connecting shaft; 105. Bearing; 2. Telescopic robotic arm; 3. First lifting arm; 4. Second lifting arm; 501. First radar; 502. Second radar; 503. Third radar; 504. Fourth radar; 6. Wire rope linkage mechanism; 601. Wire rope; 602. Roller; 603. First wire rope fixing seat; 604. Second wire rope fixing seat; 7. Servo motor; 8. Support platform; 801. Front upright frame; 802. Base plate; 803. Rear upright frame; 9. Telescopic drive mechanism; 10. First stage sleeve; 11. nth stage sleeve; 12. Mounting seat; 13. Rotary motor; 14. Reducer; 15. Linear module; 16. Mounting arm; 17. Rotary pan-tilt; 18. Swing cylinder; 19. Driven guide rod; 20. Detection vehicle; 21. Tunnel lining. Detailed implementation manners

[0040] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0041] For the convenience of understanding and description, the following description of the present invention adopts absolute position relationships. Without special instructions, the orientation word "up" herein means Figure 5 the upper side direction inFigure 5 In the downward direction in [description context], "left" means Figure 5 in the left direction in [description context], the directional word "right" means Figure 5 in the right direction in [description context], "front" means perpendicular to Figure 5 the paper plane in [description context] and pointing to the inner side of the paper plane, the directional word "rear" means perpendicular to Figure 5 the paper plane in [description context] and pointing to the outer side of the paper plane. The present invention is described from the observation perspective of the reader or user, but the above directional words should not be understood or construed as limiting the protection scope of the present invention. Regarding the dimensions and angles of the components therein, those skilled in the art can specifically determine them according to actual needs or through limited experiments.

[0042] As Figures 1 to 2 shown, a coupled tunnel lining detection device according to an embodiment of the present invention includes:

[0043] A rotary platform 1;

[0044] A telescopic robotic arm 2, which is installed on the rotary platform 1 through a support platform 8. The support platform 8 can rotate around the axis of the rotary platform 1. The telescopic robotic arm 2 extends in the left - right direction and can be telescoped in the left - right direction. Fourth radars 504 are installed on both the front and rear sides of the support platform 8;

[0045] A first lifting arm 3, which is installed on the telescopic robotic arm 2, and a first radar 501 is installed on the first lifting arm 3. The first lifting arm 3 can be telescoped in the up - down direction;

[0046] A second lifting arm 4, which is installed at one end of the telescopic robotic arm 2. A second radar 502 is detachably installed at the top of the second lifting arm 4. The second lifting arm 4 can also be telescoped in the up - down direction; A third radar 503 is installed at the lower part of the second lifting arm 4;

[0047] Both the first radar 501 and the fourth radars 504 are air - coupled radars, and the third radar 503 is a geological radar;

[0048] When the coupled tunnel lining detection device is in the rough - inspection state, the second radar 502 is installed as an air - coupled radar (such as installing an air - coupled radar and removing the geological radar). The first radar 501, the second radar 502, and the fourth radars 504 can conduct a rough inspection on the tunnel lining 21;

[0049] When the coupled tunnel lining detection device is in the fine - inspection state, the second radar 502 is installed as a geological radar (such as installing a geological radar and removing the air - coupled radar). The second radar 502 can conduct a fine inspection on the top and the arch - waist part of the tunnel lining 21, and the third radar 503 can conduct a fine inspection on the side - wall part of the tunnel lining 21.

[0050] As Figure 3As shown in the figure, the slewing platform 1 includes a base 101 and an internal gear type slewing bearing 102. The internal gear type slewing bearing 102 has an inner ring and an outer ring sleeved inside and outside. The axis of the support platform 8 is in an upright state, and the axis of the support platform 8 coincides with the axes of both the inner ring and the outer ring of the internal gear type slewing bearing 102. The inner ring of the internal gear type slewing bearing 102 is fixed on the base 101. The inner ring of the internal gear type slewing bearing 102 is connected to the servo motor 7 through a pinion 103, and the servo motor 7 can drive the support platform 8 to rotate around the axis of the slewing platform 1.

[0051] Among them, the internal gear type slewing bearing 102 adopts an internal gear type single row four-point contact ball type, which has an inner ring and an outer ring, with a compact structure, light weight, and four-point contact between the steel balls and the arc raceways, and can simultaneously bear axial force, radial force, and overturning moment. The inner ring of the internal gear type slewing bearing 102 is fixed on the base 101, and both the support platform 8 and the servo motor 7 are fixedly connected to the outer ring of the internal gear type slewing bearing 102. The upper mechanism can achieve a 180° rotation in the vehicle traveling direction to achieve the purpose that the same set of mechanism can detect the surfaces of the double-sided linings of the tunnel. The inner ring of the internal gear type slewing bearing 102 is connected to the servo motor 7 through a pinion 103. Specifically, the inner ring of the internal gear type slewing bearing 102 is meshed and connected to the pinion 103, the motor shaft of the servo motor 7 is connected to the pinion 103 through a connecting shaft 104, and a bearing 105 is sleeved outside the connecting shaft 104.

[0052] Both the first lifting arm 3 and the second lifting arm 4 can be telescoped in the up and down direction. The telescopic robotic arm 2, the first lifting arm 3, and the second lifting arm 4 all include a telescopic drive mechanism 9 and an n-stage telescopic arm. The n-stage telescopic arm includes a plurality (i.e., n) of sleeves, and the plurality of sleeves are the 1st stage sleeve 10 to the nth stage sleeve 11 sleeved from the outside to the inside in sequence. n is a positive integer and n > 1.

[0053] For example, when n = 3, the plurality of sleeves are the 1st stage sleeve 10, the 2nd stage sleeve, and the 3rd stage sleeve sleeved from the outside to the inside in sequence; when n = 4, the plurality of sleeves are the 1st stage sleeve 10, the 2nd stage sleeve, the 3rd stage sleeve, and the 4th stage sleeve sleeved from the outside to the inside in sequence.

[0054] For example, the telescopic robotic arm 2 is a 3-stage telescopic arm. The telescopic robotic arm 2 includes the 1st stage sleeve 10, the 2nd stage sleeve, and the 3rd stage sleeve sleeved from the outside to the inside in sequence, with a telescopic stroke of 2.5 m and is driven by 2 electric cylinders.

[0055] The first lifting arm 3 is installed in the middle of the telescopic robotic arm 2. The first lifting arm 3 and the telescopic robotic arm 2 are connected up and down. The first lifting arm 3 is a 2-stage telescopic arm. The first lifting arm 3 includes the 1st stage sleeve 10 and the 2nd stage sleeve sleeved from the outside to the inside in sequence. The stroke of each telescopic sleeve is 1200 mm, and the retracted height is 1400 mm.

[0056] The second lifting arm 4 is installed at the end of the telescopic robotic arm 2. The second lifting arm 4 is a 5-stage telescopic arm. The second lifting arm 4 includes a first-stage sleeve 10, a second-stage sleeve, a third-stage sleeve, a fourth-stage sleeve, and a fifth-stage sleeve that are sleeved from the outside to the inside in sequence. The stroke of each telescopic sleeve is 1200 mm, the total stroke is 4800 mm, the retracted height is 2500 mm, and the total raised height is 7000 mm.

[0057] When n > 2, among the n-stage telescopic arms, three adjacent sleeves are connected by a wire rope linkage mechanism 6. The wire rope linkage mechanism 6 can make all the sleeves of the n-stage telescopic arm extend and retract synchronously, that is, all the wire rope linkage mechanisms 6 in the n-stage telescopic arm can make all the sleeves of the n-stage telescopic arm extend and retract synchronously.

[0058] As Figure 4 shown, the wire rope linkage mechanism 6 includes a wire rope 601, a roller 602, a first wire rope fixing seat 603, and a second wire rope fixing seat 604. In a wire rope linkage mechanism 6, one end of the wire rope 601 is fixed to the first wire rope fixing seat 603 of the (m - 1)-stage sleeve, the wire rope 601 bypasses the roller 602 assembled on the top of the m-stage sleeve, and the other end of the wire rope 601 is fixed to the second wire rope fixing seat 604 at the bottom of the (m + 1)-stage sleeve. m is a positive integer, m < n, and m > 1.

[0059] For example, when n = 5, in the first wire rope linkage mechanism 6, one end of the wire rope 601 is fixed to the first wire rope fixing seat 603 of the first-stage sleeve, the wire rope 601 bypasses the roller 602 assembled on the top of the second-stage sleeve, and the other end of the wire rope 601 is fixed to the second wire rope fixing seat 604 at the bottom of the third-stage sleeve.

[0060] In the second wire rope linkage mechanism 6, one end of the wire rope 601 is fixed to the first wire rope fixing seat 603 of the second-stage sleeve, the wire rope 601 bypasses the roller 602 assembled on the top of the third-stage sleeve, and the other end of the wire rope 601 is fixed to the second wire rope fixing seat 604 at the bottom of the fourth-stage sleeve.

[0061] In the third wire rope linkage mechanism 6, one end of the wire rope 601 is fixed to the first wire rope fixing seat 603 of the third-stage sleeve, the wire rope 601 bypasses the roller 602 assembled on the top of the fourth-stage sleeve, and the other end of the wire rope 601 is fixed to the second wire rope fixing seat 604 at the bottom of the fifth-stage sleeve.

[0062] The telescopic drive mechanism 9 can adopt an electric cylinder or an oil cylinder. One end of the telescopic drive mechanism 9 is connected to the first-stage sleeve 10, and the other end of the telescopic drive mechanism 9 is connected to the second-stage sleeve. During the extension process of the telescopic drive mechanism 9, the n-stage telescopic arms can extend synchronously. During the retraction process of the telescopic drive mechanism 9, the n-stage telescopic arms can retract synchronously.

[0063] As Figures 1 to 2 shown, a mounting seat 12 is installed at the upper end of the first lifting arm 3. Rotary motors 13 are installed at both the front and rear ends of the mounting seat 12, that is, the two rotary motors 13 are symmetric and mirror images of each other in the front and rear. The motor shaft of the rotary motor 13 is connected to a reducer 14. The first radar 501 is installed on the linear module 15 through a rotary platform 17. The linear module 15 is connected to the reducer 14 through a mounting arm 16. The axis of the motor shaft of the rotary motor 13 is parallel to the telescopic direction of the telescopic robotic arm 2. The extending direction of the linear module 15 (between the first radar 501 and the first lifting arm 3) is perpendicular to the axis of the motor shaft of the rotary motor 13. The axis of the rotating shaft of the rotary platform 17 (between the first radar 501 and the first lifting arm 3) is parallel to the axis of the motor shaft of the rotary motor 13.

[0064] The first radar 501 is installed on the rotary platform 17 by screws. The rotary motor 13 can drive the first radar 501 (as well as the linear module 15 and the rotary platform 17) to rotate around the motor shaft of the rotary motor 13. The linear module 15 can drive the first radar 501 to move along the extending direction of the linear module 15. The rotary platform 17 can drive the first radar 501 to rotate around the rotating shaft of the rotary platform 17.

[0065] The second lifting arm 4 is hinged to one end of the telescopic robotic arm 2. A swing cylinder 18 and a driven guide rod 19 are installed between the second lifting arm 4 and the telescopic robotic arm 2. The swing cylinder 18 can make the second lifting arm 4 (as well as the second radar 502) swing left and right. Specifically, the driving end of the swing cylinder 18 is installed on the first-stage sleeve 10 of the second lifting arm 4 through a cylinder seat, and the other end of the swing cylinder 18 is installed on the n-stage sleeve of the telescopic robotic arm 2 through a cylinder seat; one end of the driven guide rod 19 is installed on the first-stage sleeve 10 of the second lifting arm 4 through a guide rod seat, and the other end of the driven guide rod 19 is installed on the n-stage sleeve of the telescopic robotic arm 2 through a cylinder seat.

[0066] As Figures 1 to 2 shown, the third radar 503 is installed on the linear module 15 through a rotary platform 17. The linear module 15 (between the third radar 503 and the second lifting arm 4) is installed at the lower part of the second lifting arm 4. The extending direction of the linear module 15 is parallel to the up and down direction. The axis of the rotating shaft of the rotary platform 17 (between the third radar 503 and the second lifting arm 4) is perpendicular to the extending direction of the linear module 15.

[0067] The linear module 15 (between the third radar 503 and the second lifting arm 4) can drive the third radar 503 (and the rotary turret 17) to move along the extension direction of the linear module 15, and the rotary turret 17 (between the third radar 503 and the second lifting arm 4) drives the third radar 503 to rotate around the rotation axis of the rotary turret 17.

[0068] The rotary turret 17 is installed at the top of the second lifting arm 4. The rotation axis of the rotary turret 17 extends in the horizontal direction. The second radar 502 is detachably connected to the rotary turret 17 by screws. The rotary turret 17 (between the second radar 502 and the second lifting arm 4) can drive the second radar 502 to rotate around the rotation axis of the rotary turret 17.

[0069] The cross-section of the support platform 8 is in a concave-shaped structure. The support platform 8 is connected to the slewing platform 1 through support columns. The support platform 8 includes a front vertical frame 801, a bottom plate 802, and a rear vertical frame 803 that are connected in sequence from front to back. Linear modules 15 are installed on both the front vertical frame 801 and the rear vertical frame 803. The fourth radar 504 is installed on the linear module 15 through the rotary turret 17. The extension direction of the linear module 15 is parallel to the up-down direction, and the axis of the rotation axis of the rotary turret 17 is parallel to the telescopic direction of the telescopic robotic arm 2.

[0070] The linear module 15 (between the fourth radar 504 and the support platform 8) can drive the fourth radar 504 (and the rotary turret 17) to move along the extension direction of the linear module 15, and the rotary turret 17 (between the fourth radar 504 and the support platform 8) can drive the fourth radar 504 to rotate around the rotation axis of the rotary turret 17.

[0071] During operation, two first radars 501, one second radar 502, one third radar 503, and two fourth radars 504 are installed on the coupled tunnel lining detection device.

[0072] The following introduces a detection method for a coupled tunnel lining detection device. The detection method of the coupled tunnel lining detection device uses the above-mentioned coupled tunnel lining detection device. The coupled tunnel lining detection device is installed on a detection vehicle 20. The detection method of the coupled tunnel lining detection device successively includes the following steps:

[0073] Step 1, rough inspection;

[0074] As Figure 5As shown in the figure, the coupled tunnel lining detection device is in the rough inspection state. The support platform 8 rotates to the rough inspection position. The telescopic robotic arm 2 extends in the front-back direction. The first lifting arm 3 and the second lifting arm 4 are both in the retracted limit state. Two first radars 501 are located on the left and right sides of the first lifting arm 3. Two fourth radars 504 are located on the left and right sides of the support platform 8. The first radar 501, the second radar 502, and the fourth radar 504 are all within the boundary of the inspection vehicle 20 to achieve obstacle avoidance. The first radar 501 is located on the left and right sides of the second radar 502. The rotation motor 13 operates. The emission directions of the second radar 502 and the two first radars 501 are all upward. The emission directions of the two fourth radars 504 are respectively to the left and to the right. The first radar 501 conducts a rough inspection on the waist part of the tunnel lining 21. The second radar 502 conducts a rough inspection on the top part of the tunnel lining 21. The fourth radar 504 conducts a rough inspection on the side wall part of the tunnel lining 21. At this time, the traveling speed of the coupled tunnel lining detection device is 70 km / h to 80 km / h. The coupled tunnel lining detection device conducts a rough inspection on the tunnel lining, screens out key defects. The telescopic robotic arm 2, the first lifting arm 3, and the second lifting arm 4 are all retracted within the boundary of the inspection vehicle 20, and it will not be damaged due to failed obstacle avoidance during high-speed walking.

[0075] Step 2, fine inspection;

[0076] As Figures 6 to 8 shown in the figure, the coupled tunnel lining detection device is in the fine inspection state. The support platform 8 rotates to the fine inspection position. The telescopic robotic arm 2 extends in the left-right direction. Two first radars 501 are located on the front and back sides of the first lifting arm 3. Two fourth radars 504 are located on the front and back sides of the support platform 8;

[0077] As Figure 6 shown in the figure, the telescopic robotic arm 2 is in the extended limit state. The third radar 503 conducts a fine inspection on the side wall part B of the tunnel lining 21;

[0078] As Figure 7 shown in the figure, the telescopic robotic arm 2 is between the extended limit state and the retracted limit state. The second lifting arm 4 is between the extended limit state and the retracted limit state. The second radar 502 conducts a fine inspection on the waist part C of the tunnel lining 21;

[0079] As Figure 8 shown in the figure, the telescopic robotic arm 2 is in the retracted limit state. The second lifting arm 4 is in the extended limit state. The swing electric cylinder 18 drives the second lifting arm 4 to swing left and right. The second radar 502 conducts a fine inspection on the top D of the tunnel lining 21;

[0080] The refined inspection of the tunnel lining by the coupled tunnel lining inspection device is to re-inspect the defects detected in the rough inspection; at this time, the traveling speed of the coupled tunnel lining inspection device is 1 km / h to 3 km / h; for example, 2 km / h.

[0081] As described above, only the specific embodiments of the present invention are provided, and the scope of the invention cannot be limited by them. Therefore, the replacement of equivalent components or the equivalent changes and modifications made according to the protection scope of the present invention should still fall within the scope covered by the present invention. In addition, the technical features in the present invention, the technical features and technical solutions, the technical solutions and technical solutions, and the embodiments and embodiments can be freely combined and used.

Claims

1. A coupled tunnel lining detection device, characterized in that: The coupled tunnel lining detection device comprises: Rotating platform (1); A telescopic mechanical arm (2), the telescopic mechanical arm (2) being mounted on the rotating platform (1) via a supporting platform (8), the supporting platform (8) being capable of rotating around the axis of the rotating platform (1), the telescopic mechanical arm (2) being capable of extending and retracting in left and right directions, and a fourth radar (504) being mounted on both the front and rear sides of the supporting platform (8); A first lifting arm (3) is installed on the telescopic mechanical arm (2), and a first radar (501) is installed on the first lifting arm (3); A second lifting arm (4) is installed at one end of the telescopic mechanical arm (2), and a second radar (502) is detachably installed on the top of the second lifting arm (4); a third radar (503) is installed at the bottom of the second lifting arm (4); The first radar (501) and the fourth radar (504) are both air-coupled radars, and the third radar (503) is a geological radar; When the coupled tunnel lining detection device is in a rough inspection state, the second radar (502) is an air-coupled radar, and the first radar (501), the second radar (502) and the fourth radar (504) are capable of performing a rough inspection on the tunnel lining (21); When the coupled tunnel lining detection device is in a precise inspection state, the second radar (502) is a geological radar, and the second radar (502) can perform precise inspections on the top and waist of the tunnel lining (21), and the third radar (503) can perform precise inspections on the side wall of the tunnel lining (21).

2. The coupled tunnel lining detection device according to claim 1, characterized in that: The slewing platform (1) comprises a base (101) and an internal gear slewing bearing (102), the internal gear slewing bearing (102) comprising an inner ring and an outer ring which are arranged inside and outside, the axis of the supporting platform (8) is in an upright state, the axis of the supporting platform (8) coincides with the axes of the inner ring and the outer ring of the internal gear slewing bearing (102), the inner ring of the internal gear slewing bearing (102) is fixed on the base (101), the inner ring of the internal gear slewing bearing (102) is connected to a servo motor (7) via a pinion (103), and the servo motor (7) can drive the supporting platform (8) to rotate around the axis of the slewing platform (1).

3. The coupled tunnel lining detection device according to claim 1, characterized in that: The first lifting arm (3) and the second lifting arm (4) are both capable of extending and retracting in the up-down direction. The telescopic mechanical arm (2), the first lifting arm (3) and the second lifting arm (4) all comprise a telescopic drive mechanism (9) and an n-stage telescopic arm. The n-stage telescopic arm comprises a plurality of sleeves. The plurality of sleeves are a first-stage sleeve (10) to an n-stage sleeve (11) which are sequentially sleeved from the outside to the inside. n is a positive integer, and n>1. When n>2, three adjacent sleeves in the n-stage telescopic arm are connected via a wire rope linkage mechanism (6), and the wire rope linkage mechanism (6) can enable all sleeves of the n-stage telescopic arm to be telescoped synchronously.

4. The coupled tunnel lining detection device according to claim 3, characterized in that: The wire rope linkage mechanism (6) comprises a wire rope (601), a roller (602), a first wire rope fixing seat (603) and a second wire rope fixing seat (604). In a wire rope linkage mechanism (6), one end of the wire rope (601) is fixed to the first wire rope fixing seat (603) of the m-1th level sleeve, the wire rope (601) passes around the roller (602) installed on the top of the mth level sleeve, and the other end of the wire rope (601) is fixed to the second wire rope fixing seat (604) at the bottom of the m+1th level sleeve, m<n, and m>1.

5. The coupled tunnel lining detection device according to claim 1, characterized in that: A mounting seat (12) is mounted on the first lifting arm (3), a rotating motor (13) is mounted on both the front and rear ends of the mounting seat (12), a motor shaft of the rotating motor (13) is connected to a reducer (14), the first radar (501) is mounted on a linear module (15) via a rotating platform (17), the linear module (15) is connected to the reducer (14) via a mounting arm (16), the axis of the motor shaft of the rotating motor (13) is parallel to the telescopic direction of the telescopic mechanical arm (2), the extension direction of the linear module (15) is perpendicular to the axis of the motor shaft of the rotating motor (13), and the axis of the rotating shaft of the rotating platform (17) is parallel to the axis of the motor shaft of the rotating motor (13).

6. The coupled tunnel lining detection device according to claim 1, characterized in that: The second lifting arm (4) is hinged to one end of the telescopic mechanical arm (2); a swing electric cylinder (18) and a driven guide rod (19) are installed between the second lifting arm (4) and the first telescopic mechanical arm (2); the swing electric cylinder (18) can make the second lifting arm (4) swing left and right.

7. The coupled tunnel lining detection device according to claim 1, characterized in that: The third radar (503) is installed on the linear module (15) through a rotating pan-tilt platform (17). The linear module (15) is installed at the lower part of the second lifting arm (4). The extension direction of the linear module (15) is parallel to the up and down direction. The axis of the rotating shaft of the rotating pan-tilt platform (17) is perpendicular to the extension direction of the linear module (15).

8. The coupled tunnel lining detection device according to claim 1, characterized in that: A rotating platform (17) is installed at the top end of the second lifting arm (4), and the second radar (502) is detachably connected to the rotating platform (17) via screws.

9. The coupled tunnel lining detection device according to claim 1, characterized in that: The cross section of the support platform (8) is a concave-shaped structure. The support platform (8) includes a front frame (801), a bottom plate (802) and a rear frame (803) connected in sequence from front to back. A linear module (15) is installed on the front frame (801) and the rear frame (803). The fourth radar (504) is installed on the linear module (15) through a rotating pan-tilt platform (17). The extension direction of the linear module (15) is parallel to the up-down direction. The axis of the rotating shaft of the rotating pan-tilt platform (17) is parallel to the extension direction of the telescopic mechanical arm (2).

10. A detection method of a coupled tunnel lining detection device, characterized in that: The detection method of the coupled tunnel lining detection device adopts the coupled tunnel lining detection device according to claim 1, and the detection method of the coupled tunnel lining detection device comprises the following steps in sequence: Step 1: Rough inspection; The coupled tunnel lining detection device is in a rough inspection state, the support platform (8) rotates to the rough inspection position, the telescopic mechanical arm (2) extends in the front-rear direction, the first lifting arm (3) and the second lifting arm (4) are both in the retracted limit state, the first radar (501), the second radar (502) and the fourth radar (504) are all within the boundary range of the detection vehicle (20), the first radar (501) is located on the left and right sides of the second radar (502), the emission directions of the second radar (502) and the two first radars (501) are both upward, the emission directions of the two fourth radars (504) are respectively left and right, the first radar (501) performs a rough inspection on the arch waist of the tunnel lining (21), the second radar (502) performs a rough inspection on the top of the tunnel lining (21), and the fourth radar (504) performs a rough inspection on the side wall of the tunnel lining (21); the driving speed of the coupled tunnel lining detection device is 70km / h to 80km / h; Step 2: Precision inspection; The coupled tunnel lining detection device is in a precision inspection state, the support platform (8) rotates to a precision inspection position, and the telescopic mechanical arm (2) extends in the left-right direction; The telescopic mechanical arm (2) is in the extension limit state, and the third radar (503) performs a precise inspection on the side wall of the tunnel lining (21); The telescopic mechanical arm (2) is between an extension limit state and a retraction limit state, the second lifting arm (4) is between an extension limit state and a retraction limit state, and the second radar (502) performs a precision inspection on the arch waist portion of the tunnel lining (21); The telescopic mechanical arm (2) is in a retracted limit state, the second lifting arm (4) is in an extended limit state, the second lifting arm (4) swings left and right, and the second radar (502) performs a precise inspection on the top of the tunnel lining (21); The driving speed of the coupled tunnel lining detection device is 1km / h to 3km / h.

Images