Roadway deformation inspection device

Abstract

The invention relates to the technical field of roadway inspection, and discloses a roadway deformation inspection device which comprises a main rail, a dislocation rail and a machine body, an inspection head is installed at the bottom of the machine body, and the main rail and the dislocation rail are arranged in an up-down staggered mode. A plurality of rotating shafts are rotatably connected to the side, close to the main rail, of the connecting plate, driving wheels are fixedly connected to the surfaces of the rotating shafts, rail wheel grooves matched with the driving wheels are formed in the surfaces of the main rail and the staggered rail, limiting blocks are fixedly connected to one sides of the rail wheel grooves, and the driving parts are used for driving the rotating shafts and arranged on the surface of the connecting plate. The extension plates located on the two sides of the connecting plate are arranged, the end faces of the extension plates are in an arc shape, and when running of the walking mechanism is hindered by track settlement dislocation, the whole device is conveniently assisted in obstacle crossing.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel inspection, in particular to a tunnel deformation inspection device. Background Art

[0002] In the field of coal mine safety, overhead rail inspection robots, thanks to their ability to autonomously operate along the top track of a tunnel, have become key equipment for unmanned underground monitoring. Equipped with visual, infrared, and gas sensors, these robots can perform real-time monitoring of tunnel deformation, equipment operating status, and environmental parameters, effectively addressing issues such as low manual inspection efficiency and insufficient coverage of hazardous areas.

[0003] Currently, coal mine tunnels are subject to long-term high ground stress, mining activities, and the physical and chemical effects of the surrounding rock (such as deliquescence and expansion of soft rock and floor heave), coupled with factors such as inaccurate track installation and inadequate subsequent maintenance. Track deformations such as localized subsidence and vertical misalignment are very common. When vertical misalignment occurs, the height difference between the two rail sections can cause the robot's wheels to deviate from the track contact surface, leading to wheel jamming, derailment, or drive system overload. Especially in areas of roof subsidence or tunnels with severe floor heave, the extent of vertical misalignment can exceed the adaptive range of the robot's obstacle-crossing capabilities, preventing it from operating stably in line with the track and even causing equipment stagnation or damage. Summary of the Invention

[0004] The purpose of the present invention is to provide a tunnel deformation inspection device to solve the problems raised by the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a tunnel deformation inspection device, comprising a main rail, an offset rail, and a body, an inspection head being mounted on the bottom of the body, the main rail and the offset rail being staggered up and down, and a walking mechanism being further comprised, the walking mechanism comprising a plurality of connecting plates mounted on the top of the body, the connecting plates being rotatably connected to a plurality of rotating shafts on one side close to the main rail, the surfaces of the rotating shafts being fixedly connected to driving wheels, the surfaces of the main rail and the offset rails being provided with rail wheel grooves adapted to the driving wheels, and a limiting block being fixedly connected to one side of the rail wheel grooves, and a driving member for driving the rotating shaft being disposed on the surface of the connecting plates; A passing component is arranged on one side of the connecting plate. The passing component includes two extension plates that slide relatively on one side of the connecting plate. The side of the extension plate away from the connecting plate is arranged in an arc shape. The surface of the extension plate is provided with an auxiliary component that facilitates the walking mechanism to pass through the offset track. It also includes an adjustment component for adjusting the moving position of the extension plate on the surface of the connecting plate.

[0006] Preferably, the auxiliary component includes an auxiliary wheel rotatably connected to the arc end of the extension plate, and the auxiliary wheel is connected to the rotating shaft through a synchronous belt.

[0007] Preferably, the adjustment assembly includes a movable plate arranged on one side of the connecting plate, a sliding groove is provided on the surface of the connecting plate, a slider adapted to the sliding groove is fixedly connected to the surface of the movable plate, two inclined grooves adapted to the extension plate are provided on the surface of the movable plate, a connecting plate is fixedly connected to the surface of the extension plate, the connecting plate is connected to the inclined groove through a connecting shaft, a clamping plate is provided on the surface of the movable plate, a positioning wheel is rotatably connected to the surface of the clamping plate, and the positioning wheel abuts against the surface of the limit block.

[0008] Preferably, it also includes a tensioning assembly, which includes a fixing frame fixedly connected to the surface of the extension plate, an adjustment groove is opened on the surface of the fixing frame, and an adjustment block slides through the adjustment groove, one side of the adjustment block is rotatably connected to an adjustment wheel, the adjustment wheel abuts against the surface of the synchronous belt, and the adjustment block is connected to the fixing frame through a spring A.

[0009] Preferably, a fixed shaft is fixedly connected in the sliding groove, the fixed shaft passes through the slider, and the slider is connected to the connecting plate through a spring B.

[0010] Preferably, the card plate is hinged to the surface of the movable plate through a movable shaft, a torsion spring is provided in the movable shaft, both ends of the torsion spring are fixedly connected to the movable shaft and the movable plate respectively, a guide block is fixedly connected to the surface of the card plate, and the surface of the guide block is set to an arc surface.

[0011] Preferably, a clamping block is fixedly connected to a side of the clamping plate away from the guide block, and a positioning groove adapted to the clamping block is provided on the surface of the connecting plate.

[0012] Preferably, the driving component includes a driving motor and a reducer, the output end of the driving motor is connected to the input end of the reducer, and the output end of the reducer is connected to the rotating shaft.

[0013] Preferably, the inspection head integrates a visual sensor, an infrared sensor, a gas sensor, a camera, and the like.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides extension plates on both sides of the connecting plate, and has arc-shaped end surfaces. This helps the entire device overcome obstacles when the running of the walking mechanism is hindered by track settlement and dislocation. This is specifically divided into the following two situations: When the offset rail is higher than the main rail, the raised stepped surface of the offset rail first contacts the extension plate. The arc surface of the extension plate facilitates crossing the surface of the offset rail and tilts to lift the entire device, which is more conducive to the lifted driving wheel to cross the stepped offset rail surface and then climb to the surface of the offset rail to complete the obstacle crossing, making up for the deficiency of the existing technology that the driving wheel is easy to get stuck, and improving the adaptive passability of the entire inspection device.

[0015] When the staggered rail is lower than the main rail, the extension plates on both sides still first contact the staggered rail with the lowered stepped surface, which provides buffering for the entire device, reduces the vibration caused by the sudden drop of the driving wheel, and the impact on the entire inspection device, making up for the deficiency of the existing technology that the driving wheel is easily derailed due to vibration, and further improves the passability of the inspection device.

[0016] The present invention adopts the technical means of setting a sliding extension plate to cooperate with the movable plate, and adjusts the distance that the extension plate extends relative to the connecting plate according to the height difference of the track sinking, so as to facilitate the adaptive adjustment of the buffer length of the device, improve the stability and controllability of the inspection device when passing obstacles, and improve the inspection efficiency to a certain extent.

[0017] The present invention provides a tensioning assembly to ensure the tension of the synchronous belt while adjusting the extension distance of the extension plate, ensuring that the auxiliary wheel can always obtain the driving force from the rotating shaft, providing auxiliary driving force when the extension plate contacts the misaligned rail, and reducing the problem of walking force interruption caused by the tilt of the device and the suspension of the driving wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the present invention for illustrating the main rail and its surrounding structures; Figure 3 This is a front view of the present invention for showing the surface structure of the connecting plate; Figure 4 This is a schematic diagram of the present invention for separately showing the movable panel and its surface structure; Figure 5 This is a schematic diagram of the present invention for illustrating a state where the staggered rail is lower than the main rail; Figure 6 This is a schematic diagram of the present invention for showing the state in which the staggered rail is higher than the main rail.

[0019] In the figure: 1. Main rail; 11. Offset rail; 12. Rail wheel groove; 13. Limit block; 2. Machine body; 21. Inspection head; 22. Connecting plate; 221. Driving member; 222. Rotating shaft; 223. Driving wheel; 3. Extension plate; 31. Connecting plate; 311. Connecting shaft; 32. Auxiliary wheel; 321. Synchronous belt; 33. Fixed bracket; 331. Adjusting wheel; 332. Spring A; 4. Movable plate; 41. Inclined groove; 42. Slider; 421. Fixed shaft; 422. Spring B; 43. Clamping plate; 431. Movable shaft; 432. Positioning wheel; 433. Guide block; 434. Clamping block; 435. Positioning groove. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] The embodiment of the present invention discloses a tunnel deformation inspection device, such as Figure 1 and Figure 2 As shown, it includes a main rail 1, an offset rail 11 and a body 2. An inspection head 21 is installed at the bottom of the body 2. The body 2 and the inspection head 21 are used to inspect and monitor the environment inside the tunnel, tunnel deformation, and equipment operation status. The main rail 1 and the offset rail 11 are offset up and down. The actual specifications of the main rail 1 and the offset rail 11 are the same. It is only to show the track misalignment caused by the settlement of the tunnel roof. In fact, the rails are aligned with each other during installation. The tolerance gap between the rails should be kept within 3mm. However, due to factors such as roof settlement and track deformation, this tolerance gap may be expanded, resulting in an up and down misalignment between the main rail 1 and the offset rail 11. It also includes a walking mechanism, which includes several connecting plates 22 installed on the top of the body 2. The connecting plates 22 keep a certain distance between the body 2 and the main rail 1, so as to avoid damage to the body 2 by the offset rail 11 due to track misalignment. The connecting plates 22 are close to the main rail 1 The driving wheel 223 is fixedly connected to the driving wheel 223 on one side of the main rail 1, and the driving wheel 223 is fixedly connected to the driving wheel 223 on the surface of the main rail 1. At least two driving shafts 222 are provided on one side of the main rail 1 to ensure stable operation. Two are selected in this article, wherein two driving shafts 222 are provided, and two driving wheels 223 are also provided. The surfaces of the main rail 1 and the staggered rail 11 are both provided with rail wheel grooves 12 adapted to the driving wheels 223. The driving wheels 223 rotate in the rail wheel grooves 12, and one side of the rail wheel grooves 12 is fixedly connected with a limiting block 13. The limiting block 13 is used to limit the driving wheel 223 to prevent derailment. It also includes a driving member 221 for driving the rotating shaft 222, which is provided on the surface of the connecting plate 22. wherein, under the drive of the driving member 221, the rotating shaft 22 drives the driving wheel 223 to rotate in the rail wheel groove 12, thereby driving the connecting plate 22 and the body 2 and the inspection head 21 at the bottom thereof to move in the track and perform inspection in the lane; like Figure 2 and Figure 3As shown, in this embodiment, it also includes a passing component, which is arranged on one side of the connecting plate 22. The passing component includes two extension plates 3 that slide relatively on one side of the connecting plate 22. Under normal conditions, the two extension plates 3 abut each other, and the abutting position is located at the center of the connecting plate 22. The side of the extension plate 3 away from the connecting plate 22 is set to an arc shape, and the arc-shaped bends on the surfaces of the two relatively arranged extension plates 3 are set at one end away from each other. The surface of the extension plate 3 is provided with an auxiliary component that facilitates the walking mechanism to pass through the offset rail 11, and also includes an adjustment component for adjusting the moving position of the extension plate 3 on the surface of the connecting plate 22.

[0022] Specifically, by setting two extension plates 3, the extension plates 3 are provided with arc bends, when the staggered rail 11 is higher than the main rail 1, such as Figure 6 As shown, under the drive of the driving member 221, the entire device moves toward the offset rail 11. Due to the setting of the extension plate 3, the offset rail 11 will first contact the arc bending position of the extension plate 3. Under the sliding action of the smooth arc surface of the arc bending surface, the extension plate 3 will slide up accordingly and first get stuck in the surface of the offset rail 11. It is worth noting that the extension plate 3 corresponds to the position of the limit block 13, not the position of the rail wheel groove 12, so as to avoid affecting the driving wheel 223. When the extension plate 3 is stuck in the limit block 13 on the surface of the offset rail 11 that is higher than the main rail 1, the connecting plate 22 will tilt upward at the front end under the action of the extension plate 3, and then lift it to a position close to the offset rail 11. The driving wheel 223 at one end of the offset rail 11 is lifted in time to facilitate its engagement with the rail wheel groove 12 on the surface of the offset rail 11, allowing the entire device to overcome obstacles. After the driving wheel 223 at the front engages the offset rail 11, the driving member 221 continuously drives the extension plate 3 at the rear side, which abuts against the limit block 13 on the surface of the main rail 1 due to the continuous inclination of the connecting plate 22, thereby suspending the driving wheel 223 on the side away from the offset rail 11. Driven by the continuous rotation of the driving wheel 223 on the side close to the offset rail 11, the other set of driving wheels 223 is further engaged with the surface of the offset rail 11, thereby completing the obstacle crossing.

[0023] In addition, when the height of the offset rail 11 is lower than the main rail 1, Figure 5As shown, similarly, through the setting of the extension plate 3, when the extension plate 3 passes the offset position of the main rail 1 and the offset rail 11 and causes the driving wheel 223 located on the side close to the offset rail 11 to fall from the main rail 1 to the offset rail 11, the extension plate 3 will first contact the limit block 13 on the surface of the offset rail 11 due to the inclination of the connecting plate 22, thereby buffering the driving wheel 223 and the entire device, and during continuous operation, when the driving wheel 223 located at the end away from the offset rail 11 also falls from the main rail 1 to the offset rail 11, the extension plate 3 located at the end away from the offset rail 11 will abut against the limit block 13 on the surface of the main rail 1 due to the reduction in height, thereby further buffering the driving wheel 223 and the entire device until the extension plate 3 is completely separated from the main rail 1 and the obstacle is overcome.

[0024] In this embodiment, the auxiliary component includes an auxiliary wheel 32 rotatably connected to the arc end of the extension plate 3, and the auxiliary wheel 32 protrudes a distance beyond the extension plate 3. The auxiliary wheel 32 is connected to the rotating shaft 222 through a synchronous belt 321, and the synchronous belt 321 is transmitted on the surface of the auxiliary wheel 32 and the rotating shaft 222. Specifically, grooves are provided on the surfaces of the auxiliary wheel 32 and the rotating shaft 222, and a synchronous card block 434 adapted to the synchronous belt 321 is provided in the groove. The synchronous belt 321 is inserted into the synchronous card block 434 in the groove, so that the rotating shaft 222 can synchronously drive the synchronous belt 321 during the rotation process, so that it drives the auxiliary wheel 32 to rotate synchronously.

[0025] By providing an auxiliary wheel 32 that rotates synchronously with the rotating shaft 222, when the driving wheel 223 is suspended in the air due to passing through the offset track 11, the auxiliary wheel 32 located at the arc end of the extension plate 3 can rotate synchronously, thereby temporarily forming a transfer of the driving wheel 223, avoiding affecting the power continuity of the entire device during the obstacle crossing process.

[0026] In this embodiment, the adjustment assembly includes a movable plate 4 arranged on one side of the connecting plate 22, and a slide groove is provided on the surface of the connecting plate 22. A slider 42 adapted to the slide groove is fixedly connected to the surface of the movable plate 4, and the slider 42 slides in the slide groove, and the slide groove is vertically opened up and down on the surface of the connecting plate 22. Two inclined grooves 41 adapted to the extension plate 3 are provided on the surface of the movable plate 4, and the surface of the extension plate 3 is fixedly connected with a connecting plate 31, and the connecting plate 31 is connected to the inclined groove 41 through a connecting shaft 311. One end of the connecting shaft 311 is fixed on the surface of the connecting plate 31, and the other end slides in the inclined groove 41. A card plate 43 is provided on the surface of the movable plate 4, and a positioning wheel 432 is rotatably connected to the surface of the card plate 43, and the positioning wheel 432 abuts against the surface of the limit block 13.

[0027] Specifically, in the normal state, the two extension plates 3 are in contact with each other. At this time, the two extension plates 3 are at the minimum extension distance. Since the movable plate 4 is in contact with the surface of the limit block 13 through the positioning wheel 432, when encountering an obstacle situation where the offset rail 11 is lower than the main rail 1, since the offset rail 11 is lower than the main rail 1, when the positioning wheel 432 runs to the offset position between the main rail 1 and the offset rail 11, the height will drop due to the height of the offset rail 11, thereby causing the movable plate 4 to drop synchronously. The movable plate 4 drives the slider 42 on its surface to slide in the chute and drop. When in use, the connecting shaft 311 sliding inside it moves horizontally accordingly following the sliding of the inclined groove 41, and then cooperates with the connecting plate 31 to drive the extension plate 3 to move horizontally, causing the two extension plates 3 to slide in the direction away from each other, so that the extension plates 3 are stretched out and opened. According to the height difference between the main rail 1 and the offset rail 11, the positioning wheel 432 drops to a different height, which will further make the extension plate 3 stretch and open to a different distance, so as to facilitate adaptive adaptation to the offset of different drop heights, so that the extension plate 3 can better buffer the entire device and the driving wheel 223, thereby improving the obstacle crossing stability.

[0028] Furthermore, in this embodiment, a tensioning assembly is also included, which includes a fixing frame 33 fixedly connected to the surface of the extension plate 3, an adjustment groove is opened on the surface of the fixing frame 33, and an adjustment block slides through the adjustment groove, and an adjustment wheel 331 is rotatably connected to one side of the adjustment block, and the adjustment wheel 331 abuts against the surface of the synchronous belt 321. The adjustment wheel 331 should abut against the inner wall of the synchronous belt 321, and the adjustment block is connected to the fixing frame 33 through a spring A332, and the two ends of the spring A332 are fixedly connected to the adjustment block and the fixing frame 33 respectively.

[0029] Specifically, under normal conditions, under the elastic force of spring A332, the adjusting block and the adjusting wheel 331 are lifted upward to a certain height. Under the pulling action of the adjusting wheel 331, the synchronous belt 321 is stretched and deformed to form a triangle, which means that there is redundancy between the auxiliary wheel 32 and the rotating shaft 222 to extend the distance between the auxiliary wheel 32 and the rotating shaft 222. Therefore, when the extension plate 3 moves in the direction away from the connecting plate 22, the extension plate 3 will drive the auxiliary wheel 32 to synchronously move away from the rotating shaft 222, extending the distance between the two. This will stretch the synchronous belt 321, causing it to deform and press down the adjusting wheel 331. The downward pressure of the adjusting wheel 331 will drive the adjusting block to press down the spring A332, causing the spring A332 to be compressed. Due to the presence of the spring A332, the tension of the synchronous belt 321 will always be guaranteed by the elastic force, thereby realizing adaptive adjustment of the auxiliary wheel 32 and ensuring that the rotating torque of the rotating shaft 222 can be stably transmitted to the auxiliary wheel 32.

[0030] In one embodiment, a fixed shaft 421 is fixedly connected in the slide groove, and the fixed shaft 421 passes through the slider 42. The slider 42 is limited and slides in the fixed shaft 421 and slides in the slide groove, and the slider 42 is connected to the connecting plate 22 by a spring B422. The two ends of the spring B422 are fixedly connected to the slider 42 and the connecting plate 22 respectively. The spring B422 is a tension spring. When the movable plate 4 is at the highest height, the spring B422 is in a stretched state. When the positioning wheel 432 moves to the sinking point between the main rail 1 and the staggered rail 11, since the positioning wheel 432 is not supported by the limit block 13 at this time, under the tensile rebound force of the spring B422, the movable plate 4 can be pulled down in time to release and unfold the two extension plates 3 outward. After overcoming the obstacle, under the weight of the entire device, the positioning wheel 432 will be pushed up accordingly, prompting the movable plate 4 to return to its normal height and stretching the spring B422 to keep the spring B422 always stretched.

[0031] like Figure 2 and Figure 4 As shown, in this embodiment, the clamping plate 43 is hinged to the surface of the movable plate 4 through a movable shaft 431, and a torsion spring is provided in the movable shaft 431. The two ends of the torsion spring are fixedly connected to the movable shaft 431 and the movable plate 4 respectively. When the torsion spring is in a relaxed state, the clamping plate 43 is in a state of overlapping with the movable plate 4, and a guide block 433 is fixedly connected to the surface of the clamping plate 43, and the surface of the guide block 433 is set to an arc surface, and the guide block 433 is set on the front side of the positioning wheel 432.

[0032] Specifically, since the positioning wheel 432 rolls against the surface of the limit block 13, when the offset rail 11 is higher than the main rail 1, the positioning wheel 432 will be blocked by the offset rail 11 that is higher than its height. Therefore, a guide block 433 is set on the front side of the positioning wheel 432, so that the guide block 433 will first contact the surface of the offset rail 11 that is higher than the main rail 1, and in the process of continuous advancement, it will slide to one side through its curved surface, and drive the clamping plate 43 and the movable shaft 431 to rotate to one side, so that the positioning wheel 432 can be staggered with the offset rail 11 in time, thereby avoiding the problem of being unable to pass.

[0033] Furthermore, a block 434 is fixedly connected to the side of the card plate 43 away from the guide block 433, and a positioning groove 435 adapted to the block 434 is provided on the surface of the connecting plate 22. When the block 434 is stuck in the positioning groove 435, the entire movable plate 4 cannot move up or down. Combined with the action of the card plate 43 rotating to one side as mentioned above, the block 434 will be stuck in the positioning groove 435, so that when the positioning wheel 432 moves away from the surface of the limit block 13, the movable plate 4 will not move down, which facilitates the smooth passage of the entire device through the offset rail 11. Since the height of the offset rail 11 is higher than the main rail 1 at this time, the height of the limit block 13 on the surface of the offset rail 11 is higher than the height of the positioning wheel 432. Therefore, under the blocking action of the limit block 13, the card plate 43 will maintain a rotated and tilted state.

[0034] Among them, after the entire device overcomes the obstacle and passes the offset rail 11, since the height of the movable plate 4 does not change, after the entire device is stable, the height of the positioning wheel 432 is now consistent with the height of the limit block 13. In the absence of the limit block 13, the torsion spring rebounds in time, so that the card plate 43 can be returned to the initial position in time. At the same time, the positioning wheel 432 can also be returned to the top of the limit block 13 in time to keep moving.

[0035] The driving member 221 includes a driving motor and a reducer. The output end of the driving motor is connected to the input end of the reducer, and the output end of the reducer is connected to the rotating shaft 222. The motor and the reducer cooperate to drive the rotating shaft 222 to rotate synchronously, and the two rotating shafts 222 can be connected by a belt so that the two rotating shafts 222 can rotate simultaneously.

[0036] The inspection head 21 integrates visual sensors, infrared sensors, gas sensors and cameras. The visual sensors and cameras are used to detect the roof, two sides, and bottom bulge of the tunnel. Combined with machine vision recognition, problem areas are promptly discovered and marked. The infrared sensor is used to promptly identify heat sources and detect fire hazards. The gas sensor is used to sense whether abnormal gases such as gas and hydrogen sulfide in the tunnel exceed the standard. In addition, a wireless transmission module is also integrated in the body 2 to promptly send inspection information to the ground receiving unit and other places.

[0037] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tunnel deformation inspection device, comprising a main rail (1), a staggered rail (11) and a body (2), wherein an inspection head (21) is installed at the bottom of the body (2), and the main rail (1) and the staggered rail (11) are staggered in an upper and lower manner, characterized in that: The machine also includes a walking mechanism, the walking mechanism including a plurality of connecting plates (22) mounted on the top of the machine body (2), a plurality of rotating shafts (222) being rotatably connected to one side of the connecting plate (22) close to the main rail (1), a driving wheel (223) being fixedly connected to the surface of the rotating shaft (222), a rail wheel groove (12) adapted to the driving wheel (223) being provided on the surface of both the main rail (1) and the offset rail (11), and a limiting block (13) being fixedly connected to one side of the rail wheel groove (12), and a driving member (221) for driving the rotating shaft (222) being provided on the surface of the connecting plate (22); A passing component is provided on one side of the connecting plate (22), and the passing component includes two extension plates (3) that slide relatively on one side of the connecting plate (22), and the side of the extension plate (3) away from the connecting plate (22) is arranged in an arc shape. The surface of the extension plate (3) is provided with an auxiliary component that facilitates the walking mechanism to pass through the offset track (11), and also includes an adjustment component for adjusting the moving position of the extension plate (3) on the surface of the connecting plate (22).

2. The tunnel deformation inspection device according to claim 1, characterized in that: The auxiliary component comprises an auxiliary wheel (32) rotatably connected to the arc end of the extension plate (3), and the auxiliary wheel (32) is connected to the rotating shaft (222) via a synchronous belt (321).

3. The tunnel deformation inspection device according to claim 1, characterized in that: The adjustment assembly comprises a movable plate (4) arranged on one side of the connecting plate (22), a sliding groove is provided on the surface of the connecting plate (22), a slider (42) adapted to the sliding groove is fixedly connected to the surface of the movable plate (4), two inclined grooves (41) adapted to the extension plate (3) are provided on the surface of the movable plate (4), a connecting plate (31) is fixedly connected to the surface of the extension plate (3), the connecting plate (31) is connected to the inclined groove (41) via a connecting shaft (311), a clamping plate (43) is provided on the surface of the movable plate (4), a positioning wheel (432) is rotatably connected to the surface of the clamping plate (43), and the positioning wheel (432) abuts against the surface of the limit block (13).

4. A tunnel deformation inspection device according to any one of claims 1 to 3, characterized in that: The invention also includes a tensioning assembly, which includes a fixing frame (33) fixedly connected to the surface of the extension plate (3), an adjustment slot being provided on the surface of the fixing frame (33), and an adjustment block sliding through the adjustment slot, an adjustment wheel (331) being rotatably connected to one side of the adjustment block, the adjustment wheel (331) being in contact with the surface of the synchronous belt (321), and the adjustment block being connected to the fixing frame (33) via a spring A (332).

5. The tunnel deformation inspection device according to claim 3, characterized in that: A fixed shaft (421) is fixedly connected in the sliding groove, the fixed shaft (421) passes through the slider (42), and the slider (42) is connected to the connecting plate (22) via a spring B (422).

6. The tunnel deformation inspection device according to claim 3, characterized in that: The clamping plate (43) is hinged to the surface of the movable plate (4) via a movable shaft (431); a torsion spring is provided in the movable shaft (431); two ends of the torsion spring are fixedly connected to the movable shaft (431) and the movable plate (4), respectively; a guide block (433) is fixedly connected to the surface of the clamping plate (43); and the surface of the guide block (433) is configured as an arc surface.

7. The tunnel deformation inspection device according to claim 6, characterized in that: A clamping block (434) is fixedly connected to one side of the clamping plate (43) away from the guide block (433), and a positioning groove (435) adapted to the clamping block (434) is provided on the surface of the connecting plate (22).

8. The tunnel deformation inspection device according to claim 1, characterized in that: The driving member (221) comprises a driving motor and a reducer, wherein the output end of the driving motor is connected to the input end of the reducer, and the output end of the reducer is connected to the rotating shaft (222).

9. The tunnel deformation inspection device according to claim 1, characterized in that: The inspection head (21) is integrated with a visual sensor, an infrared sensor, a gas sensor, a camera, etc.

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