Folding tunnel intelligent comprehensive detection platform

Abstract

The invention relates to the technical field of tunnel detection equipment, and discloses a folding tunnel intelligent comprehensive detection platform which comprises a folding support module installed on a transport vehicle, the folding support module comprises a damping base installed at the top end of a vehicle body, and a supporting seat is arranged in the middle of the top end of the damping base. A plurality of telescopic rods are arranged along the outer side of the supporting seat at intervals, folding arms are hinged to the ends, away from the supporting seat, of the telescopic rods, and every two folding arms are connected through a joint. Stable scanning of the tunnel wall by the detection device is realized, and the effects of reducing space occupation and improving detection efficiency and safety are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel detection equipment, in particular to a folding tunnel intelligent comprehensive detection platform. BACKGROUND

[0002] At present, domestic traffic infrastructure has been adjusted from high-speed development to high-quality development, and the industry has greatly improved the importance of engineering quality and operation safety of traffic infrastructure, so the detection of tunnel structure and its underlying rock and soil characteristics is a very important work.

[0003] At present, the general detection method in China is to use a car, an elevator, a scaffold and other methods that occupy a large space to detect the tunnel, which is inconvenient to operate, low in work efficiency, high in safety risk, poor in detection effect, and greatly affects the line traffic, and the existing detection method has poor adaptability to different tunnels, and needs to adjust the related equipment when detecting different tunnels. SUMMARY

[0004] The purpose of the present application is to provide a folding tunnel intelligent comprehensive detection platform which can quickly expand to adapt to different tunnel curvatures and diameters by folding and damping control of the folding support module, so as to realize stable scanning of the detection device on the tunnel wall, reduce space occupation, improve detection efficiency and safety, and solve the problems in the background art.

[0005] To achieve the above purpose, a folding tunnel intelligent comprehensive detection platform is provided, which comprises a folding support module mounted on a transport vehicle, the folding support module comprising a damping base mounted at the top end of the vehicle body, a support seat being provided at the top end of the damping base, a plurality of telescopic rods being provided at intervals along the outer side of the support seat, a folding arm being hinged at the end of the telescopic rod away from the support seat, and a plurality of two folding arms being connected by a joint.

[0006] Further, the support seat is U-shaped in cross section, a hinge seat is provided at the end of the folding arm close to the support seat, a detection device mounting guardrail extending radially outward is provided at the end of the folding arm away from the support seat, a detection device is slidingly arranged on the opposite surface of the two detection device mounting guardrails, and a damping pad is provided between the detection device and the folding arm.

[0007] Further, the joint comprises a fixed seat, a cross shaft, a magnetorheological ball shell, an electromagnetic coil framework mounted in the fixed seat, and a frameless motor assembled on the fixed seat; the fixed seat is of a frame structure, the inside is a cavity and a cross-shaped shaft hole is provided therein to communicate with the outside, a controller is provided at the top end of the fixed seat, and a sensor and a current adjusting device are provided on the bottom surface.

[0008] Further, the magnetorheological spherical shell is a spherical shell structure arranged in the internal cavity of the fixed seat, the spherical center is coincided with the center point of the cross shaft, and a cross-shaped shaft hole is arranged on the magnetorheological spherical shell and communicated with the outside; the cross shaft is arranged in the cavity of the fixed seat and the four shaft segments of the cross shaft respectively pass through the shaft holes of the fixed seat and the magnetorheological spherical shell and extend to the outside.

[0009] Further, the electromagnetic coil framework is a spherical shell structure arranged in the internal cavity of the fixed seat and wrapped on the outer surface of the magnetorheological spherical shell, and a through hole is arranged at the position corresponding to the shaft segment of the cross shaft, and an electromagnetic coil is wound on the electromagnetic coil framework; the frameless motor is arranged at one end of the fixed seat and connected with one end of the cross shaft through a shaft coupling or a pin shaft.

[0010] Further, four groups of bearings are installed in the fixed seat, and the bearing sleeve is arranged at the middle part of the four shaft segments of the cross shaft; the fixed seat is provided with a ring-shaped sealing end cover corresponding to the end surface of the frameless motor, and the inner hole of the sealing end cover and the driving end shaft segment of the cross shaft form dynamic sealing; the three extended shaft segments of the cross shaft away from the frameless motor are respectively rigidly connected with flanges.

[0011] Further, the electromagnetic coil framework is divided into four independent electromagnetic units, and a continuous groove for winding the electromagnetic coil is arranged on the outer surface of each electromagnetic unit; the output end of the controller is electrically connected with the frameless motor and the electromagnetic coil of the electromagnetic coil framework.

[0012] Further, an annular cooling air channel is arranged around the outer periphery of the electromagnetic coil framework in the fixed seat, the air inlet of the air channel is arranged at the bottom of the fixed seat, and the air outlet is communicated with the heat dissipation area of the controller at the top.

[0013] Further, the magnetorheological spherical shell is a sealed pressure container, and the joint area of the magnetorheological spherical shell and the cross shaft is provided with a magnetorheological fluid sealing ring, the magnetorheological fluid sealing ring is embedded in the annular groove of the cross shaft segment and forms rotary sealing with the inner wall of the magnetorheological spherical shell; the fixed seat and the cross shaft segment are gap-fitted through the bearing, and the shaft shoulder sealing ring is arranged at the end of the bearing away from the magnetorheological spherical shell.

[0014] Further, the transport vehicle comprises a vehicle head for pulling the vehicle body, a device box and a power box arranged at the top end of the vehicle body, a hydraulic pump communicated with the folding support module and a generator are arranged in the power box.

[0015] Compared with the prior art, the present application has the following beneficial effects: 1. The folding support module is installed on the transport vehicle, so that a large space in the tunnel is not occupied, the transport vehicle can slowly move along the tunnel axis during detection, the influence on the line traffic is reduced, and the convenience and safety of detection are improved.

[0016] 2. Through the biaxial rotation of the cross shaft in the joint, the millisecond damping response of the magneto-rheological spherical shell and the partition control of the electromagnetic coil, the folding arm can adjust the angle and radius in real time, adapt to straight, small curvature and large curvature curved tunnels, achieve the effect of covering the full section detection of variable diameter tunnels and eliminating detection dead angles.

[0017] 3. Through the foldable structure of the folding arm and the joint and the telescopic adjustment of the telescopic rod, the detection platform is folded and folded to reduce the volume to one fifth of the unfolded state during transportation, facilitating the transportation vehicle to pass through the tunnel, achieving the effect of avoiding occupying the lane and ensuring smooth traffic on the line. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic diagram of the tunnel of the present application; Figure 2 is a schematic diagram of the detection platform of the present application; Figure 3 is a schematic diagram of the damping base of the present application; Figure 4 is a schematic diagram of the folding arm of the present application; Figure 5 is a schematic diagram of the joint of the present application; Figure 6 is a right lower axial view of the joint of the present application; Figure 7 is a schematic diagram of the present application Figure 5 A-A; Figure 8 is a schematic diagram of the electromagnetic coil framework of the present application; Figure 9 is a schematic diagram of the present application Figure 8 B-B; Figure 10 is a schematic diagram of the present application Figure 8 C-C; Figure 11 is a schematic diagram of the cross rotor of the present application.

[0019] In the figure: 1, folding support module; 101, damping base; 102, folding arm; 103, telescopic rod; 104, support seat; 105, joint; 106, hinged seat; 107, detection device; 108, detection device installation guardrail; 109, damping pad; 110, frameless motor; 111, flange; 112, sealing end cover; 113, bearing; 114, shaft shoulder sealing ring; 115, electromagnetic coil framework; 120, fixed seat; 130, controller; 140, sensor; 150, cross shaft; 151, magneto-rheological spherical shell; 2, transportation vehicle; 201, power box; 202, vehicle head; 203, vehicle body. DETAILED DESCRIPTION

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] In one implementation, such as Figures 1-2 The foldable tunnel intelligent integrated inspection platform shown includes a foldable support module 1 installed on a transport vehicle 2. The foldable support module 1 includes a shock-absorbing base 101 installed on the top of the vehicle body 203. A support seat 104 is provided at the middle of the top of the shock-absorbing base 101. Multiple telescopic rods 103 are spaced apart along the outside of the support seat 104. Folding arms 102 are hinged to the ends of the telescopic rods 103 away from the support seat 104. Multiple folding arms 102 are connected to each other through joints 105.

[0022] The folding arm 102 can be a straight rod or a curved rod; please refer to the appendix. Figure 4 As shown, the support base 104 has a U-shaped cross section. A hinge seat 106 is provided at the end of the folding arm 102 near the support base 104. A detection device mounting guardrail 108 extending radially outward is provided at the end of the folding arm 102 away from the support base 104. A detection device 107 is slidably arranged on the opposite surfaces of the two detection device mounting guardrails 108. A shock-absorbing pad 109 is provided between the detection device 107 and the folding arm 102.

[0023] In this embodiment, the folding bracket module 1 is installed on the top of the vehicle body 203 of the transport vehicle 2. By integrating the detection equipment onto the movable transport vehicle 2, it does not require occupying a large amount of space in the tunnel. During the detection process, the transport vehicle 2 can move slowly along the tunnel axis, reducing the impact on traffic and improving the convenience and safety of the detection. The folding bracket module 1 includes a shock-absorbing base 101, which is fixedly installed on the top of the vehicle body 203. The shock-absorbing base 101 is made of elastic material, which can effectively absorb the impact force generated by the vibration of the transport vehicle 2 during its operation and the environment inside the tunnel, preventing the vibration from being transmitted to the detection components above, ensuring the stable operation of the detection device 107, and improving the accuracy of the detection data.

[0024] A support seat 104 is arranged in the middle of the top end of the damping base 101, and the cross section of the support seat 104 is in a U shape. This structure design can enhance the structural strength of the support seat 104, and provide a stable support base for the subsequent connection of the telescopic rods 103 and the folding arms 102. A plurality of telescopic rods 103 are arranged at intervals along the outer side of the support seat 104. The number of the telescopic rods 103 can be set according to the detection range requirement of the tunnel, and is usually 12-16, so as to ensure that the folding arms 102 are evenly stressed after being unfolded. The telescopic rods 103 can be telescopically adjusted along the axial direction thereof, and the telescopic length range is 0.5-3 meters. The telescopic rods 103 can be telescopically adjusted to adapt to the radial size of tunnels of different diameters. When a wider tunnel is detected, the telescopic rods 103 are elongated to increase the detection radius. When a narrower tunnel is detected, the telescopic rods 103 are shortened to avoid collision with the tunnel wall.

[0025] The end of the telescopic rod 103 away from the support seat 104 is provided with a hinge seat 106 mounted on the folding arm 102, so that the folding arm 102 can rotate around the hinge seat 106 by a certain angle, and the angle of the folding arm 102 can be adjusted according to the shape of the tunnel, so as to ensure that the detection device 107 can be aligned with different detection parts of the tunnel, such as the top, side wall and bottom of the tunnel. The folding arm 102 can be a straight rod or a curved rod. When a straight-line tunnel is detected, a straight rod type folding arm 102 is used to reduce structural redundancy. When a curved tunnel or a tunnel section with an arc is detected, a folding arm 102 is used, the bending radius of which is matched with the curvature of the tunnel, so as to ensure that the detection device 107 always maintains a proper detection distance from the tunnel wall. Usually, the folding arm 102 is used.

[0026] Each two folding arms 102 are connected by a joint 105. The folding arm 102 can rotate around the joint 105 until the adjacent folding arms 102 are in the same straight line or a preset angle, and then the joint 105 is locked to ensure that the folding arm 102 remains stable during detection. When the detection is completed or the equipment needs to be transported, the joint 105 is unlocked, and the folding arm 102 is folded to be parallel to the telescopic rod 103, so as to greatly reduce the overall volume of the equipment, and facilitate the flexible passage of the transport vehicle 2 in the tunnel and the transportation on the external road.

[0027] The detection device mounting guardrails 108 are provided at the end of the folding arm 102 away from the support base 104, extend outward along the radial direction of the folding arm 102, and have a length of 0.3-0.8 meters, which can provide a stable mounting carrier for the detection device 107; the opposite surfaces of the two oppositely arranged detection device mounting guardrails 108 are provided with sliding rails, and the two ends of the detection device 107 are provided with sliding blocks matched with the sliding rails, so that the detection device 107 can slide along the sliding rails between the two guardrails, and the sliding range covers the entire radial area of the end of the folding arm 102 away from the support base 104. Through sliding, the detection device 107 can detect different positions of the same section of the tunnel, without the need to move the transport vehicle 2, so as to expand the detection coverage range and improve the detection efficiency.

[0028] A damping pad 109 is arranged between the detection device 107 and the folding arm 102, which is made of rubber or a damper. On the one hand, the damping pad 109 can further absorb the vibration transmitted by the folding arm 102, so as to avoid the influence of the vibration on the internal precision elements of the detection device 107. On the other hand, the damping pad 109 can reduce the rigid collision between the detection device 107 and the folding arm 102, so as to protect the detection device 107 and the folding arm 102 and prolong the service life of the equipment.

[0029] Please refer to the accompanying Figures 5-11 As shown in the drawings, the joint 105 comprises a fixed seat 120, a cross shaft 150, a magnetorheological spherical shell 151, an electromagnetic coil framework 115 and a frameless motor 110 mounted in the fixed seat 120; the fixed seat 120 is of a frame structure, has an internal cavity and is provided with a cross-shaped shaft hole which is coaxially and throughly communicated with the outside, is provided with a controller 130 at the top end, and is provided with a sensor 140 and a current adjusting device on the bottom end surface.

[0030] The magnetorheological spherical shell 151 is of a spherical shell structure, is arranged in the internal cavity of the fixed seat 120, and has a spherical center coinciding with the center point of the cross shaft 150, and is provided with a cross-shaped shaft hole which is coaxially and throughly communicated with the outside; the cross shaft 150 is arranged in the cavity of the fixed seat 120 and extends to the outside through the shaft holes of the fixed seat 120 and the magnetorheological spherical shell 151.

[0031] The electromagnetic coil framework 115 is of a spherical shell structure, is arranged in the internal cavity of the fixed seat 120 and is attached to the outer surface of the magnetorheological spherical shell 151, is provided with a through hole at the position corresponding to the shaft segment of the cross shaft 150, and is wound with an electromagnetic coil; the frameless motor 110 is arranged at one end of the fixed seat 120 and is connected with one end of the cross shaft 150 through a shaft coupling or a pin shaft.

[0032] Four sets of bearings 113 are installed in the fixed seat 120, and the bearings 113 are sleeved on the middle parts of the four shaft segments of the cross shaft 150; the fixed seat 120 is provided with a ring-shaped sealing end cover 112 corresponding to the end face of the frameless motor 110, the inner hole of the sealing end cover 112 forms dynamic sealing with the driving end shaft segment of the cross shaft 150; the three extended shaft segments of the cross shaft 150 away from the frameless motor 110 are rigidly connected with flanges 111 respectively.

[0033] The electromagnetic coil framework 115 is divided into four independent electromagnetic units, and a continuous groove for winding the electromagnetic coil is formed on the outer surface of each electromagnetic unit; the output end of the controller 130 is electrically connected with the frameless motor 110 and the electromagnetic coil of the electromagnetic coil framework 115 respectively.

[0034] The fixed seat 120 is internally provided with an annular cooling air channel surrounding the outer periphery of the electromagnetic coil framework 115, the air inlet of the air channel is arranged at the bottom of the fixed seat 120, and the air outlet is in communication with the heat dissipation area of the controller 130 at the top.

[0035] The magneto-rheological spherical shell 151 is a sealed pressure container, and the joint area of the magneto-rheological spherical shell 151 and the cross shaft 150 is provided with a magneto-rheological fluid sealing ring, the magneto-rheological fluid sealing ring is embedded in the annular groove of the shaft segment of the cross shaft 150 and forms rotary sealing with the inner wall of the magneto-rheological spherical shell 151; the fixed seat 120 and the shaft segment of the cross shaft 150 are gap-fitted through the bearings 113, and the shaft shoulder sealing ring 114 is arranged at the end of the bearing 113 away from the magneto-rheological spherical shell 151.

[0036] In the embodiment, the joint 105 includes a fixed seat 120, a cross shaft 150, a magneto-rheological spherical shell 151, an electromagnetic coil framework 115 installed in the fixed seat 120, and a frameless motor 110 arranged on the fixed seat 120; the fixed seat 120 is of a frame structure, the inside of which is a cavity, and a cross-shaped shaft hole is formed in the cavity and is coaxially and through, so as to provide space for the installation of other internal components and enable the cross shaft 150 to smoothly pass through and realize the rotation function.

[0037] A controller 130 is arranged at the top end of the fixed seat 120, the controller 130 can adopt an industrial-grade microcontroller such as an STM32 series, which can accurately control the frameless motor 110 and the electromagnetic coil of the electromagnetic coil framework 115 according to a preset program or received external instructions; a sensor 140 and a current adjusting device are arranged on the bottom end face of the fixed seat 120, the sensor 140 can be a pressure sensor, an angle sensor, a temperature sensor or the like, which is used for monitoring the stress condition, the rotation angle of the folding arm 102 and the temperature and other parameters at the joint 105 in real time, and feeding back these data to the controller 130, and the current adjusting device is used for accurately adjusting the current passing through the electromagnetic coil according to the instructions of the controller 130.

[0038] The magnetorheological spherical shell 151 is a spherical shell structure arranged in the cavity of the fixed seat 120, and the center of the spherical shell coincides with the center point of the cross shaft 150. A cross-shaped shaft hole is arranged on the magnetorheological spherical shell 151 and is coaxially and continuously connected with the outside. The magnetorheological spherical shell 151 is filled with magnetorheological fluid. In the absence of a magnetic field, the magnetorheological fluid has good fluidity. When a magnetic field is applied, the viscosity of the magnetorheological fluid rapidly increases, and the magnetorheological fluid can be changed from a liquid state to a solid-like state in a short time. When the cross shaft 150 rotates through the shaft hole of the magnetorheological spherical shell 151, the characteristics of the magnetorheological fluid can be used to actively control the rotation damping. When a sudden vibration or a large external force impact occurs during the detection process, the controller 130 can increase the current passing through the electromagnetic coil through the current adjusting device, thereby strengthening the magnetic field and increasing the viscosity of the magnetorheological fluid, so as to provide greater damping for the rotation of the cross shaft 150, thereby playing a buffering and stabilizing role, avoiding the shaking of the folding arm 102 due to vibration or impact, and affecting the detection accuracy of the detection device 107.

[0039] The cross shaft 150 is arranged in the cavity of the fixed seat 120, and the four shaft segments of the cross shaft 150 respectively pass through the shaft holes of the fixed seat 120 and the magnetorheological spherical shell 151 and extend to the outside. The shaft segments of the cross shaft 150 are connected with different folding arms 102, so as to realize the multi-angle rotary connection between the folding arms 102. When the folding arms 102 are adjusted to adapt to the detection requirements of tunnels of different shapes, the cross shaft 150 can be flexibly rotated in the shaft holes of the fixed seat 120 and the magnetorheological spherical shell 151, thereby driving the folding arms 102 connected therewith to change the angles.

[0040] The electromagnetic coil framework 115 is a spherical shell structure arranged in the cavity of the fixed seat 120 and wrapped around the outer surface of the magnetorheological spherical shell 151. A through hole is arranged on the electromagnetic coil framework 115 at the position corresponding to the shaft segment of the cross shaft 150. An electromagnetic coil is wound on the electromagnetic coil framework 115. The electromagnetic coil framework 115 is usually made of a material with good insulation performance and a certain mechanical strength. The electromagnetic coil can generate a magnetic field when electrified, which is used to control the state of the magnetorheological fluid in the magnetorheological spherical shell 151. Meanwhile, the electromagnetic coil framework 115 is divided into four independent electromagnetic units. Continuous grooves are arranged on the outer surfaces of the electromagnetic units for winding the electromagnetic coil. Each electromagnetic unit can be independently controlled. The controller 130 can control the electrification and current of the electromagnetic coils of different electromagnetic units according to the data fed back by the sensor 140, so as to accurately adjust the damping of the magnetorheological fluid in the corresponding area of the magnetorheological spherical shell 151, thereby realizing the fine control of the rotation of the folding arm 102. When a curved tunnel is detected, different electromagnetic units can be controlled, so that the rotation damping of the folding arm 102 close to the inner side of the tunnel is relatively small, so as to more flexibly follow the tunnel curve for adjustment, and the rotation damping of the folding arm 102 on the outer side is relatively large, thereby maintaining a stable support and detection position.

[0041] The frameless motor 110 is arranged at one end of the fixed seat 120 and connected with one end of the cross shaft 150 through a shaft coupling or a pin shaft. The frameless motor 110 can be selected from a U115 series frameless motor and the like. The frameless motor 110 can accurately adjust the output torque and the rotating speed through the control of the controller 130, so as to accurately control the rotating angle and the speed of the folding arm 102. During the detection process, when the folding arm 102 needs to be quickly unfolded to the detection position, the frameless motor 110 can rotate at a high speed under the instruction of the controller 130, drive the cross shaft 150 to rotate quickly, and make the folding arm 102 quickly unfold. When the detection angle of the folding arm 102 needs to be finely adjusted, the frameless motor 110 can accurately rotate at a low speed under the control of the controller 130, so as to finely adjust the angle of the folding arm 102.

[0042] Four groups of bearings 113 are arranged in the fixed seat 120. The bearings 113 are arranged at the middle positions of the four shaft sections of the cross shaft 150. The bearings 113 are selected from high-precision rolling bearings, so as to reduce the friction force when the cross shaft 150 rotates and ensure that the cross shaft 150 can stably and smoothly rotate. The fixed seat 120 is provided with a ring-shaped sealing end cover 112 corresponding to the end surface of the frameless motor 110. The inner hole of the sealing end cover 112 forms a dynamic seal with the driving end shaft section of the cross shaft 150, so as to prevent dust, impurities and the like from entering the inside of the fixed seat 120 and affecting the normal operation of the components. Meanwhile, the sealing end cover 112 can also avoid the leakage of lubricating oil and the like in the inside. The three extended shaft sections of the cross shaft 150 away from the frameless motor 110 are respectively rigidly connected with flanges 111. The flanges 111 are connected with the folding arm 102 and other components through bolts and the like, so as to stably connect the cross shaft 150 with other components and ensure that the power can be reliably transmitted to the folding arm 102 and drive the folding arm 102 to rotate.

[0043] The fixed seat 120 is provided with a ring-shaped cooling air channel around the outer periphery of the electromagnetic coil framework 115. The air inlet of the air channel is arranged at the bottom of the fixed seat 120, and the air outlet is in communication with the heat dissipation area of the controller 130 at the top. The ring-shaped cooling air channel can utilize the cold air in the tunnel to enter the cooling air channel through the air inlet, cool and heat the electromagnetic coil framework 115 and the surrounding components, and discharge the hot air after cooling from the air outlet to flow to the heat dissipation area of the controller 130. The ring-shaped cooling air channel can also assist the heat dissipation of the controller 130, so as to ensure that the entire joint 105 system can stably work in a suitable temperature range.

[0044] The magnetorheological ball shell 151 is a sealed pressure container, and the joint area of the magnetorheological ball shell 151 with the cross shaft 150 is provided with a magnetorheological fluid sealing ring which is embedded in the annular groove of the shaft segment of the cross shaft 150 and forms a rotary seal with the inner wall of the magnetorheological ball shell 151, effectively preventing the magnetorheological fluid in the magnetorheological ball shell 151 from leaking, and ensuring that the magnetorheological fluid always plays its damping control role in the ball shell. The gap fit between the fixed seat 120 and the shaft segment of the cross shaft 150 is formed by the bearing 113, and the shaft shoulder sealing ring 114 is arranged at the end of the bearing 113 away from the magnetorheological ball shell 151. The shaft shoulder sealing ring 114 further enhances the sealing between the fixed seat 120 and the cross shaft 150, prevents foreign matter from entering from the outside, and also helps to maintain the stability of the internal lubricating environment, prolonging the service life of the bearing 113 and other components.

[0045] In actual work, when the angle of the folding arm 102 needs to be adjusted, the controller 130 first receives information from the sensor 140, and then the controller 130 sends a control signal to the frameless motor 110 according to a preset program or an instruction input by an operator. The frameless motor 110 starts to operate, and drives the driving end shaft segment of the cross shaft 150 to rotate through the shaft coupling or pin shaft. At the same time, the controller 130 adjusts the current of the electromagnetic coils of different electromagnetic units on the electromagnetic coil framework 115 through the current adjusting device according to the detection requirement and the required damping state of the magnetorheological fluid in the magnetorheological ball shell 151. After the electromagnetic coils are energized, a magnetic field is generated, which acts on the magnetorheological fluid in the magnetorheological ball shell 151, changes the viscosity of the magnetorheological fluid, and provides corresponding damping force for the rotation of the cross shaft 150.

[0046] During rotation, the four shaft segments of the cross shaft 150 rotate in the cross-shaped shaft hole of the fixed seat 120 and the cross-shaped shaft hole of the magnetorheological ball shell 151, and the folding arm 102 connected to the flange plate 111 changes the angle through the flange plate 111, realizes the precise adjustment of the posture of the folding arm 102, and adapts to the requirements of different tunnel detection scenes. When detecting a circular tunnel with a small radius, the frameless motor 110 drives the cross shaft 150 to rotate under the control of the controller 130, so that the folding arm 102 is retracted inward. At the same time, the controller 130 adjusts the current of the electromagnetic coils according to the required support stability of the folding arm 102 at this time, so that the damping of the magnetorheological fluid in the magnetorheological ball shell 151 increases, and the folding arm 102 is kept stable during the retraction process and the detection position; When the detection is completed and the device needs to be folded for transportation, the frameless motor 110 is reversed to drive the cross shaft 150 to rotate reversely, so that the folding arm 102 is folded. At this time, the controller 130 can adjust the current of the electromagnetic coil to reduce the magnetorheological fluid damping, so as to facilitate the rapid folding of the folding arm 102. During the whole process, the sensor 140 continuously monitors the state of the joint 105 and feeds back the data to the controller 130. The controller 130 continuously adjusts the operation of the frameless motor 110 and the current of the electromagnetic coil according to the feedback information, so as to ensure the accurate control and stable operation of the joint 105.

[0047] Please refer to the accompanying Figures 1-2 As shown in the drawings, the transport vehicle 2 comprises a vehicle head 202 for pulling the vehicle body 203, and a device box and a power box 201 arranged at the top end of the vehicle body 203. The power box 201 is provided with a hydraulic pump and a generator which are connected with the folding support module 1.

[0048] When working, the transport vehicle 2 moves along the tunnel axis to the detection starting point and stops stably, and then the folding arm 102 is unfolded. The operator sends the extension and retraction instructions to the telescopic rod 103 through the vehicle controller, and the telescopic rod 103 gradually extends along its own axis from the initial retracted state (the extension and retraction range is 0.5-3 meters). The end of the telescopic rod 103 away from the support base 104 drives the folding arm 102 to move away from the support base 104, thereby preliminarily expanding the detection radius.

[0049] At this time, the joint 105 connecting the adjacent folding arms 102 is in the unlocked state, the controller 130 sends a signal to the current adjusting device to reduce the input current of the electromagnetic coil on the electromagnetic coil framework 115, the solidification degree of the magnetorheological fluid in the magnetorheological spherical shell 151 is reduced, the damping torque is reduced, and the cross shaft 150 obtains the freedom of rotation around the double shaft. The operator adjusts the frameless motor 110 through the controller 130, and the frameless motor 110 drives the driving end shaft section of the cross shaft 150 to rotate through the shaft coupling, so that the adjacent folding arms 102 gradually rotate around the joint 105. Since the bending radius of the folding arm 102 is pre-set to adapt to the common tunnel curvature range, the sensor 140 at the bottom of the fixed seat 120 monitors the angle and position of the folding arm 102 in real time during the rotation process, so as to ensure that the curved outer side of the folding arm 102 always faces the tunnel wall direction.

[0050] When the folding arms 102 are unfolded to an angle that is approximately matched with the tunnel cross section, and 12-16 folding arms 102 are evenly distributed along the tunnel perimeter, the controller 130 sends a locking instruction to the joint 105, the current regulating device increases the electromagnetic coil current, and the magnetorheological fluid in the magnetorheological shell 151 quickly solidifies under the action of a strong magnetic field to form a stable damping torque locking cross shaft 150. The bearing 113 in the fixed seat 120 restricts the radial displacement of the cross shaft 150, ensuring that the relative positions of adjacent folding arms 102 are fixed and preventing deviation during detection; This process does not require the construction of scaffolding or elevators, and only the extension and retraction of the telescopic rod 103 and the rotation of the joint 105 are needed to complete the unfolding, greatly reducing the occupation of the tunnel space and solving the problems of large space occupation and complicated operation of the traditional method After unfolding, the transport vehicle 2 slowly moves along the tunnel axis, and the detection device 107 starts to work. For different types of tunnels, the joint 105 adjusts the shape of the folding arm 102 in the following way; In the straight tunnel section (the axis is a straight line and the cross section diameter is uniform), the folding arm 102 needs to be unfolded into a ring concentric with the tunnel. The controller 130 first sends an unlocking instruction to the joint 105, the current regulating device reduces the electromagnetic coil current, the magnetorheological fluid damping is reduced, the cross shaft 150 can be adjusted around the double shaft, and the frameless motor 110 drives the cross shaft 150 to rotate, so that adjacent folding arms 102 are in the same radial plane, and the included angle between each folding arm 102 is uniform (such as 12 folding arms 102 corresponding to an included angle of 30°); After the angle is in place, the current regulating device increases the current, the magnetorheological fluid solidifies and locks the cross shaft 150, and the joint 105 fixes the position of the folding arm 102. At this time, the sensor 140 continuously monitors the distance between the folding arm 102 and the tunnel wall to ensure that the outer side of the arc maintains a uniform distance of 20-50 cm from the tunnel wall, and cooperates with the fixed length of the telescopic rod 103 (preset according to the diameter of the straight tunnel) to realize stable detection of the whole cross section. The clearance fit between the cross-shaped shaft hole of the fixed seat 120 and the shaft segment of the cross shaft 150 avoids rotation interference, and the annular cooling air duct inhales cold air through the air inlet to dissipate heat for the electromagnetic coil skeleton 115, preventing overheating during continuous operation.

[0051] When entering a small-curvature tunnel section (curvature radius 500-1000 meters), the tunnel axis is gently curved, and the unfolding trajectory of the folding arm 102 needs to be deflected synchronously with the bending direction; the controller 130 first unlocks the joints 105 on the inside of the curve, reduces the current of the electromagnetic coil in this area, and the magnetorheological fluid damping is reduced. The cross shaft 150 rotates 5-10° inwards around the transverse axis perpendicular to the tunnel axis, and the inside folding arm 102 is slightly folded towards the center of the tunnel through the flange 111, reducing the inside detection radius; at the same time, the joints 105 on the outside of the curve are unlocked, and the cross shaft 150 rotates 5-10° outwards around the transverse axis, driving the outside folding arm 102 to unfold outward, increasing the outside detection radius; during adjustment, the inner wall geometry of the magnetorheological spherical shell 151 limits the rotation angle of the cross shaft 150, avoiding excessive deflection, and the bearing 113 between the fixed seat 120 and the shaft segment of the cross shaft 150 ensures smooth rotation without jamming. After the angle is adjusted, the current adjusting device increases the current, the magnetorheological fluid solidifies and locks the joints 105, and the unfolding trajectory of the folding arm 102 forms a gentle arc consistent with the curvature of the tunnel, cooperating with its own preset arc to ensure that the detection device 107 is always aligned with the curved surface of the tunnel wall.

[0052] When encountering a large-curvature tunnel section (curvature radius 100-500 meters), the tunnel is significantly curved, and the folding arm 102 needs to be adjusted more significantly; the controller 130 unlocks all joints 105, reduces the current to make the magnetorheological fluid in a low-damping state, and the cross shaft 150 rotates around the transverse axis and the longitudinal axis (parallel to the tunnel axis) at the same time. In the transverse axis direction, the cross shaft 150 of the inside joint 105 rotates 15-20° inwards, and the cross shaft 150 of the outside joint 105 rotates 15-20° outwards, forming a significant difference in inside and outside detection radii; in the longitudinal axis direction, among the joints 105 along the bending direction of the tunnel, the cross shaft 150 rotates 10-15° around the longitudinal axis towards the inside or outside of the bend, making the unfolding plane of the folding arm 102 inclined along the tunnel axis, adapting to the spatial trend of the curve. During adjustment, the shaft segment of the cross shaft 150 rotates smoothly within the cross-shaped shaft hole of the fixed seat 120, the magnetorheological fluid sealing ring is embedded in the annular groove of the shaft segment of the cross shaft 150, and the inner wall of the magnetorheological spherical shell 151 forms a rotating seal to prevent leakage of the magnetorheological fluid; the shaft shoulder sealing ring 114 is on the end of the bearing 113 away from the magnetorheological spherical shell 151, enhancing the sealing between the fixed seat 120 and the cross shaft 150; after the angle is determined, the current adjusting device adjusts the current to the maximum value, the magnetorheological fluid is completely solidified, the cross shaft 150 is firmly locked, and the folding arm 102 forms a compact arc that matches the large-curvature tunnel, avoiding collision with the tunnel wall while ensuring that the detection device 107 covers the inside dead angle of the curve.

[0053] If the diameter of the tunnel changes (e.g. gradually changes from 8 meters to 10 meters, or suddenly expands / shrinks by 1-2 meters), the joint 105 and the telescopic rod 103 adjust in coordination: in the gradual change section, the controller 130 sends fine adjustment instructions to the joint 105 according to the diameter change rate detected by the sensor 140, and the current adjusting device outputs pulse current to make the solidification degree of the magnetorheological fluid change in steps, so that the cross shaft 150 slowly rotates (2-3° per meter of tunnel) around the transverse shaft, driving the folding arm 102 to unfold outward as the diameter increases or to fold inward as the diameter decreases, while the telescopic rod 103 synchronously extends or shortens to ensure that the arc outer side of the folding arm 102 maintains the optimal distance from the tunnel wall.

[0054] In the sudden change section, the controller 130 reduces the current of the joint 105 to the unlocking threshold, and the cross shaft 150 quickly rotates to the target angle (e.g. 15-20° for the outer joint 105 when the diameter suddenly increases by 2 meters) under the drive of the frameless motor 110, and then immediately increases the current to lock, in coordination with the rapid extension / shortening of the telescopic rod 103, to realize the instantaneous switching of the unfolded form of the folding arm 102, avoiding the detection device 107 colliding with the tunnel wall or missing detection due to adjustment lag.

[0055] After detection, the folding arm 102 needs to be folded to reduce the size of the device, and the controller 130 first unlocks the joint 105: reduces the current of the electromagnetic coil, reduces the damping of the magnetorheological fluid, reverses the frameless motor 110, drives the cross shaft 150 to rotate in the opposite direction, and makes the adjacent folding arm 102 rotate in the opposite direction around the joint 105, gradually folding towards the telescopic rod 103 until the included angle between the adjacent folding arms 102 is reduced to within 10°.

[0056] The joint 105 remains unlocked, the telescopic rod 103 shortens along its own axis to the minimum length, driving the folding arm 102 to move towards the support seat 104, further reducing the overall radial size, and when the folding arm 102 is folded to be parallel to the telescopic rod 103, the controller 130 sends a locking instruction to the joint 105, the current adjusting device increases the current, and the magnetorheological fluid solidifies to lock the cross shaft 150, fixing the folding position of the folding arm 102 to prevent shaking during transportation. At this time, the dynamic seal formed by the sealing end cover 112 on the fixed seat 120 and the driven end shaft section of the cross shaft 150 avoids dust entering the joint 105 during transportation. After folding, the overall volume of the folding bracket module 1 is only 1 / 5-1 / 3 of that in the unfolded state, and the transport vehicle 2 can flexibly drive along the tunnel, avoiding occupying too much space to affect other traffic, solving the problem of affecting line traffic and transportation inconvenience in the traditional way.

[0057] Throughout the whole process, the controller 130 accurately controls the operation of the frameless motor 110 and the output of the current regulating device by receiving real-time feedback from the sensor 140, the four independent electromagnetic units of the electromagnetic coil framework 115 realize partition control of the magnetorheological fluid damping, the double-axis rotation of the cross shaft 150 cooperates with the preset radian of the folding arm 102, so that the detection platform can adapt to different types of tunnels, and has the advantages of convenient operation, high efficiency, high safety and good adaptability.

[0058] The above merely describes a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacements or changes within the technical range disclosed by the present application according to the technical solution and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A foldable tunnel intelligent comprehensive detection platform, comprising a foldable support module mounted on a transport vehicle, characterized in that: The folding support module comprises a damping base mounted on the top end of the vehicle body, a support seat arranged at the middle of the top end of the damping base, a plurality of telescopic rods arranged at intervals along the outer side of the support seat, a folding arm hinged at the end of the telescopic rod away from the support seat, and a plurality of two folding arms connected by a joint.

2. The folding tunnel intelligent integrated detection platform according to claim 1, characterized in that: The support seat is in a U-shaped cross section, the folding arm is provided with a hinge seat at the end close to the support seat, and detection device mounting guardrails extending radially outward are arranged at the end of the folding arm away from the support seat, detection devices are arranged in sliding mode on the opposite surfaces of the two detection device mounting guardrails, and damping pads are arranged between the detection devices and the folding arm.

3. The folding tunnel intelligent integrated detection platform according to claim 2, characterized in that: The joint comprises a fixed seat, a cross shaft, a magnetorheological spherical shell, an electromagnetic coil framework and a frameless motor mounted on the fixed seat; the fixed seat is in a frame structure, the inside is a cavity, a cross-shaped shaft hole is arranged to communicate with the outside, a controller is arranged at the top end of the fixed seat, and a sensor and a current adjusting device are arranged on the bottom surface.

4. The foldable tunnel intelligent integrated detection platform according to claim 3, characterized in that: The magnetorheological spherical shell is in a spherical shell structure, arranged in the internal cavity of the fixed seat, and the spherical center coincides with the center point of the cross shaft; a cross-shaped shaft hole is arranged on the magnetorheological spherical shell to communicate with the outside; the cross shaft is arranged in the cavity of the fixed seat, and the four shaft segments of the cross shaft respectively pass through the shaft holes of the fixed seat and the magnetorheological spherical shell and extend to the outside.

5. The foldable tunnel intelligent integrated detection platform according to claim 4, characterized in that: The electromagnetic coil framework is in a spherical shell structure, arranged in the internal cavity of the fixed seat and wrapped around the outer surface of the magnetorheological spherical shell, and a through hole is arranged at the position corresponding to the shaft segment of the cross shaft; an electromagnetic coil is wound on the electromagnetic coil framework; the frameless motor is arranged at one end of the fixed seat and connected with one end of the cross shaft through a shaft coupling or a pin shaft.

6. The foldable tunnel intelligent integrated detection platform according to claim 5, characterized in that: Four groups of bearings are mounted in the fixed seat, and the bearings are arranged on the middle part of the four shaft segments of the cross shaft; a ring-shaped sealing end cover is arranged on the end surface of the fixed seat corresponding to the frameless motor, and the inner hole of the sealing end cover forms a dynamic seal with the driving end shaft segment of the cross shaft; the three extended shaft segments of the cross shaft away from the frameless motor are rigidly connected with flanges.

7. The foldable tunnel intelligent integrated detection platform according to claim 6, characterized in that: The electromagnetic coil framework is divided into four independent electromagnetic units, and a continuous groove for winding the electromagnetic coil is arranged on the outer surface of each electromagnetic unit; the output end of the controller is electrically connected with the frameless motor and the electromagnetic coil of the electromagnetic coil framework.

8. The folding tunnel intelligent integrated detection platform according to claim 7, characterized in that: An annular cooling air channel is arranged around the outer periphery of the electromagnetic coil framework in the internal cavity of the fixed seat, the air inlet of the air channel is arranged at the bottom of the fixed seat, and the air outlet communicates with the heat dissipation area of the controller at the top.

9. The folding tunnel intelligent integrated detection platform according to claim 8, characterized in that: The magnetorheological spherical shell is a sealed pressure container, and a magnetorheological fluid sealing ring is arranged at the joint area of the magnetorheological spherical shell and the cross shaft; the magnetorheological fluid sealing ring is embedded in the annular groove of the shaft segment of the cross shaft and forms a rotating seal with the inner wall of the magnetorheological spherical shell; the fixed seat and the shaft segment of the cross shaft are gap-fitted through bearings, and a shaft shoulder sealing ring is arranged at the end of the bearing away from the magnetorheological spherical shell.

10. The folding tunnel intelligent integrated detection platform according to claim 2, characterized in that: The transport vehicle comprises a vehicle head for pulling the vehicle body, an equipment box and a power box arranged at the top end of the vehicle body, a hydraulic pump and a generator arranged in the power box and communicated with the folding support module.

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