Array ultrasonic detection equipment for internal void and defect of shield tunnel lining

Abstract

The invention relates to array ultrasonic detection equipment for internal void and defects of a shield tunnel lining. The method is suitable for the technical field of shield tunnel lining detection. According to the technical scheme, the device comprises an arc-shaped support, an arc-shaped sliding groove is formed in the outer portion of the arc-shaped support in the circumferential direction, an arc-shaped sliding block is slidably connected into the arc-shaped sliding groove, a plurality of cavities are formed in the arc-shaped sliding block in the circumferential direction, and detection equipment is installed in the cavities; the annular moving assembly is arranged in the arc-shaped sliding groove and used for driving the arc-shaped sliding block to move in the arc-shaped sliding groove; the radial moving assembly is arranged in the arc-shaped sliding block and used for driving the detection equipment to stretch out and draw back in the radial direction of the arc-shaped support; the advancing assembly is arranged at the inner bottom of the shield tunnel, the moving end of the advancing assembly is connected to the bottom of the arc-shaped support, and the advancing assembly can drive the moving end to drive the arc-shaped support to move in the extending direction of the shield tunnel; and the controller can control the actions of the annular moving assembly, the radial moving assembly and the advancing assembly.

Description

Technical Field

[0001] This invention relates to the field of shield tunnel lining inspection technology, and in particular to an array ultrasonic testing device for detecting voids and defects inside shield tunnel lining. Background Technology

[0002] A shield tunnel is a tunnel constructed by using a tunnel boring machine to excavate underground and simultaneously install precast linings, usually concrete segments.

[0003] The array ultrasonic testing equipment for identifying voids and defects inside the lining of shield tunnels refers to a non-destructive testing device that uses an array of ultrasonic transducers to transmit and reflect transverse or longitudinal waves through the concrete structure to identify defects such as voids, cavities, cracks, and looseness inside the tunnel lining.

[0004] Currently, the inner walls of shield tunnels are generally tubular in shape and have a large overall area. Relying solely on array ultrasonic testing equipment is insufficient for comprehensive ultrasonic testing of the inner walls of shield tunnels, resulting in low efficiency. Furthermore, manual testing may lead to missed detections, and it is difficult to inspect the inner walls of shield tunnels at higher elevations. Additionally, when using existing array ultrasonic testing equipment to inspect shield tunnels, if residual dirt on the inner walls causes uneven density and irregularities, cleaning is required to ensure accurate results. This increases the complexity of the testing process, reduces efficiency, and fails to meet the high demands of short inspection windows and high efficiency requirements for existing operational tunnels. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an array ultrasonic detection device for voids and defects inside the lining of shield tunnels, in view of the above-mentioned problems.

[0006] The technical solution adopted in this application is: an array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel, comprising: The arc-shaped bracket has an arc-shaped groove on its outer side along the circumference. An arc-shaped slider is slidably connected inside the arc-shaped groove. The arc-shaped slider has multiple cavities along the circumference inside, and the detection equipment is installed in the cavities. The circumferential moving component is located inside the arc-shaped slide groove, and its output end is connected to the arc-shaped slider to drive the arc-shaped slider to move within the arc-shaped slide groove. The radial movement component is located inside the arc-shaped slider. Its output end can be connected to the detection equipment inside the cavity to drive the detection equipment to extend and retract radially along the arc-shaped support. The traveling component is located at the bottom of the shield tunnel. Its own moving end is connected to the bottom of the arc-shaped support, which can drive the moving end to move the arc-shaped support along the extension direction of the shield tunnel. The controller is connected to the circumferential moving component, the radial moving component, and the traveling component. The controller can control the movement of the circumferential moving component, the radial moving component, and the traveling component.

[0007] Using the aforementioned technical means, the arc-shaped support is erected on the traveling component. By using the arc-shaped support to fit against the inner wall of the tunnel, the radial moving component can drive the detection equipment to abut against the inner wall of the shield tunnel to perform detection. Through the sliding connection between the arc-shaped groove and the arc-shaped slider on the arc-shaped support, and with the cooperation of the circumferential moving component to drive the arc-shaped slider to slide in the arc-shaped groove, the detection equipment inside the arc-shaped slider is driven to move circumferentially along the inner wall of the tunnel, completing the circumferential detection of the inner wall of the shield tunnel. By using the traveling component to drive the arc-shaped support to move along the extension direction inside the shield tunnel, the overall continuous detection operation can be completed.

[0008] In some embodiments, the radial movement assembly includes an arc-shaped plate, a push motor, a threaded rod, and a pusher. The push motor is communicatively connected to the controller. An arc-shaped plate is slidably connected to the inside of the arc-shaped slider along its own radial direction. The arc-shaped slider has multiple guide holes along its circumference that can connect to the cavity. A pusher is installed in the guide holes. One end of the pusher is connected to the arc-shaped plate, and the other end of the pusher is used to connect to the detection device. A push motor is installed inside the arc-shaped slider. The output end of the push motor is connected to a threaded rod. The threaded rod passes through the arc-shaped plate and is threadedly connected to the arc-shaped plate, so that the arc-shaped plate can drive the detection device to perform telescopic movement via the pusher.

[0009] In some embodiments, the pusher includes an arc-shaped rod, a metal sleeve, a cylindrical sleeve, and a connecting rod. The arc-shaped plate has a mounting groove on the side facing the guide hole. The arc-shaped rod is installed in the mounting groove. A plurality of metal sleeves corresponding one-to-one with the guide holes are slidably sleeved on the arc-shaped rod. The metal sleeve is connected to the connecting rod via a cylindrical sleeve slidably connected in the guide hole. The end of the connecting rod away from the cylindrical sleeve can be connected to the detection device.

[0010] In some embodiments, the pusher further includes a push plate, a pressure sensor, and a spring. The pressure sensor is communicatively connected to the controller. A spring is embedded inside the cylindrical sleeve, and a push plate is slidably engaged inside the cylindrical sleeve. One end of the spring is connected to the inner bottom of the cylindrical sleeve, and the other end of the spring is connected to the push plate. The push plate is connected to the pressure sensor via the connecting rod. The pressure sensor is connected to the detection device. The pressure sensor can acquire the pressure detection information received by the detection device and transmit it to the controller. The controller can compare the pressure detection information with its own internal preset pressure threshold. If the pressure detection information is higher than the preset pressure threshold, the detection device moves into position.

[0011] In some embodiments, a cleaning mechanism is also included, comprising a water spraying cleaning component, a wiping cleaning component, and a water absorption cleaning component. The water spraying cleaning component, the wiping cleaning component, and the water absorption cleaning component are symmetrically arranged inside both ends of the arc-shaped slider. The water spraying cleaning component can spray water to clean the inner wall of the shield tunnel, the wiping cleaning component can wipe the inner wall of the shield tunnel to clean it, and the water absorption cleaning component can absorb the residual sewage on the inner wall of the shield tunnel.

[0012] In some embodiments, the water spray cleaning assembly includes a connector, a storage tank, cleaning fluid, a suction pipe, a press-type pump, an L-shaped nozzle, and an actuating element. The connector is embedded inside the arc-shaped slider, and the connector is threadedly connected to the storage tank located outside the arc-shaped slider. The storage tank contains cleaning fluid. The suction pipe passes through the connector, and the end of the suction pipe protruding from the storage tank is connected to the press-type pump. The output end of the press-type pump is connected to the L-shaped nozzle. The actuating element is located at the top of the press-type pump inside the arc-shaped slider. The actuating element is kinetically connected to the wiping cleaning assembly, and the actuating element can intermittently press the press-type pump under the drive of the wiping cleaning assembly.

[0013] In some embodiments, the wiping and cleaning assembly includes a cleaning disc, an electric telescopic rod, and a stepper motor. The actuating element includes a concave rod. The electric telescopic rod and the stepper motor are both communicatively connected to the controller. The stepper motor is embedded inside the arc-shaped slider. The output end of the stepper motor is connected to the electric telescopic rod via a coupling. The telescopic end of the electric telescopic rod is connected to the cleaning disc. The stepper motor can drive the cleaning disc to rotate, and the electric telescopic rod can drive the cleaning disc to extend and retract. A first bevel gear is sleeved on the fixed end of the electric telescopic rod. A concave groove is provided inside the arc-shaped slider at the top of the push-type water pump. A concave rod is rotatably installed in the concave groove. A second bevel gear that can mesh with the first bevel gear is sleeved on the concave rod.

[0014] In some embodiments, the water-absorbing cleaning component includes a water-absorbing cotton roller and a lifting base. The lifting base is communicatively connected to the controller. The outer surface of the arc-shaped slider is provided with the lifting base. The output end of the lifting base is rotatably mounted with the water-absorbing cotton roller. The lifting base can drive the water-absorbing cotton roller to move up and down along the radial direction of the arc-shaped bracket.

[0015] In some embodiments, the traveling component includes a track and a mobile platform. The mobile platform is communicatively connected to the controller. A track is laid along the extension direction at the inner bottom of the shield tunnel. The mobile platform is slidably connected to the track. The arc-shaped support is installed on the mobile platform. The controller can control the mobile platform to move along the track.

[0016] In some embodiments, the circumferential moving component includes a servo motor, a drive shaft, a moving gear, and an arc-shaped rack. The arc-shaped slide groove has arc-shaped guide grooves on both sides inside. The arc-shaped slider has guide blocks on both sides, and the guide blocks are slidably connected to the arc-shaped guide grooves. An arc-shaped rack is installed at the bottom inside the arc-shaped slide groove. A servo motor is installed inside the arc-shaped slider. The output end of the servo motor is connected to the drive shaft. A moving gear is sleeved on the drive shaft, and the moving gear meshes with the arc-shaped rack.

[0017] The beneficial effects of this invention are: 1. By designing an arc-shaped support that conforms to the contour of the tunnel's inner wall, the inspection equipment mounted on it can actively extend and retract via radial movement components. This ensures that even in areas at similar heights, such as the tunnel top, the inspection equipment can be tightly fitted to the lining surface, overcoming the problem of manual access to high areas. Through the design of arc-shaped grooves and arc-shaped slider structures, coupled with circumferential movement components, the inspection equipment can move circumferentially along the tunnel's inner wall. Simultaneously, the traveling component drives the entire platform forward along the tunnel's axial direction, achieving coordinated motion of circumferential, axial, and radial degrees of freedom. This allows the inspection equipment to perform continuous, blind-spot-free scanning of the shield tunnel lining's inner wall, achieving full-coverage scanning operations. The inspection platform of this application improves inspection efficiency and avoids missed inspections due to manual methods.

[0018] 2. This application integrates three major cleaning modules inside both ends of the arc-shaped slider. When the arc-shaped slider moves along the inner wall of the shield tunnel, the water spray cleaning component sprays water to clean the areas of the shield tunnel that need to be inspected, which can soften dirt and wash away dust. The wiping cleaning component performs friction cleaning on the inner wall of the shield tunnel, and the water absorption cleaning component absorbs the residual moisture from the cleaning of the inner wall of the shield tunnel. Through the cooperation of each cleaning module, the impact of surface dirt and water stains and the rough burrs of the concrete itself generated during operation is reduced, the cumbersomeness of the inspection operation is reduced, and the overall inspection efficiency is improved. Attached Figure Description

[0019] Figure 1 This is a structural diagram of this application.

[0020] Figure 2 yes Figure 1 Enlarged view of region A.

[0021] Figure 3 This is a schematic diagram of the main view structure of this application.

[0022] Figure 4 yes Figure 3 Enlarged view of region B in the middle.

[0023] Figure 5 yes Figure 3 Enlarged view of region C.

[0024] Figure 6 yes Figure 5 Enlarged view of region D in the middle.

[0025] Explanation of reference numerals in the attached figures: 1. Shield tunnel; 2. Cleaning mechanism; 3. Track; 4. Moving platform; 5. Control panel; 6. Arc-shaped bracket; 7. Arc-shaped chute; 8. Arc-shaped slider; 9. Push motor; 10. Threaded rod; 11. Arc-shaped plate; 12. Mounting groove; 13. Arc-shaped rod; 14. Metal sleeve; 15. Cylindrical sleeve; 16. Guide through hole; 17. Spring; 18. Push plate; 19. Connecting rod; 20. Pressure sensor; 21. Detection equipment; 22. Arc-shaped groove; 201. Stepper motor; 202. Electric telescopic rod; 203. Cleaning disc; 204. Water-absorbing cotton roller; 205. First bevel gear; 206. Second bevel gear; 207. Concave rod; 208. Press-type water pump; 209. Suction pipe; 210. Connector; 211. Storage tank; 212. Cleaning fluid; 213. L-shaped nozzle.

[0026] This specification includes references to "one embodiment" or "implementation". The use of the phrase "in one embodiment" or "in an embodiment" does not necessarily refer to the same embodiment. Specific features, structures, or characteristics may be combined in any suitable manner consistent with this disclosure.

[0027] The term "comprising" is open-ended. As used in the appended claims, it does not exclude additional structures or steps.

[0028] "First," "second," etc. As used in this article, these terms serve as labels for the nouns preceding them and do not imply any type of ordering (e.g., spatial, temporal, logical, etc.).

[0029] The term "based on," as used herein, describes one or more factors that influence the determination. This term does not exclude additional factors influencing the determination. That is, the determination may be based solely on these factors or at least partially on them. Consider the phrase "A is determined based on B." In this case, B is the factor influencing the determination of A, and such phrases do not exclude the possibility that the determination of A may also be based on C. In other instances, A may be determined solely on B. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below with reference to specific embodiments.

[0031] Combination Figures 1 to 6As shown, this embodiment is an array ultrasonic testing device for voids and defects inside the lining of a shield tunnel. It includes an arc-shaped support 6, a circumferential moving component, a radial moving component, a traveling component, and a controller. The circumferential moving component, radial moving component, and traveling component are all communicatively connected to the controller. A traveling component is located at the inner bottom of the shield tunnel 1. The moving end of the traveling component is connected to the arc-shaped support 6, and the traveling component can drive the moving end to move the arc-shaped support 6 along the extension direction of the shield tunnel 1. An arc-shaped groove 7 is provided circumferentially on the outside of the arc-shaped support 6. An arc-shaped slider 8 is slidably connected inside the arc-shaped groove 7. Multiple cavities are provided circumferentially inside the arc-shaped slider 8, and a testing device 21 is installed in each cavity. A circumferential moving component is located inside the arc-shaped groove 7, and its output end is connected to the arc-shaped slider 8. The circumferential moving component can drive the arc-shaped slider 8 to move within the arc-shaped groove 7. The arc-shaped slider 8 has a radial movement component inside. The output end of the radial movement component can be connected to the detection device 21 inside the cavity. The radial movement component can drive the detection device 21 to extend and retract radially along the arc-shaped bracket 6.

[0032] This inspection platform uses an arc-shaped support 6 as its core framework, the curvature of which matches the inner wall of the shield tunnel 1, ensuring that the overall structure conforms to the tunnel cross-section to a certain extent. An arc-shaped groove 7 is installed on the arc-shaped support 6, with an embedded arc-shaped slider 8, forming a circumferential motion track 3.

[0033] In some implementation schemes, such as Figure 2 and Figure 3 As shown, the traveling component includes a track 3 and a moving platform 4. The moving platform 4 is connected to the controller. The track 3 is laid along the extension direction at the bottom of the shield tunnel 1. The moving platform 4 is slidably connected on the track 3. An arc-shaped support 6 is detachably installed on the moving platform 4. The controller can control the moving platform 4 to move along the track 3.

[0034] In some implementation schemes, such as Figure 4As shown, the radial movement assembly includes an arc-shaped plate 11, a push motor 9, a threaded rod 10, and a pusher. The push motor 9 is communicatively connected to the controller. An arc-shaped groove 22 is formed inside the arc-shaped slider 8. The arc-shaped plate 11 is slidably connected to the inside of the arc-shaped groove 22 along its own radial direction. The outer surface of the arc-shaped plate 11 is in contact with the inner wall of the arc-shaped groove 22. The arc-shaped slider 8 has multiple guide holes 16 that can connect to the cavity along the circumferential direction. The cross-section of the guide holes 16 is circular, and the through direction of the guide holes 16 is parallel to that of the arc-shaped groove 22. The radial sides coincide, and a pusher is installed in the guide through hole 16. The end of the pusher near the arc plate 11 is connected to the arc plate 11, and the end of the pusher away from the arc plate 11 is used to connect to the detection device 21. A pusher motor 9 is installed inside the symmetrical axis of the arc slider 8. The output end of the pusher motor 9 is connected to a threaded rod 10 via a coupling. The threaded rod 10 passes through the arc plate 11 and is threadedly connected to the arc plate 11, so that the arc plate 11 can drive the detection device 21 to perform telescopic movement via the pusher.

[0035] The threaded rod 10 is driven to rotate by the push motor 9. Since the threaded rod 10 is threadedly connected to the arc plate 11 and the arc plate 11 is slidably connected to the arc groove 22, the arc plate 11 can slide radially in the arc groove 22. During the sliding process, the arc plate 11 drives the pusher to slide in the guide hole 16, and then the pusher drives the detection device 21 to achieve the telescopic action.

[0036] Furthermore, the pusher includes an arc-shaped rod 13, a metal sleeve 14, a cylindrical sleeve 15, and a connecting rod 19. The arc-shaped plate 11 has a mounting groove 12 on the side facing the guide through hole 16. The arc-shaped rod 13 is installed in the mounting groove 12. The arc-shaped rod 13 is arranged circumferentially along the arc-shaped plate 11. Multiple metal sleeves 14 corresponding one-to-one with the guide through holes 16 are slidably sleeved on the arc-shaped rod 13. The number of metal sleeves 14 corresponds to the number of detection devices 21. The metal sleeves 14 are slidably connected to the cylindrical sleeves 15 in the guide through holes 16 and connected to the connecting rod 19. The end of the connecting rod 19 away from the cylindrical sleeve 15 can be connected to the detection device 21.

[0037] The sliding connection between the cylindrical sleeve 15 and the guide through hole 16 can constrain the movement trajectory of the pusher. The sliding connection between the metal sleeve 14 and the arc rod 13 allows the metal sleeve 14 to slide slightly relative to the arc rod 13 in the circumferential direction. The cooperation of the two parts allows the arc plate 11 and the arc rod 13 to provide an overall driving reference during the radial movement of the arc rod 13. The pusher is uniformly pushed by the threaded rod 10. Each pusher can finely adjust its installation angle position on the arc rod 13 by sliding the metal sleeve 14 in the circumferential direction on the arc rod 13. The sliding of the metal sleeve 14 can compensate for the circumferential position offset of the detection device 21 caused by the translation of the arc rod 13.

[0038] Furthermore, the pushing component also includes a pushing plate 18, a pressure sensor 20, and a spring 17. The pressure sensor 20 is communicatively connected to the controller. The spring 17 is embedded inside the cylindrical sleeve 15, and the pushing plate 18 is slidably engaged inside the cylindrical sleeve 15. One end of the spring 17 is connected to the inner bottom of the cylindrical sleeve 15, and the other end of the spring 17 is connected to the pushing plate 18. The pushing plate 18 is connected to the pressure sensor 20 via a connecting rod 19. The pressure sensor 20 is connected to the detection device 21. The pressure sensor 20 can acquire the pressure detection information received by the detection device 21 and transmit it to the controller. The controller can compare the pressure detection information with its own internal preset pressure threshold. If the pressure detection information is higher than the preset pressure threshold, the detection device 21 moves into position.

[0039] The pressure sensor 20 monitors the contact pressure between the detection device 21 and the lining in real time and transmits the data to the controller. When the pressure reaches a preset threshold, it is determined that the fit is in place, avoiding coupling failure due to underpressure. The spring 17 enables multiple detection devices 21 to adjust their relative positions according to the size of the inner wall of the shield tunnel 1. This not only achieves high-precision and stable telescopic movement of the detection devices 21 along the radius of the tunnel, ensuring that the probe can closely fit the lining surface with different curvatures or local unevenness, but also indicates that all detection devices 21 have been fitted with the inner wall of the shield tunnel 1 when all pressure sensors 20 have detected pressure. At this time, the detection devices 21 can be activated to detect the joint of the shield tunnel 1.

[0040] In some implementation schemes, such as Figure 5 and Figure 6 As shown, the inspection platform also includes a cleaning mechanism 2, which includes a water spraying cleaning component, a wiping cleaning component, and a water absorption cleaning component. The water spraying cleaning component, the wiping cleaning component, and the water absorption cleaning component are symmetrically arranged inside both ends of the arc-shaped slider 8. The water spraying cleaning component can spray water to clean the inner wall of the shield tunnel 1, the wiping cleaning component can wipe the inner wall of the shield tunnel 1, and the water absorption cleaning component can absorb the sewage remaining on the inner wall of the shield tunnel 1.

[0041] Furthermore, such as Figure 5As shown, the water spray cleaning assembly includes a storage tank 211, cleaning fluid 212, a suction pipe 209, a push-button pump 208, an L-shaped nozzle 213, and an actuating component. A connector 210 with external threads is embedded inside the arc-shaped slider 8. The open end of the storage tank 211 has internal threads. The connector 210 is threadedly connected to the storage tank 211 located outside the arc-shaped slider 8. The storage tank 211 contains cleaning fluid 212, and the suction pipe passes through the connector 210. 209. The suction pipe 209 extends and is inserted into the cleaning liquid 212. The end of the suction pipe 209 protruding from the storage tank 211 is connected to a push-button pump 208. The output end of the push-button pump 208 is connected to an L-shaped nozzle 213. The arc-shaped slider 8 has an actuating element located at the top of the push-button pump 208. The actuating element is connected to the wiping and cleaning assembly, and can intermittently press the push-button pump 208 under the drive of the wiping and cleaning assembly. Specifically, in this embodiment, a small push-button pump 208 is used.

[0042] By employing a built-in storage tank 211 and a mechanical press-type pump, the structure is simple and energy-efficient, making it suitable for temporary operations inside tunnels. When the cleaning fluid 212 inside the storage tank 211 is used up, the storage tank 211 is moved to its lowest position using the arc-shaped slider 8, and then rotated to remove it and refill it with cleaning fluid 212.

[0043] Furthermore, such as Figure 6 As shown, the wiping and cleaning assembly includes a cleaning disc 203, an electric telescopic rod 202, and a stepper motor 201. The starting component includes a concave rod 207. Both the electric telescopic rod 202 and the stepper motor 201 are connected to the controller. The stepper motor 201 is embedded inside the arc-shaped slider 8. The output end of the stepper motor 201 is connected to the electric telescopic rod 202 via a coupling. The telescopic end of the electric telescopic rod 202 is connected to the cleaning disc 203. The stepper motor 201 can drive the cleaning disc 203 to rotate, and the electric telescopic rod 202 can drive the cleaning disc 203 to extend and retract. A first bevel gear 205 is sleeved on the fixed end of the electric telescopic rod 202. The arc-shaped slider 8 has a concave groove located at the top of the push-type water pump 208. The concave rod 207 is rotatably installed in the concave groove. A second bevel gear 206 that can mesh with the first bevel gear 205 is sleeved on the concave rod 207. Specifically, in this embodiment, the cleaning disc 203 can be replaced with a polishing material or accessory for rough burrs on the surface of the tunnel lining segments. In this embodiment, the speed at which the stepper motor 201 drives the electric telescopic rod 202 is controlled at one revolution every five seconds to prevent the cleaning fluid 212 from being used too quickly.

[0044] By employing an electric telescopic rod 202, the telescopic end of the electric telescopic rod 202 extends and retracts relative to the fixed end, enabling the electric telescopic rod 202 to control the telescopic movement of the cleaning disc 203. This allows the cleaning disc 203 to radially adhere to the inner wall of the shield tunnel 1, while the stepper motor 201 drives the cleaning disc 203 to rotate and wipe, forming a compound action of pressing and rotating. Combined with the cleaning fluid 212, this effectively removes stubborn stains or attachments. The rotation of the electric telescopic rod 202 is converted into the rotation of the concave rod 207 by the first bevel gear 205, the second bevel gear 206 and the concave rod 207. When the stepper motor 201 drives the electric telescopic rod 202 to rotate, the first bevel gear 205, which is fixedly sleeved on the outside of the fixed end of the electric telescopic rod 202, will rotate together. Through the meshing of the first bevel gear 205 and the second bevel gear 206, the second bevel gear 206 drives the concave rod 207 on the same axis to rotate together. Due to the existence of the concave groove, the concave rod 207 can intermittently squeeze the top pressing end of the press-type water pump 208, thereby realizing the intermittent driving of the press-type water pump 208. This allows the cleaning liquid 212 in the storage tank 211 to be drawn out by the press-type water pump 208 and sprayed onto the inner wall of the shield tunnel 1 through the L-shaped nozzle 213, thus completing two functions using the same power source.

[0045] Furthermore, such as Figure 5 As shown, the water-absorbing cleaning component includes a water-absorbing cotton roller 204 and a lifting base. The lifting base is connected to the controller. The outer surface of the arc-shaped slider 8 is provided with the lifting base. The output end of the lifting base is rotatably mounted with the water-absorbing cotton roller 204. The lifting base can drive the water-absorbing cotton roller 204 to move up and down along the radial direction of the arc-shaped bracket 6.

[0046] The water-absorbing cotton roller 204 is pushed outward by the lifting base until it is in contact with the inner wall of the shield tunnel 1. As the arc-shaped slider 8 moves, after spraying water and wiping, the water-absorbing cotton roller 204 can quickly absorb the water and cleaning liquid 212 remaining at the cleaning position, preventing the water film or cleaning liquid 212 from affecting the detection equipment 21 to carry out the detection operation.

[0047] In some implementations, the circumferential moving assembly (not shown in the figure) includes a servo motor, a drive shaft, a moving gear, and an arc-shaped rack. Arc-shaped guide grooves are provided on both sides of the inner side of the arc-shaped slide, and guide blocks are provided on both sides of the arc-shaped slider. The guide blocks on the arc-shaped slider are slidably connected to the corresponding arc-shaped guide grooves. An arc-shaped rack is installed at the inner bottom of the arc-shaped slide, and the arc-shaped rack is arranged along the curvature of the tunnel cross-section, geometrically matching the inner wall of the shield tunnel, so that the entire circumferential scanning process conforms to the tunnel contour and reduces mechanical stress. A servo motor is installed inside the arc-shaped slider, and the servo motor is communicatively connected to the controller. The output end of the servo motor is connected to the drive shaft, and a moving gear is sleeved on the drive shaft. The moving gear meshes with the arc-shaped rack.

[0048] The system utilizes guide blocks on both sides and an arc-shaped guide groove to form a double-sided constraint guide rail, effectively preventing the arc-shaped slider from swaying, tilting, or jamming during movement, ensuring that the slider always fits the groove and moves smoothly. By employing a servo motor and rack and pinion transmission, combined with closed-loop control, the displacement of the arc-shaped slider within the arc-shaped groove can be precisely controlled. The controller can accurately drive the slider to its position according to a preset detection path and stably hover it, avoiding positional drift caused by gravity or vibration. Specifically, the servo motor inside the arc-shaped slider drives the drive shaft to rotate, and the moving gear mounted on the shaft rotates accordingly. Because the arc-shaped rack at the bottom of the arc-shaped groove meshes with the moving gear, the rotation of the gear is converted into the slider's arc-shaped translational movement along the rack, i.e., along the arc-shaped groove. The direction of movement is controlled by the forward and reverse rotation of the servo motor. After reaching the target position, the servo motor can apply a holding torque, allowing the slider to reliably hover at any angle, even at the top of the tunnel, without sliding down due to gravity.

[0049] In some embodiments, the testing device 21 in this application employs an ultrasonic testing head, which is installed inside the cavity of the arc-shaped slider 8. The ultrasonic testing head is connected to the end of the pressure sensor away from the connecting rod, and the ultrasonic testing heads are arranged in an array inside the arc-shaped slider 8. The ultrasonic testing heads are communicatively connected to the controller. All ultrasonic testing heads can be pushed outward synchronously by a radial movement component. The ultrasonic testing heads are used to emit / receive ultrasonic waves to identify defects such as voids and cracks.

[0050] In some embodiments, the controller in this application includes a control panel 5, which is mounted on top of the mobile platform 4. Before using the inspection platform, a dedicated scanning trajectory and speed are designed according to the size of the tunnel 1, and the data is entered into the control panel 5. The control panel 5 then automatically controls the equipment to perform the inspection operation of the tunnel 1.

[0051] The implementation principle of the array ultrasonic testing device for voids and defects inside the lining of a shield tunnel in this embodiment is as follows: Once the data entry in the control panel 5 is complete, the inspection platform is started to perform the inspection. The moving platform 4 will automatically move the arc-shaped bracket 6, on which the arc-shaped slider 8 is mounted on the outer surface, toward the inside of the shield tunnel 1. After the ultrasonic detection head located on the outer surface of the arc-shaped slider 8 has completely entered the inside of the shield tunnel 1, it moves through the arc-shaped slider 8 and the ultrasonic detection head to the position closest to the end face of the moving platform 4, and the inspection operation is carried out from this position.

[0052] When the arc-shaped slider 8 moves to the corresponding position, the push motor 9 is activated to drive the connected threaded rod 10 to rotate. When the threaded rod 10 rotates, the arc-shaped plate 11 will move outward inside the arc-shaped support 6. When the ultrasonic detection head contacts the inner wall of the shield tunnel 1, it will apply pressure to the pressure sensor 20 directly fixed thereto. When all pressure sensors 20 detect pressure, it means that all ultrasonic detection heads have come into contact with the inner wall of the shield tunnel 1. At this time, the ultrasonic detection head can be activated to perform ultrasonic testing on the inner wall of the shield tunnel 1 at the contact position.

[0053] After the ultrasonic detection of the current position of the shield tunnel 1 is completed, each ultrasonic detection head is controlled to retract a certain distance to avoid subsequent movement and scraping of the tunnel inner wall. The circumferential moving component drives the arc slider 8 to move the ultrasonic detection head to the next preset angle until all ultrasonic detection heads have passed the detected position. After all ultrasonic detection heads have passed the detected position, the ultrasonic detection head is used to detect the inner wall of the shield tunnel 1 at the current position. Then the above operation is repeated until the positions on the inner wall of the shield tunnel 1 corresponding to the current position of the arc support 6 are all detected, thus completing the entire cross-sectional scan.

[0054] After the position on the inner wall of the shield tunnel 1 corresponding to the arc-shaped support 6 has been inspected, the moving stage 4 drives all the ultrasonic testing heads to go deeper into the interior of the shield tunnel 1, advances a preset axial step length to enter the next inspection section, and so on to inspect the inner wall of other positions of the shield tunnel 1. This process is repeated until the entire section of the tunnel to be inspected is covered.

[0055] When the equipment cleans the inner wall of the shield tunnel 1, the detection device 21 is moved towards the end face of the moving platform 4 by the arc-shaped slider 8. As the arc-shaped slider 8 moves, the cleaning mechanism 2 installed on both sides of the outer surface of the arc-shaped slider 8 will clean the next detection position in advance.

[0056] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel, comprising: The arc-shaped bracket (6) has an arc-shaped groove (7) on its outer side along the circumference. An arc-shaped slider (8) is slidably connected inside the arc-shaped groove (7). Multiple cavities are provided inside the arc-shaped slider (8) along the circumference. A detection device (21) is installed in the cavity. The circumferential moving component is located inside the arc-shaped slide groove (7), and its output end is connected to the arc-shaped slider (8) to drive the arc-shaped slider (8) to move within the arc-shaped slide groove (7); The radial movement component is located inside the arc-shaped slider (8), and its output end can be connected to the detection device (21) inside the cavity to drive the detection device (21) to extend and retract radially along the arc-shaped bracket (6); The traveling component is located at the bottom of the shield tunnel (1), and its own moving end is connected to the bottom of the arc-shaped support (6). It can drive the moving end to move the arc-shaped support (6) along the extension direction of the shield tunnel (1). The controller is connected to the circumferential moving component, the radial moving component, and the traveling component. The controller can control the movement of the circumferential moving component, the radial moving component, and the traveling component.

2. The array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel according to claim 1, characterized in that: The radial movement assembly includes an arc plate (11), a push motor (9), a threaded rod (10), and a pusher. The push motor (9) is communicatively connected to the controller. The arc plate (11) is slidably connected to the inside of the arc slider (8) along its own radial direction. The arc slider (8) has multiple guide holes (16) in the circumferential direction that can connect to the cavity. A pusher is installed in the guide holes (16). One end of the pusher is connected to the arc plate (11), and the other end of the pusher is used to connect to the detection device (21). The push motor (9) is installed inside the arc slider (8). The output end of the push motor (9) is connected to the threaded rod (10). The threaded rod (10) passes through the arc plate (11) and is threadedly connected to the arc plate (11), so that the arc plate (11) can drive the detection device (21) to perform telescopic movement via the pusher.

3. The array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel according to claim 2, characterized in that: The pusher includes an arc-shaped rod (13), a metal sleeve (14), a cylindrical sleeve (15), and a connecting rod (19). The arc-shaped plate (11) has an installation groove (12) on the side facing the guide hole (16). The arc-shaped rod (13) is installed in the installation groove (12). Multiple metal sleeves (14) corresponding to the guide holes (16) are slidably sleeved on the arc-shaped rod (13). The metal sleeve (14) is connected to the connecting rod (19) via the cylindrical sleeve (15) slidably connected in the guide hole (16). The end of the connecting rod (19) away from the cylindrical sleeve (15) can be connected to the detection device (21).

4. The array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel according to claim 3, characterized in that: The pusher also includes a push plate (18), a pressure sensor (20), and a spring (17). The pressure sensor (20) is connected to the controller. The cylindrical sleeve (15) is fitted with a spring (17). The push plate (18) is slidably engaged inside the cylindrical sleeve (15). One end of the spring (17) is connected to the inner bottom of the cylindrical sleeve (15), and the other end of the spring (17) is connected to the push plate (18). The push plate (18) is connected to the pressure sensor (20) via the connecting rod (19). The pressure sensor (20) is connected to the detection device (21). The pressure sensor (20) can acquire the pressure detection information received by the detection device (21) and transmit it to the controller. The controller can compare the pressure detection information with its own internal preset pressure threshold. If the pressure detection information is higher than the preset pressure threshold, the detection device (21) moves into position.

5. The array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel according to claim 1, characterized in that: It also includes a cleaning mechanism (2), which includes a water spraying cleaning component, a wiping cleaning component and a water absorption cleaning component. The water spraying cleaning component, the wiping cleaning component and the water absorption cleaning component are symmetrically arranged inside both ends of the arc-shaped slider (8). The water spraying cleaning component can spray water to clean the inner wall of the shield tunnel (1), the wiping cleaning component can wipe the inner wall of the shield tunnel (1) to clean it, and the water absorption cleaning component can absorb the sewage remaining on the inner wall of the shield tunnel (1).

6. The array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel according to claim 5, characterized in that: The water spray cleaning assembly includes a connector (210), a storage tank (211), cleaning fluid (212), a suction pipe (209), a push-button pump (208), an L-shaped nozzle (213), and an actuating component. The connector (210) is embedded inside the arc-shaped slider (8). The connector (210) is threadedly connected to the storage tank (211) located outside the arc-shaped slider (8). The storage tank (211) contains cleaning fluid (212). A nozzle is inserted through the connector (210). There is a water suction pipe (209), and the end of the water suction pipe (209) that protrudes from the storage tank (211) is connected to a press-type water pump (208). The output end of the press-type water pump (208) is connected to an L-shaped nozzle (213). The inside of the arc-shaped slider (8) is provided with an actuating element located at the top of the press-type water pump (208). The actuating element is connected to the wiping and cleaning assembly in a driving connection. The actuating element can perform intermittent pressing action on the press-type water pump (208) under the drive of the wiping and cleaning assembly.

7. An array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel according to claim 6, characterized in that: The wiping and cleaning assembly includes a cleaning disc (203), an electric telescopic rod (202), and a stepper motor (201). The actuating component includes a concave rod (207). The electric telescopic rod (202) and the stepper motor (201) are both communicatively connected to the controller. The stepper motor (201) is embedded inside the arc-shaped slider (8). The output end of the stepper motor (201) is connected to the electric telescopic rod (202) via a coupling. The telescopic end of the electric telescopic rod (202) is connected to the cleaning disc (203). (201) can drive the cleaning disc (203) to rotate, and the electric telescopic rod (202) can drive the cleaning disc (203) to extend and retract. The fixed end of the electric telescopic rod (202) is fitted with a first bevel gear (205). The arc-shaped slider (8) is provided with a concave groove located at the top of the press-type water pump (208). A concave rod (207) is rotatably installed in the concave groove. A second bevel gear (206) that can mesh with the first bevel gear (205) is fitted on the concave rod (207).

8. The array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel according to claim 5, characterized in that: The water-absorbing cleaning component includes a water-absorbing cotton roller (204) and a lifting base. The lifting base is communicatively connected to the controller. The outer surface of the arc-shaped slider (8) is provided with a lifting base. The output end of the lifting base is rotatably mounted with a water-absorbing cotton roller (204). The lifting base can drive the water-absorbing cotton roller (204) to move up and down along the radial direction of the arc-shaped bracket (6).

9. An array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel according to claim 1, characterized in that: The traveling component includes a track (3) and a moving platform (4). The moving platform (4) is connected to the controller. The inner bottom of the shield tunnel (1) is laid with a track (3) along the extension direction. The moving platform (4) is slidably connected on the track (3). The arc-shaped support (6) is installed on the moving platform (4). The controller can control the moving platform (4) to move along the track (3).

10. An array ultrasonic testing device for detecting voids and defects inside the lining of a shield tunnel according to claim 1, characterized in that: The circumferential moving component includes a servo motor, a drive shaft, a moving gear, and an arc-shaped rack. The arc-shaped slide groove (7) has arc-shaped guide grooves on both sides inside. The arc-shaped slider (8) has guide blocks on both sides. The guide blocks are slidably connected to the arc-shaped guide grooves. An arc-shaped rack is installed at the bottom inside the arc-shaped slide groove (7). A servo motor is installed inside the arc-shaped slider (8). The output end of the servo motor is connected to the drive shaft. A moving gear is sleeved on the drive shaft. The moving gear meshes with the arc-shaped rack.

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