Adaptable carrying device of pipe piece type vertical shaft wall back grouting detection equipment

Abstract

The invention discloses an adaptable carrying device of pipe piece type vertical shaft wall back grouting detection equipment. Relates to the technical field of tunnel and underground engineering, and aims at solving the problems that existing nondestructive testing equipment is poor in scene adaptability with a tube-piece type vertical shaft, and an existing carrying mode is low in safety and detection efficiency and has a blind area. The adaptive carrying device of the pipe piece type vertical shaft wall post-grouting detection equipment comprises a lifting system, an annular walking system and an attached supporting system. The lifting system is composed of a detachable threaded steel pipe, a driving motor and symmetrical rubber wheels, and vertical movement is achieved through friction driving. The circumferential walking system is provided with walking wheels and a limiting device, and circumferential movement is achieved. The attached supporting system adopts a jack and a steel lantern ring, so that the detection equipment is tightly attached to the well wall. The device can be flexibly lifted and annularly moved, it is guaranteed that detection equipment is stably attached to the well wall, and the detection efficiency and safety are improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel and underground engineering technology, and in particular to an adaptable mounting device for a segmented shaft wall grouting detection equipment. Background Technology

[0002] With the continuous advancement of urbanization, the development and utilization of underground space is becoming increasingly in-depth. Underground vertical tunneling technology, with its advantages of high construction efficiency and minimal disruption to the surrounding environment, is being used more and more widely in projects such as urban subway shafts, integrated utility tunnel shafts, and vertical passages in underground complexes. As the core load-bearing and waterproofing component of an underground shaft, the vertical segment structure relies heavily on its backfill grouting process to ensure the stability and impermeability of the shaft structure. The grout effectively fills the construction gaps between the segments and the ground, transfers the vertical and lateral loads borne by the segments, blocks groundwater seepage channels, and thus ensures the long-term safe operation and functional integrity of the shaft structure.

[0003] However, the grouting process behind segmented shafts is highly concealed. The grout filling state, density, and bonding quality cannot be directly observed. Grouting quality is affected by various factors such as geological conditions, grout mix ratio, and construction parameters, making it highly susceptible to defects such as voids, insufficient density, and poor bonding. If these defects are not detected and addressed promptly, they can lead to uneven stress on the segments, causing structural damage such as cracking and misalignment. Furthermore, they can damage the shaft's waterproof barrier, causing water leakage. In severe cases, they may even induce ground subsidence and collapse, affecting the structural functionality, increasing maintenance and reinforcement costs, and even threatening the safety of surrounding buildings and underground pipelines.

[0004] Currently, the quality inspection of grouting behind segmented shafts mainly relies on non-destructive testing methods such as ultrasonic / impact elastic wave methods and ground-penetrating radar methods. These non-destructive testing methods have the advantages of being non-destructive and having high testing efficiency, making them the preferred testing methods in current projects. However, the core pain point is that the existing non-destructive testing equipment is severely incompatible with the segmented shaft scenario, preventing the advantages of the testing methods from being fully utilized and making it difficult to meet the project's requirements for accurate, efficient, and comprehensive testing of grouting quality. Most existing non-destructive testing equipment has a general-purpose structure and is not specifically designed for the special scenario of segmented shafts. It cannot adapt to the core characteristics of the shaft's vertical height, the curved surface structure of the segments, and the high-altitude working environment. Therefore, it must be paired with a specific mounting device to realize the testing operation. However, the current supporting mounting methods, such as manual handheld operation by spiders and conventional curved surface climbing robots, have obvious defects, further exacerbating the testing difficulties.

[0005] Specifically, the segmented shaft scenario has distinct characteristics: the shaft extends vertically, typically reaching heights of tens of meters, resulting in narrow working spaces and a high-altitude work environment; the segments have curved surfaces with irregular areas such as seams and protruding bolts, and some segments are covered with dust, mud, and other debris; simultaneously, the shaft's inner wall requires full-section, blind-spot-free inspection, placing extremely high demands on the mobility and stability of the mounting equipment. Existing non-destructive testing equipment itself lacks the capability to adapt to this special scenario and cannot independently complete inspection operations, necessitating the use of mounting equipment for fixing, moving, and adjusting the equipment's orientation. The specific shortcomings of existing mounting methods are as follows: The manual handheld inspection method, essentially involving a person carrying the inspection equipment, fails to address the issue of equipment compatibility with the specific environment. Instead, it is severely limited by the environment: the high vertical height of the shaft and the high-altitude working environment pose extremely high safety risks to operators and make operation very difficult; due to the curved structure of the tunnel segments, it is difficult for a person to maintain a stable inspection posture, resulting in large fluctuations in inspection accuracy and the easy creation of blind spots that fail to cover critical areas such as segment joints and the top; at the same time, manual inspection is inefficient, labor-intensive, and unsuitable for the batch inspection needs of large-section, high-depth shafts. Furthermore, the inspection accuracy is significantly affected by the operator's skill level and sense of responsibility, making it impossible to guarantee the consistency of inspection results.

[0006] While curved-surface climbing robots attempt to adapt to the curved surfaces of tunnel segments through mechanical structures, existing climbing robots still suffer from serious shortcomings in their adaptability, failing to meet the requirements of tunnel segment shaft scenarios: First, their surface adaptability is poor. Existing robots are mostly designed for flat or simple curved surfaces and cannot flexibly adapt to the curved surfaces of tunnel segments. They are prone to jamming and displacement at segment joints and bolt protrusions, making continuous movement impossible. Second, their adsorption stability is insufficient. Affected by the flatness of the tunnel segment surface and dust and debris, the robot's adsorption force easily weakens, making it prone to high-altitude detachment accidents, posing a significant safety hazard. Third, their equipment compatibility is poor. Existing robots have fixed mounting platform structures and cannot adapt to different models and sizes of non-destructive testing equipment (such as ultrasonic probes and ground-penetrating radar antennas), resulting in poor versatility. Fourth, their testing continuity is insufficient. The robot's movement speed is slow, debugging is complex, and data transmission is easily interfered with by the enclosed environment of the shaft, making it difficult to achieve efficient and continuous full-section testing, and significant blind spots remain.

[0007] In summary, existing non-destructive testing (NDT) equipment lacks adaptability to the specific scenarios of segmented shafts and cannot independently complete the inspection of grouting quality behind the shaft wall. Furthermore, current mounting methods suffer from poor adaptability, low safety, and low efficiency, preventing the full realization of the advantages of NDT methods and failing to meet the requirements of "safe, comprehensive, efficient, and non-destructive" grouting quality inspection. This hinders the effective resolution of quality control challenges arising from concealed grouting construction and fails to provide reliable assurance for the safe operation of shaft structures. Therefore, it is necessary to propose an adaptable mounting device for inspecting grouting behind the shaft wall of segmented shafts to address these issues. Summary of the Invention

[0008] The purpose of this invention is to provide an adaptable mounting device for the grouting inspection equipment behind the wall of a segmented shaft, so as to solve the problems of poor compatibility between existing non-destructive testing equipment and segmented shaft scenarios, low safety of existing mounting methods, low detection efficiency, and blind spots.

[0009] This invention provides an adaptable mounting device for a segmented shaft wall grouting inspection equipment, comprising: a lifting system, a circumferential walking system, and an attachment support system.

[0010] The lifting system is used to move the non-destructive testing equipment vertically along the shaft. The lifting system includes a detachable threaded steel pipe, a rubber wheel drive motor, and at least two sets of symmetrically arranged rubber wheels. The lower end of the detachable threaded steel pipe is used to connect to the non-destructive testing equipment, and the upper end passes through the rubber wheels. The rubber wheel drive motor drives the rubber wheels to rotate, and the rubber wheels press against the detachable threaded steel pipe, driving the detachable threaded steel pipe to move vertically by friction.

[0011] The circumferential walking system is used to drive the lifting system to move circumferentially along the top of the shaft segment; the circumferential walking system includes a walking device frame, a walking wheel assembly disposed on the walking device frame, and a limiting device for limiting the lateral displacement of the walking device frame; the walking wheel assembly includes at least a driving wheel and a driven wheel, and the driving wheel is driven by a driving wheel drive motor; the walking device frame is installed above the lifting system.

[0012] The attachment support system is used to support the non-destructive testing equipment and make it fit against the shaft wall; the attachment support system includes a jack and a steel sleeve; the steel sleeve is fitted onto the detachable threaded steel pipe; the jack is located on the outside of the steel sleeve and is used to apply a thrust to the steel sleeve to drive the non-destructive testing equipment to fit against the shaft wall.

[0013] Furthermore, the lifting system also includes a locking device and a motor moving track for preventing the detachable threaded steel pipe from sliding down in a stationary state; the locking device is used to provide clamping force so that the rubber wheel drive motor drives at least one of the rubber wheels to move on the motor moving track, thereby clamping the detachable threaded steel pipe between the two sets of rubber wheels.

[0014] Furthermore, the lifting system also includes a fall-prevention perforated pin disposed on the top of the detachable threaded steel pipe, used to lock the detachable threaded steel pipe a second time when the lifting system stops running.

[0015] Furthermore, the limiting device includes a limiting steel plate, a buffer spring, a limiting wheel, a screw, and a limiting nut; the screw passes through the limiting steel plate, and the limiting wheel is fixed to one end of the screw by the limiting nut; the buffer spring is sleeved on the screw and located between the limiting nut and the limiting steel plate; by adjusting the nut on the screw, the limiting wheel is made to fit tightly against the side of the tube segment.

[0016] Furthermore, the attachment support system also includes a detachable screw, a fixed counterweight steel plate, and a pressure regulating component; the upper end of the detachable screw is connected to the walking device frame, and the lower end is connected to the non-destructive testing equipment, with a steel collar fitted onto the middle of the detachable screw; the fixed counterweight steel plate is fixedly installed at the bottom of the walking device frame to balance the reaction force generated when the jack applies thrust; the pressure regulating component is used to control the lifting force of the jack.

[0017] Furthermore, the positive pressure applied by the rubber wheel to the detachable threaded steel pipe Satisfying the formula: in, The weight of the non-destructive testing equipment. The weight per linear meter of detachable threaded steel pipe. This represents the maximum detection depth of the vertical shaft. It is the coefficient of rolling friction between the rubber wheel and the detachable threaded steel pipe.

[0018] Furthermore, the contact pressure between the non-destructive testing equipment and the well wall With the lifting force of the jack Satisfying the formula: in, The distance from the jack support point to the bottom of the walking device frame is [distance missing]. The distance from the jack support point to the non-destructive testing equipment is [distance]. The angle between the jack and the detachable threaded steel pipe.

[0019] The beneficial effects of this invention are as follows: This invention, through the establishment of a lifting system driven by rubber wheels and detachable threaded steel pipes for vertical lifting, a circumferential walking system enabling adaptive circumferential movement on the top of the tunnel segment using a walking wheel assembly and limiting device, and an attachment support system using jacks to push steel collars for stable contact with non-destructive testing equipment, together constitute a dedicated mounting platform specifically adapted to the special scenario of tunnel segment shafts. This device overcomes the technical defects of existing general non-destructive testing equipment or conventional mounting methods in this scenario, such as low safety, poor surface adaptability, low testing efficiency, and blind spots. It can safely, stably, and flexibly support various non-destructive testing equipment, achieving comprehensive and efficient testing of the grouting quality behind the tunnel segment shaft wall, providing reliable equipment support for ensuring the long-term safe and stable operation of the shaft structure. Attached Figure Description

[0020] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0021] Figure 1 Cross-sectional view of the compatible mounting device for the grouting detection equipment behind the wall of a segmented shaft; Figure 2 Side view of the compatible mounting device for the grouting detection equipment behind the wall of a segmented shaft; Figure 3 This is a schematic diagram of the limiting device; Figure 4 This is a schematic diagram of one embodiment of the locking device; Figure 5 This is a schematic diagram of another embodiment of the locking device; where (a) is the locked state and (b) is the relaxed state; Figure 6 The diagram shows the lifting and lowering of a detachable threaded steel pipe, where (a) is the lifting state and (b) is the lowering state.

[0022] Illustration: 1-Anti-falling perforated pin; 2-Rubber wheel; 3-Jack; 4-Detachable threaded steel pipe; 5-Shaft segment; 6-Non-destructive testing equipment; 7-Circular walking system; 8-Fixed counterweight steel plate; 9-Limiting device; 10-Drive wheel; 11-Grouting behind the segment; 12-Drive wheel drive motor; 13-Rubber wheel drive motor; 14-Drive shaft; 15-Driven wheel; 16-Steel collar; 17-Tie bolt; 18-Motor moving track; 19-Nut; 20-Buffer spring; 21-Limiting wheel; 22-Screw; 23-Limiting nut; 24-Electro-hydraulic cylinder; 25-Top irons at both ends of the electro-hydraulic cylinder. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The technical solutions provided by various embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0024] Please see Figures 1 to 6 The present invention provides an adaptable mounting device for a segmented vertical shaft wall grouting detection device, comprising: a lifting system, a circumferential walking system 7, and an attachment support system.

[0025] The lifting system is the core vertical lifting actuator of the device, mainly used to drive the non-destructive testing equipment 6 to move vertically across the entire range of the shaft wall, and to provide temporary vertical positioning support for the equipment inspection, ensuring the stability and safety of vertical movement, and adapting to the needs of high-depth and high-altitude operation scenarios in shafts. On the other hand, when the equipment reaches the designated inspection height, the vertical position of the equipment is safely locked by the anti-fall perforated pin 1 set at the top, preventing the equipment from sliding down due to gravity, ensuring safety for high-altitude operations in all aspects, and effectively solving the problems of unreliable transmission and insufficient locking protection of existing mounted devices.

[0026] The specific structure and working principle of the lifting system are as follows: This system mainly consists of two sets of symmetrically arranged rubber wheels 2, a rubber wheel drive motor 13, a bracket, a detachable threaded steel pipe 4, a locking device, and a motor moving rail 18. The two sets of rubber wheels 2 are symmetrically installed on both sides of the bracket, and the rubber wheel drive motor 13 is connected to the rubber wheels 2 via a drive shaft 14. The detachable threaded steel pipe 4 passes between the two sets of rubber wheels 2, and its lower end is fixedly connected to a non-destructive testing device 6. The detachable design facilitates equipment transportation, installation, and subsequent maintenance, and the length of the steel pipe can be flexibly spliced ​​according to the vertical shaft inspection depth. The locking device can be implemented using tie bolts 17, with each end of the tie bolt 17 connected to one of the two rubber wheels 2. Alternatively, it can be implemented using a hydraulic cylinder locking system consisting of an electric hydraulic cylinder 24 and two end plates 25 of the electric hydraulic cylinder. The upper ends of the end plates 25 of the electric hydraulic cylinder are connected to the two rubber wheels 2.

[0027] During operation, the motor drives a set of rubber wheels 2 to move on the motor track 18 by pre-setting the clamping force of the tie bolts 17. This tightly clamps the detachable threaded steel pipe 4 between the two sets of rubber wheels 2, initially achieving temporary vertical fixation of the non-destructive testing equipment and the threaded steel pipe, preventing the equipment from sliding freely when not driven. Alternatively, a pre-set clamping force can be provided by the electric hydraulic cylinder 24. The electric hydraulic cylinder 24 advances to lock the rubber wheels 2 and retracts to release them. Subsequently, the rubber wheel drive motor 13 outputs power to drive the rubber wheels 2 to rotate at a uniform speed. Utilizing the rolling friction between the rubber wheels 2 and the detachable threaded steel pipe 4, the rotational power of the rubber wheel drive motor 13 is converted into vertical linear power, thereby driving the detachable threaded steel pipe 4 and the non-destructive testing equipment 6 connected to its lower end to move smoothly up and down along the shaft wall, realizing grouting quality testing operations at different heights. Two sets of rubber wheels 2 are used to press the detachable threaded steel pipe 4, which is connected to the non-destructive testing device 6, tightly, thereby fixing the non-destructive testing device 6 and the detachable threaded steel pipe 4 in a vertical position. At the same time, a pin device is installed on the top of the device. When the device is raised to the designated height and the electric rubber wheel lifting system stops, the anti-fall through-hole pin 1 is inserted to achieve secondary locking, further enhancing the locking reliability of the device in a static state. This forms a double protection of bolt drive and pin locking, eliminating the risk of accidental slippage of the device.

[0028] To ensure slippage-free vertical movement, reliable power transmission, and safe equipment operation, the friction between the rubber wheel 2 and the detachable threaded steel pipe 4 must meet preset requirements, and the normal pressure applied by the rubber wheel 2 to the detachable threaded steel pipe 4 must also meet these requirements. Satisfying the formula: in, The positive pressure of a single rubber wheel pair on a detachable threaded steel pipe, in N; The weight of the nondestructive testing equipment is expressed in nanometers (N). The unit is the weight per meter of detachable threaded steel pipe, in N / m. The maximum detection depth of the vertical shaft is expressed in meters (m). The coefficient of rolling friction between the rubber wheel and the detachable threaded steel pipe is preferably set to 0.40-0.60, taking into account the actual application scenario of the device.

[0029] 2×G1 represents the total self-weight of the non-destructive testing equipment that the two sets of rubber wheels must jointly bear, and L×G2 represents the total self-weight of the detachable threaded steel pipe at the maximum testing depth. The sum of the two is the total load of the equipment and steel pipe that the rubber wheels must bear. The denominator 2×μ represents the sum of the maximum rolling friction force that the two sets of rubber wheels can provide between the steel pipe and the steel wheel. By limiting the normal pressure F of a single rubber wheel through this formula, it can be ensured that the total friction force provided by the two sets of rubber wheels is always greater than the total load of the equipment and steel pipe. This effectively avoids slippage between the rubber wheels and the steel pipe due to insufficient pressure, ensures stable power transmission, prevents the risk of the equipment falling during vertical movement, and is suitable for segmented shaft testing scenarios with different depths and equipment self-weights.

[0030] In addition, the rubber wheels are made of wear-resistant and non-slip natural rubber with anti-slip textured surfaces to further enhance friction and wear resistance with the threaded steel pipes, extending their service life. The drive motor is a variable frequency speed control motor, which can flexibly adjust the rotation speed of the rubber wheels according to the testing requirements, thereby adjusting the vertical movement speed of the non-destructive testing equipment. The preferred adjustment range is 0.1m / min-0.5m / min, balancing testing efficiency and accuracy. When the equipment moves to the designated testing height, the motor can stop precisely. The anti-fall perforated pin 1 set at the top ensures the safety locking of the equipment's vertical position.

[0031] The circumferential walking system 7 is used to drive the lifting system to move circumferentially along the top of the vertical shaft segment 5. The circumferential walking system 7 is the core actuator for the circumferential movement of the device. It works in conjunction with the lifting system to achieve full-section, blind-angle-free inspection of the shaft wall of the segment-type vertical shaft by the non-destructive testing equipment. It focuses on solving the technical defects of existing mounted devices, such as circumferential movement jamming, poor surface adaptability, and easy deviation. It adapts to the arc-shaped curved surface and cross-sectional structure characteristics of the segment, ensuring the stability and reliability of circumferential movement.

[0032] The specific structure and working principle are as follows: The circumferential walking system 7 includes a walking device frame, a walking wheel assembly mounted on the walking device frame, and a limiting device 9 for restricting the lateral displacement of the walking device frame; the walking wheel assembly includes at least a driving wheel 10 and a driven wheel 15, with the driving wheel 10 driven by a driving wheel drive motor 12; the walking device frame is installed above the lifting system. The limiting device 9 includes a limiting steel plate, a screw 22, a limiting wheel 21, and a buffer spring 20; the screw 22 passes through the limiting steel plate, and the limiting wheel 21 is fixed to one end of the screw 22; the buffer spring 20 is sleeved on the screw 22 and located between the limiting wheel 21 and the limiting steel plate; by adjusting the nut 19 on the screw 22, the limiting wheel 21 is made to fit tightly against the side of the segment 5. The circumferential walking system 7 is installed as a whole on the top of the segment structure. Through the limiting device 9, it can adapt to different segment curvatures and can flexibly adapt to the segment cross-sectional curvature and size, ensuring that the walking device fits tightly against the top of the segment and that the force is evenly distributed. The walking wheel assembly is equipped with a total of 4 walking wheels, arranged in a symmetrical manner with two main wheels and two driven wheels. The driven wheel 15 can flexibly adjust its steering angle to adapt to the circumferential arc trajectory of the tube segment, avoiding jamming or deviation during walking. The main wheel 10 is connected to the main wheel drive motor 12, which can output stable power to drive the driven wheel 15 forward synchronously, realizing the circumferential movement of the walking device and the entire mounted device. The walking speed can be flexibly adjusted according to the detection requirements, balancing detection efficiency and detection accuracy.

[0033] The limiting steel plates on both sides are elastic guide limiting structures that work together with the walking wheel assembly to provide guidance and protection. Their spacing can be flexibly adjusted according to the width of the tunnel segment. During the walking process, the position of the screw 22 is adjusted by tightening and loosening the nut 19, and the position of the upper limit wheel 21 on the screw is adjusted so that it fits tightly against the two sides of the tunnel segment. This can effectively limit the lateral displacement of the walking device and prevent the device from slipping off the top of the tunnel segment. At the same time, together with the limiting nut 23 and the buffer spring 20, it can also provide elastic buffering in irregular parts such as tunnel segment joints and bolt protrusions to avoid jamming and ensure continuous and smooth circumferential walking.

[0034] The core adaptive advantages of this system are reflected in the following aspects: The walking device frame adopts an elastic adjustable structure, which, combined with the steering flexibility of the universal passive wheels, can automatically adapt to the curved surface and cross-sectional size changes of the tunnel segments. It can smoothly pass through irregular parts such as tunnel segment joints and bolt protrusions without manual adjustment, solving the defects of existing walking devices that cannot adapt to the curved surface of tunnel segments and are prone to jamming. At the same time, the surface of the walking wheels is treated with anti-slip and wear-resistant materials to increase the friction with the surface of the tunnel segments. Combined with the guiding effect of the limit device, it ensures that the device does not slip or deviate during circumferential movement, further ensuring the safety of high-altitude operations.

[0035] During operation, driven by the drive motor 12, the drive wheel 10 outputs power, pulling the driven wheel 15 forward synchronously. Under the guidance and limiting action of the limiting device, the traveling device runs smoothly in a circular motion along the arc-shaped trajectory at the top of the tunnel segment, synchronously driving the lifting system and non-destructive testing equipment to achieve circular movement. In conjunction with the vertical lifting action of the lifting system, the non-destructive testing equipment can ultimately achieve full-section coverage testing of the shaft wall, greatly improving testing efficiency and avoiding blind spots in the circular testing.

[0036] The attachment support system is used to support the testing equipment 6 and make it fit against the shaft wall. This system is the core support and attitude adjustment mechanism of the non-destructive testing equipment. Its core function is to ensure that the non-destructive testing equipment fits tightly against the shaft wall, ensure stable testing signals and meet testing accuracy standards, while balancing the reaction force of the jacks to prevent the overall device from shifting. It is suitable for the curved surface of the tunnel segment and high-altitude operation scenarios, and solves the technical defects of existing mounting devices such as poor fit of the testing equipment, uncontrollable pressure, and structural imbalance.

[0037] The specific structure and working principle are as follows: The attachment support system includes a jack 3 and a steel collar 16; the steel collar 16 is fitted onto a detachable threaded steel pipe 4; the jack 3 is located on the outside of the steel collar 16 to apply thrust to the steel collar 16, thereby driving the detection equipment 6 to adhere to the shaft wall. The location of the grouting 11 behind the pipe segment is as follows: Figure 1 As shown. The attachment support system also includes a detachable screw, a fixed counterweight steel plate 8, and a pressure regulating component; the upper end of the detachable screw is connected to the frame of the traveling device, and the lower end is connected to the detection device 6, with a steel collar 16 fitted in the middle of the detachable screw; the fixed counterweight steel plate 8 is fixedly installed at the bottom of the frame of the traveling device to balance the reaction force generated when the jack 3 applies thrust; the pressure regulating component is used to control the lifting force of the jack 3.

[0038] During operation, the pressure regulating component controls the movement of jack 3, which applies a stable lifting force to the steel collar 16. Under this force, the steel collar 16 pulls the detachable screw rod smoothly towards the well wall, thereby simultaneously bringing the non-destructive testing equipment 6, fixed at its lower end, closer to the well wall. This ensures a tight fit between the testing equipment and the well wall, eliminating gaps between the testing end and the well wall and preventing air gaps from interfering with the testing signal. This meets the core requirements of non-destructive testing methods such as ultrasonic and ground-penetrating radar. To adapt to the pressure requirements of different testing methods, such as ultrasonic / impact elastic wave and ground-penetrating radar methods, this system allows for flexible adjustment of the contact pressure between the non-destructive testing equipment 6 and the well wall by adjusting the hydraulic pressure of jack 3. It can accommodate a testing pressure range of 0.05MPa-0.4MPa, ensuring a tight fit while preventing excessive pressure from damaging the tunnel lining surface or the testing equipment. The pressure adjustment is convenient and precise, and can be dynamically adapted to the on-site testing scenario.

[0039] Meanwhile, since the jack 3 generates a reverse force during the lifting process, it is easy to cause the overall center of gravity of the device to shift and cause the risk of tilting. Therefore, a fixed counterweight steel plate 8 is configured at the bottom of the traveling mechanism. The counterweight balances the reaction force generated by the jack 3, ensuring that the device is evenly stressed and stable in posture, eliminating the safety hazards such as tilting and slipping of the device caused by the shift of the center of gravity, and ensuring the safety of high-altitude operations.

[0040] Contact pressure between non-destructive testing equipment and well wall Lifting force of the jack Satisfying the formula: in, The jacking force is expressed in Newtons (N). The contact pressure between the non-destructive testing equipment and the well wall, in N; The distance from the jack support point to the bottom of the walking device frame is in meters (m). The distance from the jack support point to the non-destructive testing equipment is in meters (m). The angle between the jack and the detachable threaded steel pipe is expressed in degrees.

[0041] This formula is used to accurately calculate the matching relationship between the jack's lifting force and the contact pressure of the testing equipment, ensuring that the contact pressure meets the testing requirements. It avoids excessive lifting force leading to excessive contact pressure and structural damage, or insufficient lifting force leading to poor fit and reduced testing accuracy. By clearly defining each parameter, it is easy for on-site construction personnel to accurately set the jack's lifting force according to the device size and testing needs, thereby improving the system's practicality and operability.

[0042] In addition, the detachable design of the detachable screw rod can be used with the detachable threaded steel pipe of the lifting system to flexibly adapt to different depths and sizes of testing scenarios, which facilitates equipment transportation, installation and subsequent maintenance; the jacks are small hydraulic jacks, which are small in size and have strong load-bearing capacity, suitable for narrow working spaces in vertical shafts, and have a self-locking function, which can maintain stability after the set pressure and avoid pressure decay leading to loosening of the fit.

[0043] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention.

Claims

1. An adaptable mounting device for a segmented shaft wall grouting inspection equipment, characterized in that, include: Lifting system, circumferential travel system (7) and attachment support system; The lifting system is used to drive the non-destructive testing equipment (6) to move vertically along the shaft; the lifting system includes a detachable threaded steel pipe (4), a rubber wheel drive motor (13) and at least two sets of symmetrically arranged rubber wheels (2); the lower end of the detachable threaded steel pipe (4) is used to connect the non-destructive testing equipment (6), and the upper end passes through the rubber wheel (2); the rubber wheel drive motor (13) drives the rubber wheel (2) to rotate, and the rubber wheel (2) presses against the detachable threaded steel pipe (4), and the detachable threaded steel pipe (4) is driven to move vertically by friction; The circumferential walking system (7) is used to drive the lifting system to move circumferentially along the top of the vertical shaft segment (5); the circumferential walking system (7) includes a walking device frame, a walking wheel assembly disposed on the walking device frame, and a limiting device (9) for limiting the lateral displacement of the walking device frame; the walking wheel assembly includes at least a drive wheel (10) and a driven wheel (15), the drive wheel (10) being driven by a drive wheel drive motor (12); the walking device frame is installed above the lifting system; The attachment support system is used to support the non-destructive testing equipment (6) and make it fit against the shaft wall; the attachment support system includes a jack (3) and a steel collar (16); the steel collar (16) is fitted onto the detachable threaded steel pipe (4); the jack (3) is located on the outside of the steel collar (16) and is used to apply a thrust to the steel collar (16) to drive the non-destructive testing equipment (6) to fit against the shaft wall.

2. The adaptable mounting device for a segmented shaft wall grouting detection equipment according to claim 1, characterized in that, The lifting system also includes a locking device for preventing the detachable threaded steel pipe (4) from sliding down in a stationary state and a motor moving track (18); the locking device is used to provide clamping force so that the rubber wheel drive motor (13) drives at least one of the rubber wheels (2) to move on the motor moving track (18), thereby clamping the detachable threaded steel pipe (4) with the two sets of rubber wheels (2).

3. The adaptable mounting device for a segmented shaft wall grouting detection equipment according to claim 1, characterized in that, The lifting system also includes a fall-prevention perforated pin (1) set on the top of the detachable threaded steel pipe (4) for secondary locking of the detachable threaded steel pipe (4) when the lifting system stops running.

4. The adaptable mounting device for a segmented shaft wall grouting detection equipment according to claim 1, characterized in that, The limiting device (9) includes a limiting steel plate, a buffer spring (20), a limiting wheel (21), a screw (22), and a limiting nut (23); the screw (22) passes through the limiting steel plate, and the limiting wheel (21) is fixed to one end of the screw (22) by the limiting nut (23); the buffer spring (20) is sleeved on the screw (22) and located between the limiting nut (23) and the limiting steel plate; by adjusting the nut (19) on the screw (22), the limiting wheel (21) is made to fit tightly against the side of the tube segment (5).

5. The adaptable mounting device for a segmented shaft wall grouting detection equipment according to claim 1, characterized in that, The attachment support system also includes a detachable screw, a fixed counterweight steel plate (8), and a pressure regulating component; the upper end of the detachable screw is connected to the frame of the walking device, and the lower end is connected to the non-destructive testing equipment (6); the steel collar (16) is fitted onto the middle of the detachable screw; the fixed counterweight steel plate (8) is fixedly installed at the bottom of the frame of the walking device to balance the reaction force generated when the jack (3) applies a thrust; the pressure regulating component is used to control the lifting force of the jack (3).

6. The adaptable mounting device for a segmented shaft wall grouting detection equipment according to claim 1, characterized in that, The positive pressure applied by the rubber wheel (2) to the detachable threaded steel pipe (4) Satisfying the formula: in, For the weight of the non-destructive testing equipment (6), The self-weight of each linear meter of the detachable threaded steel pipe (4) This represents the maximum detection depth of the vertical shaft. The coefficient of rolling friction between the rubber wheel (2) and the detachable threaded steel pipe (4) is denoted as .

7. The adaptable mounting device for a segmented shaft wall grouting detection equipment according to claim 1, characterized in that, The contact pressure between the non-destructive testing equipment (6) and the well wall The lifting force of the jack (3) Satisfying the formula: in, The distance from the support point of the jack (3) to the bottom of the frame of the walking device is given. The distance from the support point of the jack (3) to the non-destructive testing equipment (6) is given. The angle between the jack (3) and the detachable threaded steel pipe (4).

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