Pipeline scanning equipment carrying device

Abstract

The utility model discloses a pipeline scanning equipment carrying device which can be used in the construction technology of small-diameter pipelines and small-curvature-radius tunnels so as to improve the construction safety and ensure the tunnel precision, and solves the problem that the scanning equipment is difficult to operate when the space is limited. The device comprises a rack type walking track arranged in a pipeline, a magnetic attraction type guiding vehicle is arranged on the rack type walking track, the magnetic attraction type guiding vehicle can move along the rack type walking track while being matched with the rack type walking track in a magnetic attraction mode, and scanning equipment is carried on the magnetic attraction type guiding vehicle. According to the pipeline scanning equipment carrying device, through cooperation of the magnetic type guiding vehicle and the rack type walking track, the pipeline scanning equipment carrying device can be suitable for scanning identification detection and positioning of the internal structure, the center and the like of a pipeline under the adverse working conditions of small curvature radius, large inclination angle, small pipeline inner diameter and the like, and measurement efficiency and precision are improved through scanning equipment.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline detection and tunnel construction, in particular to a pipeline scanning equipment mounting device which can be used in a pipe section with a small diameter and a small curvature radius. Background Art

[0002] With the development of urban underground space in my country, the problems faced by underground construction have changed from the initial relatively simple boundary conditions to complex and changeable construction conditions. Specifically, underground construction is restricted by buildings within the site, interchanges within the road, pipelines, etc., and conventional open-cut construction cannot be used. At the same time, with the continuous increase in urban transportation, underground comprehensive transportation tunnels have been rapidly developed. The construction of multifunctional urban underground comprehensive space has become increasingly large in spatial structural cross-section. For occasions where the surrounding environment is not suitable for open excavation or open excavation expansion construction is difficult, it is necessary to use auxiliary methods such as freezing method and foundation grouting reinforcement in underground road tunnels to achieve structural cutting and expansion. It is often necessary to use open excavation from underground working platforms to expand downwards for construction, which increases the construction period, engineering cost and other problems. The guide device of the curved pipe curtain machine needs to overcome the difficulties of small space, small curvature radius and high precision requirements during the development process. The curved pipe curtain construction requires a monitoring method that can accurately describe the spatial posture under small diameter and small curvature radius.

[0003] In the prior art, for example, a Chinese patent with application publication number CN107916938A discloses a carrying device for guiding a curved pipe curtain machine; and a Chinese patent with application number 202210245510.X discloses a real-time measurement method for guiding a small-diameter, long-distance pipe curtain jacking. However, the above method is a laser target chain and physical direction adjustment type guidance system, which has low pipeline applicability and guidance accuracy. From the perspective of measurement accuracy, equipment reliability and ease of operation, the laser scanning type has more obvious advantages in the construction of small-diameter and small-curvature pipe curtains. However, there are still many problems in applying mobile platforms to small pipe curtains, such as poor reliability and low guidance accuracy. It is necessary to propose a new scanning equipment carrying platform to solve the above problems. Utility Model Content

[0004] In view of the deficiencies in the above-mentioned background technology, the utility model proposes a pipeline scanning equipment mounting device which can be used in the construction technology of small-diameter pipelines and small-curvature radius tunnels to improve construction safety and ensure tunnel accuracy, thereby solving the problem of difficult operation of scanning equipment in confined spaces.

[0005] The technical solution of the utility model is implemented as follows: a pipeline scanning equipment mounting device, including a gantry-type walking track arranged in the pipeline, a magnetic guide vehicle is provided on the gantry-type walking track, the magnetic guide vehicle can move along the gantry-type walking track while magnetically cooperating with the gantry-type walking track, and a scanning device is mounted on the magnetic guide vehicle. The scanning device can use a scanning camera, and the guide vehicle with a scanning camera attached to the magnetic guide vehicle reciprocates along a reciprocating track device located inside the installed pipe section. During the reciprocating movement, the scanning device scans the points on the inner wall of the constructed pipe section or directly scans the internal structure of the pipeline to achieve the purpose of high-precision guidance.

[0006] Further preferably, the platform-type walking track is composed of a plurality of walking track segments, and two adjacent walking track segments are plug-fitted through a socket mechanism to achieve rapid alignment and high-precision connection.

[0007] As an embodiment, the socket mechanism includes a socket female buckle arranged at one end of the walking track segment and a socket male buckle arranged at the other end of the walking track segment, and the socket male buckle on the walking track segment is plugged into and matched with the socket female buckle of the adjacent walking track segment.

[0008] Further preferably, a sub-button rivet is provided at the plug joint of the socket sub-button and the sub-button rivet is fixed by a retaining spring. When the socket sub-button is plugged into the socket female buckle, the plug joint of the socket sub-button extends out of the socket female buckle and is fixed by the sub-button rivet.

[0009] As another embodiment, the socket mechanism includes a socket end socket arranged at one end of the walking track segment and a socket limit block arranged at the other end of the walking track segment. The socket end is provided with a limit groove matching with the socket limit block. The end of the walking track segment is plugged into and matched with the socket end socket on the adjacent walking track segment, and the socket limit block is plugged into the limit groove.

[0010] Further preferably, a stop rod is provided at one end of the socket limit block facing the socket end, and the socket limit block is inserted into the limit groove and fixed by the stop rod.

[0011] Further preferably, the platform-type walking track includes an upper walking platform and a lower fixed bracket, the lower fixed bracket is symmetrically fixed at the bottom of the upper walking platform and forms a pipeline cavity with the inner wall of the pipeline; a semi-wrapped cavity track is provided on the upper walking platform, and the magnetic guide vehicle is located in the semi-wrapped cavity track; it can adapt to the smooth movement of the magnetic guide vehicle under adverse working conditions such as small curvature radius, large inclination angle, and small inner diameter of the pipeline.

[0012] Further preferably, the cross-section of the upper walking platform is a box-type frame with an upper opening, and the lower fixed bracket is arranged in an "eight" shape at the bottom of the upper walking platform to improve its stability.

[0013] Further preferably, the magnetic guide vehicle includes a vehicle body carrying a driving mechanism, a walking mechanism that magnetically cooperates with a platform-type walking track is provided at the bottom of the vehicle body, a mounting seat body for carrying a scanning device is provided on the upper part of the vehicle body, and guide wheels that can cooperate with the inner wall of a semi-wrapped cavity track are provided on the outer periphery of the upper part of the vehicle body.

[0014] Further preferably, the traveling mechanism is a wheeled traveling mechanism or a tracked traveling mechanism, and magnetic strips are provided on the traveling wheels of the wheeled traveling mechanism or on the tracks of the tracked traveling mechanism.

[0015] The beneficial effects of the utility model are as follows: the pipeline scanning equipment carrying device of the utility model can adapt to the scanning, identification, detection and positioning of the internal structure of the pipeline, the center of the pipeline, etc. under unfavorable working conditions such as small curvature radius, large inclination angle, and small inner diameter of the pipeline through the cooperation of the magnetic guide vehicle and the bench-type walking track, and improve the measurement efficiency and accuracy by using the scanning equipment. The magnetic guide vehicle of the utility model adopts magnetic attraction and semi-wrapped installation method in conjunction with the bench-type walking track, so that the self-propelled guide vehicle can move smoothly along the walking track parallel to the axis of the pipeline, ensuring the measurement accuracy. The magnetic guide vehicle of the utility model can carry a variety of scanning equipment, improve its measurement applicability and accuracy, and further improve construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a cross-sectional schematic diagram of the utility model in a pipeline.

[0018] Figure 2 It is a top view schematic diagram of the bench-type walking track of the utility model.

[0019] Figure 3 It is a front view schematic diagram of the bench-type walking track of the utility model.

[0020] Figure 4 for Figure 2 Center 1-1 view.

[0021] Figure 5 This is a schematic diagram of the connection status of two walking track sections.

[0022] Figure 6 This is a top view schematic diagram of the magnetic guide vehicle.

[0023] Figure 7 Schematic diagram of the surrounding socket connection of the scaffold in Example 4.

[0024] Figure 8 for Figure 7 Middle 2-2 view. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] like Figure 1 As shown, in embodiment 1, a pipeline scanning equipment carrying device comprises a platform-type walking track 2 arranged in a pipeline 1, a magnetic suction guide vehicle 3 is arranged on the platform-type walking track 2, and the magnetic suction guide vehicle 3 can move along the platform-type walking track 2 while magnetically cooperating with the platform-type walking track 2, and the magnetic suction guide vehicle 3 uses the magnet attached to the vehicle body to absorb the walking track and prevent it from falling off; the magnetic suction guide vehicle 3 is equipped with a scanning device 4. The scanning device 4 can be preferably a scanning camera, and the magnetic suction guide vehicle 3 can adopt a magnetic suction driving robot (which can be wheeled or crawler-type, etc.) with a self-propelled function, and realize forward and backward walking in combination with its own power system, and can be remotely controlled through a wireless video operating system or through a tow-line wired operation, which can overcome the severe underground construction environment, increase the applicability of adverse environments through the wired operation mode, and grasp the travel route and travel direction through the visual operation page, and make timely corrections and adjustments to the angle deviation, and realize reciprocating measurement through the self-propelled mode, reduce the omission or invalid point collection, and accurately scan the inside of the pipeline.

[0027] Example 2: Figure 4As shown, a pipeline scanning equipment mounting device, based on Example 1, this embodiment is further optimized, the platform-type walking track 2 includes an upper walking platform 2-1 and a lower fixed bracket 2-2, the lower fixed bracket 2-2 is symmetrically fixed to the bottom of the upper walking platform 2-1 and forms a pipeline cavity 2-3 with the inner wall of the pipeline 1; the upper walking platform 2-1 is provided with a semi-wrapped cavity track 2-4, and the magnetic guide vehicle 3 is located in the semi-wrapped cavity track 2-4. Specifically, the cross-section of the upper walking platform 2-1 is a box-type frame with an upper opening, that is, the upper walking platform is provided with a bottom curved plate parallel to the traveling pipeline to provide a walking plane for the guide vehicle, and side baffles and top anti-slip baffles are provided on both sides to form an open box-type walking space for the guide vehicle, while realizing anti-rollover and anti-overturning when traveling in a pipeline with a large inclination angle, and can realize vertical travel in extreme cases. The lower fixed bracket 2-2 is arranged in an "eight" shape at the bottom of the upper walking platform 2-1. That is, the lower fixed bracket 2-2 forms a fixed space with the outer pipe section through the legs of the fixed bracket to provide support and fix the supporting pipelines in the pipeline, and confine the power lines, mud and water pipes, etc. in the pipeline within the fixed bracket to avoid movement during construction, damage to the scanning points inside the pipe wall, and interference with the guide vehicle's round-trip scanning. When installing the pipe section, the pipe section is initially aligned and positioned with the previous pipe section through the temporary fixed bracket of the pipe section, and the internal walking platform is reserved for alignment and installation space. The connecting lock is aligned and inserted to achieve alignment and connection of the walking track platform, and the outer pipeline is aligned with the previous pipe section and installed and welded as a whole, and the internal platform and the outer pipe section are precisely connected at the same time, and a stable and smooth scanning and carrying device is built inside.

[0028] In this embodiment, it is preferred that: Figure 6 As shown, the magnetic guide vehicle 3 includes a vehicle body 301 carrying a driving mechanism, and a walking mechanism 302 that is magnetically matched with the platform-type walking track 2 is provided at the bottom of the vehicle body 301. The driving mechanism can be a motor, etc., and the movement of the vehicle body along the track is realized by driving the walking mechanism. The guide vehicle with a scanning camera attached to the magnetic guide vehicle 3 reciprocates along the round-trip track device located inside the installed pipe section. During the reciprocating movement, the scanning device scans the points on the inner wall of the constructed pipe section or directly scans the internal structure of the pipeline to achieve the purpose of high-precision guidance. A mounting seat 303 for carrying a scanning device 4 is provided on the upper part of the vehicle body 301 to ensure the stable installation of the scanning device 4. A guide wheel 304 that can cooperate with the inner wall of the semi-wrapped cavity track 2-4 is provided on the outer periphery of the upper part of the vehicle body 301. As a preferred embodiment, the guide wheel 304 is arranged at the four corners of the vehicle body 301. The guide wheel can avoid the situation where the guide vehicle is stuck due to the misalignment at the joint of the walking track.

[0029] As a preferred solution, the walking mechanism 302 is a wheeled walking mechanism or a crawler walking mechanism, and a magnetic strip is provided on the walking wheel of the wheeled walking mechanism or on the crawler of the crawler walking mechanism. Taking the crawler walking mechanism as an example, there are many magnets on the crawler that are in direct contact, and the robot chassis adopts an auxiliary suction cup adsorption method to enhance the stability and load-bearing capacity of the wall climbing. In addition, the corners of the magnetic suction vehicle body are set to be chamfered to enhance the obstacle-passing ability of the magnetic suction vehicle, and the passing ability of the magnetic suction vehicle in the event of misalignment when the walking track platform is connected, thereby ensuring the obstacle-passing efficiency of the magnetic suction vehicle.

[0030] Embodiment 3, as Figure 2 , 3 As shown, a pipeline scanning equipment mounting device is used. Based on Example 1, this embodiment is used as a preferred solution. The platform-type walking track 2 is composed of a plurality of walking track segments, and two adjacent walking track segments are plugged in and matched by a socket mechanism to achieve rapid alignment and high-precision connection.

[0031] In this embodiment, Figure 5 As shown, the socket mechanism includes a socket female buckle 201 arranged at one end of the walking track segment and a socket sub-buckle 202 arranged at the other end of the walking track segment. The socket sub-buckle 202 on the walking track segment is plugged into and matched with the socket female buckle 201 of the adjacent walking track segment. In this embodiment, the socket female buckle 201 is symmetrically arranged on both sides of the walking track segment, and the corresponding socket sub-buckle is also arranged on both sides of the walking track segment. That is, a sub-locking buckle for connection is arranged at both ends of the outer side of the side baffle of the upper walking platform. The connecting female buckle is a hollow docking slot, and the connecting sub-buckle is an outward-extending retaining spring. When connecting, the connecting sub-buckle is extended outward from the pipeline to reserve an observation alignment space.

[0032] Preferably, the socket buckle 202 is an outwardly extending retaining spring, and the socket female buckle 201 is a hollow docking slot; a buckle rivet 203 is provided at the plug joint of the socket buckle 202 and the buckle rivet 203 is fixed by a retaining spring 204. When the socket buckle 202 is plugged into the socket female buckle 201, the plug joint of the socket buckle 202 extends out of the socket female buckle 201 and is fixed by the buckle rivet 203 to prevent the socket buckle from slipping out of the plug hole of the socket female buckle.

[0033] Embodiment 4, as Figure 7 , 8As shown, a pipeline scanning equipment mounting device, this embodiment is different from embodiment 3 in that: the spigot mechanism described in this embodiment includes a spigot end socket 205 arranged at one end of the walking track segment and a spigot stopper 206 arranged at the other end of the walking track segment, and a stopper groove 207 matching with the spigot stopper 206 is provided on the spigot end socket 205, and the end of the walking track segment is plugged and matched with the spigot end socket 205 on the adjacent walking track segment, that is, a stand-surrounding spigot connection is adopted, and the spigot stopper 206 is plugged into the stopper groove 207 to ensure high-precision docking installation. The inner diameter of the spigot end socket 205 is larger than the outer diameter of the walking track segment to achieve rapid plug-in of two adjacent walking track segments.

[0034] Preferably, the socket limit block 206 is detachably provided with a stop rod at one end facing the socket 205 of the socket end. The socket limit block 206 is inserted into the limit groove 207 and is fixed by the stop rod (not shown in the figure) to prevent the socket limit block 206 from slipping out of the limit groove 207, thereby improving the docking stability.

[0035] Taking Example 3 as an example, the tunnel construction guidance implementation method is as follows:

[0036] The scanning points are installed on the inner wall of the pipeline, and a fixed position coordinate point is set outside the starting end for subsequent determination of the position of the pipe curtain machine head through point scanning; an end baffle is set on the inner side of the upper walking platform 2-1 of the platform-type walking track 2 in the first section of the pipeline to prevent the guide vehicle from derailing when performing the end. The first section of the pipe is fixed with the subsequent walking track platform as a reference for connection to ensure that the subsequent walking platform is installed in the correct position.

[0037] Connection method: Figure 5 As shown, the tunnel boring machine excavates the first pipe section according to the predetermined route under the action of the top-thrust cylinder. After the first pipe section completely enters the soil, the subsequent pipe sections need to be installed. Then, the second pipe section is temporarily aligned and positioned with the first pipe section through the pipe curtain bracket, and a certain installation connection space is reserved. The two ends of the outer side of the side baffle are provided with sub-and-sub lock buckles for connection. The female socket buckle 201 is a hollow docking slot, and the sub-socket 202 is an extended spring. When the connection is made, the connecting buckle is extended outside the pipe to reserve an observation alignment space. The connecting lock devices on both sides of the walking platform are first aligned and connected through the gap between the pipe sections. When the connecting lock buckle is aligned and inserted, the walking track platform is aligned and connected. At the same time, the outer pipeline is aligned and installed with the previous pipe section, welded as a whole, and the internal walking platform platform is aligned and connected with the outer pipe section at the accurate position. Repeat the above steps for the subsequent pipe section connection.

[0038] During the jacking construction process, scanning and calibration are carried out synchronously. The magnetic guide vehicle moves back and forth in the walking platform inside the installed pipe segment. The operation mode is as follows Figure 1As shown, the machine can move back and forth at a large angle in a small diameter pipe segment, complete large angle downhill and uphill scanning, and locate the center point of excavation. The center point scanning and positioning is carried out synchronously with the excavation construction until the tunnel boring machine excavates to the receiving end of the tunnel according to the preset route, completing the tunnel construction.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline scanning equipment carrying device, characterized in that: The invention comprises a platform-type walking track (2) arranged in a pipeline (1), wherein a magnetic guide vehicle (3) is provided on the platform-type walking track (2), and the magnetic guide vehicle (3) can move along the platform-type walking track (2) while being magnetically matched with the platform-type walking track (2), and a scanning device (4) is mounted on the magnetic guide vehicle (3).

2. The pipeline scanning equipment mounting device according to claim 1, characterized in that: The platform-type running track (2) is composed of a plurality of running track segments, and two adjacent running track segments are plug-fitted together by means of a socket-and-spigot mechanism.

3. The pipeline scanning equipment mounting device according to claim 2, characterized in that: The socket mechanism comprises a socket female buckle (201) arranged at one end of the walking track segment and a socket sub-buck (202) arranged at the other end of the walking track segment. The socket sub-buck (202) on the walking track segment is plugged into and matched with the socket female buckle (201) of the adjacent walking track segment.

4. The pipeline scanning equipment mounting device according to claim 3, characterized in that: A sub-button rivet (203) is provided at the plug joint of the socket sub-button (202) and the sub-button rivet (203) is fixed by a retaining spring (204); when the socket sub-button (202) is plugged into and matched with the socket female buckle (201), the plug joint of the socket sub-button (202) extends out of the socket female buckle (201) and is secured by the sub-button rivet (203).

5. The pipeline scanning equipment mounting device according to claim 2, characterized in that: The spigot mechanism comprises a spigot end socket (205) arranged at one end of the walking track segment and a spigot stop block (206) arranged at the other end of the walking track segment. The spigot end socket (205) is provided with a stop groove (207) matched with the spigot stop block (206). The end of the walking track segment is plugged into and matched with the spigot end socket (205) on the adjacent walking track segment, and the spigot stop block (206) is plugged into the stop groove (207).

6. The pipeline scanning equipment mounting device according to claim 5, characterized in that: A stop rod is provided at one end of the socket stop block (206) facing the socket (205) at the socket end, and the socket stop block (206) is inserted into the stop groove (207) and secured by the stop rod.

7. The pipeline scanning equipment mounting device according to any one of claims 1 to 6, characterized in that: The platform-type walking track (2) comprises an upper walking platform (2-1) and a lower fixed support (2-2), wherein the lower fixed support (2-2) is symmetrically fixed to the bottom of the upper walking platform (2-1) and forms a pipeline cavity (2-3) with the inner wall of the pipeline (1); a semi-enclosed cavity track (2-4) is provided on the upper walking platform (2-1), and the magnetic guide vehicle (3) is located in the semi-enclosed cavity track (2-4).

8. The pipeline scanning equipment mounting device according to claim 7, characterized in that: The cross section of the upper traveling platform (2-1) is a box-type frame with an upper opening, and the lower fixed bracket (2-2) is arranged in an "eight" shape at the bottom of the upper traveling platform (2-1).

9. The pipeline scanning equipment mounting device according to claim 7, characterized in that: The magnetic attraction type guide vehicle (3) comprises a vehicle body (301) carrying a driving mechanism, a travel mechanism (302) magnetically matched with a platform type travel track (2) is provided at the bottom of the vehicle body (301), a mounting seat (303) for carrying a scanning device (4) is provided at the top of the vehicle body (301), and guide wheels (304) capable of matching with the inner wall of a semi-enclosed cavity track (2-4) are provided at the periphery of the top of the vehicle body (301).

10. The pipeline scanning equipment mounting device according to claim 9, characterized in that: The walking mechanism (302) is a wheeled walking mechanism or a crawler-type walking mechanism, and magnetic strips are provided on the walking wheels of the wheeled walking mechanism or on the crawler tracks of the crawler-type walking mechanism.

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