Guiding device and scanning equipment carrying same

Abstract

The utility model discloses a guiding device and scanning equipment carrying the guiding device, the guiding device comprises a driving belt which is in rolling or sliding fit with a guide rail, the longitudinal direction of the guide rail is provided with a limiting assembly used for limiting the extending path of the driving belt, and the driving belt is connected with a guided piece; and the scanning equipment is connected with the guided piece. According to the guiding device, the driving belt can be guided through the limiting assembly arranged on the guide rail, the layout can be adjusted according to different guiding path requirements, then the driving belt moves along a specific path, and the guided part can reciprocate along a target path along with the driving belt. The scanning equipment can stably walk along the guide rail parallel to the axis of the pipeline along with the guided piece, the phenomenon that a vehicle body twists and shakes along the axis is avoided, and accurate scanning is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of scanning and guiding, in particular to a guiding device and a scanning device equipped with the guiding device. Background Art

[0002] With the continuous increase of urban transportation, underground road traffic tunnels have been rapidly developed. In order to construct the bifurcation and confluence of urban underground road tunnels, due to the large cross-sectional form of the spatial structure, it is often necessary to adopt the open excavation method from the ground to the bottom for construction. However, for occasions where the surrounding environment is not suitable for open excavation or open excavation and expansion construction is difficult, it is necessary to use auxiliary methods such as freezing method and foundation grouting reinforcement in the underground road tunnel to realize the cutting and expansion of the structure. However, it is faced with a series of challenges such as safety, construction period, and project cost. Therefore, for the construction of bifurcations and confluences of underground tunnels with large depth and large cross-section, the curved pipe curtain method has been derived. The construction difficulty of this method is due to the small cross-sectional diameter of its mechanical equipment (diameter ≯1m) causing the difficulty of guidance, and the manually operated total station guidance method is no longer applicable. At present, there is still no more convenient and accurate way to guide the construction of pipe curtains with small diameters and small curvatures.

[0003] The following prior art was found after searching: Patent 1: CN107916938A proposed a carrying device for a guide device of a curved pipe curtain machine, which mainly includes a walking mechanism for carrying a guide device and a connecting mechanism for connecting adjacent carrying devices. Patent 2: Patent CN115615322A proposed a posture detection device and method for small and medium-sized shield machines in curved pipe curtain construction, that is, when the one-dimensional workbench is initially at the highest point of the guide rail by the gravity of the heavy hammer, the guide rail is vertically installed on the stand of the jacking mechanism, and the vertical displacement coordinates of the one-dimensional workbench are measured in real time using a long grating displacement sensor. Patent 3: Patent CN104142145A proposed a large-section rectangular jacking pipe automatic measurement method and device, the controller receives the image information captured by the camera, the distance measurement data sent by the first distance measurement sensor, and the slope angle and roll angle sent by the inclinometer. The controller calculates the deviation information of the front and rear faces of the rectangular jacking pipe based on the received image information, distance measurement data, slope angle and roll angle and the initial parameters in the controller. Patent 4: Patent CN111608664A proposes an automatic guidance method for long-distance curved pipe jacking. The device includes a target prism and a total station. The target prism is installed in the head of the pipe jacking machine; before the pipe jacking machine starts excavation construction from the working shaft, the total station is installed in the working shaft so that the position remains stable; as the pipe jacking machine is excavating, when the total station cannot find the target prism, the total station is moved to the corresponding pipe section and installed and fixed, so that the total station moves with the advancement of the pipe jacking machine, allowing the total station to search for the target prism; obtain the corrected coordinates of the total station, and correct the total station; during the excavation construction process of the pipe jacking machine, the total station is used to measure the coordinates of the target prism, so as to obtain the posture of the pipe jacking machine, and the obtained posture of the pipe jacking machine is used to guide the construction of the pipe jacking machine.

[0004] Among the above-mentioned prior arts, the technical solutions of Patents 1 and 2 respectively adopt "serial" multiple groups of trolleys and cross joints, and perform positioning by transmitting the measured coordinates group by group through this structure. There are problems such as cumbersome disassembly and assembly, high price, poor accuracy and reliability; the technical solutions of Patents 3 and 4 adopt laser targets or prism guidance systems, which are suitable for large diameter or straight pipe curtain structures, but not for small diameter and small curvature pipe curtains.

[0005] Based on the above situation, it is necessary to develop a guiding device and scanning equipment with simple structure, high precision and suitable for scanning small diameter pipelines.

[0006] It should be particularly noted that the above technical information is only intended to deepen the understanding of the overall background technology of the present utility model, and should not be regarded as admitting or implying in any form that the above technical information constitutes the prior art already known to those skilled in the art. Utility Model Content

[0007] In view of the deficiencies in the above-mentioned background technology, the utility model proposes a guiding device and a scanning device equipped with the guiding device, which solves the technical problem of difficulty in reliable guiding in a small space.

[0008] The technical solution of this application is:

[0009] A guide device includes a driving belt that rolls or slides with a guide rail, a limiting assembly for limiting the extension path of the driving belt is provided in the longitudinal direction of the guide rail, and the driving belt is used to be connected to a guided member. The guide device provided by the technical solution can not only guide the driving belt through the limiting assembly provided on the guide rail, but also adjust the layout according to different guiding path requirements, so that the driving belt moves along a specific path, and the guided member can reciprocate along the target path with the driving belt.

[0010] On the basis of the above technical solution, as a preferred technical solution of the guide device, the guided member and the guide rail are rolling or slidingly matched. This technical solution further enhances the guiding accuracy and the guiding stability through the design of the assembly relationship between the guided member and the guide rail, and also reduces the load of the driving belt, making the guiding more accurate, stable and light. The extension path is arc-shaped, straight-line-shaped or folded-line-shaped, and can be adaptively set according to specific working conditions.

[0011] On the basis of the above technical solution, as a preferred technical solution of the guide device, the driving belt is an annular belt that is closed at the head and tail through at least two steering cylinders, and the guided member is connected to any position of the annular belt; or the driving belt includes a traction belt and a pull-back belt, and the guided member is connected between the traction belt and the pull-back belt. That is, the present technical solution provides two preferred implementations of the driving belt, one is to use an annular belt that is closed at the head and tail, and the other is to use a strip belt that is not closed at the head and tail. When an annular belt is used, it is preferred to connect the rotating drive device to the steering cylinder to realize the rotation of the driving belt. Of course, it can also be driven manually or by a traction device; when a strip belt is used as the driving belt, it is preferably driven by a traction device or manually.

[0012] On the basis of the above technical solution, as a preferred technical solution of the guide device, the traction belt is arranged as a double layer on the guide rail through a roller, and the ends of the traction belt and the pull-back belt are located at the same end of the guide rail, so that traction operation and pull-back operation can be performed at the same end of the rail.

[0013] On the basis of the above technical solution, as a preferred technical solution of the guide device, the guide rail includes a plurality of detachably connected guide rail sections, the guide rail sections include longitudinal plates arranged at intervals and transverse plates connected between two longitudinal plates, and the two sides of the driving belt respectively roll or slide with the limit assemblies arranged on the inner walls of the two longitudinal plates along the longitudinal direction of the guide rail, and stop with the limit assemblies along the transverse direction of the guide rail. That is, the driving belt is designed to be thick on both sides and thin in the middle of the belt section, mainly used to pass through the limit assemblies located on the inner side of the guide rail, and the driving belt is limited by the limit assemblies so that its motion trajectory is parallel to the axis of the guide rail, so as to avoid irregular motion of the driving belt in the pipeline space caused by the unconstrained action during the tightening and moving process of the driving belt; because in the arc-shaped guide rail, once the driving belt is tightened without constraints, the pulling force direction of the contact part between the driving belt and the guided member will deviate from the moving direction of the guided member, that is, it is not colinear with the center of gravity of the guided member and the moving direction of the guided member, so that the guided member is unevenly stressed and unstable in walking.

[0014] On the basis of the above technical solution, as a preferred technical solution of the guide device, the limit assembly includes several groups of limit members arranged along the longitudinal direction of the guide rail, the limit members include rollers arranged at intervals up and down, a roller slot is formed between the two waist-shaped rollers of the limit members, and flange structures matching the roller slots are provided on both sides of the drive belt.

[0015] As another preferred technical solution of the guide device, the limiting assembly includes a guide groove arranged along the longitudinal direction of the guide rail, a stopping flange is provided on the side of the guide groove close to the driving belt, and flange structures are provided on both sides of the driving belt, which are slidably matched with the inner wall of the guide groove and stop-matched with the stopping flange.

[0016] On the basis of the above technical solution, as a preferred technical solution of the guide device, the guided member is in rolling cooperation with the transverse plate through walking wheels and in rolling cooperation with the longitudinal plate through lateral wheels.

[0017] On the basis of the above technical solution, as a preferred technical solution of the guide device, the limit assembly includes an upper limit member and a lower limit member respectively arranged above and below the cross plate, and the upper limit member and the lower limit member are both arranged along the longitudinal direction of the guide rail, the upper limit member cooperates with the upper belt of the driving belt, and the lower limit member cooperates with the lower belt of the driving belt.

[0018] A scanning device is connected to the guided member described in any one of the above-mentioned guiding devices.

[0019] Compared with the prior art, the technical solution provided by the utility model has the following technical effects:

[0020] 1. The guided parts such as the guide vehicle and scanning equipment can move smoothly along the guide rail parallel to the pipeline axis without the vehicle body twisting or shaking along the axis, ensuring accurate scanning.

[0021] 2. After the excavation is completed, the guide rail and guide vehicle can be smoothly pulled out of the pipeline to ensure their reuse.

[0022] 3. Different guide rails can be set to adapt to curved pipe curtains with different curvatures and diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 This is a schematic diagram of the cross section of the pipe curtain machine pipeline;

[0025] Figure 2 is a three-dimensional schematic diagram of the guide rail;

[0026] Figure 3 is a schematic diagram of the cross section of the guide rail;

[0027] Figure 4 It is a three-dimensional schematic diagram of the pipeline bridge;

[0028] Figure 5 This is a schematic diagram of the longitudinal section of the first pipeline;

[0029] Figure 6 It is a three-dimensional schematic diagram of the pull-back belt;

[0030] Figure 7 Provide a flow chart for pipe docking installation;

[0031] Figure 8 This is the cross-section diagram of the tunnel pipe curtain construction;

[0032] Fig. 9 This is a schematic diagram of the longitudinal section of the pipe curtain machine construction;

[0033] Description of Figure Numbers:

[0034] 1. Pipeline; 2. Traction belt; 3. Pull-back belt; 4. Guide vehicle; 401. Travel wheel; 402. Lateral wheel; 5. Scanning equipment; 6. Guide rail; 601. Longitudinal plate; 602. Horizontal plate; 603. Roller; 604. Connecting port; 7. Pipeline bridge; 701. Arc plate; 702. Leg; 703. Limit block; 8. Wire harness; 9. Buckle; 10. Roller; 11. Equipment pipeline; 12. Upper space of horizontal plate; 13. Lower space of horizontal plate; 14. Roller slot; 15. Coordinate fixing point; 16. Propulsion device; 17. Tunnel starting end; 18. Tunnel receiving end; 19. Pipe curtain machine; a. The traction belt is in the unconstrained and tightened state; b. The pull-back belt is in the unconstrained and tightened state. DETAILED DESCRIPTION

[0035] 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 core concept of the utility model and the following embodiments, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] The present application provides these embodiments to make the present application thorough and complete, and to fully express the scope of the present application to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary, and not as limiting.

[0037] It should be noted that, in the description of this application, unless otherwise specified, the meaning of "several" is greater than or equal to two; the terms "upper", "lower", "left", "right", "inner", "outer", "axial", "radial" and the like indicate positions or positional relationships only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on this application. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0038] In addition, the words "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" does not mean vertical in the strict sense, but is within the tolerance range. "Parallel" does not mean parallel in the strict sense, but is within the tolerance range. "Include" or "comprising" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements.

[0039] It should also be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0040] All terms used in this application have the same meaning as those understood by those of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0041] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0042] A guiding device, such as Figure 1 and Figure 5 As shown, it includes a driving belt that rolls or slides with the guide rail 6, wherein the sliding cooperation structure is not shown in the figure. A limiting assembly for limiting the extension path of the driving belt is provided in the longitudinal direction of the guide rail 6, and the driving belt is connected to the guided member. The guiding device provided in the embodiment can not only guide the driving belt through the limiting assembly provided on the guide rail 6, but also adjust the layout according to different guiding path requirements, thereby allowing the driving belt to move along a specific path, and the guided member can move along the target path with the driving belt.

[0043] Based on the above embodiment, as a preferred embodiment of the guide device, Figure 5 As shown, the guided member and the guide rail 6 are rolling or slidingly matched, wherein the sliding matching structure is not shown in the figure. This embodiment further enhances the guiding accuracy and the guiding stability through the design of the assembly relationship between the guided member and the guide rail 6, and also reduces the load of the driving belt, making the guiding more accurate, stable and lightweight.

[0044] On the basis of the above embodiments, as a preferred embodiment of the guide device, the driving belt is an annular belt closed at the ends by at least two steering cylinders, and the guided member is connected to any position of the annular belt; or the driving belt includes a traction belt 2 and a pull-back belt 3, and the guided member is connected between the traction belt 2 and the pull-back belt 3.

[0045] That is, this embodiment provides two preferred implementations of the driving belt, one is to use an endless belt with closed ends, and the other is to use a strip belt with open ends. When an endless belt is used, it is preferred to connect the rotating drive device to the steering cylinder to realize the rotation of the driving belt. Of course, it can also be driven by manual or traction equipment; when a strip belt is used as the driving belt, it is preferably driven by traction equipment or manual.

[0046] On the basis of the above embodiment, as a preferred embodiment of the guide device, the traction belt 2 is arranged as a double layer on the guide rail 6 through a roller 10, and the ends of the traction belt 2 and the pull-back belt 3 are both located at the same end of the guide rail 6, so that traction operation and pull-back operation can be performed at the same end of the rail 6.

[0047] Based on the above embodiment, as a preferred embodiment of the guide device, Figure 2 , Figure 3 and Figure 7 As shown, the guide rail 6 includes a plurality of detachably connected guide rail sections. Preferably, the ends of the guide rail sections are each provided with a connection port 604, and adjacent guide rail sections are connected by a connection member passing through the connection port 604, and the connection member may be a clamp, a bolt group, an anchor bolt, a pin, a pull bolt, etc.

[0048] The guide rail section includes longitudinal plates 601 arranged at intervals and transverse plates 602 connected between the two longitudinal plates 601. The two side portions of the driving belt respectively roll or slide with the limit assemblies arranged on the inner walls of the two longitudinal plates 601 along the longitudinal direction of the guide rail 6, and stop with the limit assemblies along the transverse direction of the guide rail 6.

[0049] That is, the driving belt is designed to be thick on both sides and thin in the middle. It is mainly used to pass through the limiting component located on the inner side of the guide rail 6. The limiting component limits the driving belt so that its movement trajectory is parallel to the axis of the guide rail 6, thereby avoiding irregular movement of the driving belt in the pipeline space due to the lack of restraint during the tightening and moving process of the driving belt; because in the arc-shaped guide rail 6, once the driving belt is tightened without restraint, the pulling direction of the contact part between the driving belt and the guided member will deviate from the movement direction of the guided member, that is, it is not colinear with the center of gravity line of the guided member and the movement direction of the guided member, so that the guided member is unevenly stressed and unstable in walking.

[0050] On the basis of the above embodiment, as a preferred embodiment of the guide device, the limiting assembly includes a plurality of groups of limiting members arranged along the longitudinal direction of the guide rail 6, the limiting members include rollers 603 arranged at intervals up and down, a roller slot 14 is formed between the two waist-shaped rollers 603 of the limiting member, and flange structures matching the roller slots 14 are arranged on both sides of the driving belt. There are also multiple specific arrangements for each group of the limiting members, such as the rollers 603 arranged at intervals up and down are opposite to each other in the vertical direction, or the rollers 603 arranged at intervals up and down are staggered in the vertical direction.

[0051] Regardless of the implementation method, the main purpose is to make the relative displacement between the drive belt and the guide rail 6 rolling, limit the extension path of the drive belt, and avoid the drive belt from being misaligned in the width direction. The roller 603 can be configured to form the roller slot 14, and specifically, a roller with a V-shaped cross section, a U-shaped cross section, a concave arc cross section, a concave cross section, etc. can be used.

[0052] As another preferred embodiment of the guide device, the limit assembly includes a guide groove arranged along the longitudinal direction of the guide rail 6, a stop flange is arranged on one side of the guide groove close to the drive belt, and flange structures are arranged on both sides of the drive belt, which are slidably matched with the inner wall of the guide groove and stop-matched with the stop flange. Since the guide groove and the stop flange have various structural forms, the guide groove and the stop flange are not shown in the drawings of the specification. Specifically, the guide groove can be either a continuous groove or a discontinuous groove. Whether it is a continuous groove or a discontinuous groove, the cross-sectional shape of the groove can be designed in various ways, which can be either an ellipse, a circle, or other shapes.

[0053] Based on the above embodiment, as a preferred embodiment of the guide device, Figure 1 and Figure 5 As shown, the guided member rolls with the transverse plate 602 through the running wheels 401 and rolls with the longitudinal plate 601 through the lateral wheels 402. That is, the guided member is vertically supported by the running wheels 401 and horizontally supported by the lateral wheels 402, and at the same time, the vertical displacement freedom of the guided member is blocked by the running wheels 401 and the driving belt, and the left and right displacement freedom of the guided member is blocked by the lateral wheels 402 on both sides.

[0054] In addition to the above embodiments, the guided member may also choose to use only the running wheels 401 or only the lateral wheels 402. When only the running wheels 401 are used, the two sides of the guided member slide with the longitudinal plate 601; when only the lateral wheels 402 are used, the bottom of the guided member slides with the transverse plate 602. Of course, it is also possible to use a structure in which neither the running wheels 401 nor the lateral wheels 402 are used, and the bottom of the guided member slides with the transverse plate 602, and the two sides slide with the longitudinal plate 601.

[0055] Based on the above embodiment, as a preferred embodiment of the guide device, Figure 2 , Figure 3 and Figure 5 As shown, the limit assembly includes an upper limit member and a lower limit member respectively arranged above and below the cross plate 602, and the upper limit member and the lower limit member are both arranged along the longitudinal direction of the guide rail 6, the upper limit member cooperates with the upper belt of the driving belt, and the lower limit member cooperates with the lower belt of the driving belt.

[0056] A scanning device, such as Figure 1 and Figure 5 As shown, the scanning device is connected to the guide vehicle 4, and the guide vehicle 4 is the guided member described in any of the above embodiments. The scanning device is a scanning device 5 or an infrared 3D scanner or a laser 3D scanner or a binocular camera.

[0057] A pipe curtain construction guide system, such as Figure 8 and Fig. 9 As shown, the scanning device including the above-mentioned embodiment adopts a driving belt in cooperation with the guide rail 6, so that the guide vehicle 4 with a camera, i.e., the scanning device, can move forward and backward along the transverse plate 602 of the guide rail 6, so that the scanning device can reciprocately scan the inner wall contour of the pipeline 1.

[0058] On the basis of the above embodiments, as a preferred embodiment of the pipe curtain construction guide system, the guide rail 6 is arranged in the pipeline 1 through the pipeline bridge 7, the pipeline 1 is an arc-shaped pipeline, and the longitudinal section axis of the guide rail 6, the axis of the pipeline 1, and the moving axis of the guided member are coplanar and parallel.

[0059] On the basis of the above embodiments, as a preferred embodiment of the pipe curtain construction guide system, a buckle 9 for fixing the wiring harness 8 is provided on the driving belt, and the space formed between the side of the pipeline bridge 7 away from the guide rail 6 and the inner wall of the pipeline 1 is used to place various pipelines that drive the pipe curtain machine for excavation construction.

[0060] As a preferred implementation of the pipe curtain construction guidance system, Figures 1 to 9As shown, the excavation equipment constructs from the tunnel starting end 17 to the tunnel receiving end 18, and is guided by the pipe curtain construction guidance system during the construction process. A coordinate fixed point 15 is set at the tunnel starting end 17, and a scanning device is set in the pipeline 1.

[0061] This embodiment mainly uses a traction belt 2 and a pull-back belt 3 to enable a guide vehicle 4, i.e., a scanning device, to move forward and backward along a guide rail 6 located inside the pipeline 1, so that the scanning device can scan the inner wall contour of the pipeline 1, and finally achieve the purpose of guiding the pipe curtain machine 19.

[0062] The guide vehicle 4 of this embodiment can move smoothly along the guide rail 6 parallel to the axis of the pipeline 1, and the vehicle body will not twist or shake along the axis, ensuring accurate scanning. In addition, after the excavation is completed, the guide rail 6 and the guide vehicle 4 can be smoothly pulled out of the pipeline 1 to ensure their reuse; and the device can be equipped with different guide rails 6 to adapt to curved pipe curtains with different curvatures and diameters. The utility model can promote the implementation and application of curved pipe curtain machines. The use of curved pipe curtain technology can improve construction safety and ensure hole forming accuracy, and play a wide role in future engineering applications.

[0063] This embodiment mainly includes components such as a drive belt, a guide vehicle 4, a guide rail 6, a pipeline bridge 7, and a roller 10.

[0064] The driving belt is a belt-shaped flexible structure, mainly including a traction belt 2 for dragging the guide vehicle 4 forward and a pull-back belt 3 for pulling the guide vehicle 4 backward. The cross-sectional form of the traction belt 2 and the pull-back belt 3 is the same, that is, the cross-sections at both ends are circular and the middle section is linear. Figure 6 The driving belt is designed to be wide at both ends and narrow in the middle in the form of a belt-shaped cross-section, mainly for passing through the roller slot 14 located on the inner side of the guide rail 6. The roller slot 14 is used to restrict the belt-shaped driving belt so that its movement trajectory is in line with the axis of the guide rail 6, thereby avoiding irregular movement of the driving belt in the space of the pipeline 1 due to the lack of restraint during the tightening and moving process of the driving belt; because in the arc-shaped pipeline 1, once the driving belt is tightened without restraint, as shown in FIG. Fig. 9 As shown, the pulling direction of the contact part between the driving belt and the guide vehicle 4 will deviate from the moving direction of the guide vehicle 4, that is, it is not colinear with the center of gravity line of the guide vehicle and the moving direction of the guide vehicle, so that the guide vehicle 4 is unevenly stressed and unstable in walking.

[0065] It should be noted that in order to ensure that the scanning equipment continuously has scanning and signal transmission capabilities, it is necessary to provide the scanning equipment with a wiring harness 8 including signal lines and power lines. The wiring harness 8 as a whole is fixed on the retraction belt 3 through multiple buckles 9, and moves with the guide vehicle 4 and the retraction belt 3. Its purpose is also to avoid irregular movement of the line in the pipeline space due to the lack of restraint.

[0066] The structural cross-section of the guide rail 6 is as follows: Figure 2 and Figure 3 As shown, there are longitudinal plates 601 on both sides, and a transverse plate 602 is arranged at the lower middle position between the two longitudinal plates 601. The three plates form a whole, which is approximately in an "H" shape; a connecting port 604 is arranged on the outer side of the ends of the two longitudinal plates 601, and the front and rear guide rails 6 are detachably connected through the connecting port 604; above the transverse plate 602 is the walking and moving space for the guide vehicle 4, the traction belt 2 and the pull-back belt 3, which is recorded as the upper space 12 of the transverse plate; below the transverse plate 602 is the moving space for the traction belt 2, which is recorded as the lower space 13 of the transverse plate, and rollers 603 are arranged at intervals on the inner side of the longitudinal plates above and below the transverse plate 602, and a roller slot 14 is formed between the upper and lower rollers 603, and the roller slot 14 is used to pass the traction belt 2 and the pull-back belt 3 and limit their lateral movement. The purpose of arranging the rollers 603 is to reduce the friction of the traction belt and the pull-back belt during movement. The longitudinal section axis of the guide rail 6 is parallel to the axis of the pipeline 1 and the excavation line (parallel to the curve) and is arc-shaped. The guide rail 6 is divided into multiple equal sections like the pipe curtain pipe section.

[0067] The roller 10 is arranged on the side of the guide rail cross section near the head end. The traction belt 2 is connected to the forward side of the guide vehicle 4 and passes through the roller 10 along the upper card slot and then extends to the starting end of the tunnel along the lower card slot. The pull-back belt 3 is connected to the backward side of the guide vehicle 4 and extends directly to the starting end 17 of the tunnel along the upper card slot. At the starting port of the tunnel, the traction belt 2 and the pull-back belt 3 are alternately stretched to enable the guide vehicle 4, i.e. the scanning device, to realize forward and backward cyclic movement.

[0068] The guide vehicle 4 is a frame structure mainly used to carry the scanning device 5. Its cross-sectional width needs to be smaller than the net space between the left and right groups of rollers to facilitate forward and backward movement. The camera is mounted on the top of the frame structure, and a group of symmetrical walking wheels 401 are respectively arranged at the front and rear of the bottom of the vehicle. The left and right sides of the guide vehicle 4 are respectively provided with lateral wheels 402 to facilitate the smooth and stable movement of the guide vehicle 4 along the curved track on the guide rail 6.

[0069] Pipeline bridge 7 Figure 4 As shown, it is composed of an arc plate 701, a leg 702 and a stopper 703. The pipeline bridge 7 is fixedly welded to the inner wall of the pipeline through the leg 702, the guide rail 6 is placed above the pipeline bridge 7 and can slide freely relative to the pipeline bridge 7, and the stopper 703 is set on both sides of the end of the pipeline bridge arc plate 701 to limit the left and right movement of the guide rail 6 during the excavation process of the pipe curtain machine. Figure 1 As shown, the space formed by the pipeline bridge 7 and the inner wall of the pipeline 1 is used to place various equipment pipelines 11 for driving the pipe curtain machine for excavation construction. It should be noted that in the first section of the pipeline 1 connected to the pipe curtain machine, the guide rail 6 is fixedly connected to the pipeline bridge 7.

[0070] The parts not described in detail in the present invention are all conventional technical means known to those skilled in the art.

[0071] The above content shows and describes the basic principle, main features and beneficial effects of the utility model. The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A guiding device, characterized in that: It comprises a driving belt that rolls or slides with a guide rail (6), a limiting assembly for limiting an extension path of the driving belt is provided in the longitudinal direction of the guide rail (6), and the driving belt is used to be connected to a guided member.

2. The guide device according to claim 1, characterized in that: The guided member and the guide rail (6) are in rolling or sliding cooperation, and the extension path is in an arc shape, a straight line shape, or a broken line shape.

3. The guide device according to claim 1 or 2, characterized in that: The driving belt is an endless belt closed at the ends by at least two steering cylinders, and the guided member is connected to any position of the endless belt; or the driving belt comprises a traction belt (2) and a pull-back belt (3), and the guided member is connected between the traction belt (2) and the pull-back belt (3).

4. The guide device according to claim 3, characterized in that: The traction belt (2) is arranged as a double layer on the guide rail (6) via a roller (10), and the ends of the traction belt (2) and the pull-back belt (3) are both located at the same end of the guide rail (6).

5. The guide device according to any one of claims 1, 2 and 4, characterized in that: The guide rail (6) comprises a plurality of detachably connected guide rail sections, each of which comprises longitudinal plates (601) arranged at intervals and transverse plates (602) connected between two longitudinal plates (601), and the two side portions of the drive belt respectively roll or slide with the limit assemblies arranged on the inner walls of the two longitudinal plates (601) along the longitudinal direction of the guide rail (6), and stop with the limit assemblies along the transverse direction of the guide rail (6).

6. The guide device according to claim 5, characterized in that: The limiting assembly comprises a plurality of groups of limiting members arranged along the longitudinal direction of the guide rail (6), the limiting members comprising rollers (603) arranged at intervals in the upper and lower directions, a roller slot (14) being formed between two waist-shaped rollers (603) of the limiting member, and flange structures matching the roller slots (14) being provided on both sides of the driving belt.

7. The guide device according to claim 5, characterized in that: The limit assembly comprises a guide groove arranged along the longitudinal direction of the guide rail (6), a stop flange is arranged on one side of the guide groove close to the drive belt, and flange structures are arranged on both sides of the drive belt, which are slidably matched with the inner wall of the guide groove and stop-matched with the stop flange.

8. The guide device according to claim 6 or 7, characterized in that: The guided member is in rolling cooperation with the transverse plate (602) via the walking wheels (401), and is in rolling cooperation with the longitudinal plate (601) via the lateral wheels (402).

9. The guide device according to claim 8, characterized in that: The limiting assembly comprises an upper limiting member and a lower limiting member respectively arranged above and below the transverse plate (602), the upper limiting member and the lower limiting member are both arranged along the longitudinal direction of the guide rail (6), the upper limiting member cooperates with the upper belt of the driving belt, and the lower limiting member cooperates with the lower belt of the driving belt.

10. A scanning device, characterized in that: It comprises the guiding device according to any one of claims 1 to 9, wherein the scanning device is connected to the guided member.

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