Walking, swinging and telescoping mechanism for tunnel construction ultrasonic detection

Abstract

The utility model discloses a walking swinging telescopic mechanism for tunnel construction ultrasonic detection, which belongs to the technical field of tunnel ultrasonic detection equipment and specifically structurally comprises a walking door frame, an electric walking mechanism, an arc-shaped synchronous driving transmission belt and a telescopic cylinder. An arc-shaped rail is installed on the rear side of the walking door frame, the arc-shaped rail is consistent with the inner arch face of the tunnel, the two ends of the arc-shaped rail extend to be close to the ground, the arc-shaped rail is connected to a sliding plate through a sliding block, and an arc-shaped synchronous driving belt is connected to the inner side of the sliding plate. According to the utility model, the detection position and orientation are accurate and reliable, the detection result is more accurate, the radial swing angle adjustment can always ensure the measurement perpendicular to the tangent line of the detection point, and the telescopic cylinder controls the telescoping through the measurement accuracy, so that the telescoping function is realized; and a certain protection effect on the probe is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of ultrasonic detection equipment for tunnel construction, and relates to a walking, swinging and telescopic mechanism used for ultrasonic detection of tunnel construction. Background Art

[0002] During the construction of the secondary lining of the tunnel, it is necessary to use formwork to pour concrete on the side walls and top arch of the tunnel. After pouring, the concrete in the tunnel needs to be cured. After curing, areas of different colors will appear on the inner side of the secondary lining, which need to be manually polished. The conventional polishing method uses a scaffolding-built workbench for polishing. The workbench is inconvenient to move, and manual polishing is time-consuming and laborious, and inefficient. Summary of the invention

[0003] The technical problem to be solved by the utility model is to provide a walking, swinging and telescopic mechanism for ultrasonic detection in tunnel construction, which can facilitate the movement of an operating table, save time and effort, and has high grinding efficiency.

[0004] The technical solution adopted by the utility model is: a walking, swinging and telescopic mechanism for ultrasonic detection in tunnel construction, including a walking door frame, an electric walking mechanism, an arc-shaped synchronous drive belt and a telescopic cylinder, the electric walking mechanism is installed at the bottom of the walking door frame, and an arc track is installed on the rear side of the walking door frame, the arc track is consistent with the inner arch surface of the tunnel and both ends extend to close to the ground, the arc track is connected to the skateboard through a slider, the inner side of the skateboard is connected to the arc-shaped synchronous drive belt, the front end surface of the skateboard is provided with an electric turntable, and the telescopic cylinder is installed on the electric turntable.

[0005] Furthermore, the above-mentioned arc-shaped synchronous drive transmission belt includes a synchronous belt, an active synchronous pulley, a driven synchronous pulley, an auxiliary synchronous pulley one and an auxiliary synchronous pulley two, the active synchronous pulley and the driven synchronous pulley are respectively installed on the belt frame, the belt frame is fixedly connected to the rear side of the walking door frame and the arc structure is consistent with the arc track, the auxiliary synchronous pulley one adopts a plurality of them, which are evenly arranged along the arc of the belt frame to support the upper side section of the synchronous belt inside the synchronous belt, and the auxiliary synchronous pulley two adopts a plurality of them, which are evenly arranged along the arc of the belt frame to support the lower side section of the synchronous belt outside the synchronous belt; the auxiliary synchronous pulley one and the auxiliary synchronous pulley two are staggered.

[0006] Furthermore, the walking door frame includes two door frames and longitudinal beams, the two door frames are detachably fixedly connected by a plurality of longitudinal beams, each door frame includes two columns and a cross beam detachably fixedly connected between the middle and upper parts of the two columns, the tops of the two columns are detachably fixedly connected to one end of the two inclined beams, the other ends of the two inclined beams are detachably fixedly connected to the horizontal beam to form an arch structure, each inclined beam is detachably fixedly connected to the top of the cross beam by an auxiliary vertical beam near the top, and the bottom of each cross beam is connected by two The eight-shaped diagonal brace is detachably fixedly connected to the two columns connected on both sides of the crossbeam, and two inclined stair platforms and a top horizontal platform are detachably fixedly connected between the two arch structures. The two inclined stair platforms are respectively located between the two pairs of inclined beams, and the top horizontal platform is located between the two horizontal beams. The two corresponding columns between the two door frames are detachably fixedly connected with two crossed reinforcement beams, and the two corresponding auxiliary vertical beams between the two door frames are detachably fixedly connected with two crossed pull rods, and the pull rods are an adjustable length structure.

[0007] Furthermore, a row of limiting wheels are respectively provided at the upper left corner and the upper right corner of the above-mentioned walking door frame, the limiting wheels are rotatably connected to the wheel frame, and the wheel frame is detachably fixedly connected to the upper end of the inclined cantilever, and the lower end of the inclined cantilever is movably inserted into the upper end of the square tube and locked with a locking screw, and the inclined cantilever is provided with a plurality of through holes for inserting the locking screws at intervals along its length direction, and the lower end of the square tube is obliquely and detachably fixedly connected to the side surface of the walking door frame, and the inclination angle of the square tube ensures that the wheel surface of the limiting wheel can rest against the inner side surface of the tunnel, and the upper end of the square tube is fixedly connected to the bottom of the operating platform on the side surface of the walking door frame through a U-shaped clamp ring.

[0008] Furthermore, the arc track is detachably mounted on an arc mounting plate, and the arc mounting plate is detachably fixedly connected to the walking door frame through a support rod and a top guardrail.

[0009] Furthermore, the above-mentioned walking, swinging and telescopic mechanism for ultrasonic detection in tunnel construction also includes a limit sensor and a walking distance limit device. Two limit sensors are used, which are respectively installed at the front and rear ends of the walking door frame near the bottom. The walking distance limit device is installed on the ground and can face the limit sensor. The walking distance limit device includes a baffle, a transverse beam, a support column and a disc base. A T-shaped slider is provided on the back of the baffle. The T-shaped slider is movably embedded in a T-shaped slide groove provided on the front side of the transverse beam. The back of the T-shaped slide groove is fixedly connected to the support column through a hoop, and the lower end of the support column is fixedly connected to the disc base.

[0010] Beneficial effects of the utility model: Compared with the prior art, the effects of the utility model are as follows:

[0011] (1) The utility model realizes the longitudinal movement, circumferential movement, radial swing angle adjustment and telescopic adjustment of the probe through a walking gantry, an arc-shaped synchronous drive belt and an arc track, an electric turntable and a telescopic cylinder. The detection position and orientation are accurate and reliable, and the detection result is more accurate. The gantry can realize rapid longitudinal movement, and the radial swing angle adjustment can always ensure that the measurement is perpendicular to the tangent of the detection point. Through the measurement accuracy, the telescopic cylinder controls the telescopic function, which, on the one hand, realizes the telescopic function, and on the other hand, the elastic telescopic property of the cylinder itself has a certain protective effect on the probe;

[0012] (2) The arc-shaped synchronous drive belt can achieve stable arc-shaped walking drive, good synchronization, precise walking, and the belt has elasticity. If the skateboard encounters an obstacle during walking, it can also play a role in moving protection; the auxiliary synchronous pulley 1 and the auxiliary synchronous pulley 2 are arranged alternately, and the auxiliary synchronous pulley 2 plays the role of auxiliary support and tensioning the synchronous belt, making walking more stable and more precise.

[0013] (3) The detachable structural connection method of the walking door frame forms a modular structure, which is convenient for assembly, disassembly and transportation, and is convenient for repeated use at different construction sites. The door frame structure is convenient for bottom passage without affecting other construction operations. The installation of an arch structure makes it easier to approach the top arch of the tunnel and arrange the top working platform for operations. The arch structure connects the ramp step platform and the top horizontal platform, which can also increase the strength and rigidity of the entire door frame and increase stability. The installation of auxiliary vertical beams and diagonal braces, two crossed reinforcement beams and two crossed pull rods can all improve the stability of the entire walking frame and avoid shaking.

[0014] (4) A limiting device for the limiting wheel is installed at the upper right corner to prevent the gantry from deviating during walking, causing the top of the gantry to collide with the inner wall of the tunnel and damage the inner wall structure of the tunnel. The limiting wheel structure has a small contact surface and sliding friction, which is convenient for walking and limiting. The limiting wheel mounting frame with a telescopic structure is convenient for adjusting the extension length of the limiting wheel. The telescopic structure of the inner and outer square tube structures makes the adjustment convenient and fast, and the connection is stable and reliable. In addition, a U-shaped clamp is installed at the free end of the outer tube to connect to the bottom of the operating platform, further connecting the limiting wheel mounting frame and the operating platform into an integrated structure, which can further improve the support stability of the limiting wheel.

[0015] (5) The curved track can be detachably mounted on the curved mounting plate, which is easy to install and disassemble. The curved mounting plate is fixed with connecting rods and top guardrails, which makes the installation stable and reliable.

[0016] (6) The installation of two sets of limit sensors and travel distance limit devices can enable the travel gantry to perform detection within the specified range, because the secondary lining construction of the tunnel is carried out in sections and the detection is carried out in sections; the T-shaped slider and T-shaped slide groove structure are used to facilitate the lateral adjustment of the baffle. When the side is set with grooves or unevenness, but the sensor is located outside, the lateral position needs to be adjusted to adapt to the matching; the cross beam and the support column are connected by a hoop, which is convenient for installation and height adjustment. Corresponding matching can be performed for different sensor heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of an ultrasonic detection device for tunnel construction;

[0018] Figure 2 It is a rear view structural schematic diagram of an ultrasonic detection device for tunnel construction;

[0019] Figure 3 It is a right view structural schematic diagram of an ultrasonic detection device for tunnel construction;

[0020] Figure 4 It is a schematic diagram of the top view of the structure of an ultrasonic detection device for tunnel construction;

[0021] Figure 5 It is a front view structural diagram of an ultrasonic detection device for tunnel construction;

[0022] Figure 6 It is a schematic diagram of the structure in which the ultrasonic detection probe is installed on the arc track;

[0023] Figure 7 This is a schematic diagram of the front view installation structure of the ultrasonic detection probe;

[0024] Figure 8 This is a schematic diagram of the installation structure of the ultrasonic detection probe from the side view;

[0025] Fig. 9 This is a schematic diagram of the installation structure of the limiting wheel;

[0026] Fig.10 It is a structural schematic diagram of the travel distance limiting device;

[0027] Fig.11 It is a schematic diagram of the front view structure of the baffle. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0029] Example 1: Figure 1-11As shown, a walking swing telescopic mechanism for ultrasonic detection in tunnel construction includes a walking door frame 1, an electric walking mechanism 2, an arcuate synchronous drive belt 25 and a telescopic cylinder 27. The electric walking mechanism 2 is installed at the bottom of the walking door frame 1, and an arcuate track 21 is installed at the rear side of the walking door frame 1. The arcuate track 21 is consistent with the inner arch surface of the tunnel 4 and both ends extend to close to the ground. The arcuate track 21 is connected to a slide plate 23 through a slider 22. The inner side of the slide plate 23 is connected to an arcuate synchronous drive belt 25. The front end surface of the slide plate 23 is provided with an electric turntable 26. The output turntable of the electric turntable 26 is installed with a telescopic cylinder 27, which is a double-rod cylinder. The telescopic cylinder 27 The ends of the two cylinder rods are fixedly connected with a joint connecting plate, and the ultrasonic detection probe 20 is installed on the joint connecting plate; the longitudinal movement, circular movement, radial swing angle adjustment and telescopic adjustment of the probe are realized through the walking gantry, the arc-shaped synchronous drive belt and the arc-shaped track, the electric turntable and the telescopic cylinder. The detection position and orientation are accurate and reliable, and the detection result is more accurate. The gantry can realize rapid longitudinal movement, and the radial swing angle adjustment can always ensure that the measurement is perpendicular to the tangent of the detection point, thereby improving the detection accuracy. The telescopic cylinder controls the telescopic function, which realizes the telescopic function on the one hand, and on the other hand, the elastic telescopic property of the cylinder has a certain protective effect on the probe.

[0030] In order to facilitate the installation of the arc guide rail, the above-mentioned arc track 21 is detachably mounted on the arc mounting plate 35, and the arc mounting plate 35 is detachably fixedly connected to the walking door frame 1 through multiple support rods 36 on both sides and the top guardrail 14 on the rear side. This connection method is stable and reliable, and it is easy to assemble and disassemble. The top guardrail 14 is composed of two arc tubes and multiple radial rods. The multiple radial rods are fixedly connected to the two arc tubes and the lower ends are fixedly connected to the arch structure of the walking door frame. In order to improve the stability of the guardrail, it also includes a reinforcing radial beam whose lower end is fixedly connected to the published structure. A plurality of reinforcing radial beams are used, which are evenly arranged on the guardrail at circumferential intervals and fixedly connected to the guardrail.

[0031] In order to improve walking stability and accuracy, the above-mentioned arc-shaped synchronous drive transmission belt 25 includes a synchronous belt 2501, an active synchronous pulley 2502, a driven synchronous pulley 2503, an auxiliary synchronous pulley 1 2504 and an auxiliary synchronous pulley 2 2505. The active synchronous pulley 2502 and the driven synchronous pulley 2503 are respectively installed on a belt frame 2506. The belt frame 2506 is fixedly connected to the rear side of the walking door frame 1 and the arc structure is consistent with the arc track 21. A plurality of auxiliary synchronous pulleys 1 2504 are used, which are evenly arranged in an arc along the belt frame 2506 to support the synchronous belt 2501. The upper section of the walking belt 2501 and the auxiliary synchronous pulley 2505 are multiple and are evenly arranged in an arc along the belt frame 2506 on the outer side of the synchronous belt 2501 to support the lower section of the synchronous belt 2501. The arc-shaped synchronous drive transmission belt can achieve stable arc-shaped walking drive, good synchronization, and precise walking. The belt has elasticity, and can also play a role in protecting the movement if the skateboard encounters an obstacle during walking. The auxiliary synchronous pulley 1 2504 and the auxiliary synchronous pulley 2 2505 are staggered, and the auxiliary synchronous pulley 2 2505 plays a role in auxiliary support and tensioning the synchronous belt, making walking more stable and more precise.

[0032] In order to improve the stability of the walking door frame and facilitate the passage at the bottom, the walking door frame 1 includes two door frames 101 and longitudinal beams 102. The two door frames 101 are detachably fixedly connected by multiple longitudinal beams 102. Each door frame 101 includes two columns 103 and a crossbeam 104 detachably fixedly connected between the upper and middle parts of the two columns 103. The top ends of the two columns 103 are detachably fixedly connected to one end of two inclined beams 105, and the other ends of the two inclined beams 105 are detachably fixedly connected to a horizontal beam 106 to form an arch structure. Each inclined beam 105 is detachably fixedly connected to the top of the horizontal beam 104 through an auxiliary vertical beam 109 near the top, and the bottom of each horizontal beam 104 is detachably fixedly connected to the two columns 103 connected on both sides of the horizontal beam 104 through two eight-shaped diagonal braces 110. Two inclined step platforms 107 and a top horizontal platform 108 are detachably fixedly connected between the two arch structures. The two inclined step platforms 107 are respectively located between the two pairs of inclined beams 105, and the top horizontal platform 108 is located between the two horizontal beams 106. The two corresponding uprights 103 are detachably fixedly connected with two crossed reinforcing beams 111, and the two corresponding auxiliary vertical beams 109 between the two door frames 101 are detachably fixedly connected with two crossed pull rods 112. The pull rods 112 are adjustable in length, and both ends are hinged to the two auxiliary vertical beams 109 through adjustment devices. The adjustment device includes two buckles and a strip ring. The two buckles are spirally connected to the two ends of the strip ring in opposite directions, so as to adjust the length of the pull rod. The detachable structural connection mode of the walking door frame forms a modular structure, which is convenient for operation. It is easy to assemble, disassemble and transport, and is reused at different construction sites. The portal structure is convenient for bottom passage without affecting other construction operations. The addition of an arch structure makes it easier to approach the top arch of the tunnel, facilitate the arrangement of the top working platform for operations, and facilitate the arrangement of sprinkler pipes. The arch structures connect the sloped staircase and the top horizontal platform, which can also increase the strength and rigidity of the entire portal frame and increase stability. The addition of auxiliary vertical beams and diagonal braces, two crossed reinforcement beams and two crossed pull rods can all improve the stability of the entire walking frame and avoid shaking.

[0033] In order to prevent the walking door frame from deviating during walking, a row of limiting wheels 8 are respectively arranged at the upper left corner and the upper right corner of the walking door frame 1, and the limiting wheels 8 are rotatably connected to the wheel frame 805, and the wheel frame 805 is detachably fixedly connected to the upper end of the inclined cantilever 801, and the lower end of the inclined cantilever 801 is movably inserted into the upper end of the square tube 802 and locked with a locking screw 803. The inclined cantilever 801 is provided with a plurality of through holes for inserting the locking screws 803 at intervals along its length direction, and the lower end of the square tube 802 is detachably fixedly connected to the side of the walking door frame 1, and the inclination angle of the square tube 802 ensures that the wheel surface of the limiting wheel 8 can abut against the inner side surface of the tunnel 4, and the upper end of the square tube 802 is The U-shaped clamp ring 804 is fixedly connected to the bottom of the operating platform 9 on the side of the walking door frame 1, and a limiting device of the limiting wheel is installed in the upper right corner to prevent the walking door frame from deviating during walking, causing the top of the door frame to collide with the inner wall of the tunnel and damage the inner wall structure of the tunnel. The limiting wheel structure has a small contact surface and sliding friction, which is convenient for walking limitation. The limiting wheel mounting frame with a telescopic structure is convenient for adjusting the extension length of the limiting wheel. The telescopic adjustment of the inner and outer square tube structures is convenient and quick, and the connection is stable and reliable. In addition, a U-shaped clamp is installed at the free end of the outer tube and connected to the bottom of the operating platform, so that the limiting wheel mounting frame and the operating platform are further connected into an integrated structure, which can further improve the supporting stability of the limiting wheel.

[0034] In order to improve the versatility of the walking door frame, multiple detachable operating platforms 9 are respectively provided on the outer sides of the walking door frame 1. A ladder 10 is detachably fixedly connected between two adjacent operating platforms 9 on the same side. The topmost operating platform 9 is located at the top of the column 103, and the bottommost operating platform 9 is provided with a detachable suspended ladder 11. The suspended ladder 11 is 20-40 cm above the ground. Removable guardrails 12 are provided on the inner side and front and rear sides of each operating platform 9, and the outer side of each operating platform 9 is close to the inner wall of the tunnel 4. Multiple operating platforms and ladders are provided, combined with the top platform and the step platform at the top, which can increase the functionality of the maintenance trolley, facilitate the second ultrasonic detection of the tunnel and the grinding of the inner wall of the tunnel, and also facilitate climbing to the top for the maintenance of the sprinkler pipe. The detachable structure is convenient for assembly and disassembly, so as to adapt to the on-site repeated use of different construction sites, and guardrails are provided to improve the safety of operation.

[0035] Because the secondary lining of the tunnel is cast in sections, the ultrasonic detection of sections is used to achieve a fixed distance of walking. The ultrasonic detection device for tunnel construction also includes a limit sensor 15 and a walking distance limit device 16. Two limit sensors 15 are respectively installed at the front and rear ends of the walking door frame 1 near the bottom. The walking distance limit device 16 is installed on the ground and can face the limit sensor 15. The walking distance limit device 16 includes a baffle 1601, a transverse beam 1602, a support column 1603 and a disc base 1604. A T-shaped slider 1605 is arranged on the back of the plate 1601, and the T-shaped slider 1605 is movably embedded in the T-shaped slide groove 1606 arranged on the front side of the transverse beam 1602. Rubber layers 1608 are arranged on both sides of the T-shaped slider 1605. The elastic rubber layer elastically fits on the side of the T-shaped slide groove 1606 to achieve clamping, and the baffle has better stability. The back of the T-shaped slide groove 1606 is fixedly connected to the support column 1603 through the hoop 1607. The lower end of the support column 1603 is fixedly connected to the disc base 1604. Two sets of The limit sensor and the travel distance limit device can allow the walking gantry to perform ultrasonic detection within the specified range, because the secondary lining construction of the tunnel is carried out in sections, and ultrasonic detection is carried out in sections; the T-type slider and T-type slide groove structure are used to facilitate the lateral adjustment of the baffle. When the side is set with grooves or unevenness, but the sensor is located outside, the lateral position needs to be adjusted for adaptation and matching; the cross beam and the support column are connected by a hoop, which is convenient for installation and height adjustment. Corresponding matching can be performed for the heights of different sensors. A roller 1609 is installed at the bottom of the disc base 1604, and the roller is set to facilitate movement. An iron shoe 1610 is provided on the side of the bottom of the disc base 1604 facing the walking gantry. The iron shoe can brake the walking wheel of the electric mechanism to play a safety limit role, or auxiliary rollers 1611 are provided on both sides of the baffle 1601, which cannot be used together with the iron shoe. After the travel distance limit device falls, the auxiliary roller cooperates with the disc base to play an auxiliary rolling role to prevent the walking gantry from crushing the travel distance limit device.

[0036] Example 2: Figure 1-11As shown, an ultrasonic detection device for tunnel construction includes a walking door frame 1, an electric walking mechanism 2 and an ultrasonic detection probe 20. The electric walking mechanism 2 is installed at the bottom of the walking door frame 1, and an arc track 21 is installed on the rear side of the walking door frame 1. The arc track 21 is consistent with the inner arch surface of the tunnel 4 and both ends extend to close to the ground. The arc track 21 is connected to a slide plate 23 through a slider 22. The inner side of the slide plate 23 is connected to an arc synchronous drive belt 25. The front end surface of the slide plate 23 is provided with an electric turntable 26. The output turntable of the electric turntable 26 is installed with a telescopic cylinder 27, which is a double-rod cylinder. The ends of the two cylinder rods of the telescopic cylinder 27 are fixedly connected with a joint connecting plate. The joint connecting plate An ultrasonic detection probe 20 is installed on it; the longitudinal movement, circumferential movement, radial swing angle adjustment and telescopic adjustment of the probe are realized through the walking gantry, the arc-shaped synchronous drive belt and the arc-shaped track, the electric turntable and the telescopic cylinder, so as to realize the rapid and accurate ultrasonic detection of the inner wall of the second lining of the tunnel, save time and labor, have high efficiency, and the detection position and orientation are accurate and reliable, and the detection result is more accurate. The gantry can realize rapid longitudinal movement, and the radial swing angle adjustment can always ensure that the measurement is perpendicular to the tangent of the detection point, thereby improving the detection accuracy. The telescopic cylinder controls the telescopic function, which realizes the telescopic function on the one hand, and on the other hand, the elastic telescopic property of the cylinder itself has a certain protective effect on the probe.

[0037] In order to facilitate the installation of the arc guide rail, the above-mentioned arc track 21 is detachably mounted on the arc mounting plate 35, and the arc mounting plate 35 is detachably fixedly connected to the walking door frame 1 through multiple support rods 36 on both sides and the top guardrail 14 on the rear side. This connection method is stable and reliable, and it is easy to assemble and disassemble. The top guardrail 14 is composed of two arc tubes and multiple radial rods. The multiple radial rods are fixedly connected to the two arc tubes and the lower ends are fixedly connected to the arch structure of the walking door frame. In order to improve the stability of the guardrail, it also includes a reinforcing radial beam whose lower end is fixedly connected to the published structure. A plurality of reinforcing radial beams are used, which are evenly arranged on the guardrail at circumferential intervals and fixedly connected to the guardrail.

[0038] In order to play a protective role, the ultrasonic probe is installed on the elastic structure, that is, the ultrasonic detection probe 20 is fixedly connected to the mounting plate 28, and a connecting rod 29 is fixedly connected to the bottom of the mounting plate 28, and the connecting rod 29 extends into the outer tube 30. A compression spring 31 is installed inside the outer tube 30, and both ends of the compression spring 31 are respectively against the inner end of the connecting rod 29 and the inner bottom of the outer tube 30. A limiting cover 32 is provided at the end of the outer tube 30, and a limiting ring 33 is provided at the inner end of the connecting rod 29. The outer diameter of the limiting ring 33 is larger than the inner hole of the limiting cover 32. A distance detection sensor 24 is installed in the middle of the slide plate 23, and the distance detection sensor 24 is installed toward the inner wall of the tunnel 4. By setting the spring, an elastic protection effect can be played to avoid damage caused by excessive extension pressure. A pressure sensor can also be set at the bottom of the spring, and a pressure block is set between the pressure sensor and the spring. The pressure sensor detects the size of the extension pressure, which facilitates the role of over-limit reminder.

[0039] In order to facilitate the automatic and precise control of the detection accuracy of the ultrasonic detection head, a three-dimensional laser scanner 34 is installed on the rear door frame of the walking door frame 1, which can obtain the laser point cloud data of the inner wall of the tunnel for modeling the inner side of the tunnel. The point cloud data after modeling can form a three-dimensional accurate model. The starting point coordinates of the detection probe are used as a reference. The probe is controlled to swing and retract during its walking process to achieve detection at the best angle, thereby improving detection accuracy and reliability.

[0040] In order to improve walking stability and accuracy, the above-mentioned arc-shaped synchronous drive transmission belt 25 includes a synchronous belt 2501, an active synchronous pulley 2502, a driven synchronous pulley 2503, an auxiliary synchronous pulley 1 2504 and an auxiliary synchronous pulley 2 2505. The active synchronous pulley 2502 and the driven synchronous pulley 2503 are respectively installed on a belt frame 2506. The belt frame 2506 is fixedly connected to the rear side of the walking door frame 1 and the arc structure is consistent with the arc track 21. A plurality of auxiliary synchronous pulleys 1 2504 are used, which are evenly arranged in an arc along the belt frame 2506 to support the synchronous belt 2501. The upper section of the walking belt 2501 and the auxiliary synchronous pulley 2505 are multiple and are evenly arranged in an arc along the belt frame 2506 on the outer side of the synchronous belt 2501 to support the lower section of the synchronous belt 2501. The arc-shaped synchronous drive transmission belt can achieve stable arc-shaped walking drive, good synchronization, and precise walking. The belt has elasticity, and can also play a role in protecting the movement if the skateboard encounters an obstacle during walking. The auxiliary synchronous pulley 1 2504 and the auxiliary synchronous pulley 2 2505 are staggered, and the auxiliary synchronous pulley 2 2505 plays a role in auxiliary support and tensioning the synchronous belt, making walking more stable and more precise.

[0041] The electric walking mechanism 2 includes a front row of powered walking wheels 201 and a rear row of powered walking wheels 202 installed at the front and rear of the bottom of the walking door frame 1. The front row of powered walking wheels 201 is equipped with a power motor 203 for driving its rotation. A wire take-up device 19 is installed on the walking door frame 1, and the wire take-up device 19 winds up the cable.

[0042] The operation method of the ultrasonic detection device for tunnel construction is as follows: in a set tunnel section, when the ultrasonic detection device for tunnel construction is not in use, the walking door frame walks to the starting position, the starting position of the lowest side of the ultrasonic probe, and the point cloud data of the arc surface in the tunnel is obtained according to the three-dimensional laser scanner, and a three-dimensional model of the inner arc surface is established. The three-dimensional model sets the detection points of the arc surface in the tunnel. When ultrasonic detection is required, the walking mechanism is controlled to the starting position of the longitudinal detection, radially extends and abuts against the inner wall of the tunnel for ultrasonic detection, and the arc synchronous drive belt is controlled to drive the ultrasonic probe to the circumferential starting position, and each detection point is driven to detect the circumferential drive according to the acquired detection point. During the measurement process, if the detection probe cannot face the inner wall of the tunnel, the electric turntable is driven to rotate to a set angle. After reaching the detection of the last detection point in the circumferential direction, the detection points of the first row in the longitudinal direction are completed, and the walking door frame is moved longitudinally to detect the detection points of the second row. The starting points of the detection points of the two adjacent rows are arranged alternately, and the walking serpentine direction detection is performed to finally complete the detection of all detection points. The secondary lining of the tunnel is modeled based on the 3D laser scanner, and the model is used to accurately control the walking gantry, electric turntable and telescopic cylinder to achieve precise orientation and positioning of the ultrasonic detection probe, greatly improving the detection accuracy and efficiency.

[0043] Embodiment 3: In order to increase the versatility of the ultrasonic detection device, a tunnel construction maintenance device can also be installed on the traveling gantry, such as Figure 1-11 As shown, the specific structure of the tunnel construction maintenance device includes a walking door frame 1, an electric walking mechanism 2 and an annular spray pipe 3. A plurality of spray heads 18 evenly spaced are arranged on the top of the annular spray pipe 3 toward the tunnel secondary lining arch surface. An electric walking mechanism 2 is installed at the bottom of the walking door frame 1. The annular spray pipe 3 is installed on the top of the walking door frame 1 and is consistent with the shape of the top arch surface of the tunnel 4. The annular spray pipe 3 is connected to the booster water pump 5 through a pipeline. The booster water pump 5 is connected to the water tank 6. The water tank 6 is installed near the bottom of the walking door frame 1. The annular spray pipe 3 is detachably fixedly connected to a plurality of cantilever frames 13. The plurality of cantilever frames 13 are connected to the top of the walking door frame 1. In order to improve the spraying range and effect, the spray head 18 adopts a mechanical rotating spray head, which can achieve spraying in a larger range, with better spray coverage and uniformity. The spraying surfaces of two adjacent spray heads are staggered to avoid the situation where the spraying is not in place due to blind spots.

[0044] Among them, the above-mentioned annular spray pipe 3 adopts a half-structure, and two water inlet pipes are connected at the two lower ends respectively. The two water inlet pipes are connected to two water tanks 6 respectively through two booster pumps 5. The two water tanks 6 are respectively arranged on both sides of the walking door frame 1. The half-structure can realize the rapid flow of water to the designated nozzles for rapid spraying, thereby improving the spraying effect. The two water tanks are arranged on both sides of the walking door frame, which lowers the center of gravity of the entire equipment, increases the walking stability of the walking mechanism, and facilitates the water adding operation.

[0045] In order to accurately detect the start and end time of maintenance, an infrared temperature sensor 7 is installed on the top of the neutral surface of the walking door frame 1. When the temperature detection reaches the set value, the electric walking mechanism is started to walk and the spray pipe is started to spray, thereby achieving precise control. An infrared temperature sensor is installed on the top to monitor the top temperature in the tunnel in real time. Because according to the principle of hot air moving upward, the hot air in the tunnel will converge to the top of the inner side of the tunnel. The temperature obtained by the top temperature measurement is more convenient to accurately judge whether maintenance is needed.

[0046] In order to improve the stability of the walking door frame and facilitate the passage at the bottom, the walking door frame 1 includes two door frames 101 and longitudinal beams 102. The two door frames 101 are detachably fixedly connected by multiple longitudinal beams 102. Each door frame 101 includes two columns 103 and a crossbeam 104 detachably fixedly connected between the upper and middle parts of the two columns 103. The top ends of the two columns 103 are detachably fixedly connected to one end of two inclined beams 105, and the other ends of the two inclined beams 105 are detachably fixedly connected to a horizontal beam 106 to form an arch structure. Each inclined beam 105 is detachably fixedly connected to the top of the horizontal beam 104 through an auxiliary vertical beam 109 near the top, and the bottom of each horizontal beam 104 is detachably fixedly connected to the two columns 103 connected on both sides of the horizontal beam 104 through two eight-shaped diagonal braces 110. Two inclined step platforms 107 and a top horizontal platform 108 are detachably fixedly connected between the two arch structures. The two inclined step platforms 107 are respectively located between the two pairs of inclined beams 105, and the top horizontal platform 108 is located between the two horizontal beams 106. The two corresponding uprights 103 are detachably fixedly connected with two crossed reinforcing beams 111, and the two corresponding auxiliary vertical beams 109 between the two door frames 101 are detachably fixedly connected with two crossed pull rods 112. The pull rods 112 are adjustable in length, and both ends are hinged to the two auxiliary vertical beams 109 through adjustment devices. The adjustment device includes two buckles and a strip ring. The two buckles are spirally connected to the two ends of the strip ring in opposite directions, so as to adjust the length of the pull rod. The detachable structural connection mode of the walking door frame forms a modular structure, which is convenient for operation. It is easy to assemble, disassemble and transport, and is reused at different construction sites. The portal structure is convenient for bottom passage without affecting other construction operations. The addition of an arch structure makes it easier to approach the top arch of the tunnel, facilitate the arrangement of the top working platform for operations, and facilitate the arrangement of sprinkler pipes. The arch structures connect the sloped staircase and the top horizontal platform, which can also increase the strength and rigidity of the entire portal frame and increase stability. The addition of auxiliary vertical beams and diagonal braces, two crossed reinforcement beams and two crossed pull rods can all improve the stability of the entire walking frame and avoid shaking.

[0047] In order to prevent the walking door frame from deviating during walking, a row of limiting wheels 8 are respectively arranged at the upper left corner and the upper right corner of the walking door frame 1, and the limiting wheels 8 are rotatably connected to the wheel frame 805, and the wheel frame 805 is detachably fixedly connected to the upper end of the inclined cantilever 801, and the lower end of the inclined cantilever 801 is movably inserted into the upper end of the square tube 802 and locked with a locking screw 803. The inclined cantilever 801 is provided with a plurality of through holes for inserting the locking screws 803 at intervals along its length direction, and the lower end of the square tube 802 is detachably fixedly connected to the side of the walking door frame 1, and the inclination angle of the square tube 802 ensures that the wheel surface of the limiting wheel 8 can abut against the inner side surface of the tunnel 4, and the upper end of the square tube 802 is The U-shaped clamp ring 804 is fixedly connected to the bottom of the operating platform 9 on the side of the walking door frame 1, and a limiting device of the limiting wheel is installed in the upper right corner to prevent the walking door frame from deviating during walking, causing the top of the door frame to collide with the inner wall of the tunnel and damage the inner wall structure of the tunnel. The limiting wheel structure has a small contact surface and sliding friction, which is convenient for walking limitation. The limiting wheel mounting frame with a telescopic structure is convenient for adjusting the extension length of the limiting wheel. The telescopic adjustment of the inner and outer square tube structures is convenient and quick, and the connection is stable and reliable. In addition, a U-shaped clamp is installed at the free end of the outer tube and connected to the bottom of the operating platform, so that the limiting wheel mounting frame and the operating platform are further connected into an integrated structure, which can further improve the supporting stability of the limiting wheel.

[0048] In order to improve the versatility of the walking door frame, multiple detachable operating platforms 9 are respectively provided on the outer sides of the walking door frame 1. A ladder 10 is detachably fixedly connected between two adjacent operating platforms 9 on the same side. The topmost operating platform 9 is located at the top of the column 103, and the bottommost operating platform 9 is provided with a detachable suspended ladder 11. The suspended ladder 11 is 20-40 cm above the ground. Removable guardrails 12 are provided on the inner side and front and rear sides of each operating platform 9, and the outer side of each operating platform 9 is close to the inner wall of the tunnel 4. Multiple operating platforms and ladders are provided, combined with the top platform and the step platform at the top, which can increase the functionality of the maintenance trolley, facilitate the second ultrasonic detection of the tunnel and the grinding of the inner wall of the tunnel, and also facilitate climbing to the top for the maintenance of the sprinkler pipe. The detachable structure is convenient for assembly and disassembly, so as to adapt to the on-site repeated use of different construction sites, and guardrails are provided to improve the safety of operation.

[0049] For the convenience of installation, the above-mentioned annular spray pipe 3 is detachably fixedly connected to multiple cantilever frames 13, and multiple cantilever frames 13 are detachably fixedly connected to the top guardrail 14. The top guardrail 14 is an arc-shaped structure, and two are used, which are fixedly connected to the front and rear sides of the top of the walking door frame 1. The top arc pipe 17 of the top guardrail 14 located on one side of the spray pipe 3 is an auxiliary spray pipe. The top arc pipe 17 is installed with a spray head. The top arc pipe 15 is connected to the booster water pump 5 in parallel with the spray pipe 3 through a three-way joint and a pipeline; install the detachable guardrail The guardrail is convenient for installation, disassembly and transportation, which improves operational safety. The spray pipe is directly cantilevered and installed on the guardrail to reduce installation costs. The auxiliary spray pipe serves as a spare spray pipe. When the spray pipe is damaged, the spare spray pipe is activated and reused after the spray pipe is repaired or replaced to avoid downtime and the inability to maintain the tunnel concrete in time. In addition, when the temperature is high in summer, two spray pipes are activated at the same time to improve the maintenance efficiency and effect (the spray heads are staggered for a better effect). In summer, when the temperature is high, the dripping water will evaporate quickly and have little impact.

[0050] In order to facilitate the installation of the water tank and lower the center of gravity of the walking door frame, the water tank 6 is a flat structure, and the bottom in the length direction is placed on the longitudinal beam 102 at the bottom of the walking door frame 1. Two angle irons 604 are arranged at both ends of the top surface of the water tank 6, and the angle irons 604 are fixedly connected to the columns 103 of the walking door frame 1 by bolts. A plurality of heating rods 601, a temperature sensor 602 and a plurality of buffer nets 602 are arranged in the water tank 6, and the temperature sensor 602 is arranged inside. A plurality of buffer nets 603 are arranged at intervals along the length direction of the water tank 6. The water tank is a flat structure, which is convenient for installation, occupies little additional space, and will not affect the passage of the bottom of the trolley; it is also convenient to install on the walking door frame. Because the water tank is heavy, it is placed at the bottom of the walking door frame to lower the center of gravity of the walking door frame and improve the stability of the walking door frame. Moreover, due to the low installation position, it is also convenient to install it on the door frame. The placement method is coordinated with the angle Iron fixed connection, better installation stability, adding a heating rod, can heat the water, for winter when the temperature is below 5 ℃ for maintenance, it is necessary to heat the water temperature to the set temperature value for maintenance, which is more conducive to improving the concrete maintenance quality of the inner wall of the tunnel, adding multiple buffer nets, during the walking process of the walking gantry, can form a buffer for the water contained inside during the walking process, to avoid excessive shaking of the water inside the water tank causing excessive inertia of the maintenance trolley, a water filling port 605 and a liquid level sensor 606 are provided on the top of the water tank 6, the water filling port 605 is hinged with a cover, which can facilitate water addition, the liquid level sensor is convenient for detecting the liquid level of the water in the water tank, when it is lower than the set value, an alarm reminder or prompt is given, the buffer net 603 is fixed on the rectangular frame, the two sides and the bottom of the rectangular frame are embedded in the grooves of the inner wall and the bottom of the water tank, easy to assemble and disassemble, and convenient to maintain.

[0051] Because the secondary lining of the tunnel is cast in sections, the tunnel maintenance device also includes a limit sensor 15 and a travel distance limit device 16 for the section maintenance to achieve a fixed distance of walking. The limit sensor 15 is two, which are respectively installed at the front and rear ends of the walking door frame 1 near the bottom. The travel distance limit device 16 is installed on the ground and can face the limit sensor 15. The travel distance limit device 16 includes a baffle 1601, a transverse beam 1602, a support column 1603 and a disc base 1604. The baffle 1 A T-shaped slider 1605 is arranged on the back of 601, and the T-shaped slider 1605 is movably embedded in the T-shaped slide groove 1606 arranged on the front side of the transverse beam 1602. Rubber layers 1608 are arranged on both sides of the T-shaped slider 1605. The elastic rubber layer elastically fits on the side of the T-shaped slide groove 1606 to achieve clamping, and the baffle has better stability. The back of the T-shaped slide groove 1606 is fixedly connected to the support column 1603 through the hoop 1607. The lower end of the support column 1603 is fixedly connected to the disc base 1604. Two sets of The limit sensor and the travel distance limit device can allow the maintenance trolley to perform maintenance within the specified range, because the secondary lining construction of the tunnel is carried out in sections and maintained in sections; the T-type slider and T-type slide groove structure are used to facilitate the lateral adjustment of the baffle. When the side is set with grooves or unevenness, but the sensor is located outside, the lateral position needs to be adjusted for adaptation and matching; the cross beam and the support column are connected by a hoop, which is convenient for installation and height adjustment. Corresponding matching can be performed for the heights of different sensors. A roller 1609 is installed at the bottom of the disc base 1604, and the roller is set to facilitate movement. An iron shoe 1610 is provided on the side of the bottom of the disc base 1604 facing the walking gantry. The iron shoe can brake the walking wheel of the electric mechanism to play a safety limiting role, or auxiliary rollers 1611 are provided on both sides of the baffle 1601, which cannot be used together with the iron shoe. After the travel distance limit device falls, the auxiliary roller cooperates with the disc base to play an auxiliary rolling role to prevent the walking gantry from crushing the travel distance limit device.

[0052] The electric walking mechanism 2 includes a front row of powered walking wheels 201 and a rear row of powered walking wheels 202 installed at the front and rear of the bottom of the walking door frame 1. The front row of powered walking wheels 201 is equipped with a power motor 203 for driving its rotation. A wire take-up device 19 is installed on the walking door frame 1, and the wire take-up device 19 winds up the cable.

[0053] The operation method of the maintenance device for tunnel construction is as follows: within the set tunnel maintenance section, when the maintenance device for tunnel construction is not in use, the walking door frame moves to the starting position, the water tank is filled with water, and two walking distance limit devices are installed at two extreme positions within the set tunnel maintenance section. When the infrared temperature sensor detects that the temperature at the top of the tunnel has reached the set value, the sprinkler pipe is controlled to spray water toward the inner wall of the tunnel, and then the electric walking mechanism is controlled to drive the maintenance trolley to move back and forth according to the two extreme positions within the set tunnel maintenance section at a set speed. According to the fusion of the infrared temperature sensor and the outdoor temperature, it is judged whether the concrete of the inner wall of the tunnel meets the set maintenance requirements. If the set requirements are met, the maintenance device is controlled to the starting position, and the maintenance operation process is repeated for the next round of maintenance. If the temperature is lower than 5°C in winter, the heating rod is controlled to heat the water tank. When the temperature in the water tank reaches the set temperature range required for maintenance, the heating is stopped.

[0054] The maintenance device has the following advantages:

[0055] (1) The spray pipe is installed in the air on the front or rear side of the top of the traveling gantry through a cantilever frame, thereby reducing most of the water droplets (because more water droplets fall in the early stage of spraying) from dripping onto the traveling gantry during the spraying process, avoiding excessive water accumulation, and then quickly drying it, reducing the possibility of corrosion and the probability of nut loosening, and also reducing ice accumulation in winter, which affects the operation safety when the traveling gantry is used as an operating platform;

[0056] (2) The half-and-half structure enables water to flow quickly to the designated nozzle for rapid spraying, improving the spraying effect. The two water tanks are arranged on both sides of the walking door frame, which lowers the center of gravity of the entire equipment, increases the walking stability of the walking mechanism, and facilitates the water adding operation;

[0057] (3) An infrared temperature sensor is installed on the top to monitor the top temperature of the tunnel in real time. According to the principle that hot air moves upward, the hot air in the tunnel will gather at the top of the inner side of the tunnel. The temperature measured at the top can more accurately determine whether maintenance is needed.

[0058] (4) The detachable structural connection method of the walking door frame forms a modular structure, which is convenient for assembly, disassembly and transportation, and is convenient for repeated use at different construction sites. The door frame structure is convenient for bottom passage without affecting other construction operations. The installation of an arch structure makes it easier to approach the top arch of the tunnel, facilitate the arrangement of the top working platform for operations, and facilitate the arrangement of the sprinkler pipes. The arch structure connects the ramp step platform and the top horizontal platform, which can also increase the strength and rigidity of the entire door frame and increase stability. The installation of auxiliary vertical beams and diagonal braces, two crossed reinforcement beams and two crossed pull rods can all improve the stability of the entire walking frame and prevent shaking;

[0059] (5) A limiting device for the limiting wheel is installed in the upper right corner to prevent the walking gantry from deviating during walking, causing the top of the gantry to collide with the inner wall of the tunnel and damage the inner wall structure of the tunnel. The limiting wheel structure has a small contact surface and sliding friction, which is convenient for walking limit. The limiting wheel mounting frame with a telescopic structure is convenient for adjusting the extension length of the limiting wheel. The telescopic structure of the inner and outer square tube structures makes the adjustment convenient and fast, and the connection is stable and reliable. In addition, a U-shaped clamp is installed at the free end of the outer tube to connect to the bottom of the operating platform, further connecting the limiting wheel mounting frame and the operating platform into an integrated structure, which can further improve the support stability of the limiting wheel;

[0060] (6) Multiple operating platforms and ladders are set up, combined with the top platform and step platform, which can increase the functionality of the maintenance device, facilitate the second ultrasonic testing of the tunnel and the grinding of the inner wall of the tunnel, and also facilitate climbing to the top to maintain the sprinkler pipe; the detachable structure is convenient for assembly and disassembly, and thus adapts to the on-site reuse of different construction sites, and guardrails are set up to improve the safety of operation;

[0061] (7) Install removable guardrails to facilitate installation, disassembly and transportation, and improve operational safety. The spray pipe is directly cantilevered on the guardrail to reduce installation costs. The auxiliary spray pipe is used as a spare spray pipe. When the spray pipe is damaged, the spare spray pipe is activated and reused after the spray pipe is repaired or replaced to avoid downtime and the inability to maintain the tunnel concrete in time. In addition, when the temperature is high in summer, two spray pipes are activated at the same time to improve the maintenance efficiency and effect (the staggered arrangement of the spray heads will have a better effect). In summer, when the temperature is high, the dripping water will evaporate quickly, with little impact;

[0062] (8) The water tank is a flat structure, which is easy to install, takes up little extra space, and does not affect the passage of the bottom of the trolley; it is also easy to install on the walking door frame. Because the water tank is heavy, it is placed at the bottom of the walking door frame to lower the center of gravity of the walking door frame and improve the stability of the walking door frame. In addition, due to the low installation position, it is also easy to install it on the door frame. The placement method is combined with the angle iron fixed connection, and the installation stability is better. A heating rod is installed to heat the water. When the temperature is below 5°C in winter, the water temperature needs to be heated to the set temperature value for maintenance, which is more conducive to improving the concrete maintenance quality of the inner wall of the tunnel. Multiple buffer nets are installed. During the movement of the walking door frame, the water contained inside can be buffered during the walking process to prevent the water from shaking too much inside the water tank and causing the maintenance device to have too much inertia;

[0063] (9) Installing two sets of limit sensors and travel distance limit devices can enable the maintenance device to be maintained within the specified range, because the secondary lining construction of the tunnel is carried out in sections and maintained in sections; using T-shaped sliders and T-shaped slide groove structures to facilitate the lateral adjustment of the baffle. When the side is set with gullies or unevenness, but the sensor is located outside, the lateral position needs to be adjusted to adapt to the match; using a hoop to connect the transverse beam and the support column, it is convenient for installation and height adjustment, and can be matched accordingly for different sensor heights;

[0064] (10) The temperature collected at the top and the outdoor temperature are combined to make a fusion judgment, which is accurate and reliable, and the maintenance quality is higher. Heating and controlling the water temperature for maintenance is more conducive to improving the maintenance quality.

[0065] The above description is only a specific implementation method of the present utility model, but the protection scope of the present utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present utility model, which should be included in the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be based on the protection scope of the claims.

Claims

1. A walking, swinging and telescopic mechanism for ultrasonic testing in tunnel construction, characterized in that: The invention comprises a walking door frame (1), an electric walking mechanism (2), an arcuate synchronous driving belt (25) and a telescopic cylinder (27). The electric walking mechanism (2) is installed at the bottom of the walking door frame (1). An arcuate track (21) is installed at the rear side of the walking door frame (1). The arcuate track (21) is consistent with the inner arch surface of the tunnel (4) and both ends extend close to the ground. The arcuate track (21) is connected to a slide plate (23) through a slider (22). The inner side of the slide plate (23) is connected to an arcuate synchronous driving belt (25). The front end surface of the slide plate (23) is provided with an electric turntable (26). The telescopic cylinder (27) is installed on the electric turntable (26).

2. The walking, swinging and telescopic mechanism for ultrasonic detection in tunnel construction according to claim 1 is characterized in that: The arc-shaped synchronous drive transmission belt (25) comprises a synchronous belt (2501), an active synchronous pulley (2502), a driven synchronous pulley (2503), an auxiliary synchronous pulley 1 (2504) and an auxiliary synchronous pulley 2 (2505), wherein the active synchronous pulley (2502) and the driven synchronous pulley (2503) are respectively mounted on a belt rack (2506), and the belt rack (2506) is fixedly connected to the rear side of the walking door frame (1) and the arc-shaped structure is connected to the arc track (21). To maintain consistency, multiple auxiliary synchronous pulleys (2504) are used, which are evenly arranged along the arc of the belt frame (2506) on the inner side of the synchronous belt (2501) to support the upper side section of the synchronous belt (2501), and multiple auxiliary synchronous pulleys (2505) are used, which are evenly arranged along the arc of the belt frame (2506) on the outer side of the synchronous belt (2501) to support the lower side section of the synchronous belt (2501); the auxiliary synchronous pulleys (2504) and the auxiliary synchronous pulleys (2505) are arranged alternately.

3. The walking, swinging and telescopic mechanism for ultrasonic detection in tunnel construction according to claim 1 is characterized in that: The walking door frame (1) comprises two door frames (101) and longitudinal beams (102), the two door frames (101) are detachably fixedly connected via a plurality of longitudinal beams (102), each door frame (101) comprises two upright posts (103) and a cross beam (104) detachably fixedly connected between the middle and upper parts of the two upright posts (103), the top ends of the two upright posts (103) are detachably fixedly connected to one end of two inclined beams (105), the other ends of the two inclined beams (105) are detachably fixedly connected to a horizontal beam (106) to form an arch structure, each inclined beam (105) is detachably fixedly connected to the top of the cross beam (104) via an auxiliary vertical beam (109) near the top, and the bottom of each cross beam (104) is connected via two octave-shaped vertical beams (106). The U-shaped diagonal brace (110) is detachably fixedly connected to two columns (103) connected to both sides of the crossbeam (104); two inclined staircases (107) and a top horizontal platform (108) are detachably fixedly connected between the two arch structures; the two inclined staircases (107) are respectively located between the two pairs of inclined beams (105); the top horizontal platform (108) is located between the two horizontal beams (106); the two columns (103) corresponding to the two door frames (101) are detachably fixedly connected to two crossed reinforcement beams (111); the two auxiliary vertical beams (109) corresponding to the two door frames (101) are detachably fixedly connected to two crossed pull rods (112); the pull rods (112) are of adjustable length structure.

4. The walking, swinging and telescopic mechanism for ultrasonic detection in tunnel construction according to claim 1 is characterized in that: A row of limiting wheels (8) are respectively arranged at the upper left and upper right corners of the walking door frame (1), the limiting wheels (8) are rotatably connected to a wheel frame (805), the wheel frame (805) is detachably fixedly connected to the upper end of the inclined cantilever (801), the lower end of the inclined cantilever (801) is movably inserted into the upper end of the square tube (802) and locked by a locking screw (803), a plurality of through holes for inserting the locking screws (803) are arranged at intervals on the inclined cantilever (801) along its length direction, the lower end of the square tube (802) is detachably fixedly connected to the side surface of the walking door frame (1), the inclination angle of the square tube (802) ensures that the wheel surface of the limiting wheel (8) can abut against the inner side surface of the tunnel (4), and the upper end of the square tube (802) is fixedly connected to the bottom of the operating platform (9) on the side surface of the walking door frame (1) through a U-shaped clamp ring (804).

5. The walking, swinging and telescopic mechanism for ultrasonic detection in tunnel construction according to claim 1 is characterized in that: The arc track (21) is detachably mounted on the arc mounting plate (35), and the arc mounting plate (35) is detachably fixedly connected to the walking door frame (1) via support rods (36) on both sides and a top guardrail on the rear side.

6. The walking, swinging and telescopic mechanism for ultrasonic detection in tunnel construction according to claim 1 is characterized in that: The invention also comprises a limit sensor (15) and a travel distance limit device (16). Two limit sensors (15) are respectively installed at the front and rear ends of the travel door frame (1) near the bottom. The travel distance limit device (16) is installed on the ground and can face the limit sensor (15). The travel distance limit device (16) comprises a baffle (1601), a transverse beam (1602), a support column (1603) and a disc base (1604). A T-shaped slider (1605) is arranged on the back of the baffle (1601). The T-shaped slider (1605) is movably embedded in a T-shaped slide groove (1606) arranged on the front side of the transverse beam (1602). The back of the T-shaped slide groove (1606) is fixedly connected to the support column (1603) through a hoop (1607). The lower end of the support column (1603) is fixedly connected to the disc base (1604).

Images