Vacuum adsorption type tunnel lining structure nondestructive testing robot
By designing a non-destructive testing robot for vacuum adsorption tunnel lining structure, the technology of combining longitudinal and transverse vacuum suction cups is used to solve the problem of inaccurate detection at high altitude and vault positions in the existing technology, and efficient and accurate automatic detection of tunnel lining structures is achieved.
Patent Information
- Application Number
- CN202421673952.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-16
- Publication Date
- 2025-06-03
- Estimated Expiration
- 2034-07-16
AI Technical Summary
In the prior art, it is difficult to achieve efficient and accurate non-destructive testing when detecting tunnel lining structures, especially at high altitudes and vault positions, and human intervention can easily lead to inaccurate detection data.
A non-destructive testing robot for vacuum adsorption tunnel lining structure is designed, using a combination of longitudinal and transverse vacuum suction cups. By alternately lifting the suction cups with longitudinal lifting cylinders and transverse lifting cylinders, the robot can realize automatic detection on the side walls and vaults of the tunnel.
Automatic detection of tunnel lining structures is realized, labor costs are reduced, human intervention is reduced during the inspection process, and the accuracy of the detection results is improved.
Smart Images
Figure CN222939063U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of tunnel lining structure detection, and particularly relates to a non-destructive detection robot for tunnel lining structure with vacuum adsorption type. Background Technique
[0002] In the past, the detection methods for tunnel lining structures mainly relied on visual inspection or drilling for sampling. The visual inspection method is time-consuming and laborious, and can only detect surface defects; drilling for sampling can only select a small number of points and cannot achieve continuous detection. A large number of defects are missed, and the actual situation of the tunnel lining structure cannot be truly reflected.
[0003] In recent years, ground-penetrating radar based on the principle of electromagnetic reflection waves has been used for non-destructive detection of the road surface and the interior of building components, and can detect defects and detect the arrangement of steel bars. This method is to continuously detect the building structure surface with ground-penetrating radar according to relevant standards, and conduct quality assessment based on the detection results.
[0004] However, since the tunnel is completely different from the ground and low-altitude structures, a large number of detection positions need to be carried out at high altitude. In particular, the detection of the crown position requires aerial operations and needs to be assisted by manpower. Due to the intervention of personnel, problems such as the close contact of the detector and the deviation of the detection line are likely to occur, affecting the accuracy of the detection data. Content of the Utility Model
[0005] Aiming at the problems existing in the prior art, the purpose of the utility model is to provide a non-destructive detection robot for tunnel lining structure with vacuum adsorption type.
[0006] To solve the above problems, the utility model adopts the following technical solutions:
[0007] A non-destructive testing robot for a vacuum adsorption type tunnel lining structure, comprising a sucker longitudinal movement mechanism, a detector longitudinal movement mechanism, a detector, an electrical control box, a control box transverse movement mechanism, a sucker transverse movement mechanism and a gas source. Longitudinal lifting cylinders are arranged at the bottoms of both ends of the sucker longitudinal movement mechanism. Longitudinal vacuum suckers are arranged at the bottoms of the longitudinal lifting cylinders. The detector longitudinal movement mechanism is connected below the sucker longitudinal movement mechanism and can move longitudinally relative to the sucker longitudinal movement mechanism. The detector is connected to the bottom of the detector longitudinal movement mechanism. The control box transverse movement mechanism is connected below the sucker longitudinal movement mechanism between the sucker longitudinal movement mechanism and the detector longitudinal movement mechanism and can move longitudinally relative to the sucker longitudinal movement mechanism. The electrical control box is connected to the control box transverse movement mechanism. The sucker transverse movement mechanism is perpendicular to the sucker longitudinal movement mechanism to form a cross. The sucker transverse movement mechanism is connected below the control box transverse movement mechanism and can move transversely relative to the control box transverse movement mechanism. Transverse lifting cylinders are arranged at the bottoms of both ends of the sucker transverse movement mechanism. Transverse vacuum suckers are arranged at the bottoms of the transverse lifting cylinders. The gas source is connected to the electrical control box, the longitudinal lifting cylinders, the longitudinal vacuum suckers, the transverse lifting cylinders and the transverse vacuum suckers through air pipes.
[0008] Preferably, the sucker longitudinal movement mechanism includes a longitudinal guide rail, two longitudinal linear guide rails, a longitudinal rack, a longitudinal movement structure air pipe joint and a longitudinal lifting cylinder elevation plate. The two longitudinal linear guide rails are arranged on the inner side walls of both sides of the longitudinal guide rail. The longitudinal rack is arranged on the outer side wall of the longitudinal guide rail. The longitudinal movement structure air pipe joint is arranged at both ends of the longitudinal guide rail. The longitudinal lifting cylinder elevation plate is arranged at the bottoms of both ends of the longitudinal guide rail. The longitudinal lifting cylinder is connected to the bottom of the longitudinal lifting cylinder elevation plate. The longitudinal movement structure air pipe joint is connected to the longitudinal lifting cylinder and the longitudinal vacuum sucker respectively through air pipes.
[0009] Preferably, the detector longitudinal movement mechanism includes a longitudinal slide plate, a detector longitudinal movement motor, a detector longitudinal movement gear, a detector fixing plate, a detector pressing spring and a detector longitudinal movement slider. The detector longitudinal movement motor is connected to the longitudinal slide plate. The detector longitudinal movement gear is connected to the output shaft of the detector longitudinal movement motor. The detector longitudinal movement gear is meshed and connected with the longitudinal rack. The detector fixing plate is connected to the lower side of the longitudinal slide plate. The detector is connected to the lower side of the detector fixing plate. The detector pressing spring is connected between the detector fixing plate and the detector. There are four detector longitudinal movement sliders, which are respectively connected to the four corners of the longitudinal slide plate. The four detector longitudinal movement sliders are respectively slidably connected to the two longitudinal linear guide rails.
[0010] Preferably, the electric control box includes a controller, an electromagnetic air valve, an AI vision sensor, a laser alignment instrument, a lateral displacement sensor, and a longitudinal displacement sensor. The electromagnetic air valve, the AI vision sensor, the laser alignment instrument, the lateral displacement sensor, and the longitudinal displacement sensor are electrically connected to the controller. The electromagnetic air valve is connected to the air pipe that connects the air source to the electric control box, the longitudinal lifting cylinder, the longitudinal vacuum suction cup, the transverse lifting cylinder, and the transverse vacuum suction cup.
[0011] Preferably, the control box transverse movement mechanism includes a transverse structure mounting plate, a control box transverse movement slider, a control box longitudinal movement slider, a control box transverse movement motor, a control box longitudinal movement motor, a control box transverse movement gear, and a control box longitudinal movement gear. The control box transverse movement slider is arranged on the lower surface of the transverse structure mounting plate. The control box transverse movement motor is connected to the transverse structure mounting plate. The control box transverse movement gear is connected to the output shaft of the control box transverse movement motor. The control box longitudinal movement motor is connected to the transverse structure mounting plate. The control box longitudinal movement gear is connected to the output shaft of the control box longitudinal movement motor. There are at least four control box longitudinal movement sliders, which are arranged in two columns back to back on the upper surface of the transverse structure mounting plate. The control box longitudinal movement sliders are respectively slidably connected to two longitudinal linear guide rails. The control box longitudinal movement gear is meshed and connected with the longitudinal rack. The electric control box is connected to the transverse structure mounting plate.
[0012] Preferably, the suction cup transverse movement mechanism includes a transverse slide plate, a transverse linear guide rail, a transverse rack, and a transverse movement structure air pipe joint. The transverse linear guide rail is connected to the top of the transverse slide plate. The transverse rack is connected to one side of the transverse slide plate. The transverse lifting cylinder is connected to the bottoms of both ends of the transverse slide plate. The transverse movement structure air pipe joint is connected to the transverse lifting cylinder and the transverse vacuum suction cup through air pipes respectively. The control box transverse movement slider is slidably connected to the transverse linear guide rail. The control box transverse movement gear is meshed and connected with the transverse rack.
[0013] Preferably, there are two suction cup transverse movement mechanisms, which are arranged side by side.
[0014] Preferably, the air source includes a sheet metal cabinet, an operation panel, a cooling fan, and an air compressor. The air compressor is arranged inside the sheet metal cabinet. The operation panel is arranged on the surface of the sheet metal cabinet. The cooling fan is arranged on the side wall of the sheet metal cabinet. The air compressor is connected to the electromagnetic air valve, the longitudinal movement structure air pipe joint, and the transverse movement structure air pipe joint through air pipes. The controller is electrically connected to the operation panel, the cooling fan, the air compressor, and the electromagnetic air valve.
[0015] Advantages of the present utility model
[0016] Compared with the prior art, the advantages of the present utility model are as follows:
[0017] The utility model uses a longitudinal vacuum sucker and a transverse vacuum sucker to adsorb on the side wall and vault of the tunnel. When moving, the longitudinal vacuum sucker and the transverse vacuum sucker are alternately lifted by a longitudinal moving lifting cylinder and a transverse moving lifting cylinder. The sucker longitudinal moving mechanism and the detector longitudinal moving mechanism move horizontally and longitudinally in a walking manner, realizing climbing along the longitudinal and transverse directions on the side wall and vault of the tunnel, thereby realizing the automatic detection of the tunnel lining, reducing the labor cost, ensuring that the detection process reduces human intervention, and thus realizing the accuracy of the detection results. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 is a schematic structural diagram of the utility model;
[0019] Figure 2 is a schematic structural diagram of the sucker longitudinal moving mechanism of the utility model;
[0020] Figure 3 is a schematic structural diagram of the detector longitudinal moving mechanism of the utility model;
[0021] Figure 4 is a schematic structural diagram of the sucker transverse moving mechanism of the utility model;
[0022] Figure 5 is a schematic structural diagram of the control box transverse moving mechanism of the utility model;
[0023] Figure 6 is a schematic structural diagram of the bottom of the control box transverse moving mechanism of the utility model;
[0024] Figure 7 is a schematic structural diagram of the electrical control box of the utility model;
[0025] Figure 8 is a schematic structural diagram of the gas source of the utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.
[0027] In the description of the present utility model, it should be noted that the terms "upper / lower end", "inner", "outer", "front end", "back end", "both ends", "one end", "the other end", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0028] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "set / sleeved with", "socket connection", "connection", etc. should be understood in a broad sense. For example, "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.
[0029] Please refer to Figure 1-8 , the present utility model provides a technical solution: a non-destructive testing robot for a vacuum adsorption type tunnel lining structure, including a sucker longitudinal movement mechanism 1, a detector longitudinal movement mechanism 2, a detector 7, an electrical control box 3, a control box transverse movement mechanism 4, a sucker transverse movement mechanism 5 and a gas source 6. Longitudinal lifting cylinders 16 are arranged at the bottoms of both ends of the sucker longitudinal movement mechanism 1, and longitudinal vacuum suckers 17 are arranged at the bottoms of the longitudinal lifting cylinders 16. The detector longitudinal movement mechanism 2 is connected below the sucker longitudinal movement mechanism 1 and can move longitudinally relative to the sucker longitudinal movement mechanism 1. The detector 7 is connected to the bottom of the detector longitudinal movement mechanism 2. The control box transverse movement mechanism 4 is connected below the sucker longitudinal movement mechanism 1 between the sucker longitudinal movement mechanism 1 and the detector longitudinal movement mechanism 2 and can move longitudinally relative to the sucker longitudinal movement mechanism 1. The electrical control box 3 is connected to the control box transverse movement mechanism 4. The sucker transverse movement mechanism 5 is perpendicular to the sucker longitudinal movement mechanism 1 to form a cross. The sucker transverse movement mechanism 5 is connected below the control box transverse movement mechanism 4 and can move transversely relative to the control box transverse movement mechanism 4. Transverse lifting cylinders 54 are arranged at the bottoms of both ends of the sucker transverse movement mechanism 5, and transverse vacuum suckers 55 are arranged at the bottoms of the transverse lifting cylinders 54. The gas source 6 is connected to the electrical control box 3, the longitudinal lifting cylinders 16, the longitudinal vacuum suckers 17, the transverse lifting cylinders 54 and the transverse vacuum suckers 55 through air pipes.
[0030] The utility model uses a longitudinal vacuum suction cup 17 and a transverse vacuum suction cup 55 to adsorb on the side wall and the vault of the tunnel, and uses a detector 7 for detection. When moving, the longitudinal vacuum suction cup 17 and the transverse vacuum suction cup 55 are alternately lifted by a longitudinal translation lifting cylinder 16 and a transverse translation lifting cylinder 54, and a suction cup longitudinal translation mechanism 1 and a detector longitudinal translation mechanism 2 perform walking-type transverse and longitudinal translations, so as to climb longitudinally and transversely on the side wall and the vault of the tunnel, thereby realizing the automatic intelligent detection of the tunnel lining, reducing the labor cost, ensuring that the detection process reduces human intervention, and thus realizing the accuracy of the detection result.
[0031] Specifically, the suction cup longitudinal translation mechanism 1 includes a longitudinal guide rail 11, two longitudinal linear guide rails 12, a longitudinal rack 13, a longitudinal translation structure air pipe joint 14, and a longitudinal translation lifting cylinder elevation plate 15. The two longitudinal linear guide rails 12 are arranged on the inner side walls of both sides of the longitudinal guide rail 11, the longitudinal rack 13 is arranged on the outer side wall of the longitudinal guide rail 11, the longitudinal translation structure air pipe joint 14 is arranged at both ends of the longitudinal guide rail 11, the longitudinal translation lifting cylinder elevation plate 15 is arranged at the bottoms of both ends of the longitudinal guide rail 11, the longitudinal translation lifting cylinder 16 is connected to the bottom of the longitudinal translation lifting cylinder elevation plate 15, and the longitudinal translation structure air pipe joint 14 is communicated with the longitudinal translation lifting cylinder 16 and the longitudinal vacuum suction cup 17 through air pipes respectively.
[0032] The detector longitudinal translation mechanism 2 includes a longitudinal slide plate 21, a detector longitudinal translation motor 22, a detector longitudinal translation gear 23, a detector fixing plate 24, a detector pressing spring 25, and a detector longitudinal translation slider 26. The detector longitudinal translation motor 22 is connected to the longitudinal slide plate 21, the detector longitudinal translation gear 23 is connected to the output shaft of the detector longitudinal translation motor 22, the detector longitudinal translation gear 23 is meshed and connected with the longitudinal rack 13, the detector fixing plate 24 is connected to the lower side of the longitudinal slide plate 21, the detector 7 is connected to the lower side of the detector fixing plate 24, the detector pressing spring 25 is connected between the detector fixing plate 24 and the detector 7, and there are four detector longitudinal translation sliders 26, which are respectively connected to the four corners of the longitudinal slide plate 21, and the four detector longitudinal translation sliders 26 are respectively slidably connected to the two longitudinal linear guide rails 12.
[0033] The control box transverse movement mechanism 4 includes a transverse structure mounting plate 41, a control box transverse movement slider 42, a control box longitudinal movement slider 43, a control box transverse movement motor 44, a control box longitudinal movement motor 45, a control box transverse movement gear 46, and a control box longitudinal movement gear 47. The control box transverse movement slider 42 is arranged on the lower side surface of the transverse structure mounting plate 41. The control box transverse movement motor 44 is connected to the transverse structure mounting plate 41. The control box transverse movement gear 46 is connected to the output shaft of the control box transverse movement motor 44. The control box longitudinal movement motor 45 is connected to the transverse structure mounting plate 41. The control box longitudinal movement gear 47 is connected to the output shaft of the control box longitudinal movement motor 45. There are at least four control box longitudinal movement sliders 43, which are arranged in two columns back to back on the upper side surface of the transverse structure mounting plate 41. The control box longitudinal movement sliders 43 are respectively slidably connected to two longitudinal linear guide rails 12. The control box longitudinal movement gear 47 is meshed and connected with a longitudinal rack 13. The electrical control box 3 is connected to the transverse structure mounting plate 41.
[0034] The sucker transverse movement mechanism 5 includes a transverse slide plate 51, a transverse linear guide rail 52, a transverse rack 53, and a transverse movement structure air pipe joint. The transverse linear guide rail 52 is connected to the top of the transverse slide plate 51. The transverse rack 53 is connected to one side of the transverse slide plate 51. The transverse lifting cylinder 54 is connected to the bottoms of both ends of the transverse slide plate 51. The transverse movement structure air pipe joint is connected to the transverse lifting cylinder 54 and the transverse vacuum sucker 55 through air pipes respectively. The control box transverse movement slider 42 is slidably connected to the transverse linear guide rail 52. The control box transverse movement gear 46 is meshed and connected with the transverse rack 53.
[0035] The electrical control box 3 includes a controller, an electromagnetic air valve, an AI vision sensor, a laser line projector, a transverse displacement sensor, and a longitudinal displacement sensor. The electromagnetic air valve, the AI vision sensor, the laser line projector, the transverse displacement sensor, and the longitudinal displacement sensor are electrically connected to the controller. The electromagnetic air valve is connected to the air pipes connecting the air source 6 with the electrical control box 3, the longitudinal lifting cylinder 16, the longitudinal vacuum sucker 17, the transverse lifting cylinder 54, and the transverse vacuum sucker 55. In the present utility model, when the robot is detecting and moving longitudinally, the laser line projector projects a line and the AI vision sensor judges the transverse position deviation of the robot. Through the feedback of the transverse displacement sensor and the longitudinal displacement sensor, automatic deviation correction is carried out to ensure that the detection is carried out according to the set reference line.
[0036] During operation, the longitudinal lifting cylinder 16 and the transverse lifting cylinder 54 extend. The longitudinal vacuum suction cup 17 and the transverse vacuum suction cup 55 evacuate to adsorb the overall structure of the present invention on the tunnel wall. The detector 7 detects the tunnel wall. When the overall structure of the present invention needs to be moved, the longitudinal vacuum suction cup 17 stops adsorbing, the longitudinal lifting cylinder 16 contracts to lift the longitudinal vacuum suction cup 17, the longitudinal movement motor 45 of the control box operates to drive the longitudinal movement gear 47 of the control box to rotate. The longitudinal movement gear 47 of the control box cooperates with the longitudinal rack 13 to drive the longitudinal guide rail 11 to move longitudinally. Then the longitudinal lifting cylinder 16 extends, and the longitudinal vacuum suction cup 17 evacuates to adsorb on the tunnel wall. The transverse vacuum suction cup 55 stops adsorbing, the transverse lifting cylinder 54 contracts to lift the transverse vacuum suction cup 55, the transverse movement motor 44 of the control box operates to drive the transverse movement gear 46 of the control box to rotate. The transverse movement gear 46 of the control box cooperates with the transverse rack 53 to drive the transverse slide plate 51 to move transversely. By alternating in this way, the overall movement of the present invention is realized. When the detector 7 needs to be moved, the longitudinal movement motor 22 of the detector operates to drive the longitudinal movement gear 23 of the detector to rotate. The longitudinal movement gear 23 of the detector cooperates with the longitudinal rack 13 to drive the longitudinal slide plate 21 to move longitudinally relative to the longitudinal guide rail 11, thereby driving the detector 7 to move within a small range for detection.
[0037] During specific implementation, the air pipes of the longitudinal lifting cylinder 16, the transverse lifting cylinder 54, the longitudinal vacuum suction cup 17, and the transverse vacuum suction cup 55 can be controlled through the cooperation of the controller and the electromagnetic air valve, and the transverse movement motor 44, the longitudinal movement motor 45 of the control box, and the longitudinal movement motor 22 of the detector can be controlled through the cooperation of the controller and the control box to realize the automatic actions of each component.
[0038] The detector 7 of the present invention detects the position of the tunnel lining in an air-coupled manner without causing damage to the structure.
[0039] The present invention realizes the uniform movement of the detector 7 relative to the detection tunnel through the mutual nesting of three-layer movement structures, ensuring a comprehensive detection of the tunnel lining.
[0040] The longitudinal vacuum suction cup 17 and the transverse vacuum suction cup 55 of the present invention rely on the suction force of the suction cups to adsorb on the tunnel wall. The longitudinal vacuum suction cup 17 and the transverse vacuum suction cup 55 adsorb alternately. By connecting to the suction cups through a vacuum extraction device and evacuating the air between the suction cups and the tunnel wall, this pressure difference is formed to make the overall structure adsorb on the tunnel wall without causing damage to the structure.
[0041] Furthermore, there are two sucker transverse movement mechanisms 5, which are arranged side by side with each other to make the adsorption more stable.
[0042] The utility model is equipped with its own air source system, which reduces the dilemma of shortage of on-site air source. The air source 6 includes a sheet metal cabinet, an operation panel 61, a cooling fan 62, and an air compressor. The air compressor is arranged inside the sheet metal cabinet, the operation panel 61 is arranged on the surface of the sheet metal cabinet, the cooling fan 62 is arranged on the side wall of the sheet metal cabinet, the air compressor is connected to an electromagnetic air valve, a longitudinal movement structure air pipe joint 14, and a transverse movement structure air pipe joint through an air pipe, and the controller is electrically connected to the operation panel 61, the cooling fan 62, the air compressor, and the electromagnetic air valve.
[0043] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation. An element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.
[0044] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A vacuum adsorption type tunnel lining structure non-destructive testing robot, characterized in that: The invention comprises a suction cup longitudinal movement mechanism (1), a detector longitudinal movement mechanism (2), a detector (7), an electrical control box (3), a control box transverse movement mechanism (4), a suction cup transverse movement mechanism (5) and an air source (6). The bottoms of both ends of the suction cup longitudinal movement mechanism (1) are provided with longitudinal movement lifting cylinders (16). The bottoms of the longitudinal movement lifting cylinders (16) are provided with longitudinal vacuum suction cups (17). The detector longitudinal movement mechanism (2) is connected to the bottom of the suction cup longitudinal movement mechanism (1) and can move longitudinally relative to the suction cup longitudinal movement mechanism (1). The detector (7) is connected to the bottom of the detector longitudinal movement mechanism (2). The control box transverse movement mechanism (4) is connected between the suction cup longitudinal movement mechanism (1) and the detector longitudinal movement mechanism (2) and is connected to the bottom of the suction cup longitudinal movement mechanism (1). The electrical control box (3) is connected to the control box transverse movement mechanism (4) so as to move longitudinally relative to the suction cup longitudinal movement mechanism (1). The suction cup transverse movement mechanism (5) and the suction cup longitudinal movement mechanism (1) are perpendicular to each other to form a cross. The suction cup transverse movement mechanism (5) is connected below the control box transverse movement mechanism (4) and can move transversely relative to the control box transverse movement mechanism (4). Transverse movement lifting cylinders (54) are provided at the bottom of both ends of the suction cup transverse movement mechanism (5). A transverse vacuum suction cup (55) is provided at the bottom of the transverse movement lifting cylinder (54). The air source (6) is connected to the electrical control box (3), the longitudinal movement lifting cylinder (16), the longitudinal vacuum suction cup (17), the transverse movement lifting cylinder (54), and the transverse vacuum suction cup (55) through an air pipe.
2. The vacuum adsorption type tunnel lining structure nondestructive testing robot according to claim 1 is characterized in that: The suction cup longitudinal movement mechanism (1) comprises a longitudinal guide rail (11), two longitudinal linear guide rails (12), a longitudinal rack (13), a longitudinal movement structure air pipe joint (14) and a longitudinal movement lifting cylinder pad plate (15); the two longitudinal linear guide rails (12) are arranged on two side walls inside the longitudinal guide rail (11); the longitudinal rack (13) is arranged on an outer side wall of the longitudinal guide rail (11); the longitudinal movement structure air pipe joint (14) is arranged at both ends of the longitudinal guide rail (11); the longitudinal movement lifting cylinder pad plate (15) is arranged at the bottom of both ends of the longitudinal guide rail (11); the longitudinal movement lifting cylinder (16) is connected to the bottom of the longitudinal movement lifting cylinder pad plate (15); and the longitudinal movement structure air pipe joint (14) is connected to the longitudinal movement lifting cylinder (16) and the longitudinal vacuum suction cup (17) through air pipes.
3. The vacuum adsorption type tunnel lining structure nondestructive testing robot according to claim 2 is characterized in that: The detector longitudinal movement mechanism (2) comprises a longitudinal slide (21), a detector longitudinal movement motor (22), a detector longitudinal movement gear (23), a detector fixing plate (24), a detector clamping spring (25) and a detector longitudinal movement slider (26). The detector longitudinal movement motor (22) is connected to the longitudinal slide (21), the detector longitudinal movement gear (23) is connected to the output shaft of the detector longitudinal movement motor (22), the detector longitudinal movement gear (23) is meshedly connected with the longitudinal rack (13), the detector fixing plate (24) is connected to the lower side of the longitudinal slide (21), the detector (7) is connected to the lower side of the detector fixing plate (24), the detector clamping spring (25) is connected between the detector fixing plate (24) and the detector (7), and there are four detector longitudinal movement sliders (26), which are respectively connected to the four corners of the longitudinal slide (21), and the four detector longitudinal movement sliders (26) are respectively slidably connected to two longitudinal linear guide rails (12).
4. The vacuum adsorption type tunnel lining structure nondestructive testing robot according to claim 3 is characterized in that: The electrical control box (3) comprises a controller, an electromagnetic air valve, an AI visual sensor, a laser line projector, a lateral displacement sensor and a longitudinal displacement sensor. The electromagnetic air valve, the AI visual sensor, the laser line projector, the lateral displacement sensor, the longitudinal displacement sensor and the detector (7) are electrically connected to the controller. The electromagnetic air valve is connected to an air pipe connecting an air source (6) and the electrical control box (3), a longitudinal lifting cylinder (16), a longitudinal vacuum suction cup (17), a lateral lifting cylinder (54) and a lateral vacuum suction cup (55).
5. The vacuum adsorption type tunnel lining structure nondestructive testing robot according to claim 4 is characterized in that: The control box transverse movement mechanism (4) comprises a transverse structure mounting plate (41), a control box transverse movement slider (42), a control box longitudinal movement slider (43), a control box transverse movement motor (44), a control box longitudinal movement motor (45), a control box transverse movement gear (46), and a control box longitudinal movement gear (47); the control box transverse movement slider (42) is arranged on the lower surface of the transverse structure mounting plate (41); the control box transverse movement motor (44) is connected to the transverse structure mounting plate (41); and the control box transverse movement gear (46) is connected to the output shaft of the control box transverse movement motor (44). The control box longitudinal movement motor (45) is connected to the transverse structure mounting plate (41); the control box longitudinal movement gear (47) is connected to the output shaft of the control box longitudinal movement motor (45); there are at least four control box longitudinal movement sliders (43) which are arranged in two rows opposite to each other on the upper surface of the transverse structure mounting plate (41); the control box longitudinal movement sliders (43) are respectively slidably connected to two longitudinal linear guide rails (12); the control box longitudinal movement gear (47) is meshedly connected to the longitudinal rack (13); and the electrical control box (3) is connected to the transverse structure mounting plate (41).
6. The vacuum adsorption type tunnel lining structure nondestructive testing robot according to claim 5 is characterized in that: The suction cup transverse movement mechanism (5) comprises a transverse slide (51), a transverse linear guide rail (52), a transverse rack (53), and a transverse movement structure air pipe joint. The transverse linear guide rail (52) is connected to the top of the transverse slide (51), the transverse rack (53) is connected to one side of the transverse slide (51), the transverse movement lifting cylinder (54) is connected to the bottom of both ends of the transverse slide (51), the transverse movement structure air pipe joint is connected to the transverse movement lifting cylinder (54) and the transverse vacuum suction cup (55) through air pipes respectively, the control box transverse movement slider (42) is slidably connected to the transverse linear guide rail (52), and the control box transverse movement gear (46) is meshingly connected to the transverse rack (53).
7. The vacuum adsorption type tunnel lining structure nondestructive testing robot according to claim 1 is characterized in that: There are two suction cup transverse movement mechanisms (5), which are arranged side by side with each other.
8. The vacuum adsorption type tunnel lining structure nondestructive testing robot according to claim 6, characterized in that: The air source (6) comprises a sheet metal cabinet, an operation panel (61), a cooling fan (62), and an air compressor; the air compressor is arranged inside the sheet metal cabinet, the operation panel (61) is arranged on the surface of the sheet metal cabinet, the cooling fan (62) is arranged on the side wall of the sheet metal cabinet, the air compressor is connected to the electromagnetic air valve, the longitudinal movement structure air pipe joint (14), and the transverse movement structure air pipe joint through an air pipe, and the controller is electrically connected to the operation panel (61), the cooling fan (62), the air compressor, and the electromagnetic air valve.