CN106444785A - Portable tunnel lining detection apparatus - Google Patents
Portable tunnel lining detection apparatus Download PDFInfo
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- CN106444785A CN106444785A CN201611055318.5A CN201611055318A CN106444785A CN 106444785 A CN106444785 A CN 106444785A CN 201611055318 A CN201611055318 A CN 201611055318A CN 106444785 A CN106444785 A CN 106444785A
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- portable
- tunnel
- testing equipment
- liner
- plate
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
Abstract
The invention provides a portable tunnel lining detection apparatus, having the integration of a travelling mechanism (3), a suction device (4), a power supply module and geological radar (2); both the suction device (4) and the geological radar (2) are fixed to the travelling mechanism (3), the travelling mechanism (3) may drive the portable tunnel lining detection apparatus to move on a tunnel lining surface (10), and the lower end of the travelling mechanism (3) is provided with a vacuum sponge suction instrument (1) for sucking to the tunnel lining surface (10). The portable tunnel lining detection apparatus is operable independently by a single operator, allows different measuring lines to be selected for advancing direction to carry out tunnel detection, also allows a circular tunnel lining to be detected, is high in speed and high in adaptability to tunnel surface state, takes a short time for preparation, is free of tedious assists, can cross an obstacle directly, is high in efficiency, low in weight and good in suction stability, is remotely controllable through complete wireless transmission, and completely need not the consideration on the serial problems, such as interference in space cable detection.
Description
Technical field
The present invention relates to Tunnel testing apparatus field, a kind of particularly portable tunnel-liner testing equipment.
Background technology
At present, the mainstream technology of domestic tunnel-liner Non-Destructive Testing is to be detected using geological radar method.Geological radar
Detection mainly has the detection mode such as artificial, vehicle-mounted.China has been developed that first tunnel state checks car, such as Chinese patent CN
105302143 A, on 2 3rd, 2016 publication date, disclosed《Tunnel-liner detection means and detection car》.This car and tradition
Detection means compare, detection automation on have remarkable improvement.But this car test runs into the barriers such as contact net during surveying
When still need to constantly regulate mechanical arm position, this operate controlled precision, sensitivity and the response time impact need the work that repeatedly stops
Industry, reduces operating efficiency to a certain extent.Later, China have developed a kind of tunnel-liner detecting system again, such as Chinese patent
CN 105511463 A, April 20 2016 publication date, disclosed《A kind of railway tunnel lining detecting system》.This system
Detected using climbing wall device principle carrying geological radar, can effectively detection operation complexity significantly be simplified, behaviour
It is convenient to make, and loss is low, and detection ineffective time is few.But still exist effective detection rates be insufficient to soon, absorption stablize
Property not enough, structure lightened not enough, tunnel cross-section curvature adaptability is not enough, be not suitable for detecting section ring lining cutting state, directly
Cross over the problems such as avoidance ability has limitation, cable pipeline arrangement is complicated, auxiliary equipment is heavy.
Content of the invention
Adsorb instable problem in order to solve existing tunnel lining system, the invention provides a kind of portable
Tunnel-liner testing equipment, this portable tunnel-liner testing equipment takes the very convenient effective technical scheme of one kind to tunnel
Road lining cutting is detected, direction of advance can be selected different surveys line carry out tunnel by operating personnel's complete independently
It is also possible to detect to ring tunnel-liner, speed is fast, tunnel surface state strong adaptability, and preparation is short, not heavy for detection
Auxiliary equipment, directly cross over avoidance, efficiency high, device is light, absorption is stable, fully wireless transmission remote control is it is not necessary to consider space
The series of problems such as interference during cable detection.
The technical solution adopted for the present invention to solve the technical problems is：A kind of portable tunnel-liner testing equipment, bag
Include walking mechanism, getter device and geological radar, getter device and geological radar are both secured to walking mechanism, and walking mechanism can
This portable tunnel-liner testing equipment is driven to move on tunnel-liner surface, the lower end of walking mechanism is provided with and exists for absorption
The vacuum sponge on tunnel-liner surface inhales tool, and vacuum sponge inhales tool and contains sucker body setting up and down and sponge absorbing layer, sea
Continuous adsorption layer is contained within multiple through holes for absorption on tunnel-liner surface, and getter device can be to being somebody's turn to do in sponge absorbing layer
Air-breathing in through hole.
During walking mechanism contains first foot mechanism, second foot mechanism and is located in the middle part of walking mechanism
Cardiac skeleton, along the length direction setting of this portable tunnel-liner testing equipment, the second foot mechanism edge should for the first foot mechanism
The width setting of portable tunnel-liner testing equipment, the first foot mechanism contains the elastic movable supports plate of a bar shaped
With two electric pushrods, elastic movable supports plate is along the length direction setting of this portable tunnel-liner testing equipment, yielding movable
The plate that is dynamically connected can move back and forth along the length direction of this portable tunnel-liner testing equipment, and electric pushrod is along this portable tunnel
The short transverse setting of road lining equipment, two electric pushrods are individually fixed in the two ends of elastic movable supports plate, elasticity
The middle part of active plate is connected with this center bearing bracket, and vacuum sponge inhales the lower end that tool is located at electric pushrod.
Elastic movable supports plate contains the first portable plate setting gradually, fixed plate and the second portable plate, the first portable plate
One end of one end and fixed plate pass through the first hinge, one end of the second portable plate passes through second with the other end of fixed plate
Hinge, is connected also by two the first resilient damping member between one end of fixed plate and the first portable plate, two first
Resilient damping member respectively be located at this first bearing pin both sides up and down, between the other end of fixed plate and the second portable plate also by
Two the second resilient damping member connect, and two the second resilient damping member are located at the both sides up and down of this second bearing pin respectively.
The axis of this first bearing pin and the diameter parallel of this second bearing pin, the axis of this first bearing pin and this portable tunnel
The width of lining equipment is parallel, and one of two electric pushrods are connected with the first portable plate, and two electronic
Another in push rod is connected with the second portable plate, and fixed plate is connected with this center bearing bracket, and the first portable plate can be relatively
In 15 ° of fixed plate maximum rotation, the second portable plate can be with respect to 15 ° of fixed plate maximum rotation, and the first resilient damping member is
Spring or damping rubber bar, the second resilient damping member is spring or damping rubber bar.
The bottom of electric pushrod be provided with multiple for induction electric push rod along this portable tunnel-liner testing equipment height
The inductive switch of degree direction displacement, multiple inductive switches are along the short transverse interval of this portable tunnel-liner testing equipment
Arrangement.
It is provided with this center bearing bracket and the fixed plate of the first foot mechanism can be driven to set along this portable tunnel-liner detection
The pinion and rack that standby length direction moves back and forth, the size of the first foot mechanism and the second foot mechanism and structure phase
With.
This portable tunnel-liner testing equipment also includes supply module, control unit and ground display controller, this confession
Electric module, getter device and geological radar are all connected with this control unit, described supply module, control unit, getter device and
Geological radar is all integrated in described center bearing bracket, and this portable tunnel-liner testing equipment being capable of autonomous operation or by describedly
Face display controller carries out wireless signal and controls operation, getter device and this power supply to be arranged at the top of this center bearing bracket, geology
Radar is located at the bottom of this center bearing bracket.
The top of geological radar is provided with illuminating lamp and high-definition camera, and the top of getter device is provided with detection camera, shines
Bright lamp, high-definition camera and detection camera are all connected with described control unit, and this control unit contains electric power alarm module, ground
Matter radar is integral type geological radar, and geological radar is integrated with antenna transceiver module data acquisition module.
The upper end of sucker body is connected with the lower end of electric pushrod, and vacuum sponge is inhaled tool and connected with the lower end of sucker body
Connect fixation, the outer surface of sucker body is provided with air entry, sucker is originally provided with vacuum chamber in vivo, getter device is with this air entry even
Connect, the through hole in sponge absorbing layer along the short transverse insertion of this portable tunnel-liner testing equipment, in sponge absorbing layer
Each through hole formed gas circuit all can independent control, be provided with vacuum chamber and through hole one-to-one one-way pressure maintaining valve.
Be additionally provided with soft silica gel bed course between sucker body and sponge absorbing layer, soft silica gel bed course contain with sponge absorbing layer in
The one-to-one duct of through hole, the outer surface of soft silica gel bed course and the inner surface in this duct are wavy shaped configuration or zigzag
Structure, soft silica gel bed course can make sponge absorbing layer have 0.1cm along the short transverse of this portable tunnel-liner testing equipment
To the elastic mobility of 1cm, sucker body is additionally provided with the B/P EGR Back Pressure Transducer EGR for detecting the pressure value in vacuum chamber.
The invention has the beneficial effects as follows：This portable tunnel-liner testing equipment also one can carry this with autonomous operation
Device completes tunnel-liner detection by the distant behaviour of remote-wireless, all mainly integrated with auxiliary equipment, all follows and climbs
Wall, no extras use, and save preparation before the detection that the transport of large-scale auxiliary equipment and a large amount of cooperation personnel are carried out, very
Just accomplishing efficient lightweight facilitation, typically do not needing additional detections personnel, its structure can good conformity overwhelming majority tunnel
It is even more important that this device is except ordinary advance, longitudinally detection achieves tunnel ring lining to environment for the first time, meaning
Justice is great.Through actual tests, the flexibility of tunnel-liner detection work and novelty have reached a brand-new height.
Brief description
The Figure of description constituting the part of the application is used for providing a further understanding of the present invention, and the present invention shows
Meaning property embodiment and its illustrate for explaining the present invention, does not constitute inappropriate limitation of the present invention.
Fig. 1 is the front view of this portable tunnel-liner testing equipment.
Fig. 2 is the top view of this portable tunnel-liner testing equipment.
Fig. 3 is the structural representation of the first foot mechanism.
Fig. 4 is the first portable plate and fixed plate connection diagram.
Fig. 5 is the structural representation that vacuum sponge inhales tool.
Fig. 6 is the sectional view that vacuum sponge inhales tool.
Fig. 7 is the front view of sponge absorbing layer.
Fig. 8 is the front view at geological radar position.
Fig. 9 is the top view at geological radar position.
Figure 10 is the working state schematic representation of this portable tunnel-liner testing equipment.
1st, vacuum sponge inhales tool；2nd, geological radar；3rd, walking mechanism；4th, getter device；5th, buffering range finding steamboat；6th, illuminate
Lamp；7th, high-definition camera；8th, detect camera；9th, ground display controller；
10th, tunnel-liner surface；
11st, sucker body；12nd, soft silica gel bed course；13rd, sponge absorbing layer；14th, support steamboat；
31st, the first foot mechanism；32nd, the second foot mechanism；33rd, electric pushrod；34th, elastic movable supports plate；35th, sense
Switch；
111st, air entry；112nd, vacuum chamber；113rd, one-way pressure maintaining valve；114th, B/P EGR Back Pressure Transducer EGR；
131st, through hole 131；
341st, the first portable plate；342nd, fixed plate；343rd, the second portable plate；344th, the first resilient damping member；345th,
Two resilient damping member.
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Mutually combine.To describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
A kind of portable tunnel-liner testing equipment, including walking mechanism 3, getter device 4 and geological radar 2, air-breathing fills
Put 4 and geological radar 2 be both secured to walking mechanism 3, walking mechanism 3 can drive this portable tunnel-liner testing equipment in tunnel
Move on road lining cutting surface 10, the lower end of walking mechanism 3 is provided with the vacuum sponge on tunnel-liner surface 10 for absorption and inhales tool
1, vacuum sponge inhales tool 1 and contains sucker body 11 setting up and down and sponge absorbing layer 13, and sponge absorbing layer 13 is contained within multiple
For the through hole 131 on tunnel-liner surface 10 for the absorption, getter device 4 can be in this through hole 131 in sponge absorbing layer 13
Air-breathing, makes to form negative pressure, as shown in Figure 1 to Figure 3 in this through hole 131.
In the present embodiment, walking mechanism 3 contains 31, second foot mechanism 32 of first foot mechanism and position
In the center bearing bracket at walking mechanism 3 middle part, the first foot mechanism 31 is along the length direction of this portable tunnel-liner testing equipment
Setting, the second foot mechanism 32 contains along the width setting of this portable tunnel-liner testing equipment, the first foot mechanism 31
There are the elastic movable supports plate 34 of a bar shaped and two electric pushrods 33, elastic movable supports plate 34 is along this portable tunnel lining
Build the length direction setting of testing equipment, elastic movable supports plate 34 can be along the length of this portable tunnel-liner testing equipment
Direction moves back and forth, and electric pushrod 33 is along the short transverse setting of this portable tunnel-liner testing equipment, two electric pushrods
33 two ends being individually fixed in elastic movable supports plate 34, the middle part of elastic movable supports plate 34 is connected with this center bearing bracket, very
Empty sponge inhales the lower end that tool 1 is located at electric pushrod 33.
The length direction of this portable tunnel-liner testing equipment above-mentioned is left and right directions in Fig. 2, this portable tunnel lining
The width building testing equipment is the above-below direction in Fig. 2, and the short transverse of this portable tunnel-liner testing equipment is vertical
Directly in the direction of Fig. 2 paper.
The length and width of this portable tunnel-liner testing equipment is respectively 0.7m × 0.7m, and (concrete size regards to radar
The demands such as model, tunnel-liner section and detection speed can be changed and replace it is only necessary to unload the running shaft of cross, traveling
Shaft length can freely be arranged to multiple dimensions), geological radar is equipped on below device way station in the form of carrier,
It is made to press close to tunnel-liner.Foot mechanism end installs sorbing material (sponge absorbing layer 13) additional, relies on running mechanism and the lift of four pin
Play the detection operation that direction of advance and ring are realized in pressure alternating sorbent tunnel-liner, geological radar strictly may be used with tested surface distance
It is maintained within 2cm with good, detection data quality is good.
For the flatness roughness condition of tunnel actual environment and tested surface, take negative pressure of vacuum suction type, four pin
(foot mechanism) all makes device effectively be adsorbed onto in tunnel-liner using the method being installed additional vacuum sponge suction tool by miniature electric putter
On wall, the stability of sponge absorbing layer 13 is extremely strong.Sucker standard after the sucker body 11 of hard and sponge absorbing layer 13 combination
Adjustable height is 5cm, is 10cm to the maximum and (for robot reasonable stress and security consideration, at most no more than 15cm, is not less than
3cm, concrete size does not limit, can be at any time according to the radar size loading and tunnel-liner surface environment Adjusted Option).Standard is born
Carry as 3kg, safety margins loads as 5kg, (theoretical maximum is 10kg), and integral type geological radar is satisfied by bearing less than 2.5kg
Carrier strip part.
By the use of walking mechanism 3 as travel structure, moving ahead of device, specific walking manner are realized with mechanism's alternating movement
For：As when need to left side walking in Fig. 2 when, the vacuum sponge at the second foot mechanism 32 two ends inhale tool 1 adsorb first motionless, the
The vacuum sponge at one foot mechanism 31 two ends inhales tool 1 and lifts, then elastic movable supports plate 34 side shifting to the left, the first foot machine
The vacuum sponge at structure 31 two ends inhales tool 1 and falls absorption again, and the vacuum sponge at the second foot mechanism 32 two ends inhales tool 1 and lifts, then
Described center bearing bracket is moved to the left, and completes a walking and walks, and retransmits said process and can realize along along Fig. 2 left and right or above-below direction
Walking.The linear pushing speed of walking mechanism 3 is maximum, and up to 1m/s, miniature electric putter fltting speed is adjustable for 1 to 8cm/s, pressure
Lower adsorb and lift total time-consuming about 1s to 1.5s, up to 0.4m/s, traveling process is steady for whole machine effective detection average speed.
(all of above speed draws with the consideration of maximum safety coefficient all under the present embodiment as far as possible, does not include equipment component and substitutes
And the operating mode under limiting condition).
For at utmost reducing the deadweight of whole machine, all structures of this portable tunnel-liner testing equipment are in addition to position easy to wear
Formed by carbon fiber die sinking is special, whole machine rigidity and elasticity are splendid, and averag density is only to four/5ths points of steel alloy
One of, deadweight is reduced to 6kg.And high power lithium battery module is placed in cross frame way station top, for climbing wall device
There is provided electric power energy, single operation maximum duration was up to 1 hour.
Geological radar 2 is integral type geological radar, and antenna transceiver module is integrated in by geological radar 2 with acquisition module main frame
Together, eliminate the strip line cable between antenna and main frame, detection can be made more convenient.Simultaneously because antenna is straight with main frame
Connect, and optimize spatial arrangement structure, further reduce the size of radar, for example, so that tunnel-liner is detected the most frequently used
Centre frequency is that the geological radar appearance and size of 800MHz has been optimized to the high 13cm of long 18cm* width 14cm*, so compact at home
Belong to the first.For climb wall device single promote effective length increase and the reduction of integral device size has all played positive shadow
Ring.Eliminate the many places such as thick and heavy shielding material redundancy accessory simultaneously, maximized minimizing its as carrier weight.Radar is
Have detection direction, open interface in the either side of its direction of advance, install additional elastic range in 2cm about buffering range finding steamboat 5,
As shown in figure 1, being used for making lining cutting table under different curvature difference irregularity and roughness for the steamboat during distance type detection trigger
There is preferable laminating ability during face.
This portable tunnel-liner testing equipment adopts fully wireless remote control, and the power frequency between each part is mutually noiseless, climbs
It is attached using gas circuit between the adsorption plant of wall device and source of the gas, connected up along cross frame.Getter device 4 need to be according to
Concrete size limitation customization miniature industrial Strongh vacuum cleaner, its deadweight is less than 3kg, and vacuum reaches more than -85kpa, work(
Consumption is less, is connected with high power lithium battery module, shares its power supply, the DC direct current supply of 12V to 48V with climbing wall device, does not hand over
Stream forceful electric power, protection personnel and equipment safety, power supply is steady and completely isolated from one another does not have electromagnetic interference.Getter device 4 tracheae pipe
Footpath is big, and inverter motor rotating speed is exceedingly fast, and throughput is but the several times of generally high-power (5kw about) air compressor machine, powerful throughput
Can be very good to make up that the air that causes is revealed because individual sites do not adsorb closely connected completely, with 5kw about power air compressor machine+
Vacuum generator combination or vavuum pump maintain the limit amount of leakage of condition of high vacuum degree to compare, and this limit amount of leakage is compared in the present invention
It is negligible for the getter device 4 using.It is installed on way station, eliminate the interference of space cable.I.e. should
Portable tunnel-liner testing equipment also includes power supply and control unit, and this portable tunnel-liner testing equipment can independently be transported
Go or controlled by wireless signal and run, getter device 4 and this power supply are arranged at the top of this center bearing bracket, geological radar 2
In the bottom of this center bearing bracket, as depicted in figs. 1 and 2.
In the present embodiment, center bearing bracket (i.e. above-mentioned way station) is contained at the middle part of walking mechanism 3, in the first foot mechanism
In 31, elastic movable supports plate 34 contains the first portable plate 341, fixed plate 342 and the second portable plate 343 setting gradually, the
The right-hand member of one portable plate 341 passes through the first hinge, the left end of the second portable plate 343 and fixation with the left end of fixed plate 342
The right-hand member of plate 342 passes through the second hinge, also by two first between the left end of fixed plate 342 and the first portable plate 341
Resilient damping member 344 connects, and two the first resilient damping member 344 are located at the both sides up and down of this first bearing pin respectively, fixing
It is connected also by two the second resilient damping member 345 between the right-hand member of plate 342 and the second portable plate 343, two second elasticity
Damped part 345 is located at the both sides up and down of this second bearing pin respectively, as shown in Figure 3 and Figure 4.
In the present embodiment, the diameter parallel of the axis of this first bearing pin and this second bearing pin, the axis of this first bearing pin
Parallel with the width of this portable tunnel-liner testing equipment, one of two electric pushrods 33 and the first portable plate
341 are connected, and another in two electric pushrods 33 is connected with the second portable plate 343, fixed plate 342 and this center
Support connects, and the first portable plate 341 can rotate 0 to 15 ° with respect to fixed plate 342, and the second portable plate 343 can be with respect to solid
Fixed board 342 rotates 0 to 15 °, and the first resilient damping member 344 is spring or damping rubber bar, and the second resilient damping member 345 is
Spring or damping rubber bar.First foot mechanism 31 is identical with structure with the size of the second foot mechanism 32.
, there is different degrees of uneven surface in the radius of curvature of tunnel cross-section substantially 2500mm to 7000mm simultaneously
Suitable, need to make adaptation relevant surfaces environment rational in infrastructure be traveling can to adsorb the key then completing to detect.The present invention is special
It is not markedly improved in this, the first portable plate 341 and the second portable plate 343 have 0 ° to 15 ° and (should not excessive surpass
Cross 15 °) one-way movable interval (can not be universal, anti-uncontrollable tremble), be computed and test, this activity space can be answered completely
To different radius of curvature, simultaneously can be with a certain degree of uneven surface of good conformity.In addition, four pin support outside connecting plate
It has been equipped with support steamboat 14, made it adsorb to flush in wall completely with four pin (four foot mechanisms) and (need to have micro
Gap).Can be played using this support steamboat 14 and alleviate during traveling that the pose that causes of journal offset is unstable, eliminate micro electric pushes away
Bar drafts produces difference, reduces the effect such as overturning moment, can accomplish guide function simultaneously.
The present invention has in avoidance ability and significantly takes on a new look, using multiple spot (by space layout with control corresponding shadow
Ring, generally higher than 2 are less than 8) mode of loading inductive switch is adjusted to the miniature electric putter stroke of four pin, i.e. electric pushrod 33
Bottom be provided with multiple for induction electric push rod 33 along this portable tunnel-liner testing equipment short transverse displacement
Inductive switch 35, multiple inductive switches 35 are along the short transverse row of interval as required of this portable tunnel-liner testing equipment
Row.In the present embodiment, the bottom of electric pushrod 33 is provided with two inductive switches 35.Install inductive switch 35 additional and make miniature electric putter
Position both can be with manual governing, manual position it is also possible to contact settles at one go, preferably adsorption effect during auxiliary traveling,
The obstacle detouring of direct great-leap-forward can be carried out using it simultaneously.Such as, if the general extension stroke of electric pushrod 33 is 10cm, then generally
During device climbs wall traveling, four business concern operating a porters' service journeys can be stopped on half way plus restraining position 5cm, and work as and run into not higher than
During the barrier of 5cm, directly whole process can stretch out, take radar and easily cross over, realize direct avoidance, and it is dynamic to be no longer necessary to detour etc.
Further increase operating efficiency.
This portable tunnel-liner testing equipment also includes supply module, control unit and ground display controller, this confession
Electric module, getter device 4 and geological radar 2 are all connected with this control unit, described supply module, control unit, getter device 4
All be integrated in described center bearing bracket with geological radar 2, this portable tunnel-liner testing equipment can autonomous operation or pass through institute
State ground display controller 9 and carry out wireless signal control operation, getter device 4 and this power supply are arranged at the upper of this center bearing bracket
Portion, geological radar 2 is located at the bottom of this center bearing bracket.Geological radar 2 is also connected with this control unit, and geological radar 2 is integrated
Formula geological radar, geological radar 2 is integrated with antenna transceiver module data acquisition module.
The radar top climbing wall device equipment installs illuminating lamp 6 and high-definition camera 7 additional and effectively can provide environment for operator
Condition, the top of getter device 4 is provided with detection camera 8, illuminating lamp 6, high-definition camera 7 and detect camera 8 all with described
Control unit connects, and as shown in Figure 8 and Figure 9, climbs wall device battery setting electric power warning function and can effectively remind the course of work
Power reliability, simultaneously control program there is auto-lock function, once breaking down, reset immediately four pin absorption, if control dead electricity,
Just voluntarily stop everything and keep fixing absorption attitude until artificially diagnosing or taking off.Can ensure that irresistible accident is sent out
When raw, equipment stably adsorbs not fall on tunnel-liner surface.
In the present embodiment, the upper end of sucker body 11 and the lower end of electric pushrod 33 are connected, and vacuum sponge inhales tool 1
It is connected with the lower end of sucker body 11, the outer surface of sucker body 11 is provided with air entry 111, be provided with true in sucker body 11
Plenum chamber 112, getter device 4 is connected with this air entry 111, and the described through hole of each in sponge absorbing layer 13 131 all can be according to
Secondary connected with getter device 4 with connecting line by vacuum chamber 112, air entry 111, the through hole 131 in sponge absorbing layer 13
Along the short transverse insertion of this portable tunnel-liner testing equipment, this through hole 131 of each in sponge absorbing layer 13 is formed
Gas circuit all can independent control, be provided with the one-to-one one-way pressure maintaining valve 113 with this through hole 131 in vacuum chamber 112 so that
Vacuum chamber 112 is interior and the even gas having not closely connected tested lining cutting surface and producing leakage of partial through holes 131 is only capable of filling to air-breathing
Put and flow in 4 without flowing to outside the airtight good through hole 131 of this other.
In the present embodiment, it is additionally provided with soft silica gel bed course 12, soft silica gel pad between sucker body 11 and sponge absorbing layer 13
Layer 12 contain and sponge absorbing layer 13 in the one-to-one duct of described through hole 131, the outer surface of soft silica gel bed course 12 and should
The inner surface in duct is wavy shaped configuration or zigzag structure, and as shown in Figure 5 and Figure 6, soft silica gel bed course 12 can make sponge
Adsorption layer 13 has the elastic mobility of 0.1cm to 1cm, sucker along the short transverse of this portable tunnel-liner testing equipment
B/P EGR Back Pressure Transducer EGR 114 for detecting the pressure value in vacuum chamber 112 is additionally provided with body 11.Wherein " 0.1cm's to 1cm
The implication of elastic mobility " is：Because soft silica gel bed course 12 has preferable elasticity, the upper surface of sponge absorbing layer 13 and suction
Between the lower surface of disk body 11, distance can have the variable quantity of 0.1cm to 1cm, as shown in figure 5, this elastic mobility is permissible
Make the ability that the overall irregularity with reply tunnel-liner surface of sponge absorbing layer 13 rises and falls.Sponge absorbing layer 13 possesses itself
The decrement of 2cm to 3cm.B/P EGR Back Pressure Transducer EGR 114 can accurately test the negative pressure value in vacuum chamber 112, can find out suction tool and be
No have leakage and the inefficacy of pars hole, and the display floater of B/P EGR Back Pressure Transducer EGR 114 is placed on the outer of the sucker body 11 of hard
Table, and the ability of oriented control system feedback alarm self-locking.
Good Stability and adaptability can be had using sponge absorbing layer 13.Coarse to tested surface using sponge itself
Almost various rough surfaces can be carried out effectively stable absorption by the intact envelope of degree.But traditional rigidity inhales tool
Although body absorption rear stability is high but to big convex-concave bad adaptability, the present invention takes rigid flexible system method, using hard sucker 1
Structural rigidity (carbon fiber die sinking) (be limited to that vacuum sponge inhales the size of tool and tunnel-liner profile is bent with less than 1cm thickness
The isoparametric requirement of rate radius, usual 0.3cm to the 1cm of this silica gel cushion thickness) fold-type soft silica gel bed course 12 be fixedly connected with,
With sponge absorbing layer 13, this soft silica gel bed course 12 can produce the elastic mobility within 1cm for soft silica gel bed course 12 outside attachment,
Notable auxiliary improves vacuum sponge and inhales tool 1 adsorption capacity and the adaptability to irregularity surface and matsurface.Such as, soft silica gel
Bed course 12 is circle, and sponge absorbing layer 13 is rectangle, and soft silica gel bed course 12 is the circumscribed circle of sponge absorbing layer 13, sucker body 11
Size can be 130mm*250mm, sponge absorbing layer 13 can perforate 65 (number can be according to suction requirement, lining cutting surface radian, thick
Rugosity quality and change in size adjustment), each hole independent control, one-way pressure maintaining is not it is ensured that absorption is because of part gas circuit leakiness
And lost efficacy, the B/P EGR Back Pressure Transducer EGR simultaneously configuring has automatic control function, when total hole count lost efficacy more than more than 20% or absorption not stable yields
When raw vacuum is too low, only row signal will be fed back to control system, now single vacuum sponge inhale the load capacity of tool 1 according to
40kg (suction) and 10kg.m (moment of flexure), not only stability and good reliability so can be reached, security protection puts in place, and it is single
Individual load capacity has reached 5 to 8 times about of the vacuum sponge single hole sucker of conventional 120mm specification.Thus, basic adaptation
Tunnel-liner surface environment faced by most.And it is less than 0.3s the soonest from starting to be adsorbed onto to adsorb to stablize to take,
It is swift in response, thus accelerating traveling speed, as shown in Figures 5 to 7.
The course of work of this portable tunnel-liner testing equipment is：Wall device cross running mechanism way station belly will be climbed
Load detection geological radar 2, geological radar is integrated with main frame by antenna, it is to avoid conduct oneself with dignity larger coaxial shielded cable even
Connect.Geological radar receiving data all takes wireless communication mode with the transmission of computer and to the manipulation climbing wall device and communication.
Before detection, first check with adsorption function whether normally checking climbs wall device traveling, then with wireless remote control form control device traveling
Mechanism is moved to precalculated position, launches detection work afterwards.Steer mode has two kinds, surface state is smooth, volume under pressure is several
When being not changed in and not having too many barrier, operating mode is fairly simple, it is possible to use intelligence is from after manipulation, arrival specified location
Voluntarily automatic detection can be carried out along direction of advance or ring；When operating environment is complex, need constantly to adjust traveling
Route or different translational movements and when needing avoidance, then need substantial amounts of human intervention, now can switch to manual behaviour
Control pattern, manually can operate in all directions, can a little contact corresponding restraining position simultaneously or continuously adjust drafts.Enter
And it is easily accomplished detection operation.In operation process, accidental absorption shakiness such as occurs or inefficacy (feeds back to control through B/P EGR Back Pressure Transducer EGR
System processed), control system error or the phenomenon such as dead electricity (program from judge), system traveling operation all can cease to be in force automatically, protection dress
Put safety.
Ground display controller 9 action command of reception device carrier and the data-signal of geological radar respectively, such as Figure 10
Shown, testing staff can actuation means action immediately, immediately control the data detection signal collecting.Ground display controller 9
For touch screen control panel, wall device is climbed in manipulation and acquisition interface unites two into one, manipulation simulating handle manual control can climb wall device, from
During dynamic control, simulating handle lost efficacy.Acquisition interface is very simple, and after being loaded into respective drive, automatic data collection need not be intervened.Adopt
Mode set can take distance triggering, also can pass through time triggered.Detection only needs a people can complete, and operates display controller original place
Or follow and climb wall device (keeping certain controlled in wireless coverage ± 30 meter to 50 meters) detection operation.Additionally, detecting
Cheng Zhong, climbs the light source of wall device geological radar equipment top assembling and realtime graphic is reached display controller by high-definition camera,
Very easily provide advance wall status information for manipulator.And, the detection data of geological radar transmission, sensor vacuum
Negative pressure data feedback system and thecamera head forward image are integrated among same software, wirelessly pass with display controller long distance
Defeated, receive simultaneously.
The above, only the specific embodiment of the present invention invents, it is impossible to limit with it, the scope implemented, so it is equivalent
The displacement of assembly, or the equivalent variations made according to scope of patent protection of the present invention and modification, all should still fall within what this patent was covered
Category.In addition, between technical characteristic in the present invention and technical characteristic, between technical characteristic and technical scheme, technical scheme with
All can be used with independent assortment between technical scheme.
Claims (10)
1. a kind of portable tunnel-liner testing equipment is it is characterised in that this portable tunnel-liner testing equipment includes walking
Mechanism (3), getter device (4) and geological radar (2), getter device (4) and geological radar (2) are both secured to walking mechanism (3),
Walking mechanism (3) can drive this portable tunnel-liner testing equipment in tunnel-liner surface (10) upper movement, walking mechanism
(3) lower end is provided with the vacuum sponge in tunnel-liner surface (10) for absorption and inhales tool (1), and vacuum sponge inhales tool (1) and contains
Sucker body (11) setting up and down and sponge absorbing layer (13), sponge absorbing layer (13) be contained within multiple for absorption in tunnel
The through hole (131) on lining cutting surface (10), getter device (4) can be to the interior air-breathing of this through hole (131) in sponge absorbing layer (13).
2. portable tunnel-liner testing equipment according to claim 1 is it is characterised in that walking mechanism (3) contains one
Bar first foot mechanism (31), second foot mechanism (32) and the center bearing bracket in the middle part of walking mechanism (3), first
, along the length direction setting of this portable tunnel-liner testing equipment, the second foot mechanism (32) is portable along this for foot mechanism (31)
The width setting of formula tunnel-liner testing equipment, the elastic movable supports plate containing a bar shaped for the first foot mechanism (31)
(34) and two electric pushrods (33), elastic movable supports plate (34) is along the length direction of this portable tunnel-liner testing equipment
Setting, elastic movable supports plate (34) can move back and forth along the length direction of this portable tunnel-liner testing equipment, electronic
Push rod (33) is individually fixed in bullet along the short transverse setting of this portable tunnel-liner testing equipment, two electric pushrods (33)
The two ends of sexuality connecting plate (34), the middle part of elastic movable supports plate (34) is connected with this center bearing bracket, and vacuum sponge inhales tool
(1) it is located at the lower end of electric pushrod (33).
3. portable tunnel-liner testing equipment according to claim 2 is it is characterised in that elastic movable supports plate (34)
Containing the first portable plate (341), fixed plate (342) and the second portable plate (343) that set gradually, the first portable plate (341)
The first hinge, one end of the second portable plate (343) and fixed plate (342) are passed through in one end of one end and fixed plate (342)
The other end passes through the second hinge, also by two the first bullets between one end of fixed plate (342) and the first portable plate (341)
Property damped part (344) connect, two the first resilient damping member (344) are located at the both sides up and down of this first bearing pin respectively, Gu
It is connected also by two the second resilient damping member (345) between the other end of fixed board (342) and the second portable plate (343), two
Individual second resilient damping member (345) is located at the both sides up and down of this second bearing pin respectively.
4. portable tunnel-liner testing equipment according to claim 3 it is characterised in that the axis of this first bearing pin with
The diameter parallel of this second bearing pin, the axis of this first bearing pin is flat with the width of this portable tunnel-liner testing equipment
OK, one of two electric pushrods (33) and the first portable plate (341) are connected, another in two electric pushrods (33)
Individual be connected with the second portable plate (343), fixed plate (342) is connected with this center bearing bracket, and the first portable plate (341) being capable of phase
For 15 ° of fixed plate (342) maximum rotation, the second portable plate (343) can with respect to 15 ° of fixed plate (342) maximum rotation,
One resilient damping member (344) is spring or damping rubber bar, and the second resilient damping member (345) is spring or damping rubber
Bar.
5. portable tunnel-liner testing equipment according to claim 3 is it is characterised in that the bottom of electric pushrod (33)
It is provided with the sense of multiple short transverse displacements for induction electric push rod (33) along this portable tunnel-liner testing equipment
Inductive switch (35), multiple inductive switches (35) are spaced along the short transverse of this portable tunnel-liner testing equipment.
6. portable tunnel-liner testing equipment according to claim 3 is it is characterised in that be provided with energy in this center bearing bracket
The fixed plate (342) of the first foot mechanism (31) is enough driven back and forth to move along the length direction of this portable tunnel-liner testing equipment
Dynamic pinion and rack, the first foot mechanism (31) is identical with structure with the size of the second foot mechanism (32).
7. portable tunnel-liner testing equipment according to claim 2 is it is characterised in that this portable tunnel-liner is examined
Measurement equipment also includes supply module, control unit and ground display controller, this supply module, getter device (4) and geology thunder
Reach (2) to be all connected with this control unit, described supply module, control unit, getter device (4) and geological radar (2) are all integrated
In described center bearing bracket, this portable tunnel-liner testing equipment can autonomous operation or pass through described ground display controller
(9) carrying out wireless signal controls operation, getter device (4) and this power supply to be arranged at the top of this center bearing bracket, geological radar (2)
Bottom positioned at this center bearing bracket.
8. portable tunnel-liner testing equipment according to claim 7 is it is characterised in that the top of geological radar (2)
It is provided with illuminating lamp (6) and high-definition camera (7), the top of getter device (4) is provided with detection camera (8), illuminating lamp (6), height
Clear camera (7) and detection camera (8) are all connected with described control unit, and this control unit contains electric power alarm module, ground
Matter radar (2) is integral type geological radar, and geological radar (2) is integrated with antenna transceiver module data acquisition module.
9. portable tunnel-liner testing equipment according to claim 2 is it is characterised in that the upper end of sucker body (11)
It is connected with the lower end of electric pushrod (33), vacuum sponge is inhaled tool (1) and is connected with the lower end of sucker body (11), sucker
The outer surface of body (11) is provided with air entry (111), is provided with vacuum chamber (112) in sucker body (11), getter device (4) with
This air entry (111) connects, and the through hole (131) in sponge absorbing layer (13) is along the height of this portable tunnel-liner testing equipment
Direction insertion, the gas circuit that each through hole (131) in sponge absorbing layer (13) is formed all can independent control, vacuum chamber
(112) it is provided with the one-to-one one-way pressure maintaining valve (113) with through hole (131) in.
10. portable tunnel-liner testing equipment according to claim 9 it is characterised in that sucker body (11) with sea
Be additionally provided with soft silica gel bed course (12) between continuous adsorption layer (13), soft silica gel bed course (12) contain with sponge absorbing layer (13) in logical
The one-to-one duct in hole (131), the outer surface of soft silica gel bed course (12) and the inner surface in this duct be wavy shaped configuration or
Zigzag structure, soft silica gel bed course (12) can make sponge absorbing layer (13) along the height of this portable tunnel-liner testing equipment
Direction has the elastic mobility of 0.1cm to 1cm, sucker body (11) is additionally provided with for detecting in vacuum chamber (112)
Pressure value B/P EGR Back Pressure Transducer EGR (114).
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| CN201611055318.5A CN106444785B (en) | 2016-11-25 | 2016-11-25 | Portable tunnel lining check out test set |
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|---|---|---|---|
| CN201611055318.5A CN106444785B (en) | 2016-11-25 | 2016-11-25 | Portable tunnel lining check out test set |
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| CN106444785B CN106444785B (en) | 2023-09-15 |
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| CN201611055318.5A Active CN106444785B (en) | 2016-11-25 | 2016-11-25 | Portable tunnel lining check out test set |
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| CN109184797A (en) * | 2018-09-25 | 2019-01-11 | 福建省永正工程质量检测有限公司 | A kind of tunnel structure detection device |
| CN109488384A (en) * | 2018-12-28 | 2019-03-19 | 山东大学 | One kind being suitable for tunnel-liner automatic checkout system and method |
| CN109541701A (en) * | 2018-11-22 | 2019-03-29 | 河海大学 | Concrete for hydraulic structure reinforcing bar moves towards detection system and detection method |
| CN110133184A (en) * | 2019-04-16 | 2019-08-16 | 湖南致力工程科技有限公司 | Constructing tunnel phase and the safety monitoring method and device for runing the phase |
| CN110261849A (en) * | 2019-07-24 | 2019-09-20 | 长江师范学院 | Tunnel lining structure detection device |
| CN111077520A (en) * | 2019-12-20 | 2020-04-28 | 中铁五局集团第一工程有限责任公司 | Tunnel lining thing networking detection device |
| CN111208146A (en) * | 2018-11-22 | 2020-05-29 | 北京世纪东方通讯设备有限公司 | Tunnel cable detection system and detection method |
| CN113220009A (en) * | 2021-07-08 | 2021-08-06 | 中国铁路设计集团有限公司 | Positive pressure type wall climbing robot for tunnel lining detection and control method thereof |
| CN114109507A (en) * | 2021-11-29 | 2022-03-01 | 北京瑞威工程检测有限公司 | Geological detection system for railway guard facilities and tunnels |
| CN115816465A (en) * | 2023-01-06 | 2023-03-21 | 山东大学 | Geological radar survey line selection and follow-up control method and system for tunnel detection |
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| CN113220009A (en) * | 2021-07-08 | 2021-08-06 | 中国铁路设计集团有限公司 | Positive pressure type wall climbing robot for tunnel lining detection and control method thereof |
| CN113220009B (en) * | 2021-07-08 | 2021-09-21 | 中国铁路设计集团有限公司 | Positive pressure type wall climbing robot for tunnel lining detection and control method thereof |
| CN114109507A (en) * | 2021-11-29 | 2022-03-01 | 北京瑞威工程检测有限公司 | Geological detection system for railway guard facilities and tunnels |
| CN114109507B (en) * | 2021-11-29 | 2023-12-15 | 北京瑞威工程检测有限公司 | Geological detection system for railway fender and protection facilities and tunnel |
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