JP2002303611A - Method and device for nondestructive inspection of tunnel lining concrete - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and device for nondestructive inspection of tunnel lining concrete by which the automation of inspections and shortening of inspection time can be realized though they are in a dilemma. SOLUTION: In the method for nondestructive inspection of tunnel lining concrete, the concrete lining a tunnel is inspected by moving robot running rails to an arbitrary position in the circumferential or transversal direction of the tunnel by extending or contracting and inclining an expansion timber provided on a traveling lorry and temporarily fixing the rails on the surface of the concrete. Then the concrete is inspected by repeatedly running or running and stopping an inspection robot in the longitudinal direction (axial direction) of the tunnel on the rails.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for nondestructively inspecting tunnel lining concrete, and more particularly to a method and apparatus for nondestructively inspecting the inside and back surface of lining concrete of an automobile, a railway tunnel or a waterway tunnel. The present invention relates to a non-destructive inspection method and apparatus for a tunnel lining concrete used.

[0002]

2. Description of the Related Art Various methods for nondestructively inspecting concrete, such as a hitting sound method, an ultrasonic method, an electromagnetic wave method, an elastic wave method, and a thermal infrared method, are known.

In order to carry out these methods in a tunnel, generally, a dolly with a scaffold is used, the dolly is temporarily stopped, and an inspector who rises on the scaffold inspects a set measurement point while moving. Aspects have been made.

In the electromagnetic wave method, the thermal infrared method, and the like, an inspection is performed while installing the apparatus on a self-propelled carriage and moving the apparatus at a low speed.

In the hitting sound method, a method has been proposed in which an articulated arm is extended and contracted, and a sounding device is brought into contact with a tunnel wall surface to perform automatic measurement.

[0006]

However, the above-mentioned conventional methods have drawbacks in terms of automation and speeding up. For example, in a method in which an articulated arm is extended by the impact sound method and inspected by a measuring device disposed at the tip, the arm must be extended and contracted at each measurement point to contact the striking device. Since there is a limit to the length, the bogie must be carefully run and stopped every time measurement is performed, which requires time for inspection.

Further, when a measuring device for performing a nondestructive inspection method is applied to an actual site, the device or device needs fine adjustment in both hardware and software. For example, in the case of the hitting sound method, it is impossible to measure unless the hitting by the hammer and the sampling of the conduction sound in the concrete by the microphone are accurately performed, so the installation accuracy of the hammer and the microphone on the concrete surface is particularly important, It is a bottleneck for the automation of inspection. Unless the inspection is automated, the inspection time cannot be reduced.

As apparent from the above, the present invention discloses a method and an apparatus for inspecting tunnel lining concrete by a nondestructive inspection method which solves the dilemma-related inspection automation and reduction of inspection time. That is the task.

[0009]

The above object of the present invention is achieved by the following constitution.

[0010] 1. The telescopic support provided on the traveling trolley
The robot travel rail is moved to an arbitrary position in the circumferential or transverse direction of the tunnel by tilting, and temporarily fixed on the surface of the tunnel lining concrete, and the inspection robot is moved along the robot travel rail in the longitudinal direction of the tunnel (axial direction).
A method for inspecting tunnel lining concrete by repeating running or running / stopping the tunnel lining concrete.

2. An inclined guide rail is interposed between the telescopic support and the robot traveling rail, and the robot traveling rail is moved along the inclined guide rail in a circumferential or transverse direction of the tunnel, and the tunnel lining concrete is inspected. 2. The nondestructive inspection method of the tunnel lining concrete according to 1 above.

3. When the inspection robot is of a contact type such as a hitting sound method, upon inspection, the inspection robot is slid in a direction perpendicular to the traveling rail, and the inspection robot is brought into contact with the tunnel lining concrete surface to inspect the tunnel lining concrete. 3. The nondestructive inspection method for tunnel lining concrete according to the above item 1 or 2, wherein

4. The method according to the above 1, wherein the marking indicating the detected position is performed on the surface of the tunnel lining concrete in accordance with the detection of the abnormal portion of the tunnel lining concrete.
4. The nondestructive inspection method for tunnel lining concrete according to 2 or 3.

5. A robot traveling rail is provided at an upper end of a telescopic support provided so as to be extendable and retractable on the traveling vehicle and to be able to tilt in the lateral direction of the carrier of the traveling vehicle, and to run or travel / stop along the robot traveling rail. Non-destructive inspection equipment for tunnel lining concrete, comprising an inspection robot equipped with a destructive inspection measuring instrument.

6. 6. The non-destructive inspection system for tunnel lining concrete as described in 5 above, wherein an inclined guide rail, a carriage for the traveling rail, and a traveling rail lifting / lowering jack are disposed between the telescopic support and the robot traveling rail.

[7] 7. The nondestructive inspection apparatus for tunnel lining concrete according to the above item 5 or 6, wherein the inspection robot is configured to slide in a direction perpendicular to the traveling rail when the inspection robot is a contact type such as a hitting sound method. .

8. 8. The non-destructive inspection apparatus for tunnel lining concrete according to the above item 5, 6 or 7, further comprising a marking means for indicating a detection position on the surface of the tunnel lining concrete according to the detection of an abnormal portion of the tunnel lining concrete.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The details of the present invention will be described below with reference to the drawings.

In the following embodiment, the case where the configuration of the impact sound method is adopted as the inspection robot will be mainly described.
The inspection robot of the present invention is not limited to this, and may adopt a configuration for performing various known methods such as an ultrasonic method, an electromagnetic wave method, an elastic wave method, and a thermal infrared method.

In the illustrated embodiment, for example, a 10-ton long flat body truck is used as the traveling vehicle 10, but a trailer system capable of traveling by towing may be used. The traveling carriage 10 has an attitude stabilizing device 1 such as an outrigger for securing stability during measurement work.
1 is provided. The type or arrangement position of the attitude stabilizing device 11 can be appropriately changed depending on the type of the traveling vehicle 10.

The following devices and equipment for non-destructive inspection of concrete are mounted on the upper part (loading bed) of the traveling vehicle 10.

The instrument unit 20 includes an inspection robot 30
In addition to various devices including a computer for processing and recording data sent from the system, a robot operation board for operating the inspection robot 30 and the like are provided.

The operation of the inspection robot 30 includes running and stopping along the robot running rail 40 and a measuring unit 81.
(In the case of the hitting sound method, the rise / fall of the hitting hammer / microphone built-in microphone, etc.). In the case of the hitting sound method, ON / OFF of inspection such as ON / OFF of the hitting hammer
However, in addition to a mode in which the operation is performed inside or close to the inside of the instrument unit 20, a mode in which the operation board is pulled out of the traveling vehicle 10 by a wired or wireless method is adopted. Is also good.

The power generation unit 50 is an internal combustion engine type generator for supplying electric power to mounted equipment. The power generation unit 50 uses a system in which the traveling vehicle 10 itself runs on a fuel cell or the like.
If a power supply is provided, it is not particularly required.

The telescopic support 60 disposed on the upper part (the carrier) of the traveling vehicle 10 is, for example, a continuous pantograph 61 in the illustrated embodiment by a hydraulic jack 62 operated by hydraulic pressure supplied from a hydraulic unit 70. Although a configuration for expanding and contracting is adopted, the present invention is not limited to the pantograph mode.

The lowermost support point of the pantograph 61 is rotatably fixed to a substrate 63 connected to the carrier of the traveling vehicle 10, and by operating the extension of the pair of hydraulic jacks 62 respectively, the traveling vehicle 10 From the vertical position to the position extended in the left and right sides.

The present invention has the following mechanism to maintain the directionality (parallel) of the traveling rail 40 and the tunnel longitudinal direction.

That is, one of the two places for receiving the telescopic support 60 has a structure in which the center can freely rotate in the horizontal direction, and the other has a structure in which it can be horizontally slid in a direction perpendicular to the tunnel longitudinal direction.

This solves the problems that it is difficult to accurately stop the vehicle in the longitudinal direction of the tunnel, it takes a long time to install the vehicle, and when the direction is different, the rail is twisted.

In this embodiment, the tunnel lining concrete has a curved surface in the circumferential direction, and its curvature differs depending on the size and type of the tunnel. In order to make the robot 30 always tangent to the concrete surface, it is necessary to give the robot traveling rail 40 an inclination. For this reason, in the illustrated embodiment, as shown in FIG. 3, an inclined guide rail 64 is provided at the upper end of the pantograph 61, and the inclination angle can be adjusted by expanding and contracting the inclination adjusting jack 65.

The present invention is applicable not only to the case where the tunnel has a curved surface in the circumferential direction but also to the case where the tunnel has a box shape. In this case, if the shape of the inclined guide rail 64 is changed, it can be applied to a flat surface instead of a curved surface.

The inclined guide rails 64 are composed of two rails disposed on the top of each pantograph 61 via a support frame 66.

The robot traveling rail 40 is supported via a pair of traveling rail lifting jacks 42 on a traveling rail carriage 41 movable along an inclined guide rail 64 by a pinion rack mechanism driven by an electric motor. I have.

One inclined guide rail 64 is prepared at the top of each pantograph 61, and the carriage 41 for traveling rails and the pair of traveling rail elevating jacks 42 are arranged on each inclined guide rail 64. , The robot traveling rail 40 has four traveling rail lifting jacks 4 for convenience.
2 will be supported.

The traveling rail lift jack 42 can be operated independently and is used to push / pull the robot traveling rail 40 in the direction of the lining concrete. In addition, the traveling rail lifting / lowering jack 42 may be configured to perform the same expansion / contraction operation in the left / right and / or front / back directions. The width direction of the robot traveling rail 40 depends on the position of the traveling rail truck 41 on the inclined guide rail 64 or the angle of the inclined guide rail 64 with respect to the surface of the lining concrete. The angle of inclination will be different. Such a robot running rail 40
The tangent to the lining concrete surface can be adjusted by operating the tilt adjusting jack 65 connected to the tilt guide rail 64 as described above. It can be performed by operating the jack 42.

Since the robot traveling rail 40 can move along the inclined guide rail 64, the robot traveling rail 40 can be moved to the position shown by the imaginary line in FIG. (A position shifted by a corresponding distance.)

The position of the robot traveling rail 40 with respect to the inclined guide rail 64 is detected by measuring the rotation direction and the number of revolutions of the electric pinion provided on the traveling rail carriage 41 with a meter such as a rotary encoder.

A cushion rubber 43 is disposed above the robot traveling rail 40 in a portion where the traveling rail lift jack 42 is disposed.

It is preferable that the effective span of the robot traveling rail 40 (the length in which the inspection robot 30 to be described later can reciprocate) corresponds to one casting span of the tunnel lining concrete. By setting in this way, the inspection can be performed in units of one installation span of the tunnel lining concrete which can be assumed to have an approximate internal state, which is useful for speeding up the inspection.

Next, the inspection robot 30 will be described. A total of eight guide rollers 32 are provided on each side surface of the frame 31 of the inspection robot 30, and each of the guide rollers 32 is movably engaged with a side surface of the robot traveling rail 40. On the other hand, at the bottom of the robot traveling rail 40,
A rack 44 is provided over the entire length, and a pinion 33 prepared for the inspection robot 30 is engaged.
Therefore, the pinion 33 is driven by the electric motor to rotate and
Upon reverse rotation, the inspection robot 30 reciprocates along the robot traveling rail 40. The rotation direction and the number of rotations of the pinion 33 are measured by an instrument such as a rotary encoder and the like, and the robot traveling rail 40 of the inspection robot 30 is operated in accordance with the calculation by the control computer.
Is detected.

As the measuring devices provided in the inspection robot 30, various devices based on a hitting sound method, an ultrasonic method, an electromagnetic wave method, an elastic wave method, a thermal infrared method and the like are employed as long as they are based on a nondestructive inspection method. It is possible. In the embodiment shown in the figure, a device based on the impact sound method described in Japanese Patent Publication No. 3009543 (concrete soundness measuring method and apparatus) proposed by the present applicant is provided.

The inspection robot 30 is provided with a marking means 80 so that, when an abnormality is found in the lining concrete, the position can be visually checked. As the marking means 80, for example, pressing of a marking pen,
Injection of paint by inkjet or the like can be adopted.

The position of the marking does not necessarily need to indicate the inspection position (in the hitting sound method, the distance connecting the hammer and the sound collecting microphone). As long as the direction and the distance can be easily determined.

It is effective to shorten the inspection time if the marking means 80 is configured to operate immediately when an abnormality is found by the inspection of the inspection robot 30. It is preferable for speeding up the inspection to continue the inspection without stopping the apparatus only by marking even if an abnormality is found by the inspection robot 30.

Since a plurality of markings are expected, each marking is specified by, for example, a symbol or a code. In this case, the abnormal data of the concrete recorded on the control computer is filed according to the marking symbols or symbols.

For example, in the inspection by the impact sound method, if dust or foreign matter adheres to the concrete surface hit by the hammer or the concrete surface in contact with the skirt surrounding the sound collecting microphone, the measurement accuracy is reduced. Therefore, in a preferred embodiment of the present invention, it is preferable that a cleaning unit is provided to clean the concrete surface prior to measurement.

As the cleaning means used in the cleaning unit, for example, water or air injection, a rotating brush or a combination thereof can be employed. Regarding the mounting of the cleaning unit, various modes such as a mode in which the cleaning unit is directly attached to the inspection robot 30, a mode in which the cleaning unit can be moved along the robot running rail 40, and a mode in which the cleaning unit is arranged at one end or both ends of the robot running rail 40 can be adopted. is there.

Next, an inspection procedure using the method or apparatus of the above embodiment will be described. However, this is only one of specific examples, and can be applied.

(1) The traveling carriage 10 is moved and stopped at a position substantially in the middle of one casting span of the tunnel lining concrete to be inspected.

(2) The outrigger, which is the attitude stabilizing device 11, is extended to fix the traveling vehicle 10.

(3) With reference to one pivot point of the telescopic support 60, the other horizontal slide structure side is horizontally slid in a direction perpendicular to the longitudinal direction of the tunnel, so that the robot traveling rail 40 is exactly parallel to the longitudinal direction of the tunnel. To do.

(4) The pantograph 61 of the telescopic support 60 is extended and inclined by the operation of the hydraulic jack 62 so that the robot traveling rail 40 comes close to the surface of the tunnel lining concrete without coming into contact therewith.

(5) The tilt adjusting jack 65 is operated to adjust the tilt between the tilt guide rail 64 and the tunnel wall.

(6) The robot traveling rail 40 is moved to one end of the inclined guide rail 64.

(7) The traveling rail lift jack 42 is operated to move (up) the robot traveling rail 40 to a position where the cushion rubber 43 is pressed against the concrete surface and temporarily fix it.

(8) By operating the mechanism using the traveling pinion 33 and the rack 40, the inspection robot 30 travels and stops at the start position (for example, one end of the robot traveling rail 40).

(9) The measurement is performed while the inspection robot 30 is traveling or traveling / stopping along the robot traveling rail 40 (for example, traveling / stopping in the case of the hitting sound method, but non-contact type such as the electromagnetic wave method). It is enough to run.)

(10) After the measurement of one span is completed, the traveling rail lifting / lowering jack 42 is operated in the descending direction, and
The robot traveling rail 40 is moved to a position where the cushion rubber 43 is separated from the concrete surface.

(11) The position of the robot traveling rail 40 is adjusted by operating the pinion rack mechanism.
To the other end.

(12) The above operations (7) to (10) are performed
This is repeated until the robot running rail 40 is positioned at the other end of the inclined guide rail 64.

(13) After the inspection over the entire span of the inclined guide rail 64 is completed by the above operation, the robot traveling rail 40 is moved to a position where the cushion rubber 43 is separated from the concrete surface.
Is returned to the original position of the inclined guide rail 64.

(14) The telescopic support 60 is operated (tilted) to move the inclined guide rail 64 to the next inspection position in the circumferential direction of the tunnel. At this time, naturally, the robot traveling rail 40 on the inclined guide rail 64
Will also be moved automatically. The moving amount is the inclination guide rail 6
4 effective span.

(15) When the above (4) to (13) are repeated and the inspection of the predetermined range is completed, the traveling cart 10 is moved to the substantially center of the span next to the tunnel lining concrete, and the above (1) To (14).

Although the representative embodiment of the present invention has been described above, the present invention can be appropriately applied. For example, a configuration in which a plurality of inspection robots 30 are arranged on the robot traveling rail 40 or the inclined guide rail 64 is used. Are provided with a plurality of robot traveling rails 40, each of which has an inspection robot 3
By arranging 0, the inspection can be made more efficient.

The present invention includes an embodiment in which the robot traveling rail 40 is directly provided at the upper end of the telescopic support 60 without the inclined guide rail 64, the traveling rail carriage 41, and the traveling rail elevating jack 42. . In such a mode, the upper end of the pantograph 61 is connected to the lower part of the robot traveling rail 40, the end of the tilt adjusting jack 65 is fixed, and the hydraulic jack 62 and the tilt adjusting jack 65 are operated, whereby the robot is moved. Running rail 40
Of the concrete surface and adjustment of the inclination angle.

[0066]

According to the present invention, the following effects can be expected.

(1) By checking the effective span of the robot traveling rail 40 in correspondence with the casting span of the tunnel lining concrete, the condition of the concrete is automatically and quickly inspected in units of one casting span of the tunnel lining concrete. can do.

(2) Since the inspection can be continuously performed only by moving or traveling / stopping the inspection robot 30 along the robot traveling rail 40, the inspection time can be reduced as compared with the conventional method.

(3) With the traveling vehicle 10 stopped,
The telescopic support 60 can be extended at a wide angle in the circumferential or transverse direction of the tunnel, and the configuration of the inclined guide rail 64 without moving the telescopic support 60 extended and fixed at a predetermined position allows the robot traveling rail 40 to be extended. Can be moved in the circumferential or transverse direction of the tunnel, so that the inspection time can be reduced as compared with the conventional method. For example, in the illustrated embodiment, an inspection of three times the inspection width of the inspection robot 30 is possible by one fixing of the telescopic support 60. Of course, it may be designed so that the inspection can be performed twice or four times or more.

(4) When an abnormality is detected, marking is immediately performed by the marking means 80.
The inspection can be continued while leaving the marking, and the inspection time can be reduced.

[Brief description of the drawings]

FIG. 1 is a schematic side view showing one embodiment of an inspection apparatus according to the present invention.

FIG. 2 is a schematic front view showing a state at the time of inspection.

FIG. 3 is a schematic sectional view showing a main part of an inspection robot part.

FIG. 4 is a schematic plan view showing a main part of an inspection robot part 10 traveling trolley 11 posture stabilizing device 20 instrument unit 30 inspection robot 31 frame 32 guide roller 33 pinion 40 robot traveling rail 41 traveling rail trolley 42 traveling rail elevating jack 43 Cushion rubber 44 Rack 50 Power generation unit 60 Telescopic support 61 Pantograph 62 Hydraulic jack 63 Substrate 64 Inclination guide rail 65 Inclination adjustment jack 66 Support frame 70 Hydraulic unit 80 Marking means 81 Measurement unit

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Noriyuki Utagawa 4-12-20 Nihonbashi Honcho, Chuo-ku, Tokyo Inside Sato Kogyo Co., Ltd. (72) Inventor Hidetaka Nakamura 4-12-20 Nihonbashi Honcho, Chuo-ku, Tokyo Sato Kogyo (72) Inventor Toshio Shinokawa 4-12-20 Nihonbashi Honmachi, Chuo-ku, Tokyo Sato Kogyo Co., Ltd. (72) Inventor Toshiyuki Muramoto 4-12-20 Nihonbashi Honcho, Chuo-ku, Tokyo Sato Kogyo (72) Inventor Katsuro Kuromatsu 4-12-20 Nihonbashi Honcho, Chuo-ku, Tokyo Inside Sato Kogyo Co., Ltd. (72) Inventor Kenichi Fukuoka 2500 Kihara, Sanmu-cho, Sanmu-gun, Chiba F-term (reference) 2D055 LA13 LA16 LA17 2G047 AA10 AD11 BA04 BC09 CA03 EA09 EA11 EA12 EA13 GD02 GJ02 GJ12 GJ14

Claims (8)

[Claims] A robot traveling rail is moved to an arbitrary position in a circumferential direction or a transverse direction of a tunnel by extending and contracting a telescopic support provided on a traveling vehicle, and temporarily fixed on a surface of a tunnel lining concrete. A non-destructive inspection method for tunnel lining concrete, comprising inspecting tunnel lining concrete by repeatedly running or running and stopping an inspection robot along a robot traveling rail in a tunnel longitudinal direction (axial direction). 2. An inclined guide rail is interposed between the telescopic support and the robot traveling rail, and the robot traveling rail is moved along the inclined guide rail in the circumferential or transverse direction of the tunnel to inspect the tunnel lining concrete. The nondestructive inspection method for tunnel lining concrete according to claim 1, wherein: 3. In the case where the inspection robot is of a contact type such as a hitting sound method, the inspection robot is slid in a direction perpendicular to the traveling rail during the inspection, and the inspection robot is brought into contact with the tunnel lining concrete surface to perform tunnel inspection. The nondestructive inspection method for tunnel lining concrete according to claim 1 or 2, wherein the concrete is inspected. 4. A marking indicating the detected position is made on the surface of the tunnel lining concrete according to the detection of an abnormal portion of the tunnel lining concrete.
Or the nondestructive inspection method of the tunnel lining concrete described in 3. 5. A robot traveling rail is provided at an upper end of a telescopic support provided so as to be extendable and retractable on the traveling vehicle and to be able to incline in the lateral direction of the carrier of the traveling vehicle, and to travel along the robot traveling rail. A non-destructive inspection device for tunnel lining concrete, comprising an inspection robot equipped with a non-destructive inspection method for running and stopping. 6. The method according to claim 6, wherein the telescopic support and the robot travel rail are provided between:
6. The non-destructive inspection system for tunnel lining concrete according to claim 5, wherein an inclined guide rail, a carriage for a traveling rail, and a traveling rail elevating jack are provided. 7. The tunnel lining according to claim 5, wherein the inspection robot is configured to slide in a direction perpendicular to the traveling rail when the inspection robot is a contact type such as a hitting sound method. Non-destructive inspection equipment for concrete. 8. The tunnel lining concrete according to claim 5, 6 or 7, further comprising a marking means for indicating a detected position on the surface of the tunnel lining concrete in accordance with the detection of an abnormal part of the tunnel lining concrete. Non-destructive inspection equipment.