Austin0 was asking for some more detailed math. I'd suggest looking at Caroll's GR lecture notes online.
I'll also add that while Caroll's online notes are perfectly fine (one can't trust everything online, Caroll's online notes are drafts of a book by a physics profesor that was later published. From my POV the main advantage of them is that they're free).
I could also quote similar statements from some of my other GR textbooks, (i.e. Caroll is not an isolated occurrence among textbooks). However, I think it would be better from a pedagogical point of view if interested people went out and found their own textbooks if they don't like Caroll (though I can't think of any valid reason for not liking Caroll).
But - onto Caroll:
These just the words - the actual calculation consists of solving for the trajectory of the worldline. If one does this in the usual format, one doesn't even have to integrate the length of the worldline to get proper time, instead one solves the geodesic equations to find t(tau) and r(tau).
One can then observe directly that the event horizion is reached at a finite tau, even though t(tau) is infinite.
If one is willing to just take the limit as r approaches the event horizon one can do this all in Schwarzschild coordinates. This is even observable. One can say that's it's possible to observe the limiting sequence of proper time as one approaches the event horizon from outside, and observe that the limit is finite.
To go futher and carry the trajectory smoothly through the event horizon, one needs coordinates that are better behaved, which is what Caroll does next.
The point of the Zeno analogy is to demonstrate a simple example of how a coordinate time can be infinite while the time actually measured on a clock is finite.
Specifically, zeno time is infinite, while as far as Achilles is concrned, there's a finite time at which he passes the tortise.
I'm afraid I don't understand the difficulties people are having in understanding the analogy. It could be my fault, sometimes I "leap ahead' too far when I write.
The way you demonstrate that the proper time on an infalling clock is actually finite rigorously is that you calculate it.
Post #12 in this thread
https://www.physicsforums.com/showpost.php?p=4185014&postcount=12
(and a later post after it, #13)
One can see that at tau = -8/3 , which is finite, r=4 so one is at the event horizon. Furthermore, t(tau) is infinite because of one of the ln(...) terms.
To verify this is a solution one needs to demonstrate that said trajectory satisfies the geodesic equations. You'll find them in my post #12, Caroll's GR lecture notes, for starters.
The idea behind the Zeno analogy isn't to "prove" anything - that's what textbooks are for. The idea behind the Zeno analogy is to illustrate how t can be infinite and tau can be finite in a simple, easy-to-understand example.
WEll, the Zeno analogy does prove one thing. It demonstrates that just because you have a time coordinate t going to infinity doesn't prove that something doesn't happen. It's an example of how t going to infinity can be the result of a poor choice of coordinates. It's a counterexample to the argument "t goes to infinity, therefore it can't happen".
Historically, I do believe that the "tortise coordinate" was named after the tortise in Zeno's paradox, but I haven't seen anything really detailed on this in textbooks. There was something in Scientific American about it a long time ago as well, I think.