CN107939418A - A kind of gunite concrete automated construction device and its construction method - Google Patents
A kind of gunite concrete automated construction device and its construction method Download PDFInfo
- Publication number
- CN107939418A CN107939418A CN201711195026.6A CN201711195026A CN107939418A CN 107939418 A CN107939418 A CN 107939418A CN 201711195026 A CN201711195026 A CN 201711195026A CN 107939418 A CN107939418 A CN 107939418A
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- vehicle
- concrete
- mounted computer
- construction
- machinery hand
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- 239000004567 concrete Substances 0.000 title claims abstract description 81
- 238000010276 construction Methods 0.000 title claims abstract description 49
- 239000011378 shotcrete Substances 0.000 title claims abstract description 42
- 238000005507 spraying Methods 0.000 claims abstract description 43
- 238000012544 monitoring process Methods 0.000 claims abstract description 30
- 238000013461 design Methods 0.000 claims abstract description 26
- 239000007921 spray Substances 0.000 claims abstract description 16
- 238000005516 engineering process Methods 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 10
- 239000011435 rock Substances 0.000 claims description 7
- 230000008676 import Effects 0.000 claims description 5
- 238000009412 basement excavation Methods 0.000 claims description 3
- 239000002893 slag Substances 0.000 claims description 3
- 239000002689 soil Substances 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 239000011800 void material Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 229920002472 Starch Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 235000019698 starch Nutrition 0.000 description 1
- 239000008107 starch Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D17/00—Excavations; Bordering of excavations; Making embankments
- E02D17/02—Foundation pits
- E02D17/04—Bordering surfacing or stiffening the sides of foundation pits
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D17/00—Excavations; Bordering of excavations; Making embankments
- E02D17/20—Securing of slopes or inclines
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Architecture (AREA)
- Paleontology (AREA)
- General Engineering & Computer Science (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
A kind of gunite concrete automated construction device and its construction method, device include concrete spraying machinery hand（1）, concrete spraying machinery hand（1）On be provided with vehicle-mounted computer（2）, vehicle-mounted total powerstation（3）With auxiliary monitoring instrument（6）, vehicle-mounted computer（2）Respectively with vehicle-mounted total powerstation（3）With auxiliary monitoring instrument（6）It is connected, and vehicle-mounted computer（2）With concrete spraying machinery hand（1）Control system be connected；Utilize vehicle-mounted total powerstation（3）With auxiliary monitoring instrument（6）Gunite concrete thickness, flatness are monitored, and monitoring data are imported into vehicle-mounted computer in real time（2）, by vehicle-mounted computer（2）Issue instructions to mechanical arm（4）Spray operation is carried out according to tested construction of shotcrete parameter and design gunite concrete parameter.Avoid because jet thickness is uneven caused by artificial origin, technology controlling and process is not tight, slump is big the problems such as, improve construction quality, saved concrete.
Description
Technical field
The present invention relates to a kind of gunite concrete operational method, more specifically to a kind of gunite concrete automation is applied
Frock is put and its construction method, belongs to concrete-spraying technology field.
Background technology
In foundation pit stope support, underground engineering support design, gunite concrete is a kind of universal Support types；Spraying
Penetrate in concrete construction, the quality of construction of shotcrete quality, directly affect the protection effect of supporting construction.
At present, construction of shotcrete generally use manual control：By manual operation concrete spraying machinery hand or
Concrete spraying hand controls spray head, according to the parameters of construction technology of regulation, is carrying out the slope surface of thickness mark or is treating supporting
Construct on face.But this kind of manual control gunite concrete is by manual operation level, site work environment and construction error
Influence, generally existing shotcrete manipulator operation difficulty is big, springback capacity is big, poor flatness and compactness are uncontrollable
Etc. problem.
The content of the invention
It is an object of the invention to for existing gunite concrete be affected by human factors bigger, operation difficulty it is big,
The problems such as springback capacity is big, poor flatness and compactness are uncontrollable, there is provided a kind of gunite concrete automated construction device and its
Construction method.
To achieve the above object, technical solution of the invention is：A kind of gunite concrete automated construction device, bag
Concrete spraying machinery hand is included, the concrete spraying machinery is provided with vehicle-mounted computer, vehicle-mounted total powerstation and auxiliary prison on hand
Instrument is surveyed, the vehicle-mounted computer is connected with vehicle-mounted total powerstation and auxiliary monitoring instrument respectively, and vehicle-mounted computer and concrete spraying
The control system of manipulator is connected.
The vehicle-mounted total powerstation is arranged on concrete spraying machinery hand and drives roof portion.
The auxiliary monitoring instrument is arranged on the nozzle rear end on the mechanical arm of concrete spraying machinery hand, and auxiliary monitoring instrument
It is parallel with nozzle spray operation direction.
A kind of gunite concrete automated construction method, including following step：
Step 1, is first according to design grade, offset distance or design section excavation supporting face, removes surface void slag, loosens the soil body
Or rock mass, and by design requirement set anchor pole, hang mesh sheet；
Step 2, smooth location, prevents surface subsidence, deformation during concrete spraying machinery manual task, influences equipment safety
And positioning accuracy；
Step 3, concrete spraying machinery hand reach operation point location, vehicle-mounted total powerstation backsight setting rear positioning target and
The work surface data in forward operation face, and vehicle-mounted computer is sent data to, vehicle-mounted computer calculates wet shot manipulator wet-spraying machine
The position of tool hand and nozzle before setting；
Step 4, site operation personnel import tests determined construction parameter and spray to gunite concrete equipment vehicle-mounted computer
Penetrate Concrete Design thickness, flatness, design supporting section parameter；
Step 5, vehicle-mounted computer issue instructions to the control system of concrete spraying machinery hand, control concrete spraying machinery hand
Mechanical arm and nozzle according in step 4 technical staff import vehicle-mounted computer construction and design parameter carry out spray operation, this
During vehicle-mounted total powerstation and auxiliary monitoring instrument monitor gunite concrete thickness, flatness in real time and transmit data to out vehicle mounted electric
Brain, vehicle-mounted computer make the mechanical arm of concrete spraying machinery hand and nozzle construct according to design supporting parameter, construction technology instruction,
Until complete construction of shotcrete.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention using vehicle-mounted total powerstation and auxiliary monitoring instrument monitoring gunite concrete thickness, is put down in gunite concrete operation
Whole degree, and monitoring data are imported into vehicle-mounted computer in real time, mechanical arm is issued instructions to according to tested injection by vehicle-mounted computer
Concrete construction parameter and design gunite concrete parameter carry out spray operation.So as to reduce because of the shadow of manual operation level
Ring, avoid because jet thickness is uneven caused by artificial origin, technology controlling and process is not tight, slump is big the problems such as, so as to improve
Construction quality, has saved concrete；And control is stared in real time in work surface without operating personnel, reduce construction dust, country rock chip off-falling
To the security risk of operating personnel.
Brief description of the drawings
Fig. 1 is constructing device structure diagram in the present invention.
Fig. 2 is construction method operation process chart in the present invention.
In figure, concrete spraying machinery hand 1, vehicle-mounted computer 2, vehicle-mounted total powerstation 3, mechanical arm 4, nozzle 5, auxiliary monitoring instrument
6, country rock 7, just sprays concrete 8, preliminary bracing 9.
Embodiment
Below in conjunction with brief description of the drawings, the present invention is described in further detail with embodiment.
Referring to Fig. 1, a kind of gunite concrete automated construction device, including concrete spraying machinery hand 1, the concrete
4 termination of mechanical arm on wet shot manipulator 1 is provided with nozzle 5.Vehicle-mounted computer 2, vehicle-mounted is provided with concrete spraying machinery hand 1
Total powerstation 3 and auxiliary monitoring instrument 6, the vehicle-mounted computer 2 are connected with vehicle-mounted total powerstation 3 and auxiliary monitoring instrument 6 respectively, usually
Vehicle-mounted computer 2 wirelessly communicates connection with vehicle-mounted total powerstation 3 and auxiliary monitoring instrument 6 respectively；And vehicle-mounted computer 2 and coagulation
The control system of native wet shot manipulator 1 is connected.
Referring to Fig. 1, the vehicle-mounted total powerstation 3 is arranged on concrete spraying machinery hand 1 and drives roof portion.Vehicle-mounted total powerstation
3 keep intervisibility with rear positioning target, for backsight measure traverse line point, treat branch mask, and by the data transfer of measurement to vehicle-mounted
Computer 2, to determine that nozzle 5 is treating position square in face of supporting, and treats supporting area, thickness, flatness etc.；After herein
Depending on being measurement proprietary term, refer to that survey crew or work person personnel operate vehicle-mounted total powerstation 3 and determine current vehicle-mounted 3 coordinate of total powerstation
Measurement action.Meanwhile vehicle-mounted total powerstation 3 works with auxiliary monitoring instrument 6 one in the construction process, sprayed for vehicle-mounted computer 2
Penetrate operation process and dynamic parameter is provided.
Referring to Fig. 1, the auxiliary monitoring instrument 6 is arranged on 5 rear end of nozzle on the mechanical arm 4 of concrete spraying machinery hand 1,
And auxiliary monitoring instrument 6 is parallel with 5 spray operation direction of nozzle；And auxiliary monitoring instrument 6 carries automatic cleaning and safeguard function, prevents
Sandstone impact, pollution are sprung back during operation, influences monitoring accuracy.
Referring to Fig. 1, vehicle-mounted computer 2 connects vehicle-mounted total powerstation 3 and auxiliary monitoring instrument 6, is positioned in concrete spraying machinery hand 1
Afterwards, according to the design parameter of input vehicle-mounted computer 2, construction technology etc., send instruction control machinery arm 4 and nozzle 5 reaches requirement
The distance of the spray angle of position and technological requirement, nozzle to country rock；It is vehicle-mounted at the same time according to technological requirement during spray operation
Computer 2, which issues instructions to concrete spraying machinery hand 1, to be made it according to the injection pressure of technological requirement, order, the number of plies, is made
Industry.
Referring to Fig. 2, a kind of gunite concrete automated construction method, including following step：
Step 1, is first according to design grade, offset distance or design section excavation supporting face, removes surface void slag, loosens the soil body
Or rock mass, and by design requirement set anchor pole, hang mesh sheet.
Step 2, smooth location, prevents surface subsidence in 1 operation process of concrete spraying machinery hand, deformation, influences equipment
Safety and positioning accuracy.
Step 3, concrete spraying machinery hand 1 reach operation point location, vehicle-mounted 3 backsight setting rear of total powerstation positioning
Target（Two or more absolute coordinate point）With the work surface data in forward operation face, which includes the plane of work surface
The parameters such as position, size, absolute altitude；And vehicle-mounted computer 2 is sent data to, vehicle-mounted computer 2 calculates wet shot manipulator wet-spraying machine
The position of tool hand 1 and nozzle 5 before setting.
Step 4, site operation personnel import tests determined construction to gunite concrete equipment vehicle-mounted computer 2 in advance
Parameter and gunite concrete design thickness, flatness, design supporting section parameter.Construction parameter herein includes wind pressure, speed
Solidifying agent parameter, spray angle, jet length, 5 walking path of nozzle etc..
Step 5, vehicle-mounted computer 2 issue instructions to the control system of concrete spraying machinery hand 1, control concrete spraying
The mechanical arm 4 and nozzle 5 of manipulator 1 import the construction of vehicle-mounted computer according to technical staff in step 4 and design parameter is sprayed
Starch operation；Vehicle-mounted total powerstation 3 and auxiliary monitoring instrument 6 monitor gunite concrete thickness, flatness and transmit number in real time during this
According to providing vehicle-mounted computer 2, vehicle-mounted computer 2 make concrete spraying machinery hand 1 mechanical arm 4 and nozzle 5 according to design supporting parameter,
Construction technology instruction construction, until completing construction of shotcrete.
Referring to Fig. 1 to Fig. 2, the present invention utilizes the vehicle-mounted whole station of concrete spraying machinery hand 1 in gunite concrete operation
Instrument 3 and auxiliary monitoring instrument 6 monitor gunite concrete thickness, flatness, and monitoring data are imported to vehicle-mounted computer 2 in real time, by car
Carry computer 2 issue instructions to mechanical arm 4 according to tested construction of shotcrete parameter and design gunite concrete parameter into
Row spray operation.So as to reduce because of the influence of manual operation level, it is uneven to avoid the jet thickness caused by artificial origin
Even, the problems such as technology controlling and process is not tight, and slump is big, so as to save raising construction quality, save concrete；And operating personnel are not had to
Control is stared in real time in work surface, reduces construction dust, country rock chip off-falling to the security risk of operating personnel.
At the same time it may be noted that before concrete penetrates spray operation, it should be ensured that wet shotcreting, the accelerator used is full through experiment
Sufficient wet spraying process is to slump, workability, coarse aggregate size, and the requirement of rapid hardening aspect of performance；Gunite concrete operation
Cheng Zhong, should ensure continuous, the stable supply of wet shotcreting.
Above content is that a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, said structure should be all considered as belonging to
Protection scope of the present invention.
Claims (4)
1. a kind of gunite concrete automated construction device, including concrete spraying machinery hand（1）, it is characterised in that：Described
Concrete spraying machinery hand（1）On be provided with vehicle-mounted computer（2）, vehicle-mounted total powerstation（3）With auxiliary monitoring instrument（6）, the car
Carry computer（2）Respectively with vehicle-mounted total powerstation（3）With auxiliary monitoring instrument（6）It is connected, and vehicle-mounted computer（2）With concrete spraying machine
Tool hand（1）Control system be connected.
A kind of 2. gunite concrete automated construction device according to claim 1, it is characterised in that：Described is vehicle-mounted complete
Stand instrument（3）It is arranged on concrete spraying machinery hand（1）Drive roof portion.
A kind of 3. gunite concrete automated construction device according to claim 1, it is characterised in that：The auxiliary monitoring
Instrument（6）It is arranged on concrete spraying machinery hand（1）Mechanical arm（4）On nozzle（5）Rear end, and auxiliary monitoring instrument（6）With spray
Mouth（5）Spray operation direction is parallel.
A kind of 4. gunite concrete automated construction method, it is characterised in that including following step：
Step 1, is first according to design grade, offset distance or design section excavation supporting face, removes surface void slag, loosens the soil body
Or rock mass, and by design requirement set anchor pole, hang mesh sheet；
Step 2, smooth location, prevents concrete spraying machinery hand（1）Surface subsidence, deformation in operation process, influence equipment peace
Complete and positioning accuracy；
Step 3, concrete spraying machinery hand（1）Reach operation point location, vehicle-mounted total powerstation（3）Backsight setting rear positions
Target and the work surface data in forward operation face, and send data to vehicle-mounted computer（2）, vehicle-mounted computer（2）Calculate wet shot
Manipulator wet shot manipulator（1）And nozzle（5）Position before setting；
Step 4, site operation personnel is to gunite concrete equipment vehicle-mounted computer（2）Import tests determined construction parameter with
And gunite concrete design thickness, flatness, design supporting section parameter；
Step 5, vehicle-mounted computer（2）Issue instructions to concrete spraying machinery hand（1）Control system, control concrete spraying
Manipulator（1）Mechanical arm（4）And nozzle（5）Vehicle-mounted computer is imported according to technical staff in step 4（2）Construction and design
Parameter carries out spray operation, vehicle-mounted total powerstation during this（3）With auxiliary monitoring instrument（6）Real-time monitoring gunite concrete thickness,
Flatness simultaneously transmits data to out vehicle-mounted computer（2）, vehicle-mounted computer（2）Make concrete spraying machinery hand（1）Mechanical arm（4）With
Nozzle（5）According to design supporting parameter, construction technology instruction construction, until completing construction of shotcrete.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711195026.6A CN107939418A (en) | 2017-11-24 | 2017-11-24 | A kind of gunite concrete automated construction device and its construction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711195026.6A CN107939418A (en) | 2017-11-24 | 2017-11-24 | A kind of gunite concrete automated construction device and its construction method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107939418A true CN107939418A (en) | 2018-04-20 |
Family
ID=61948811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711195026.6A Pending CN107939418A (en) | 2017-11-24 | 2017-11-24 | A kind of gunite concrete automated construction device and its construction method |
Country Status (1)
| Country | Link |
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| CN (1) | CN107939418A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108979668A (en) * | 2018-07-17 | 2018-12-11 | 中铁工程装备集团有限公司 | The information intelligent construction method and system of wet shot trolley |
| CN109595007A (en) * | 2018-12-05 | 2019-04-09 | 湖南五新隧道智能装备股份有限公司 | A kind of full-automatic wet shot control method and full-automatic wet shot system |
| CN110939461A (en) * | 2019-10-25 | 2020-03-31 | 中铁隧道局集团有限公司 | Intelligent concrete spraying method |
| CN112228107A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Detection method and system for sealing spray layer of roadway support |
| CN112228101A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Spraying-based roadway support forming method and system |
| CN112228102A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Spraying temporary support and anchor rod permanent support method and system |
| CN115217491A (en) * | 2022-06-10 | 2022-10-21 | 大连海事大学 | Full-automatic intelligent tunnel wet spraying vehicle with machine vision and slurry spraying method |
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| JPH1144529A (en) * | 1997-07-28 | 1999-02-16 | Ohbayashi Corp | Method and system for measuring thickness of sprayed concrete |
| JP2000283756A (en) * | 1999-03-29 | 2000-10-13 | Sato Kogyo Co Ltd | Method for measuring spray thickness and measuring device therefor |
| JP2010090541A (en) * | 2008-10-03 | 2010-04-22 | Ohbayashi Corp | Concrete spraying apparatus |
| CN204212785U (en) * | 2014-08-06 | 2015-03-18 | 安徽佳乐建设机械有限公司 | A kind of intelligent integral concrete spraying chassis |
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| CN207686734U (en) * | 2017-11-24 | 2018-08-03 | 中铁十一局集团第四工程有限公司 | A kind of gunite concrete automated construction device |
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2017
- 2017-11-24 CN CN201711195026.6A patent/CN107939418A/en active Pending
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| JPH0559894A (en) * | 1991-08-30 | 1993-03-09 | Penta Ocean Constr Co Ltd | Thickness control system for tunnel lining sprayed concrete |
| JPH1144529A (en) * | 1997-07-28 | 1999-02-16 | Ohbayashi Corp | Method and system for measuring thickness of sprayed concrete |
| JP2000283756A (en) * | 1999-03-29 | 2000-10-13 | Sato Kogyo Co Ltd | Method for measuring spray thickness and measuring device therefor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108979668A (en) * | 2018-07-17 | 2018-12-11 | 中铁工程装备集团有限公司 | The information intelligent construction method and system of wet shot trolley |
| CN108979668B (en) * | 2018-07-17 | 2019-10-29 | 中铁工程装备集团有限公司 | The information intelligent construction method and system of wet shot trolley |
| CN109595007A (en) * | 2018-12-05 | 2019-04-09 | 湖南五新隧道智能装备股份有限公司 | A kind of full-automatic wet shot control method and full-automatic wet shot system |
| CN110939461A (en) * | 2019-10-25 | 2020-03-31 | 中铁隧道局集团有限公司 | Intelligent concrete spraying method |
| CN112228107A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Detection method and system for sealing spray layer of roadway support |
| CN112228101A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Spraying-based roadway support forming method and system |
| CN112228102A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Spraying temporary support and anchor rod permanent support method and system |
| CN112228101B (en) * | 2020-09-28 | 2023-01-10 | 中煤科工开采研究院有限公司 | Roadway support forming method and system based on spraying |
| CN115217491A (en) * | 2022-06-10 | 2022-10-21 | 大连海事大学 | Full-automatic intelligent tunnel wet spraying vehicle with machine vision and slurry spraying method |
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