CN110159313A - A kind of intelligence spraying system and its gunite method - Google Patents
A kind of intelligence spraying system and its gunite method Download PDFInfo
- Publication number
- CN110159313A CN110159313A CN201910567117.0A CN201910567117A CN110159313A CN 110159313 A CN110159313 A CN 110159313A CN 201910567117 A CN201910567117 A CN 201910567117A CN 110159313 A CN110159313 A CN 110159313A
- Authority
- CN
- China
- Prior art keywords
- whitewashing
- slewing equipment
- multiple degrees
- measurement
- shotcrete robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000011378 shotcrete Substances 0.000 title claims abstract description 61
- 238000005507 spraying Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 28
- 239000007921 spray Substances 0.000 claims abstract description 14
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 230000008093 supporting effect Effects 0.000 claims description 6
- 230000001815 facial effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 6
- 239000011435 rock Substances 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 3
- 229920002472 Starch Polymers 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000019698 starch Nutrition 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000012407 engineering method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000008107 starch Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
Abstract
The invention discloses a kind of intelligent spraying systems, including the whitewashing bridge being arranged along tunnel axial direction, the circumferential direction of whitewashing bridge is provided with slewing equipment, shotcrete robot is connected on the swing mechanism of slewing equipment, whitewashing mouth is provided on shotcrete robot, it is provided with the multiple degrees of freedom spatial digitizer group being connected with measurement and control center, the slewing equipment and shotcrete robot on whitewashing bridge and whitewashing mouth is connected with measurement and control center.The invention also discloses a kind of gunite method of intelligent spraying system, including 3-D scanning, automatic whitewashing for the first time, Scanning Detction, judge that scanning result and automatic precision spray and correct.The present invention had not only effectively increased the efficiency of tunnel gunite instead of spraying system operator indispensable in the prior art, but also had fully ensured that the quality of gunite, effectively reduced the incidence of the construction accidents such as rock burst, water burst.
Description
Technical field
It whitewashes technical field the present invention relates to complete-section tunnel boring machine, particularly relates to a kind of intelligent spraying system and its spray
Starch method for protecting support.
Background technique
The operation that traditional TBM mixes spray system requires high, manipulator's cultivation cycle length, construction site to worker's overall qualities
, TBM mixed spray operation area bad environments high to manipulator's dependency degree, spraying system operator practices operation at least 3 years could be ripe
Practice and controls this operating system, and procedures environment of whitewashing is more severe, many factors cause skilled operation hand very in short supply, whitewashing
Supporting effect is affected by manipulator's level.Therefore field experience enriches skilled manipulator and is constantly in state in short supply.And
And mixed spray quality is affected by human factors larger, mixed spray unstable quality.With later period TBM driving engineering method widely popularize and duty
The raising of industry health requirements, the rare state of manipulator can be increasingly severe.TBM construction party and owner have intelligent whitewashing project
Urgent need.
Existing TBM intelligence spraying system is system very crucial in TBM complete machine, it smoothly tunnels TBM construction
Vital effect, be with high content of technology and high value-added product.Current every set TBM is at least equipped with two manipulator people
Work whitewashing, gunite effect is affected by manipulator's level, and skilled operation hand is very in short supply, horizontal unstable straight of manipulator
It connects and causes tunnel support of poor quality, easily cause the construction accidents such as rock burst, water burst.Have become the system of TBM safety for tunnel engineering
About bottleneck, owner also have urgent full-automatic whitewashing demand.
Summary of the invention
For the deficiency in above-mentioned background technique, the present invention proposes a kind of intelligent spraying system and its gunite method,
It solves the qualification of the whitewashing quality heavy dependence manipulator of existing mixing spraying system and skilled operation is hand-tight scarce asks
Topic.
The technical scheme of the present invention is realized as follows: a kind of intelligence spraying system, including be arranged along tunnel axial direction
Whitewashing bridge, the circumferential direction for bridge of whitewashing is provided with slewing equipment, is connected with shotcrete robot on the swing mechanism of slewing equipment,
It is provided with whitewashing mouth on shotcrete robot, is provided with the multiple degrees of freedom spatial digitizer group being connected with measurement and control center on bridge of whitewashing,
The slewing equipment and shotcrete robot and whitewashing mouth are connected with measurement and control center.
The slewing equipment includes spaced first slewing equipment and the second slewing equipment, the shotcrete robot packet
The first shotcrete robot and the second shotcrete robot are included, the swing mechanism connection of the first slewing equipment first whitewashing is mechanical
The swing mechanism of hand, the second slewing equipment connects second shotcrete robot.
The multiple degrees of freedom spatial digitizer group includes that the first multiple degrees of freedom spatial digitizer and the second multiple degrees of freedom are three-dimensional
The front side of the first slewing equipment, the second multiple degrees of freedom spatial digitizer is arranged in scanner, the first multiple degrees of freedom spatial digitizer
It is arranged between the first slewing equipment and the second slewing equipment.
There are two the first multiple degrees of freedom spatial digitizer and the second multiple degrees of freedom spatial digitizer are respectively provided with, two
One multiple degrees of freedom spatial digitizer is symmetricly set on the left and right sides of whitewashing bridge, and two the second multiple degrees of freedom spatial digitizers are symmetrical
The left and right sides of whitewashing bridge is set.
It is provided with slip support abutment below the whitewashing bridge, is matched with slip support abutment and is provided with sliding rail.
A kind of gunite method of intelligence spraying system, comprising the following steps:
Step 1: 3-D scanning, measurement and control center control the first multiple degrees of freedom spatial digitizer and sweep to tunnel inner ring facial contour
It retouches, and scan image data is back to measurement and control center；
Step 2: whitewashing for the first time automatically, and measurement and control center automatically controls first time according to the scan image data in the step 1
The matched rotational speed of rotary device output phase automatically controls the injection side that the first shotcrete robot drives jet blower direction to match
To, and then control the first slewing equipment and the nozzle on the first shotcrete robot is driven to whitewash tunnel inner ring surface for the first time；
Step 3: Scanning Detction, measurement and control center control the step 2 and complete to control the second multiple degrees of freedom three-dimensional after whitewashing for the first time
Scanner is scanned the tunnel inner ring surface after whitewashing for the first time, and scan image data is back to measurement and control center；
Step 4: judge scanning result, the supporting number of contours of the scan image data that measurement and control center obtains step 3 and setting
According to being compared, if comparison result in error range, is whitewashed, bridge is pushed ahead along sliding rail, into next whitewashing branch
Shield circulation, repeats step 1 to step 4.
If the comparison result in the step 4 exceeds error range, carry out step 5: automatic precision spray is corrected, in observing and controlling
The heart automatically controls the matched rotational speed of the second slewing equipment output phase according to comparison result, automatically controls the second shotcrete robot
It drives jet blower towards the injection direction to match, and then controls the nozzle on the second slewing equipment the second shotcrete robot of drive
Tunnel inner ring surface after the completion of whitewashing for the first time to step 2 carries out automatic precision spray amendment, follows subsequently into next gunite
Ring repeats step 1 to step 5.
The present invention has broken through whitewashing branch not only instead of spraying system operator indispensable in the prior art
The problem of shield quality is seriously limited to spraying system operator's technology had not only effectively increased gunite efficiency, but also had sufficiently protected
The quality for having demonstrate,proved gunite effectively reduces the incidence of the construction accidents such as rock burst, water burst.
Detailed description of the invention
In order to illustrate the embodiments of the present invention more clearly, attached drawing needed in describing below to embodiment makees letter
Singly introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, skill common for this field
For art personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is side structure schematic view of the invention；
Fig. 2 is the cross-sectional view in the face A-A in Fig. 1；
Fig. 3 is the cross-sectional view in the face B-B in Fig. 1.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under that premise of not paying creative labor
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1, a kind of intelligence spraying system, as shown in figures 1 and 3, including the whitewashing being arranged along tunnel axial direction
The circumferential direction of bridge 1, whitewashing bridge 1 is provided with slewing equipment, and shotcrete robot is connected on the swing mechanism of slewing equipment, whitewashes
Whitewashing mouth 4 is provided on manipulator.Slewing equipment can by swing mechanism drive shotcrete robot along tunnel inner ring surface into
Row rotation, shotcrete robot can stretch while rotating with slewing equipment, and the whitewashing mouth 4 on shotcrete robot can be with
The movement of shotcrete robot easily whitewashes to tunnel inner ring surface.
The multiple degrees of freedom spatial digitizer group being connected with measurement and control center, the slewing equipment are provided on the whitewashing bridge 1
It is connected with measurement and control center with shotcrete robot and whitewashing mouth 4, measurement and control center can detect tunnel inner ring by spatial digitizer group
The data in face, and then control slewing equipment, shotcrete robot and whitewashing mouth 4 and make corresponding movement.The lower section of the whitewashing bridge 1
It is provided with slip support abutment 6, is matched with slip support abutment 6 and is provided with sliding rail 7, one is whitewashed after circulation terminates, 1 edge of bridge of whitewashing
Sliding rail 7 move forward, and then drive multiple degrees of freedom spatial digitizer group, slewing equipment, shotcrete robot and whitewashing mouth 4 enter
Next gunite position.
The slewing equipment includes spaced first slewing equipment 2-1 and the second slewing equipment 2-2, the pulp shooting machine
Tool hand includes the first shotcrete robot 3-1 and the second shotcrete robot 3-2.The swing mechanism of first slewing equipment 2-1 connects institute
The swing mechanism for stating the first shotcrete robot 3-1, the second slewing equipment 2-2 connects the second shotcrete robot 3-2, the first spray
Whitewashing mouth 4 is provided on slurry manipulator 3-1 and the second shotcrete robot 3-2.Be arranged two groups of slewing equipments, shotcrete robot and
Whitewashing mouth 4 more convenient fully can carry out gunite to tunnel inner ring surface.
The multiple degrees of freedom spatial digitizer group includes the first multiple degrees of freedom spatial digitizer 5-1 and the second multiple degrees of freedom three
Scanner 5-2 is tieed up, the front side of the first slewing equipment 2-1 is arranged in the first multiple degrees of freedom spatial digitizer 5-1, for the first revolution dress
2-1 and the first shotcrete robot 3-1 thereon and the preceding data of the offer whitewashing of mouth 4 of whitewashing are provided.Second multiple degrees of freedom spatial digitizer
5-2 is arranged between the first slewing equipment 2-1 and the second slewing equipment 2-2, the first spray for the second slewing equipment 2-2 and thereon
It starches manipulator 3-2 and whitewashing mouth 4 provides data before whitewashing.
Embodiment 2, a kind of intelligence spraying system, as shown in Fig. 2, instruction is scanning area at C in figure.More than described first certainly
There are two being respectively provided with by degree spatial digitizer 5-1 and the second multiple degrees of freedom spatial digitizer 5-2, two the first multiple degrees of freedoms are three-dimensional
Scanner 5-1 is symmetricly set on the left and right sides of whitewashing bridge 1, and two the second multiple degrees of freedom spatial digitizer 5-2 are symmetricly set on
The left and right sides of whitewashing bridge 1, can either effectively improve scan efficiency, and can guarantee the integrality of scan area, avoiding makes
The problem at high cost caused by excessively complicated multiple degrees of freedom spatial digitizer.
The other structures of the present embodiment are same as Example 1.
Embodiment 3, a kind of gunite method of intelligence spraying system, comprising the following steps:
Step 1: 3-D scanning, measurement and control center control the first multiple degrees of freedom spatial digitizer 5-1 and carry out to tunnel inner ring facial contour
Scanning, and scan image data is back to measurement and control center；
Step 2: whitewashing for the first time automatically, and measurement and control center automatically controls first time according to the scan image data in the step 1
The matched rotational speed of rotary device 2-1 output phase automatically controls the first shotcrete robot 3-1 and drives jet blower 4 towards matching
Injection direction, and then control the first slewing equipment 2-1 drive the first shotcrete robot 3-1 on nozzle 4 to tunnel inner ring surface
It is whitewashed for the first time；
Step 3: Scanning Detction, measurement and control center control the step 2 and complete to control the second multiple degrees of freedom three-dimensional after whitewashing for the first time
Scanner 5-2 is scanned the tunnel inner ring surface after whitewashing for the first time, and scan image data is back to measurement and control center；
Step 4: judge scanning result, the supporting number of contours of the scan image data that measurement and control center obtains step 3 and setting
According to being compared, if comparison result in error range, is whitewashed, bridge 1 is pushed ahead along sliding rail 7, into next whitewashing
Supporting circulation, repeats step 1 to step 4.
If the comparison result in the step 4 exceeds error range, carry out step 5: automatic precision spray is corrected, in observing and controlling
The heart automatically controls the matched rotational speed of the second slewing equipment 2-2 output phase according to comparison result, automatically controls the second pulp shooting machine
Tool hand 3-2 drives jet blower 4 towards the injection direction to match, and then controls the second slewing equipment 2-2 and drive the second pulp shooting machine
Tunnel inner ring surface after the completion of nozzle 4 on tool hand 3-2 whitewashes for the first time to step 2 carries out automatic precision spray amendment, subsequently under
One gunite circulation, repeats step 1 to step 5.
The not detailed place of the present invention is conventional technical means known in those skilled in the art.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of intelligence spraying system, it is characterised in that: including the whitewashing bridge (1) being arranged along tunnel axial direction, whitewash bridge (1)
Circumferential direction be provided with slewing equipment, shotcrete robot is connected on the swing mechanism of slewing equipment, is set on shotcrete robot
It is equipped with whitewashing mouth (4), is provided with the multiple degrees of freedom spatial digitizer group being connected with measurement and control center, the revolution in whitewashing bridge (1)
Device and shotcrete robot and whitewashing mouth (4) are connected with measurement and control center.
2. intelligence spraying system according to claim 1, it is characterised in that: the slewing equipment (2) includes interval setting
The first slewing equipment (2-1) and the second slewing equipment (2-2), the shotcrete robot include the first shotcrete robot (3-1)
First shotcrete robot (3-1) is connected with the swing mechanism of the second shotcrete robot (3-2), the first slewing equipment (2-1),
The swing mechanism of second slewing equipment (2-2) connects second shotcrete robot (3-2).
3. intelligence spraying system according to claim 2, it is characterised in that: the multiple degrees of freedom spatial digitizer group includes
First multiple degrees of freedom spatial digitizer (5-1) and the second multiple degrees of freedom spatial digitizer (5-2), the first multiple degrees of freedom 3-D scanning
Instrument (5-1) setting is arranged in the front side of the first slewing equipment (2-1), the second multiple degrees of freedom spatial digitizer (5-2) at first time
Between rotary device (2-1) and the second slewing equipment (2-2).
4. intelligence spraying system according to claim 3, it is characterised in that: the first multiple degrees of freedom spatial digitizer
There are two (5-1) and the second multiple degrees of freedom spatial digitizer (5-2) are respectively provided with, two the first multiple degrees of freedom spatial digitizer (5-
1) it is symmetricly set on the left and right sides of whitewashing bridge (1), two the second multiple degrees of freedom spatial digitizers (5-2) are symmetricly set on whitewashing
The left and right sides of bridge (1).
5. intelligence spraying system according to claim 1-4, it is characterised in that: the lower section of whitewashing bridge (1)
Slip support abutment (6) are provided with, is matched with slip support abutment (6) and is provided with sliding rail (7).
6. the gunite method of intelligence spraying system according to claim 5, it is characterised in that the following steps are included:
Step 1: 3-D scanning, measurement and control center control the first multiple degrees of freedom spatial digitizer (5-1) to tunnel inner ring facial contour into
Row scanning, and scan image data is back to measurement and control center；
Step 2: whitewashing for the first time automatically, and measurement and control center automatically controls first time according to the scan image data in the step 1
The matched rotational speed of rotary device (2-1) output phase automatically controls the first shotcrete robot (3-1) drive jet blower (4) direction
The injection direction to match, and then control the nozzle (4) in the first slewing equipment (2-1) drive the first shotcrete robot (3-1)
It is whitewashed for the first time to tunnel inner ring surface；
Step 3: Scanning Detction, measurement and control center control the step 2 and complete to control the second multiple degrees of freedom three-dimensional after whitewashing for the first time
Scanner (5-2) is scanned the tunnel inner ring surface after whitewashing for the first time, and scan image data is back to measurement and control center；
Step 4: judge scanning result, the supporting number of contours of the scan image data that measurement and control center obtains step 3 and setting
According to being compared, if comparison result in error range, is whitewashed, bridge (1) is pushed ahead along sliding rail (7), and entrance is next
Gunite circulation, repeats step 1 to step 4.
7. the gunite method of intelligence spraying system according to claim 6, it is characterised in that: if in the step 4
Comparison result exceed error range, then carry out step 5: automatic precision spray amendment, measurement and control center automatically control according to comparison result
The matched rotational speed of second slewing equipment (2-2) output phase automatically controls the second shotcrete robot (3-2) drive jet blower
(4) it towards the injection direction to match, and then controls the second slewing equipment (2-2) and drives on the second shotcrete robot (3-2)
Tunnel inner ring surface after the completion of nozzle (4) whitewashes for the first time to step 2 carries out automatic precision spray amendment, subsequently into next whitewashing
Supporting circulation, repeats step 1 to step 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910567117.0A CN110159313A (en) | 2019-06-27 | 2019-06-27 | A kind of intelligence spraying system and its gunite method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910567117.0A CN110159313A (en) | 2019-06-27 | 2019-06-27 | A kind of intelligence spraying system and its gunite method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110159313A true CN110159313A (en) | 2019-08-23 |
Family
ID=67636717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910567117.0A Pending CN110159313A (en) | 2019-06-27 | 2019-06-27 | A kind of intelligence spraying system and its gunite method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111456763A (en) * | 2020-04-30 | 2020-07-28 | 中铁工程装备集团有限公司 | Economical intelligent mixed spraying device and method for tunnel excavation support |
| CN111456772A (en) * | 2020-04-30 | 2020-07-28 | 中铁工程装备集团有限公司 | Intelligent supporting robot with functions of erecting arch, spraying and welding |
| CN111456753A (en) * | 2020-04-30 | 2020-07-28 | 中铁工程装备集团有限公司 | Mixed spraying device integrating measurement, mixed spraying and intelligent forming and construction method |
| CN111520163A (en) * | 2020-04-30 | 2020-08-11 | 中铁工程装备集团有限公司 | Mixed spraying method of intelligent mixed spraying robot |
| CN114799662A (en) * | 2022-04-25 | 2022-07-29 | 中铁工程装备集团有限公司 | Steel bow member joint bar welding set |
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| CN111456753B (en) * | 2020-04-30 | 2022-04-19 | 中铁工程装备集团有限公司 | Mixed spraying device integrating measurement, mixed spraying and intelligent forming and construction method |
| CN114799662A (en) * | 2022-04-25 | 2022-07-29 | 中铁工程装备集团有限公司 | Steel bow member joint bar welding set |
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