CN111305878A - Tunnel primary support steel arch mounting device and using method - Google Patents
Tunnel primary support steel arch mounting device and using method Download PDFInfo
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- CN111305878A CN111305878A CN202010105917.3A CN202010105917A CN111305878A CN 111305878 A CN111305878 A CN 111305878A CN 202010105917 A CN202010105917 A CN 202010105917A CN 111305878 A CN111305878 A CN 111305878A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 140
- 239000010959 steel Substances 0.000 title claims abstract description 140
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 104
- 238000009434 installation Methods 0.000 claims abstract description 41
- 238000012544 monitoring process Methods 0.000 claims abstract description 25
- 238000013528 artificial neural network Methods 0.000 claims abstract description 12
- 239000000725 suspension Substances 0.000 claims abstract description 5
- 239000002245 particle Substances 0.000 claims description 55
- 238000005457 optimization Methods 0.000 claims description 17
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- 239000003921 oil Substances 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 8
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- 238000011900 installation process Methods 0.000 claims description 5
- 238000012549 training Methods 0.000 claims description 5
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000007306 turnover Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 14
- 239000011435 rock Substances 0.000 description 10
- 230000008569 process Effects 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000011378 shotcrete Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000004567 concrete Substances 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- 239000002689 soil Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- 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
- E21D11/14—Lining predominantly with metal
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
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- 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
- E21D11/14—Lining predominantly with metal
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
- E21D11/183—Supporting means for arch members, not provided for in E21D11/22
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Abstract
The invention discloses a tunnel primary support steel arch mounting device and a use method thereof, wherein the device comprises a connecting rod, a supporting platform, a swing mechanism, a grabbing platform and a monitoring mechanism, and the steel arch mounting device is connected with a hydraulic excavator suspension arm through the connecting rod; the support platform connects the swing mechanism and the connecting rod with the swing mechanism, so that the grabbing platform can turn over relative to the swing mechanism, and the installation angle of the grabbing platform is adjusted, and the accurate installation of the steel arch frame is facilitated; the grabbing platform comprises two lantern ring grabs and an electromagnetic mechanism and can stably pick up the steel arch frame; the monitoring mechanism is an intelligent monitoring mechanism based on a neural network algorithm, and can assist an operator to adjust the steel arch to a corresponding mounting position, so that the steel arch can be accurately mounted under the condition of dim light in the tunnel.
Description
Technical Field
The invention relates to a tunnel primary support steel arch mounting technology, in particular to a tunnel primary support.
Background
In recent years, with the pace of infrastructure in China being accelerated, tunnels have become the choice for constructing a plurality of railways and highways with the advantages of short transit time, convenience and the like. In tunnel construction, the new Austrian method construction becomes a common form for constructing a through-the-hill tunnel, the principle of the construction can be summarized as 'less disturbance, early spray anchor, quick sealing and duty measurement', and the basic principle is that various support measures are applied to inhibit the deformation of surrounding rocks and the self bearing capacity of the surrounding rocks is exerted to the maximum extent. The deformation dynamic state of the surrounding rock is mastered in time through methods such as field measurement, rock-soil mechanical analysis and the like, whether the original design structure is corrected or not is judged according to the analysis result, or the optimal supporting opportunity is determined, so that the tunnel construction is safer and more economical. The support comprises a primary flexible support and a secondary lining, wherein the primary flexible support is used for supporting the excavated tunnel by taking concrete spraying, anchor rods, reinforcing mesh, steel arch frames and the like as support forms; the secondary lining mainly plays a role in safe storage, decoration and beautification. The steel arch is an important supporting material in primary supporting operation, and the steel arch is erected to form a composite support together with an anchor rod, sprayed concrete and a reinforcing mesh so as to protect and strengthen the strength and the self-stability of surrounding rocks.
However, in the actual tunnel construction process, many projects adopt the steel arch frame of manual work, that is, the steel arch frame is lifted to the position of installation by the manual work, fixes the steel arch frame after manual adjustment many times, and this kind of traditional mode mainly has following not enough:
(1) the single steel arch frame is 300 kilograms in weight, and the concatenation of multiple steel arch frames is still needed in actual work progress, adopts artifical installation, and the operating personnel that need are many, intensity of labour is big, only often is difficult to place it with tunnel vault country rock hugging closely by artifical mode moreover, has certain space between vault country rock and the steel arch frame apical margin, leads to the local emergence of sprayed concrete to take place the sky phenomenon. In this case, the steel arch does not function to resist the deformation of the surrounding rock;
(2) when the steel arch is installed, the steel arch cannot be placed at an accurate installation position at one time, multiple times of adjustment are needed, manual adjustment is time-consuming, construction efficiency is low, and the whole construction progress is influenced;
(3) a large number of operating personnel are required to operate on the tunnel face of the tunnel in the whole installation process, the rock falling and other conditions are easy to occur on the tunnel face, and the construction safety is low.
In order to solve the problem of steel arch installation in actual engineering, steel arch installation equipment is provided. The device for installing the steel arch in the tunnel construction process is complex in general structure, complex in operation procedure and low in efficiency. Because the stability of country rock can't reach the requirement in some tunnel construction processes, need carry out little step excavation, just so lead to the bench work space very narrow, lead to steel bow member installation device again can't satisfy the construction requirement, led to the fact very big difficulty to the installation of steel bow member. Therefore, the invention of the quick and convenient steel arch mounting device is very practical.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems in the existing tunnel construction process, the invention provides a tunnel primary support steel arch mounting device and a using method thereof, so that the accurate picking and mounting of the steel arch are realized, and surrounding rock deformation is better resisted by other support measures.
The technical scheme is as follows: in order to achieve the aim, the mounting device and the using method of the tunnel primary support steel arch frame adopt the following technical scheme:
the mounting device comprises a connecting rod, a supporting platform, a swing mechanism, a grabbing platform and a monitoring mechanism, wherein the connecting rod is used for connecting the steel arch mounting device with a suspension arm of the hydraulic excavator; the supporting platform is used for combining the rotary mechanism and the connecting rod; the grabbing platform comprises a grabbing mechanism and an electromagnetic mechanism, the grabbing mechanism is connected with a sliding block at the front end of the grabbing platform, and the electromagnetic mechanism is arranged in the middle of the grabbing platform; the monitoring mechanism is fixed in the middle of the gripper mechanism.
Preferably, the connecting rod is arranged at the rear end of the supporting platform and is hinged with the supporting platform.
Preferably, the supporting platform comprises a hinge rod, a horizontal connecting rod, a box frame and a bolt fixing support, the hinge rod is arranged on two sides of the box frame, the horizontal connecting rod is fixed at the position of the bolt fixing support and connected with a bolt hole formed in the box frame and the hinge rod, the box frame is a shell of the supporting platform, and the bolt fixing support is hinged to a reserved hole in the box frame.
Preferably, rotation mechanism includes antifriction bearing, gyration seat circle, fixed seat circle and gyration hydro-cylinder, antifriction bearing sets up the position at rotation mechanism and the contact of case frame, and bearing inner race and bolt fastening leg joint, bearing inner circle and slewer's rotation axis connection, the gyration seat circle is at the front end of rotation mechanism, and the gyration seat circle will snatch the platform and fix on rotation mechanism, the fixed seat circle is at rotation mechanism's rear end, and the fixed seat circle passes through fixing bolt and locating pin and bolt fastening leg joint, the gyration hydro-cylinder sets up inside rotation mechanism, and the gyration hydro-cylinder is connected with the fixed seat circle.
Preferably, the grabbing platform comprises a slide way, an electromagnetic mechanism and a gripper mechanism, the slide way is arranged at the front end of the grabbing platform, the two gripper mechanisms can move in the slide way, the electromagnetic mechanism is arranged on the grabbing platform at the rear part of the slide way, and the gripper mechanism is arranged at the front end of the grabbing platform.
Preferably, the hand grab mechanism comprises a lantern ring hand grab, a mounting seat and a clamping oil cylinder, the lantern ring hand grab is arranged at the front end of the hand grab mechanism, the mounting seat is connected with the lantern ring hand grab and the slide way, the mounting seat fixes the lantern ring hand grab on the sliding block, and the clamping oil cylinder is hinged to the mounting seat.
Preferably, the monitoring mechanism comprises a three-dimensional laser scanner, a processor and a mounting bracket, the three-dimensional laser scanner is fixed in a reserved hole in the middle of the gripper mechanism, the processor is arranged in an operating room of the hydraulic excavator, and the mounting bracket is fixed with the gripper mechanism through a mounting groove hole.
Preferably, the first and second liquid crystal materials are,the processor is a neural network algorithm arranged in the processor, a three-dimensional laser scanner is adopted to monitor the position of the steel arch in real time, point cloud data is formed after registration and coordinate conversion, and distance data between the steel arch and the installation position of the steel arch is extracted; then, training and verifying a neural network model by taking the spatial position s of the steel arch as input data of the neural network and the distance l between the position of the steel arch and the installation position as output data; finally, the neural network model is used as a fitness function f (s, l) of the particle swarm optimization algorithm, the steel arch space position is changed to be used as particles of the particle swarm optimization algorithm, and all the particles x in the D-dimensional solution space of the particle swarm are equal to (x)1，x2，...，xn) Initializing, obtaining the fitness value of all the particles in the D-dimensional solution space of the particle swarm according to the fitness function f (s, l), and obtaining the fitness value of each particle position x in the D-dimensional solution space of the particle swarmi＝(xi1，xi2，...，xiD)TVelocity vi＝(vi1，vi2，...，viD)TAnd continuously updating and iterating the fitness value to determine a global optimal solution so as to determine the next adjustment direction of the installation device, and the speed and position of each particle in the D-dimensional solution space of the particle swarm after each updating and iterating, wherein the speed and position are as follows:
xi＝(xi1，xi2，...，xiD，)T
vi＝(vi1，vi2，...，viD，)T
d＝1，2，...，D
i＝1，，2，...，n
where d is the dimension, i is the number of particles, ω is the inertial weight coefficient, k is the current iteration number, c1、c2In order to accelerate the factor(s) of the vehicle,r1、r2as independent random numbers
The use method of the tunnel primary support steel arch installing device comprises the following steps:
(1) selecting a corresponding steel arch fixing clamp according to the design information of the tunnel, installing the steel arch fixing clamp into the gripper mechanism, and installing the steel arch fixing clamp into the gripper mechanism according to the length l of the steel arch0Adjusting the distance delta l between the two lantern ring grippers0If the value is greater than the warning threshold value b, the stable picking of the steel arch is ensured;
(2) connecting the steel arch mounting device with a hydraulic excavator through a connecting rod at the tail of the device and connecting the steel arch mounting device with a hydraulic oil tank of the excavator;
(3) an operator operates the lantern ring gripper to pick up the steel arch, and the electromagnetic mechanism generates adsorption force to further fix the steel arch; then, a three-dimensional laser scanner is adopted to monitor the installation process in real time, registration and coordinate conversion are carried out on the monitoring data, point cloud data containing the steel arch frame position and the installation position are obtained, and the distance l between the point cloud data and the installation position is extracted; then, inputting the extracted monitoring data into a processor, wherein the spatial position s of the steel arch is used as input data of the neural network, and the distance l between the position of the steel arch and the installation position is used as output data, and training and verifying a neural network model; then, the neural network model is used as a fitness function of the particle swarm optimization algorithm, and the spatial position of the steel arch frame is changed to be used as the particle x of the particle swarm optimization algorithmi(i ═ 1, 2.., n), according to all particles x ═ x (x)1，x2，...，xn) Searching the optimal adjusting direction of the installation device by adopting a particle swarm optimization algorithm corresponding to the fitness function fitness value; and finally, providing an optimal adjustment direction according to the processor, and controlling the mounting device to perform translation and rotation operations by an operator to adjust the steel arch to an accurate mounting position, so that the steel arch can be accurately mounted under the condition of dim light in the tunnel.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) the steel arch mounting device is an accessory of a hydraulic excavator, is tightly combined with on-site equipment, and is convenient and easy to realize.
(2) Different fixing clamps are configured inside the hand grip according to different steel arch types, so that stable picking of the steel arches is realized.
(3) The electromagnetic mechanism through snatching the platform produces the adsorption affinity further fixed to the steel bow member, guarantees construction safety.
(4) The installation progress is monitored in real time by using the three-dimensional laser scanner, monitoring data are analyzed by using an intelligent algorithm, the optimal installation device is automatically searched for the adjustment direction, and the steel arch is accurately installed.
(5) Compared with the prior art, the steel arch installing device has the advantages of simple structure, convenience in operation, higher working efficiency and the like.
Drawings
FIG. 1 is a schematic overall view of a mounting device for a primary support steel arch of a tunnel;
FIG. 2 is a schematic structural view of the support platform, wherein FIG. 2(a) is a front view thereof and FIG. 2(b) is a right side view thereof;
FIG. 3 is a schematic structural view of the swing mechanism, wherein FIG. 3(a) is a front view thereof, and FIG. 3(b) is a right side view thereof;
FIG. 4 is a schematic structural view of the grasping platform, wherein FIG. 4(a) is a front view thereof and FIG. 4(b) is a right side view thereof;
FIG. 5 is a schematic view of the internal construction of the gripper mechanism and the monitoring mechanism;
FIG. 6 is a schematic diagram of the operation of the monitoring mechanism;
FIG. 7 is a schematic flow chart of a neural network algorithm;
FIG. 8 is a schematic flow chart of particle swarm optimization algorithm.
In the figure: 1 connecting rod, 2 supporting platform, 201 articulated rod, 202 horizontal connecting rod, 203 box frame, 204 bolt fixed bolster, 3 rotation mechanism, 301 antifriction bearing, 302 rotation seat circle, 303 fixed seat circle, 304 rotation hydro-cylinder, 4 snatch the platform, 401 slides, 402 electromagnetic mechanism, 403 slider, 404 iron core, 405 wire winding, 5 tongs mechanism, 501 lantern ring tongs, 502 mount pad, 503 clamping cylinder, 6 monitoring mechanism, 601 three-dimensional laser scanner, 602 treater, 603 installing supports.
Detailed Description
The technical solution of the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It is to be noted that the drawings are in a very simplified form and are not to precise scale, and are provided solely for the convenience and clarity of illustration of the invention. In the invention, the design and development of all hardware components are premised on the adaptability to the severe environment of the site.
Referring to fig. 1, the invention provides an overall illustration of a tunnel preliminary bracing steel arch installation device, a tunnel preliminary bracing steel arch installation device and a use method thereof, wherein the installation device comprises: the steel arch center mounting device comprises a connecting rod (1), a supporting platform (2), a rotating mechanism (3), a grabbing platform (4) and a monitoring mechanism (6), wherein the connecting rod (1) is arranged at the rear end of the supporting platform (2), and the connecting rod (1) is used for connecting the steel arch center mounting device with a suspension arm of a hydraulic excavator through the two connecting rods (1); the supporting platform (2) is used for combining the rotary mechanism (3) and the connecting rod (1); the slewing mechanism (3) enables the grabbing platform (4) to turn over relative to the slewing mechanism (3), the installation angle of the grabbing platform is adjusted, steel arches at different positions can be conveniently installed, for example, the steel arch can be rotated by 90 degrees in advance when the arch waist is installed, and the position of the steel arch is adjusted according to the feedback of the monitoring mechanism when the steel arch is close to the installation position; the monitoring mechanism (6) is based on a neural network algorithm, registration and coordinate conversion are carried out on monitoring data of the three-dimensional laser scanner (601) to form point cloud data, a neural network model is built, and then the optimal adjustment direction of the installation device is searched according to a particle swarm optimization algorithm; the grabbing platform (4) comprises two grabbing hand mechanisms (5) which can be matched with each other and have adjustable distance, and the grabbing hand mechanisms are used for stably picking up the steel arch and matching with an excavator to convey the steel arch to corresponding installation positions.
According to the invention, the two connecting rods (1) are arranged at the rear end of the supporting platform (2) and are used as the connecting part of the hydraulic excavator suspension arm and the steel arch mounting device, the mounting device and a hydraulic system of the excavator are connected into a whole, and the two connecting rods (1) are hinged with the supporting platform (2).
According to the invention, as shown in fig. 2, the supporting platform comprises hinge rods (201), horizontal connecting rods (202), a box frame (203) and bolt fixing supports (204), the hinge rods (201) are arranged at two sides of the box frame (203), two crossed hinge rods (201) are respectively fixed with bolt holes at two sides of the box frame (203), and are used as a stress structure of the supporting platform (2) and bear the force of grabbing the platform (4) and a steel arch together with the box frame (203), the horizontal connecting rods (202) are arranged at the positions of the bolt fixing supports (204) and are connected with the bolt holes arranged on the box frame (203) and the hinge rods (201) to provide a fixed bolt support structure, the box frame (203) is a shell of the supporting platform (2), and the bolt fixing supports are hinged to reserved holes on the box frame.
Referring to fig. 3, in the invention, the swing mechanism (3) comprises a rolling bearing (301), a swing seat ring (302), a fixed seat ring (303) and a swing cylinder (304), the rolling bearing (301) is arranged at a position where the swing mechanism (3) contacts with the bolt fixing bracket (204), an outer ring of the bearing is connected with the bolt fixing bracket (204), an inner ring of the bearing is arranged on a rotating shaft (305) and rotates along with the rotating shaft, the swing seat ring (302) is arranged at the front end of the swing mechanism (3), bolt holes are arranged on the seat ring, a grabbing platform (4) can be fixed on the swing seat ring (302) of the bearing, the fixed seat ring (303) is arranged at the rear end of the swing mechanism (3), the fixed seat ring (303) is connected with the bolt fixing bracket (204) through fixing bolts and positioning pins, the position of the swing mechanism is fixed, the swing cylinder (304) is arranged inside the swing mechanism, and the swing cylinder (304) is, the oil cylinder is connected with a hydraulic system of the excavator.
Referring to fig. 4 and 5, in the invention, the grabbing platform (4) comprises a slideway (401), an electromagnetic mechanism (402) and a gripper mechanism (5), the slideway (401) is arranged at the front end of the grabbing platform (4), the slideway (401) is fixed with a bolt on a rotary seat ring (302) of a rotary mechanism (3) and is reinforced by two reinforcing ribs, the gripper mechanism (5) is connected with a slide block (403) to realize steel arch picking, the electromagnetic mechanism (402) is arranged on the grabbing platform (4) at the rear end of the slideway, in the field installation process, the steel arch cannot be conveyed to an accurate installation position once, and can be adjusted to a proper installation position after multiple times of fine adjustment, an iron core (404) and a wire winding (405) are arranged in the grabbing platform (4), and the steel arch picked up by the gripper is adsorbed by an electromagnet, so that the steel arch can be stably and safely adjusted at the fine adjustment position, the gripper mechanism (5) is arranged at the front end of the gripping platform (4), the mounting seat (502) is provided with a rotating shaft, the rotation of the grippers is controlled, the two grippers horizontally move in the slide way through the rotation of the gripper base, and the two grippers grip the steel arch frame to enable the whole gripping mechanism to be in a triangular shape, so that the stable gripping of the steel arch frame is ensured to be mounted.
According to the invention, as shown in fig. 5, the gripper mechanism (5) comprises a lantern ring gripper (501), a mounting seat (502) and a clamping oil cylinder (503), the lantern ring gripper (501) is arranged at the front end of the gripper mechanism (5), the lantern ring gripper (501) is fixed on the mounting seat (502) through a bolt, different fixing clamps can be configured for the lantern ring gripper (501) according to different steel arch types, before the steel arch is mounted, the fixing clamp (504) with the corresponding type is determined according to tunnel design information and is mounted on the mounting seat, and the lantern ring gripper (501) can be opened and closed to grip the steel arch with the corresponding type by controlling the clamping oil cylinder (503). The mounting seat (502) fixes the gripper mechanism (5) on the sliding block (403), the clamping oil cylinder (503) is arranged inside the mounting seat (502), the clamping oil cylinder (503) is hinged with the base of the mounting seat (502), and the opening and closing of the lantern ring gripper (501) are controlled through a hydraulic system of the excavator.
According to the invention, as shown in fig. 5 and 6, the monitoring mechanism comprises a three-dimensional laser scanner (601), a processor (602) and a mounting bracket (603), the three-dimensional laser scanner (601) is arranged in a reserved hole in the middle of the gripper mechanism (5), the three-dimensional laser scanner (601) can emit visible laser beams with different frequencies, point cloud data is formed after registration and coordinate conversion, distance data between a steel arch and the mounting position of the steel arch is extracted, the distance data between the steel arch and the mounting position of the steel arch is fed back to the processor (602) in the operation room, the processor (602) is arranged in a cab of the hydraulic excavator, an optimal adjustment direction is searched according to the monitoring data, and the mounting bracket (603) is connected with the gripper mechanism through a mounting groove hole.
As shown in fig. 7 and 8, the processor (602) is a neural network algorithm built in the processor (602), and adopts a three-dimensional laser scanner (601) to monitor the position of the steel arch in real time, form point cloud data after registration and coordinate conversion, and extract distance data between the steel arch and the installation position of the steel arch; then, the steel arch position s is used as input data of the neural network, and the distance l between the steel arch position and the installation position is used as output dataTraining and verifying a neural network model; then, the neural network model is used as a fitness function f (s, l) of the particle swarm optimization algorithm, the steel arch position is changed as a particle of the particle swarm optimization algorithm, and all the particles x in the D-dimensional solution space of the particle swarm are equal to (x)1，x2，...，xn) Initializing, obtaining the fitness value of all the particles in the D-dimensional solution space of the particle swarm according to the fitness function f (s, l), and obtaining the fitness value of each particle position x in the D-dimensional solution space of the particle swarmi＝(xi1，xi2，...，xiD)TVelocity vi＝(vi1，vi2，...，viD)TAnd continuously updating and iterating the fitness value to determine a global optimal solution, so as to determine the next adjustment direction of the installation device. Each updating iteration process can track two extreme values: individual extremum Ibest (I ═ I1，I2，...，In)T) And group extremum Gbest (G ═ G1，G2，...，Gn)T) The individual extremum refers to the optimal position of the fitness value obtained by each particle through iterative update, and the group extremum refers to the optimal position of the fitness value obtained by all the particles in the solution space through iterative update. The speed and position of each particle in the D-dimension solution space of the particle swarm after each iteration are updated as follows:
xi＝(xi1，xi2，...，xiD，)T
vi＝(vi1，vi2，...，viD，)T
d＝1，2，...，D
i＝1，2，...，n
wherein d is the dimension, i is the number of particles, and ω isCoefficient of inertial weight, k being the number of current iterations, c1、c2As an acceleration factor, r1、r2As independent random numbers
The invention discloses a tunnel primary support steel arch installing device, which comprises the following steps of:
(1) selecting a corresponding steel arch fixing clamp according to the design information of the tunnel, installing the steel arch fixing clamp into the gripper mechanism (5), and installing the steel arch fixing clamp into the gripper mechanism according to the length l of the steel arch0Adjusting the distance delta l between the two lantern ring grippers (501)0Greater than a warning threshold
The stable steel arch picking is ensured;
(2) connecting the steel arch mounting device with a hydraulic excavator through a device tail connecting rod (1) and connecting the steel arch mounting device with a hydraulic oil tank of the excavator;
(3) an operator operates the lantern ring gripper (501) to pick up the steel arch, and the electromagnetic mechanism (402) generates adsorption force to further fix the steel arch; then, a three-dimensional laser scanner (601) is adopted to monitor the installation process in real time, registration and coordinate conversion are carried out on the monitoring data, point cloud data containing the steel arch frame position and the installation position are obtained, and the distance l between the steel arch frame position and the installation position is extracted; then, inputting the extracted monitoring data into a processor (602), wherein a steel arch space position s serves as neural network input data, a distance l between the steel arch position and an installation position serves as output data, and training and verifying a neural network model f (s, l); then, the neural network model f (s, l) is used as a fitness function of the particle swarm optimization algorithm, and the spatial position of the steel arch is changed to be used as the particle x of the particle swarm optimization algorithmi(i ═ 1, 2.., n), according to all particles x ═ x (x)1，x2，...，xn) Searching the optimal adjusting direction of the installation device by adopting a particle swarm optimization algorithm corresponding to the fitness function fitness value; and finally, providing an optimal adjustment direction according to the processor, and controlling the mounting device to perform translation and rotation operations by an operator to adjust the steel arch to an accurate mounting position, so that the steel arch can be accurately mounted under the condition of dim light in the tunnel.
The above-mentioned embodiments are only preferred embodiments of the present invention, and it should be noted that, for those skilled in the art, various modifications and equivalents can be made without departing from the principle of the present invention, and those modifications and equivalents which are made to the claims of the present invention fall within the protection scope of the present invention.
Claims (8)
1. The tunnel primary support steel arch mounting device and the use method are characterized in that: the steel arch installing device comprises a connecting rod (1), a supporting platform (2), a rotating mechanism (3), a grabbing platform (4) and a monitoring mechanism (6), wherein the connecting rod (1) is arranged at the rear end of the supporting platform (2), the connecting rod (1) is hinged with the supporting platform (2), and the connecting rod (1) is used for connecting the steel arch installing device with a suspension arm of a hydraulic excavator; the supporting platform (2) is used for combining the rotary mechanism (3) and the connecting rod (1); the grabbing platform (4) comprises a grabbing mechanism (5) and an electromagnetic mechanism (402), the grabbing mechanism (5) is connected with a sliding block (403) at the front end of the grabbing platform (4), and the electromagnetic mechanism (402) is arranged in the middle of the grabbing platform; and the monitoring mechanism (6) is fixed in the middle of the gripper mechanism (5).
2. The tunnel preliminary bracing steel arch installing device and the use method thereof according to claim 1, wherein: supporting platform (2) are including articulated rod (201), horizontal connecting rod (202), case frame (203) and bolt fixed bolster (204), articulated rod (201) set up the both sides at case frame (203), horizontal connecting rod (202) set up the position at bolt fixed bolster (204), are connected with bolt hole and articulated rod (201) of setting on case frame (203), case frame (203) is supporting platform's (2) shell, bolt fixed bolster (204) articulate the preformed hole on case frame (203).
3. The tunnel preliminary bracing steel arch installing device and the use method thereof according to claim 1, wherein: rotation mechanism (3) are including antifriction bearing (301), gyration seat circle (302), fixed seat circle (303) and gyration hydro-cylinder (304), antifriction bearing (304) set up in the position of rotation mechanism (3) and case frame (203) contact, and the bearing outer lane is connected with bolt fixed bolster (204), and the bearing inner circle is connected with rotation axis (305) of slewer (3), gyration seat circle (302) set up the front end at rotation mechanism (3), and gyration seat circle (302) will snatch platform (4) and fix on rotation mechanism (3), fixed seat circle (303) are connected with bolt fixed bolster (204) through fixing bolt and locating pin at the rear end of rotation mechanism (3), fixed seat circle (303), gyration hydro-cylinder (304) set up inside rotation mechanism (3), and gyration hydro-cylinder (304) are connected with fixed seat circle (303).
4. The tunnel preliminary bracing steel arch installing device and the use method thereof according to claim 1, wherein: the grabbing platform (4) comprises a slide way (401), an electromagnetic mechanism (402) and a grabbing mechanism (405), the slide way (401) is arranged at the front end of the grabbing platform (4), the two grabbing mechanisms (5) can move in the slide way (401), the electromagnetic mechanism (402) is arranged on the grabbing platform (4) at the rear end of the slide way (401), and the grabbing mechanism (405) is arranged at the front end of the grabbing platform (4).
5. The tunnel preliminary bracing steel arch installing device and the use method thereof according to claim 4, wherein: the hand grab mechanism (5) comprises a lantern ring hand grab (501), a mounting seat (502) and a clamping oil cylinder (503), the lantern ring hand grab (501) is arranged at the front end of the hand grab mechanism (5), the mounting seat (502) is connected with the lantern ring hand grab (501) and a slide way (401), the mounting seat (502) fixes the lantern ring hand grab (501) on a sliding block (403), and the clamping oil cylinder (503) is hinged to the mounting seat (502).
6. The tunnel preliminary bracing steel arch installing device and the use method thereof according to claim 1, wherein: the monitoring mechanism (6) comprises a three-dimensional laser scanner (601), a processor (602) and a mounting bracket (603), the three-dimensional laser scanner (601) is fixed in a reserved hole in the middle of the gripper mechanism, the processor (602) is arranged in an operating room of the hydraulic excavator, and the mounting bracket (603) is fixed with the gripper mechanism (5) through a mounting groove hole.
7. The tunnel preliminary bracing steel arch installing device and the use method thereof according to claim 6, wherein: a neural network algorithm is built in the processor (602), a three-dimensional laser scanner (601) is adopted to monitor the position of the steel arch in real time, point cloud data is formed after registration and coordinate conversion, and distance data between the steel arch and the installation position of the steel arch is extracted; then, training and verifying a neural network model by taking the spatial position s of the steel arch as input data of the neural network and the distance l between the position of the steel arch and the installation position as output data; finally, the neural network model is used as a fitness function f (s, l) of the particle swarm optimization algorithm, the steel arch space position is changed to be used as particles of the particle swarm optimization algorithm, and all the particles x in the D-dimensional solution space of the particle swarm are equal to (x)1，x2，...，xn) Initializing, obtaining the fitness value of all the particles in the D-dimensional solution space of the particle swarm according to the fitness function f (s, l), and obtaining the fitness value of each particle position x in the D-dimensional solution space of the particle swarmi＝(xi1，xi2，...，xiD)TVelocity vi＝(vi1，vi2，...，viD)TAnd continuously updating and iterating the fitness value to determine a global optimal solution so as to determine the next adjustment direction of the installation device, and the speed and position of each particle in the D-dimensional solution space of the particle swarm after each updating and iterating, wherein the speed and position are as follows:
xi＝(xi1，xi2，...，xiD，)T
vi＝(vi1，vi2，...，viD，)T
d＝1，2，...，D
i＝1，2，...，n
in the formulaD is the dimension, i is the number of particles, ω is the inertial weight coefficient, k is the current iteration number, c1、c2As an acceleration factor, r1、r2Are independent random numbers.
8. The mounting device for the tunnel primary support steel arch is characterized by comprising the following steps:
(1) selecting a corresponding steel arch fixing clamp according to the design information of the tunnel, installing the steel arch fixing clamp into the gripper mechanism (5), and installing the steel arch fixing clamp into the gripper mechanism according to the length l of the steel arch0Adjusting the distance Deltal between two loop grips (501)0If the value is greater than the warning threshold value b, the stable picking of the steel arch is ensured;
(2) connecting the steel arch mounting device with a hydraulic excavator through a device tail connecting rod (1) and connecting the steel arch mounting device with a hydraulic oil tank of the excavator;
(3) an operator operates the lantern ring gripper (501) to pick up the steel arch, and the electromagnetic mechanism (402) generates adsorption force to further fix the steel arch; then, a three-dimensional laser scanner (601) is adopted to monitor the installation process in real time, registration and coordinate conversion are carried out on the monitoring data, point cloud data containing the steel arch frame position and the installation position are obtained, and the distance l between the steel arch frame position and the installation position is extracted; then, inputting the extracted monitoring data into a processor (602), wherein a steel arch space position s serves as neural network input data, a distance l between the steel arch position and an installation position serves as output data, and training and verifying a neural network model f (s, l); then, the neural network model f (s, l) is used as a fitness function of the particle swarm optimization algorithm, and the spatial position of the steel arch is changed to be used as the particle x of the particle swarm optimization algorithmi(i ═ 1, 2.., n), according to all particles x ═ x (x)1，x2，...，xn) Searching the optimal adjusting direction of the installation device by adopting a particle swarm optimization algorithm corresponding to the fitness function fitness value; and finally, providing an optimal adjustment direction according to the processor, and controlling the mounting device to perform translation and rotation operations by an operator to accurately adjust the steel arch to a mounting position, so that the steel arch is accurately mounted under the condition of dim light in the tunnel.
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