CN112539083B - Using method of tunnel excavation section marking robot - Google Patents

Using method of tunnel excavation section marking robot Download PDF

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Publication number
CN112539083B
CN112539083B CN202011190686.7A CN202011190686A CN112539083B CN 112539083 B CN112539083 B CN 112539083B CN 202011190686 A CN202011190686 A CN 202011190686A CN 112539083 B CN112539083 B CN 112539083B
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rod
balancing
arc
hole
cavity
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CN112539083A (en
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郭玉红
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Zhongqiao Anke Transportation Technology Zhejiang Co ltd
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Zhongqiao Anke Transportation Technology Zhejiang Co ltd
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

The invention discloses a use method of a scribing robot for a tunnel excavation section, which effectively controls the precision of the end face to be excavated for scribing treatment by using an intelligent control mode, prevents operators from climbing to the scribing position of the inner wall of a tunnel, and then draws a complete contour curve on the contour curve of the section to be excavated by manually using a remarkable pigment, thereby greatly ensuring the safety of the operators.

Description

Use method of tunnel excavation section scribing robot
Technical Field
The invention relates to the field of underground engineering construction, in particular to a using method of a tunnel excavation section scribing robot.
Background
In the tunnel engineering construction process, in order to ensure the smooth implementation of the construction, the construction process needs to be measured, monitored and rechecked in real time, construction errors need to be corrected in time to meet the requirements of clearance, elevation, center line, reserved settlement and the like of a tunnel, information needs to be fed back in time, once the situation that basic requirements of clearance, elevation, center line, reserved settlement and the like are not met in the construction measurement process or exist, the operation team needs to be corrected in time by written intersection, the tunnel section measurement occupies a certain proportion in the tunnel engineering construction and operation management stages, particularly, the excavation section needs to be scribed in the excavation stage, the situation that the construction personnel generate the excessive excavation amount in the construction process is prevented, various parameters of the tunnel are accurately measured by using a distance measuring instrument, the construction personnel climb to various scribing positions on the inner wall of the tunnel, then the construction personnel paint is painted on the contour line of the section needing to be excavated to form a complete contour curve, the tunnel section is paid off in the tunnel construction process, the construction safety of the tunnel is released, the high-occupied working efficiency of scribing is changed, the high-occupied and the occupied working efficiency of the circular scribing is changed, the high-occupied working efficiency of the high-occupied and the high-occupied working efficiency of the scribing is changed.
Disclosure of Invention
The invention aims to provide a using method of a tunnel excavation section scribing robot, and the using method is used for solving the problems.
The purpose of the invention is mainly realized by the following technical scheme:
a use method of a robot for marking a tunnel excavation section comprises the following steps:
S 1 the robot is placed on the ground of the tunnel excavation section, and the two vertical rods are fixed on the two sides of the tunnel excavation section, so that a laser beam emitted by an infrared emitter on one vertical rod penetrates through the light-transmitting hole and can be received by an infrared receiver on the other vertical rod;
S 2 the guide wheel drives the annular crawler belt to drive the bearing plate to move on the ground of the tunnel excavation section along the direction guided by the laser beam, and meanwhile, the adjusting assembly controls the spray nozzle to spray an arc line on the section of the excavation section;
S 3 when the infrared receiver cannot receive a laser beam emitted by the infrared emitter, the infrared receiver feeds back a signal to the control terminal, after processing, the control terminal controls the guide wheel to stop working, the micro motor I is started to drive the balancing weight to move on the balancing pole, and the micro motor I stops working until the balancing poles are balanced; meanwhile, the control terminal controls the driving motor I and the driving motor II to start, and drives the gear II to move on the arc-shaped plate I and the gear I to move on the arc-shaped plate II respectively until the spray head resets;
S 4 when the spray head is reset, the infrared receiver receives the laser beam emitted by the infrared emitter again, and then the control terminal sends a stop instruction to the driving motor I and the driving motor II, the guide wheel starts to work again to drive the annular track to continue to do linear motion;
S 5 and repeating the step S 2 、S 3 、S 4 Until the scribing process of the whole tunnel excavation end face is finished;
wherein, be equipped with the bearing post on the upper surface of loading board, be equipped with drive assembly on the lower surface of loading board, be equipped with the disc on the bearing post, be equipped with table surface on the upper surface of disc, be equipped with the spraying subassembly on table surface, the spraying subassembly includes the fixed block, the fixed block sets up on table surface's upper surface, cavity III has been seted up to the inside of fixed block, be equipped with the baffle that separates cavity III for two spaces in cavity III, be located the first space above the baffle, be located the second space below the baffle, seted up through-hole III on the baffle, through-hole III internalization is equipped with ball I with the internal diameter matching of through-hole III, the both sides surface of ball I is located first space and second space respectively, the slip is equipped with the sleeve in the first space, the two ends of the sleeve are rotatably provided with round balls II matched with the inner diameter of the sleeve, the round balls II close to the lower end of the sleeve are connected with the round balls I through connecting rods I, the upper surface of the fixed block is provided with through holes IV communicated with cavities III, the through holes IV are internally provided with round balls III movable and matched with the inner diameters of the through holes IV, the outer surfaces of the two sides of the round balls III protrude out of the through holes IV, the round balls III are connected with the round balls II close to the upper end of the sleeve through the connecting rods II, the spray head is connected with the outer surfaces of the round balls III, an adjusting component for controlling the round balls I to overturn is arranged in the second space, the spray head further comprises two vertical rods, the middle part of one vertical rod is provided with an infrared transmitter, the middle part of the other vertical rod is provided with an infrared receiver, the working table surface is provided with a hydraulic cylinder, and the output end of the hydraulic cylinder is provided with a baffle plate, a light hole is formed in the lower end of the shielding plate, and in an initial state, a laser beam emitted by the infrared emitter penetrates through the light hole to be received by the infrared receiver; the device comprises a bearing plate, a control terminal and a balance assembly, wherein the bearing plate is internally provided with the control terminal for controlling the device to work, and the upper surface of the bearing plate is provided with the balance assembly for balancing a working table.
The invention aims to solve the problem that in the construction process of highway tunnel engineering, the excavation section needs to be scribed at the excavation stage, and the condition that the construction personnel has an excessive excavation amount in the construction process is prevented;
this device is equipped with on the upper surface of loading board and bears the post be equipped with drive assembly on the lower surface of loading board be equipped with the disc on bearing the post be equipped with table surface on the upper surface of disc table surface is last to be equipped with spraying assembly, still is equipped with three-dimensional laser scanner on table surface, when the marking off position of terminal surface is seted up to the tunnel to spraying assembly consignment that will set up on the loading board through the drive assembly who sets up on the loading board, scans the measurement back through the high speed laser that three-dimensional laser scanner launches to tunnel excavation terminal surface, acquires the three-dimensional coordinate data on measurand surface fast large tracts of land high resolution ground. The three-dimensional image model of an object can be rapidly and massively acquired, the three-dimensional image model is rapidly established and is processed by a control terminal, the control terminal controls the movement of an adjusting component to adjust the movement of a spray head relative to a working table, a cavity III is formed in the fixed block, a partition board for dividing the cavity III into two spaces is arranged in the cavity III, a first space is arranged above the partition board, a second space is arranged below the partition board, a through hole III is formed in the partition board, a ball I matched with the inner diameter of the through hole III is movably arranged in the through hole III, the outer surfaces of two sides of the ball I are respectively arranged in the first space and the second space, a sleeve is arranged in the first space in a sliding manner, a ball II matched with the inner diameter of the sleeve is rotatably arranged at two ends of the sleeve, and the ball II close to the lower end of the sleeve is connected with the ball I through a connecting rod I, the upper surface of the fixed block is provided with a through hole IV communicated with the cavity III, the inside of the through hole IV is movably provided with a ball III matched with the inner diameter of the through hole IV, the outer surfaces of two sides of the ball III are respectively positioned in a first space and the outside, the ball III is connected with a ball II close to the upper end of the sleeve through a connecting rod I, the spray head is connected with the outer surface of the ball III positioned outside, the movement of the spray head is adjusted through an adjusting component arranged in a second space, the spray head of the ball III positioned on the outer surface of the outside is forced to move at any angle relative to the working table surface, when the control terminal calculates the scanning result of the tunnel excavation section by the three-dimensional laser scanner, the control terminal calculates the contour curve to be drawn, thereby realizing the spray head to draw the contour of the tunnel excavation section through the control terminal, the device also comprises a measuring module and a positioning module, wherein the measuring module and the positioning module can assist a three-dimensional scanner to measure the advancing track, so that the precision of the profile curve of a section required to be excavated by spraying is improved, the condition of the excess and deficient excavation of a constructor in the construction process is prevented, the precision of an excavation end face required by lineation processing is effectively controlled in an intelligent mode, the condition that an operator climbs to a lineation position of the inner wall of a tunnel is prevented, then, the potential safety hazard caused by manually spraying a visible pigment on the section required to be excavated is prevented, the safety of the constructor is greatly ensured, when a balance assembly is kept in a horizontal state, a hydraulic cylinder is also in a normal state, the shielding plate is lifted or lowered for a certain height through the hydraulic cylinder, a bearing plate possibly meets pits and bulges, the state of the hydraulic cylinder at the moment is determined according to the condition, an infrared transmitter passes through a hole formed in the main control terminal and is received by a work hole formed in the infrared shielding plate, the infrared receiver is kept in a horizontal state, and the infrared receiver is electrically connected with a photosensitive module and can receive infrared signals.
Furthermore, the disc is spherically hinged with the end face of the upper end of the bearing column, four balance rods are arranged on the outer wall of the disc along the circumferential direction of the disc, the reverse extension lines of any two adjacent balance rods are mutually vertical, a cavity I is arranged in each balance rod, a cavity II is arranged in the disc, a through hole I communicated with the cavity I is arranged at the joint of any balance rod and the side wall of the disc, the through hole I is communicated with the cavity II, a through hole II is arranged at one end, far away from the disc, of each balance rod and communicated with the corresponding cavity I, a rotating shaft is rotatably arranged in each through hole II, the axis of the through hole II is vertical to that of the rotating shaft, a gear I is sleeved on the rotating shaft, and four correcting rods corresponding to the balance rods are spherically hinged on the upper surface of the bearing plate, each straightening rod movably penetrates through a through hole II corresponding to the straightening rod and extends upwards, a spur rack meshed with a gear I is arranged on the outer wall of the straightening rod along the axial direction of the straightening rod, a gear II is rotatably arranged on the inner wall, close to the axis of a disc, of each cavity I, a gear III is arranged on each rotating shaft, a toothed belt III meshed with the gear II and the gear III is arranged in each cavity I, an annular toothed belt completed after the toothed belts III are connected end to end is formed, a micro motor I is arranged in each cavity I, the output end of the micro motor I is connected with a rotating shaft of the gear II, a balancing weight matched with the balancing rod is sleeved on each balancing rod, a communicating hole communicated with the cavity I is formed in the outer wall of each balancing rod, a connecting rod is movably arranged in each communicating hole, one end of the connecting rod is connected with the balancing weight, the other end of connecting rod and the outer wall connection of cingulum III be equipped with the locking subassembly that is used for fixed levelling rod in the cavity II.
The end surface of the upper end of the bearing column is spherically hinged with a disc, four balance rods are arranged on the outer wall of the disc along the circumferential direction of the disc, the reverse extension lines of any two adjacent balance rods are mutually vertical, when the bearing plate does not move in an initial state, the disc which is ball-jointed on the upper end of the bearing column can keep balance by the four balance rods, so that the disc does not shake, a cavity I is also arranged in each balance rod, a cavity II is arranged in the disc, a through hole I communicated with the cavity I is arranged at the joint of any balance rod and the side wall of the disc, the through hole I is communicated with the cavity II, a through hole II is arranged at one end of each balance rod, which is far away from the disc, and is communicated with the corresponding cavity I, a rotating shaft is arranged in each through hole in a rotating manner, and a gear I is sleeved on each rotating shaft, four correcting rods corresponding to the balancing rods are hinged on the upper surface of the bearing plate in a spherical mode, each correcting rod penetrates through the corresponding through hole II in a movable mode and extends upwards, a straight rack meshed with the gear I is arranged on the outer wall of each correcting rod in the axial direction of the corresponding correcting rod, the balancing rods on the bearing columns are always balanced with the bearing plate under the action of the locking assemblies in an initial state, when the bearing plate moves and works on the ground of a tunnel, the bearing plate can tilt forwards or backwards at any time, when the bearing plate swings, the locking assemblies timely open a limiting function, and at the moment, the motion states of the correcting rods are different under different states of the bearing plate, namely when the bearing plate moves on the ground of the tunnel along a line where the tunnel excavation end face and the ground of a foundation are intersected, when the bearing plate tilts forwards and backwards on the ground of the foundation plate, the two balancing rods parallel to the line of the tunnel excavation end face intersected with the foundation ground play a role in main adjustment, and the two balancing rods vertical to the line of the tunnel excavation end face intersected with the foundation ground play a role in auxiliary adjustment; when the bearing plate moves along a line intersecting the tunnel excavation end face and the foundation ground and inclines left and right, two balance rods parallel to the line intersecting the tunnel excavation end face and the foundation ground play a role in auxiliary adjustment, and two balance rods perpendicular to the line intersecting the tunnel excavation end face and the foundation ground play a role in main adjustment; when the bearing plate moves along the line intersecting the tunnel excavation end face and the foundation ground, the four balance rods play a role in adjustment, when the conditions occur, the motion of the correcting rods is similar, namely when the bearing plate moves along the line intersecting the tunnel excavation end face and the foundation ground, when the bearing plate is inclined forwards and backwards on the foundation ground, the two balance rods parallel to the line intersecting the tunnel excavation end face and the foundation ground play a role in main adjustment, when the bearing plate is inclined forwards and backwards on the foundation ground, the inclination angles of the two ends of the bearing plate are different, so that the heights of the correcting rods at the two ends are inconsistent, when the balance rods on the bearing plate do not tend to be balanced, the spraying device stops spraying, the balance rods deflect under the balance of the balance weight blocks, so that the working table face tends to be balanced, namely the spraying device is parallel to a horizontal line, and the accuracy of the spraying device in line marking operation is ensured.
Further, the locking subassembly includes the rotary disk, the rotary disk rotates and sets up in cavity II, is in along the circumference of rotary disk be equipped with four top plates that correspond with the levelling rod on the outer wall of rotary disk, along the direction of rotation of rotary disk, the interval of the one end tip of top plate apart from the rotary disk outer wall is L, the interval of the other end tip of top plate apart from the rotary disk outer wall is 0, is equipped with the gag lever post in I equal activity of every cavity, all overlaps on every gag lever post to be equipped with the spring, the one end of spring and the interior wall connection of cavity I, the other end of spring and the outer wall connection of gag lever post are in along the axial of levelling rod be equipped with a plurality of spacing holes that match with the gag lever post on the outer wall of levelling rod, under initial state, every gag lever post is all arranged in cavity I.
Locking subassembly can be when the balancing pole makes the regional balance of table surface still be equipped with in the cavity II and drive rotary disk pivoted micro motor II, micro motor II has its function of control terminal control, the gag lever post is under the effect of rotary disk, local salient in cavity I back part get into be located the spacing downthehole on the leveling rod outer wall, thereby play fixed effect to the balancing pole, it is also carrying out the spraying work to prevent spraying device, it rocks to do the mesa when the recoil that spraying device produced, thereby when resulting in spraying device to carry out the marking operation, the precision of the marking off that causes is inaccurate, cause the excavation profile line inaccuracy, lead to constructor to take place the emergence of the condition of the volume of undermining in the work progress, step S 4 Also includes the steps ofS 6 Step S 6 After the balance rods are balanced, the main control module drives the rotating disc to rotate by controlling the micro motor II, and then the limiting rod is pushed out of the cavity II to move towards the direction close to the correcting rod and then is locally embedded into the limiting hole.
And furthermore, a guide groove is formed in the outer wall of each balancing rod along the axial direction of the balancing rod, a sliding block II is arranged in each guide groove in a sliding mode, and each sliding block II is connected with a balancing weight. When the balancing weight plays the effect of adjusting balance to the tie rod, the guide way that sets up enables the balancing weight and can slide more accurately when sliding on the balancing pole, thereby it leads to the balancing weight to play the effect of not balancing to prevent that a little deviation from appearing when the balancing weight from sliding on the balancing pole.
Further, the adjusting part includes arc I, arc I is fixed in the second space, the middle part of arc I is crooked to the direction of keeping away from the baffle be equipped with cingulum I on the inner wall of arc I, be in along the circumference of arc I all be equipped with arc I on two lateral walls of arc I, every it is equipped with slider I all to slide in the arc I, all is equipped with branch I on the upper surface of every slider I be equipped with on branch I with I vertically arc II of arc, the middle part of arc II is crooked to the direction of keeping away from the baffle, rotates between two branches I and is equipped with the gear III with I meshing of cingulum, fixed being equipped with driving motor I between two branches I, driving motor I is connected with III's rotation of gear be equipped with cingulum II on the inner wall of arc II, be equipped with along the circumference of arc II all be equipped with arc II on two lateral walls of arc II, every all slide in the arc and be equipped with the slider II, be equipped with on II upper surface of every slider II the pendulum rod II the drive motor II, be equipped with the pendulum rod II and the pendulum rod II, the pendulum rod II is connected with the pendulum rod II on two fixed motor II outer walls of the pendulum rod II. An arc-shaped plate I is fixedly arranged in a second space, a toothed belt I is arranged on the inner wall of the arc-shaped plate I, arc-shaped grooves I are respectively arranged on the two side walls of the arc-shaped plate I along the circumferential direction of the arc-shaped plate I, a sliding block I is arranged in each arc-shaped groove I in a sliding manner, a support rod I is arranged on the upper surface of each sliding block I, an arc-shaped plate II perpendicular to the arc-shaped plate I is arranged on each support rod I, a gear III meshed with the toothed belt I is rotatably arranged between the two support rods I, a toothed belt II is arranged on the inner wall of the arc-shaped plate II, arc-shaped grooves II are respectively arranged on the two side walls of the arc-shaped plate II along the circumferential direction of the arc-shaped plate II, a sliding block II is arranged in each arc-shaped groove II in a sliding manner, and a support rod II is arranged on the upper surface of each sliding block II, two be equipped with the pendulum rod on branch II, rotate between two branches II and be equipped with II meshing gears IV of cingulum, the angle of shower nozzle and table surface perpendicular bisector can be adjusted when I motions of the cingulum that driving motor drive gear III set up on arc I to the swing rod and the outer wall connection of ball I, can guarantee the angle between shower nozzle and the tunnel excavation terminal surface through this kind of design to the realization is rule the sectional profile of excavation, can adjust shower nozzle and table surface horizontal line's angle when II motions of the cingulum that driving motor drive gear IV set up on arc II, can realize that the shower nozzle is rule along the sectional profile of excavation, thereby realize this robot and guarantee the curved precision of profile when digging sectional profile and ruling.
Furthermore, drive assembly includes two annular tracks, and two annular tracks along the horizontal direction are all established on the loading board, and the carrier post is located between two annular tracks a plurality of through-holes have all been seted up to the both sides of loading board, all rotate in every through-hole and are equipped with the carrier wheel, and the carrier wheel that is located the carrier post homonymy cooperates with annular track, all rotates at the both ends of loading board and is equipped with two leading wheels, and the leading wheel that is located the carrier post homonymy cooperates with annular track. Through the cover is equipped with two annular track on the loading board, drives two annular track and bears the weight of the wheel on the loading board, and when the annular track moved on the basis bottom surface in tunnel under the drive of bearing the weight of the wheel, can provide good supporting role, improved the trafficability characteristic of loading board, be favorable to the shower nozzle to carry out the marking off operation to tunnel excavation sectional profile.
Furthermore, a paint storage device and a pump are arranged on the upper surface of the bearing plate, and the spray head is communicated with the pump and the paint storage device through pipelines. The coating spraying device is communicated with the pumping device and the coating storage through pipelines, and the coating storage and the pumping device which are arranged on the bottom plate can provide basic materials to implement the device in a working state.
Further, the control terminal comprises a main control module, the main control module is arranged on the bearing plate, a height sensor is arranged on the working table surface, a solenoid valve is arranged on the spray head, and the height sensor, the solenoid valve, the driving motor I, the driving motor II, the micro motor I and the micro motor II are all electrically connected with the main control module; the main control module is used for sending information by the height sensor and sending a control signal to the electromagnetic valve; the height sensor is used for sensing the height of the working table; the electromagnetic valve is used for controlling the closing state of the spray head, an alarm is further arranged on the bearing plate, and the alarm is electrically connected with the main control module.
Control and real time monitoring through other terminals by the staff in the position far away from tunnel excavation terminal surface, measure the table surface when angle sensor for the deviation of appearance of horizontal plane, can be timely adjust the adjusting part, make table surface keep balanced state. The advancing track of the device and the angle of the spraying device are controlled by the main control module, so that the precision of a profile curve of a section to be excavated by spraying is improved, the condition that the excavating amount of a constructor is over insufficient in the construction process is prevented, the precision of an end face to be excavated is effectively controlled by controlling in an intelligent mode to perform lineation treatment, the condition that the constructor climbs to a lineation position of the inner wall of a tunnel is prevented, potential safety hazards caused by manually spraying obvious pigment on the section to be excavated are greatly guaranteed, the safety of the constructor is greatly guaranteed, the main control module controls the spraying device arranged on a round bar to reach the optimal position for spraying, a complete profile curve is drawn on the profile curve of the section to be excavated, and the motion path of the advancing device and the height of a spraying assembly of the device are controlled by the main control module, thereby improving the precision of the contour curve of the section to be excavated by spraying, preventing the occurrence of the condition of over-short excavation amount during the construction process of constructors, sensing the inclination angle of the working table surface by an angle sensor arranged, sending information to a master control module, guiding the master control module to make timely adjustment, adjusting the working state of the spray head, ensuring that the electromagnetic valve can be timely turned off when the bearing column inclines by the master control module when the spray head works, preventing the situation that the marking cannot be performed along a set line during the marking, and possibly causing discontinuous marking even when the spray head is turned on again for working after being turned off, wherein the marking does not influence the constructors to construct the excavation section of the tunnel, when the deflection of the bearing plate is too much, the bearing plate cannot be adjusted to the original position by the master control module, a controller outside the tunnel enters the tunnel to manually align the bearing plate in the tunnel, the alarm that sets up, the alarm can send out the alarm suggestion staff loading board the position deviation appear great, can not adjust to the normal position through host system, suggestion staff's manual setting loading board.
In conclusion, compared with the prior art, the invention has the following beneficial effects:
1. the intelligent control device effectively controls the precision of the end face to be excavated for lineation treatment by an intelligent mode, prevents operators from climbing to a lineation position of the inner wall of a tunnel, and then, the safety hidden danger caused by manually painting visible pigment on the section to be excavated greatly ensures the safety of the operators.
2. The spraying device can ensure the angle between the spray head and the tunnel excavation end face, so that the outline of the excavated section can be scribed, the angle between the spray head and the horizontal line of the working table surface can be adjusted when the driving motor drives the toothed belt II arranged on the arc-shaped plate II to move by the gear IV, and the spray head can be scribed along the outline of the excavated section, so that the robot can scribe the outline of the excavated section, and the accuracy of the outline curve is ensured.
3. According to the invention, the balancing rod is arranged to deflect under the balance of the balancing weight, so that the working table surface is ensured to be balanced, namely, the spraying device is parallel to a horizontal line, the accuracy of marking is ensured when the spraying device carries out marking operation, the situation that the designed excavation contour line cannot be accurately and quickly measured by adopting manual marking to influence later construction is prevented, and the situation that the over-short excavation amount occurs in the construction process of constructors is also prevented.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic view of the working structure of the technical solution.
Fig. 2 is a schematic structural diagram of the technical scheme.
Fig. 3 is a top view of the present invention.
Fig. 4 is a schematic bottom view of the balance bar assembly according to the present invention.
Fig. 5 is a cross-sectional schematic view of the balance bar of the present technical solution.
Fig. 6 is a schematic cross-sectional view of the spraying device of the present technical solution.
Fig. 7 is a partial cross-sectional view of fig. 6 at a.
Fig. 8 is a schematic diagram of the structure of the shielding plate according to the present invention.
The names corresponding to the reference numbers in the drawings are as follows:
1-carrying plate, 2-endless track, 3-paint reservoir, 4-pumping device, 5-pipe, 6-ball III, 7-fixed block, 8-counterweight, 9-spray head, 10-balance bar, 11-gear I, 12-correcting bar, 13-through hole II, 14-rotating shaft, 15-toothed belt III, 16-working table, 17-guide wheel, 18-bearing wheel, 19-disc, 20-guide groove, 21-straight rack, 22-communicating hole, 23-bearing column, 24-cavity I, 25-cavity II, 26-through hole I, 27-top plate, 28-rotating disc, 29-limiting bar, 30-spring, 31-through hole IV, 32-connecting rod II, 33-first space, 34-second space, 35-ball II, 36-connecting rod I, 37-partition plate, 38-through hole III, 39-swing rod I, 40-swing rod I, 41-gear, 42-arc plate, 43-arc plate II, 44-sleeve, 45-arc plate I, 45-connecting rod I, 37-partition plate I, 38-through hole III, 39-swing rod I, 40-slide bar, 41-gear II, 53-arc plate II, 6-slide bar, 50-slide bar, 52-slide bar, 50-slide bar, 52-slide bar, and 4-slide bar.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1:
as shown in fig. 1 to 8, a method for using a tunnel excavation section scribing robot includes the following steps:
S 1 placing the robot on the ground of the tunnel excavation section, and fixing the two vertical rods on two sides of the tunnel excavation section, so that a laser beam emitted by an infrared emitter on one vertical rod passes through the light hole 54 and can be received by an infrared receiver on the other vertical rod;
S 2 the guide wheel drives the annular crawler belt 2 to drive the bearing plate 23 to move on the ground of the tunnel excavation section along the direction guided by the laser beam, and meanwhile, the adjusting assembly controls the spray nozzle to spray an arc line on the section of the excavation section;
S 3 when the infrared receiver can not receive the laser beam emitted by the infrared emitter, the infrared receiver feeds back the signal to the control terminal, after the processing, the control terminal controls the guide wheel to stop working, the micro motor I is started to drive the balancing weight 8 to move on the balancing pole 10 until the balancing weight is moved by a plurality of motorsAfter the balance rod 10 is balanced, the micro motor I stops working; meanwhile, the control terminal controls the driving motor I and the driving motor II to start, and drives the gear II 25 to move on the arc-shaped plate I and the gear I24 to move on the arc-shaped plate II respectively until the spray head resets;
S 4 when the spray head is reset, the infrared receiver receives the laser beam emitted by the infrared emitter again, and after the control terminal sends a stop instruction to the driving motor I and the driving motor II, the guide wheel starts to work again to drive the annular crawler 2 to continue to do linear motion;
S 5 and repeating the step S 2 、S 3 、S 4 Until the marking process of the whole tunnel excavation end face is finished;
wherein, be equipped with bearing post 23 on the upper surface of loading board 1, be equipped with drive assembly on the lower surface of loading board 1, be equipped with disc 19 on bearing post 23, be equipped with table surface 16 on the upper surface of disc 19, be equipped with the spraying subassembly on table surface 16, the spraying subassembly includes fixed block 7, fixed block 7 sets up on table surface 16's upper surface, cavity III has been seted up to the inside of fixed block 7, be equipped with in the cavity III and divide cavity III into the baffle 37 in two spaces, be located the baffle 37 top be first space 33, be the second space 34 below baffle 37, through-hole III 38 has been seted up on baffle 37 through-hole III 38 the activity is equipped with ball I39 that matches with the internal diameter of through-hole III 38 in through-hole III 38, the both sides surface of ball I39 is located first space 33 and second space 34 respectively, a sleeve 44 is arranged in the first space 33 in a sliding manner, two ends of the sleeve 44 are respectively provided with a round ball II 35 matched with the inner diameter of the sleeve 44 in a rotating manner, the round ball II 35 close to the lower end of the sleeve 44 is connected with a round ball I39 through a connecting rod I36, the upper surface of the fixed block 7 is provided with a through hole IV 31 communicated with a cavity III, the round ball III 6 matched with the inner diameter of the through hole IV 31 moves in the through hole IV 31, the outer surfaces of two sides of the round ball III 6 protrude out of the through hole IV 31, the round ball III 6 is connected with the round ball II 35 close to the upper end of the sleeve 44 through a connecting rod II 32, the spray head 9 is further included, the spray head 9 is connected with the outer surface of the round ball III 6, an adjusting component used for adjusting the movement of the round ball I39 is arranged in the second space 34, the two vertical rods 55 are further included, an infrared emitter is arranged in the middle of one vertical rod 55, an infrared receiver is arranged in the middle of the other vertical rod 55, a hydraulic cylinder 53 is arranged on the working table surface 16, a baffle plate 52 is arranged at the output end of the hydraulic cylinder 53, a light hole 54 is arranged at the lower end of the baffle plate 52, and in an initial state, a laser beam emitted by an infrared emitter passes through the light hole 54 and is received by the infrared receiver; a control terminal for controlling the device to work is arranged in the bearing plate 1, and a balancing component for balancing a worktable surface 16 is arranged on the upper surface of the bearing plate 1.
The invention aims to solve the problem that in the construction process of highway tunnel engineering, the excavation section needs to be scribed at the excavation stage, and the condition that the construction personnel has an excessive excavation amount in the construction process is prevented;
this device is equipped with bearing post 23 on the upper surface of loading board 1 be equipped with drive assembly on the lower surface of loading board 1 be equipped with disc 19 on bearing post 23 be equipped with table surface 16 on the upper surface of disc 19 be equipped with spraying assembly on table surface 16, still be equipped with three-dimensional laser scanner on table surface 16, when the spraying assembly that will set up on loading board 1 through the drive assembly that sets up arrives the marking off position that the terminal surface was seted up to the tunnel, through the high-speed laser that three-dimensional laser scanner launches to tunnel excavation terminal surface scan measurement back, acquire the three-dimensional coordinate data on measured object surface fast with large tracts of land high resolution. The device can quickly and massively acquire space point location information and quickly establish a three-dimensional image model of an object, after the three-dimensional image model is processed by a control terminal, the control terminal controls the movement of an adjusting component to adjust the movement of a spray head 9 relative to a working table surface 16, a cavity III is arranged in the fixed block 7, a partition 37 which divides the cavity III into two spaces is arranged in the cavity III, a first space 33 is arranged above the partition 37, a second space 34 is arranged below the partition 37, a through hole III 38 is arranged on the partition 37, a round ball I39 which is matched with the inner diameter of the through hole III 38 is movably arranged in the through hole III 38, the outer surfaces of two sides of the round ball I39 are respectively arranged in the first space 33 and the second space 34, a sleeve 44 is arranged in the first space 33 in a sliding manner, a round ball II 35 which is matched with the inner diameter of the sleeve 44 is rotatably arranged at two ends of the sleeve 44, the ball II 35 close to the lower end of the sleeve 44 is connected with the ball I39 through a connecting rod I36, a through hole IV 31 communicated with the cavity III is formed in the upper surface of the fixing block 7, a ball III 6 matched with the inner diameter of the through hole IV 31 moves in the through hole IV 31, the outer surfaces of two sides of the ball III 6 are respectively located in the first space 33 and the outside, the ball III 6 is connected with the ball II 35 close to the upper end of the sleeve 44 through the connecting rod I36, the spray head 9 is connected with the outer surface of the ball III 6 located in the outside, the movement of the spray head 9 is adjusted through an adjusting assembly arranged in the second space 34, the spray head 9 of the ball III 6 located on the outer surface of the outside is forced to move at any angle relative to the working table surface 16, and after a control terminal calculates a scanning result of the tunnel excavation section by the three-dimensional laser scanner, the outline curve required to be drawn is calculated through the control terminal, so that the spray head 9 is used for marking the outline of the excavated section through the control terminal, the advancing track of the device is controlled through the main control terminal, the precision of the outline curve is ensured, the condition of excessive excavation in the construction process of a constructor is prevented, the precision of the outline curve required to be excavated by spraying is improved, the condition of excessive excavation in the construction process of the constructor is prevented, the precision of the required excavated end face is effectively controlled by intelligently controlling the scribing process, the condition that the constructor climbs to the scribing position of the inner wall of the tunnel is prevented, then safety hazards caused by artificially spraying a visible pigment on the required excavated section is avoided, the safety of the constructor is greatly ensured, when the balance assembly is kept in a horizontal state, the hydraulic cylinder is also in a normal state, after the shielding plate is lifted or lowered by the hydraulic cylinder for a certain height, the bearing plate possibly meets pits and bulges, the state of the hydraulic cylinder at the moment is determined according to the condition, the infrared transmitter penetrates through a light transmitting hole arranged on the shielding plate and is received by the receiver II, and the working table board is electrically connected with the infrared receiver, and the infrared receiver and the photosensitive module can both receive infrared signal.
Example 2:
as shown in fig. 1 to 8, the present embodiment is further defined based on embodiment 1 as follows: in this embodiment, a disc 19 is spherically hinged with the upper end face of a bearing column 23, four balance bars 10 are arranged on the outer wall of the disc 19 along the circumferential direction of the disc 19, the reverse extension lines of any two adjacent balance bars 10 are perpendicular to each other, a cavity i 23 is formed in each balance bar 10, a cavity ii 25 is formed in the disc 19, a through hole i 26 communicated with the cavity i 23 is formed at the joint of any one balance bar 10 and the side wall of the disc 19, the through hole i 26 is communicated with the cavity ii 25, a through hole ii 13 is formed at one end of each balance bar 10 away from the disc 19, the through hole ii 13 is communicated with the corresponding cavity i 23, a rotating shaft 14 is rotatably arranged in each through hole ii 13, the axis of the through hole ii 13 is perpendicular to the axis of the rotating shaft 14, a gear i 11 is sleeved on the rotating shaft 14, four corrective rods 12 corresponding to the balance bars 10 are spherically hinged on the upper surface of the bearing plate 1, every leveling rod 12 all activity run through with it corresponding through-hole II 13 back to upwards extending, is in along the axial of leveling rod 12 be equipped with on the outer wall of leveling rod 12 with the spur rack 21 of gear I11 meshing, all rotate on the inner wall that every cavity I23 is close to disc 19 axis and be equipped with gear II, every all be equipped with gear III 46 on the rotation axis 14, every all be equipped with in cavity I23 with gear II and gear III 46 meshing's cingulum III 15, form the annular cingulum of completion after the end to end of cingulum III 15, all be equipped with micro motor I in every cavity I23, the output of micro motor I is connected with the pivot of gear II, all overlaps on every balancing rod 10 and is equipped with the balancing weight 8 that matches with balancing rod 10, all sets up the intercommunicating pore 22 with cavity I23 intercommunication on the outer wall of every balancing rod 10, a connecting rod is movably arranged in each communicating hole 22, one end of each connecting rod is connected with a balancing weight 8, the other end of each connecting rod is connected with the outer wall of the toothed belt III 15, and a locking assembly used for fixing the straightening rod 12 is arranged in the cavity II 25.
A disc 19 is spherically hinged on the end face of the upper end of the bearing column 23, four balancing rods 10 are arranged on the outer wall of the disc 19 along the circumferential direction of the disc 19, the reverse extension lines of any two adjacent balancing rods 10 are perpendicular to each other, when the bearing plate 1 does not move in an initial state, the disc 19 which is connected with the upper end of the bearing column 23 through a ball can be kept balanced by the four balancing rods 10, so that the disc 19 does not shake, a cavity I23 is also arranged in each balancing rod 10, a cavity II 25 is arranged in the disc 19, a through hole I26 communicated with the cavity I23 is arranged at the joint of any balancing rod 10 and the side wall of the disc 19, the through hole I26 is communicated with the cavity II 25, a through hole II 13 is arranged at one end of each balancing rod 10 far away from the disc 19, and the through hole II 13 is communicated with the corresponding cavity I23, the rotary shaft 14 is rotatably arranged in each through hole, a gear I11 is sleeved on each rotary shaft 14, four correcting rods 12 corresponding to the balancing rods 10 are spherically hinged on the upper surface of the bearing plate 1, each correcting rod 12 movably penetrates through a through hole II 13 corresponding to the correcting rod 12 and extends upwards, a straight rack 21 meshed with the gear I11 is arranged on the outer wall of each correcting rod 12 along the axial direction of the corresponding correcting rod 12, the balancing rods 10 on the bearing columns 23 are always balanced with the bearing plate 1 under the action of a locking assembly in an initial state, when the bearing plate 1 moves and works on the ground of a tunnel, the bearing plate 1 can tilt forwards and backwards at any time or swing under action, when the situation occurs, the limiting function is timely opened by the locking assembly, and at the moment, the movement states of the correcting rods 12 are different under different states of the bearing plate 1, namely, when the bearing plate 1 moves on the tunnel ground, the bearing plate 1 moves along a line intersecting the tunnel excavation end face and the foundation ground, and when the bearing plate 1 tilts back and forth on the foundation ground, two balance rods 10 parallel to the line intersecting the tunnel excavation end face and the foundation ground play a main role in adjustment, and two balance rods 10 perpendicular to the line intersecting the tunnel excavation end face and the foundation ground play an auxiliary role in adjustment; when the bearing plate 1 moves along a line intersecting the tunnel excavation end face and the foundation ground and inclines left and right, the two balance rods 10 parallel to the line intersecting the tunnel excavation end face and the foundation ground play a role in auxiliary adjustment, and the two balance rods 10 perpendicular to the line intersecting the tunnel excavation end face and the foundation ground play a role in main adjustment; when the bearing plate 1 moves along the line intersecting the tunnel excavation end face and the basic ground, the two conditions are all generated, the four balance rods 10 all play a role in adjustment, when the conditions are generated, the movement of the correcting rods 12 is similar, namely when the bearing plate 1 moves along the line intersecting the tunnel excavation end face and the basic ground, when the bearing plate 1 tilts forwards and backwards on the basic ground, the two balance rods 10 parallel to the line intersecting the tunnel excavation end face and the basic ground play a role in main adjustment, when the bearing plate 1 tilts forwards and backwards on the basic ground, the tilt angles of the two ends of the bearing plate 1 are different, so that the horizontal heights of the correcting rods 12 at the two ends of the bearing plate 1 are inconsistent, when the balance rods 10 on the bearing plate 1 do not tend to be balanced, the spraying device stops spraying, the balance rods 10 deflect under the balance of the balancing weights 8, so as to ensure that the working table top 16 tends to be balanced, namely, the spraying device is parallel to a horizontal line, and thus ensuring the accuracy of the spraying device in marking operation.
Example 3:
as shown in fig. 1 to 8, the present embodiment is further defined based on embodiment 1 as follows: the locking assembly comprises a rotating disc 28, the rotating disc 28 is rotatably arranged in a cavity II 25, four top plates 27 corresponding to the correcting rod 12 are arranged on the outer wall of the rotating disc 28 along the circumferential direction of the rotating disc 28, the distance between one end of each top plate 27 and the outer wall of the rotating disc 28 is L, the distance between the other end of each top plate 27 and the outer wall of the rotating disc 28 is 0, a limiting rod 29 is movably arranged in each cavity I23, a spring 30 is sleeved on each limiting rod 29, one end of each spring 30 is connected with the inner wall of each cavity I23, the other end of each spring 30 is connected with the outer wall of each limiting rod 29, a plurality of limiting holes matched with the limiting rods 29 are formed in the outer wall of the correcting rod 12 along the axial direction of the correcting rod 12, and each limiting rod 29 is arranged in the cavity I23 in the initial state.
Locking subassembly can be when balancing pole 10 makes 16 regional balances of table surface still be equipped with in cavity II 25 and drive rotary disk 28 pivoted micro motor II, micro motor II has its function of control terminal control, and gag lever post 29 is under the effect of rotary disk 28, and local salient in cavity I23 back part gets into the spacing downthehole that is located on leveling rod 12 outer wall to play fixed effect to balancing pole 10, it is also carrying out the spraying work to prevent coating device, and the mesa of doing when the recoil that coating device produced takes place to rock, thereby when leading to coating device to carry out the marking off operation, the precision of the marking off that causes is inaccurate, causes the excavation profile line inaccuracy, lead to constructor to take place the emergence of the condition of surpassing the owe excavation volume in the work progress, step S 4 In the step of 6 Step S 6 After the balance rods 10 are balanced, the main control module drives the rotating disc to rotate by controlling the micro motor II, and then the limiting rod is pushed out of the cavity II 25 to move towards the direction close to the correcting rod 12, and then the limiting rod is partially embedded into the limiting hole.
Preferably, a guide groove 20 is formed in the outer wall of each balancing rod 10 along the axial direction of the balancing rod 10, a sliding block II is arranged in each guide groove 20 in a sliding manner, and each sliding block II is connected with the balancing weight 8. When balancing weight 8 played the effect of adjusting the balance to flat horizontal pole, the guide way 20 of setting can slide more accurately when making balancing weight 8 slide on balancing pole 10, thereby prevent that a little deviation from appearing when balancing weight 8 slides on balancing pole 10 and leading to balancing weight 8 to play the effect of unbalance.
Example 4:
as shown in fig. 1 to 8, the present embodiment is further defined based on embodiment 1 as follows: the adjusting assembly comprises an arc plate I45, the arc plate I45 is fixed in a second space 34, the middle of the arc plate I45 is bent towards a direction far away from a partition plate 37, a toothed belt I47 is arranged on the inner wall of the arc plate I45, arc grooves I48 are arranged on two side walls of the arc plate I45 along the circumferential direction of the arc plate I45, a sliding block I50 is arranged in each arc groove I48 in a sliding mode, a support rod I49 is arranged on the upper surface of each sliding block I50, an arc plate II 42 perpendicular to the arc plate I45 is arranged on each support rod I49, the middle of the arc plate II 42 is bent towards a direction far away from the partition plate 37, and a gear III 46 meshed with the toothed belt I47 is arranged between the two support rods I49 in a rotating mode, fixed driving motor I that is equipped with between two branch I49, driving motor I is connected with gear III 46's rotation be equipped with cingulum II on the inner wall of arc II 42, be in along the circumference of arc II 42 all be equipped with arc II 43 on two lateral walls of arc II 42, every it is equipped with slider II all to slide in the arc II 43, all is equipped with branch II 51 on the upper surface of every slider II, two be equipped with pendulum rod 40 on the branch II 51, rotate between two branch II 51 be equipped with the cingulum II meshing gear IV 41, the fixed driving motor II that is equipped with between two branch II 51, driving motor II is connected with the rotation of gear IV 41, pendulum rod 40 and ball I39's outer wall connection. An arc-shaped plate I45 is fixedly arranged in the second space 34, a toothed belt I47 is arranged on the inner wall of the arc-shaped plate I45, arc-shaped grooves I48 are respectively arranged on the two side walls of the arc-shaped plate I45 along the circumferential direction of the arc-shaped plate I45, a sliding block I50 is arranged in each arc-shaped groove I48 in a sliding manner, a support rod I49 is arranged on the upper surface of each sliding block I50, an arc-shaped plate II 42 perpendicular to the arc-shaped plate I45 is arranged on each support rod I49, a gear III 46 meshed with the toothed belt I47 is arranged between the two support rods I49 in a rotating manner, a toothed belt II is arranged on the inner wall of each arc-shaped plate II 42, arc-shaped grooves II 43 are respectively arranged on the two side walls of each arc-shaped plate II 42 along the circumferential direction of the arc-shaped plate II 42, a sliding block II is arranged in each arc-shaped groove II 43 in a sliding manner, a support rod II 51 is arranged on the upper surface of each sliding block II, two be equipped with pendulum rod 40 on branch II 51, rotate between two branches II 51 and be equipped with the gear IV 41 with the meshing of cingulum II, pendulum rod 40 and ball I39's outer wall connection, can adjust the angle of shower nozzle 9 and table surface 16 perpendicular bisector when the cingulum I47 that driving motor drive gear III 46 set up on arc I45 moves, can guarantee the angle between shower nozzle 9 and the tunnel excavation terminal surface through this kind of design, thereby realize drawing the sectional profile of excavation, can adjust shower nozzle 9 and table surface 16 level line's angle when the cingulum II that driving motor drive gear IV 41 set up on arc II 42 moves, can realize that shower nozzle 9 is drawn a line along the sectional profile of excavation, thereby realize this robot and guarantee the curved precision of profile when drawing a line to the sectional profile of excavation.
Example 5:
as shown in fig. 1 to 8, the present embodiment is further defined based on embodiment 1 as follows: this embodiment drive assembly includes two annular track 2, and it establishes on loading board 1 all to follow two annular track 2 of horizontal direction, and bears post 23 to be located between two annular track 2 a plurality of through-holes have all been seted up to the both sides of loading board 1, all rotate in every through-hole and are equipped with carrier wheel 18, are located the carrier wheel 18 and the annular track 2 cooperation of bearing post 23 homonymy, all rotate at the both ends of loading board 1 and are equipped with two leading wheels 17, are located the leading wheel 17 and the annular track 2 cooperation of bearing post 23 homonymy. Through the cover is equipped with two annular track 2 on loading board 1, drives two annular track 2 and bears wheel 18 on loading board 1, and when annular track 2 moved on the basis bottom surface in tunnel under the drive of bearing wheel 18, can provide good supporting role, improved loading board 1's trafficability characteristic is favorable to shower nozzle 9 to the sectional profile of tunnel excavation marking operation.
Preferably, a paint storage 3 and a pump are arranged on the upper surface of the bearing plate 1, and the spray head 9 is communicated with the pump and the paint storage 3 through a pipeline 5. The coating device comprises a transverse plate, a coating reservoir 3 and a pumping device 4 are arranged on the upper surface of the transverse plate, the spraying device is communicated with the pumping device 4 and the coating reservoir 3 through a pipeline 5, and the coating reservoir 3 and the pumping device 4 which are arranged on the bottom plate can provide basic materials under the working state of the device so that the device can be implemented.
Preferably, the control terminal comprises a main control module, the main control module is arranged on the bearing plate 1, a height sensor is arranged on the working platform surface 16, an electromagnetic valve is arranged on the spray head 9, and the height sensor, the electromagnetic valve, the driving motor I, the driving motor II, the micro motor I and the micro motor II are all electrically connected with the main control module; the main control module is used for sending information by the height sensor and sending a control signal to the electromagnetic valve; the height sensor is used for sensing the height of the working table surface 16; the electromagnetic valve is used for controlling the closing state of the spray head 9, and an alarm is further arranged on the bearing plate 1 and electrically connected with the main control module.
Control and real time monitoring are carried out through other terminals by staff in the position far away from the tunnel excavation end face, and when angle sensor measures the deviation of table surface 16 for the appearance of horizontal plane, can be timely adjust the adjusting part, make table surface 16 keep balanced state. The advancing track of the device and the angle of the spraying device are controlled by the master control module, so that the precision of a profile curve of a section to be excavated by spraying is improved, the condition that the excavating amount is too short in the construction process of a constructor is prevented, the precision of the end face to be excavated by lineation processing is effectively controlled by intelligent control, the condition that the constructor climbs to the lineation position of the inner wall of the tunnel is prevented, then, the safety hidden danger caused by manually spraying obvious pigment on the section to be excavated is avoided, the safety of the constructor is greatly ensured, the master control module controls the spraying device arranged on the round rod to reach the optimal position for spraying, and a complete profile curve is drawn on the profile curve of the section to be excavated, the motion path of the travelling device of the device and the height of the spraying assembly are controlled through the main control module, so that the accuracy of a contour curve of a section to be excavated by spraying is improved, the condition that the over-underexcavation amount occurs in the construction process of a constructor is prevented, the set angle sensor can sense the inclination angle of the working table surface 16, information is sent to the main control module, the main control module is guided to make timely adjustment, the working state of the spray head 9 is adjusted, the electromagnetic valve can be turned off and stopped timely when the spray head works and the bearing column inclines through the main control module, the phenomenon that the line cannot be drawn along a set line during line drawing is prevented, even if the spray head is turned on again to work after being turned off again, the line drawing is discontinuous possibly, and the line drawing does not influence the constructor to construct the tunnel excavation section at the moment.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (9)

1. The utility model provides a use method of tunnel excavation section marking robot, its characterized in that, marking robot includes loading board (1), be equipped with bearing post (23) on the upper surface of loading board (1), be equipped with drive assembly on the lower surface of loading board (1) be equipped with disc (19) on bearing post (23) be equipped with table surface (16) on the upper surface of disc (19) be equipped with the spraying subassembly on table surface (16), the spraying subassembly includes fixed block (7), fixed block (7) set up on table surface (16) the cavity III has been seted up to the inside of fixed block (7) be equipped with in the cavity III and separate cavity III for the baffle (37) in two spaces, be located the first space (33) above baffle (37), be second space (34) below baffle (37) through-hole III (38) has been seted up on baffle (37), be equipped with the ball (39) that match with the internal diameter of through-hole (38) in through-hole (38) activity, the ball I (39) be located the first space (33) both sides and slide respectively with the second space (44) sleeve (44) and the internal diameter of sleeve (44) are equipped with the ball III end (44), a round ball II (35) close to the lower end of the sleeve (44) is connected with the round ball I (39) through a connecting rod I (36), a through hole IV (31) communicated with the cavity III is arranged on the upper surface of the fixed block (7), a round ball III (6) matched with the inner diameter of the through hole IV (31) is movably arranged in the through hole IV (31), the outer surfaces of the two sides of the round ball III (6) protrude out of the through hole IV (31), the ball III (6) is connected with a ball II (35) close to the upper end of the sleeve (44) through a connecting rod II (32), the ball III-shaped spray nozzle also comprises a spray nozzle (9), the spray nozzle (9) is connected with the outer surface of the ball III (6), an adjusting component for controlling the ball I (39) to turn is arranged in the second space (34), and the ball I turning device also comprises two vertical rods (55), the middle part of one vertical rod (55) is provided with an infrared emitter, the middle part of the other vertical rod (55) is provided with an infrared receiver, a hydraulic cylinder (53) is arranged on the working table surface (16), a shielding plate (52) is arranged at the output end of the hydraulic cylinder (53), a light transmission hole (54) is arranged at the lower end of the shielding plate (52), a control terminal for controlling the robot to work is arranged in the bearing plate (1), a balancing component for balancing a working table surface (16) is arranged on the upper surface of the bearing plate (1); the driving component comprises a guide wheel (17) and an annular crawler belt (2); the adjusting assembly comprises a driving motor I, a driving motor II, a gear III (46), a gear IV (41), an arc-shaped plate I (45) and an arc-shaped plate II (42); the balancing component comprises a balancing rod (10), a micro motor I and a balancing weight (8);
the use method of the scribing robot comprises the following steps:
S 1 the robot is placed on the ground of the tunnel excavation section, and the two vertical rods are fixed on the two sides of the tunnel excavation section, so that a laser beam emitted by an infrared emitter on one vertical rod penetrates through a light hole (54) and can be received by an infrared receiver on the other vertical rod;
S 2 along the direction of laser beam guidance, the guide wheel drives the annular crawler belt (2)The movable bearing plate (1) moves on the ground of the tunnel excavation section, and meanwhile, the adjusting assembly controls the spray head to spray arc lines on the section of the excavation section;
S 3 when the infrared receiver cannot receive a laser beam emitted by the infrared emitter, the infrared receiver feeds back a signal to the control terminal, after processing, the control terminal controls the guide wheel to stop working, the micro motor I is started to drive the balancing weight (8) to move on the balancing rods (10), and the micro motor I stops working until the balancing rods (10) are balanced; meanwhile, the control terminal controls the driving motor I and the driving motor II to start, and respectively drives the gear III (46) to move on the arc-shaped plate I and the gear IV (41) to move on the arc-shaped plate II until the spray head is reset;
S 4 when the spray head is reset, the infrared receiver receives the laser beam emitted by the infrared emitter again, and then the control terminal sends a stop instruction to the driving motor I and the driving motor II, the guide wheel starts to work again to drive the annular crawler belt (2) to continue to do linear motion;
S 5 and repeating the step S 2 、S 3 、S 4 And finally, completing the marking process of the excavation end face of the whole tunnel.
2. The use method of the tunnel excavation section marking robot as claimed in claim 1, wherein the balancing assembly comprises four balancing rods (10), the bearing column (23) is in spherical hinge connection with the disc (19), the four balancing rods (10) are arranged on the outer wall of the disc (19) along the circumferential direction of the disc (19), the reverse extension lines of any two adjacent balancing rods (10) are perpendicular to each other, a cavity I (24) is formed in each balancing rod (10), a cavity II (25) is formed in the disc (19), a through hole I (26) communicated with the cavity I (24) is formed in the connection portion of any one balancing rod (10) and the side wall of the disc (19), the through hole I (26) is communicated with the cavity II (25), a through hole II (13) is formed in one end, far away from the disc (19), of each balancing rod (10), the through hole II (13) is communicated with the corresponding cavity I (24), a rotating shaft (14) is rotatably arranged in each through hole II (13), the axis II (13) of each through hole II (13) is hinged with the axis (14) of the corresponding axis II (14) on the surface of the corresponding bearing plate (11), and the corresponding straightening rod (12) penetrates through the four balancing rods (12), and the corresponding to the corresponding through hole I (12) and the corresponding to the corresponding through hole II (12) and the corresponding to the balancing rod (11), and the corresponding through hole I (12) are arranged on the corresponding through hole (12), and the corresponding to the corresponding balancing rod (11), and the corresponding through hole I (12) and the corresponding through hole (12 of the corresponding to the corresponding balancing rod (10 Go up the extension, be in along the axial of leveling rod (12) be equipped with on the outer wall of leveling rod (12) with straight-teeth rack (21) of I (11) meshing of gear, all rotate on the inner wall that is close to disc (19) axis in every cavity I (24) and be equipped with gear II, every all be equipped with in cavity I (24) with gear II and rotation axis (14) complex cingulum III (15), form a complete annular cingulum after the end to end of cingulum III (15), all be equipped with micro motor I in every cavity I (24), the output of micro motor I is connected with the pivot of gear II, all overlaps on every balancing rod (10) and is equipped with balancing weight (8) that match with balancing rod (10), all sets up on the outer wall of every balancing rod (10) intercommunicating pore (22) with cavity I (24) intercommunication, every the equal activity is equipped with the connecting rod in intercommunicating pore (22), the one end and the connecting rod of connecting rod are connected with balancing weight (8), the other end and the outer wall connection of connecting rod III and cingulum III be equipped with the locking assembly that is used for fixed cavity II (25).
3. The use method of the tunnel excavation section marking robot is characterized in that the locking assembly comprises a rotating disc (28), the rotating disc (28) is rotatably arranged in a cavity II (25), four top plates (27) corresponding to the correcting rods (12) are arranged on the outer wall of the rotating disc (28) along the circumferential direction of the rotating disc (28), the distance between one end of each top plate (27) and the outer wall of the rotating disc (28) is L, the distance between the end of the other end of each top plate (27) and the outer wall of the rotating disc (28) is 0, a limiting rod (29) is movably arranged in each cavity I (24), a spring (30) is sleeved on each limiting rod (29), one end of each spring (30) is connected with the inner wall of the cavity I (24), the other end of each spring (30) is connected with the outer wall of each limiting rod (29), a plurality of limiting holes matched with the limiting rods (29) are formed in the outer wall of the correcting rods (12) along the axial direction of the correcting rods (12), a rotating disc I (25) is internally provided with a miniature motor, and the miniature motors (28) are arranged at the output ends of the cavities (24).
4. The use method of the robot for marking off the section of the tunnel excavation according to claim 3, characterized in that a guide groove (20) is formed in the outer wall of each balancing rod (10) along the axial direction of the balancing rod (10), a sliding block II is arranged in each guide groove (20) in a sliding mode, and each sliding block II is connected with a balancing weight (8).
5. The use method of the tunnel excavation section marking robot as claimed in claim 4, characterized in that the adjusting assembly comprises an arc-shaped plate I (45), the arc-shaped plate I (45) is fixed in the second space (34), the middle of the arc-shaped plate I (45) is bent in the direction away from the partition plate (37), a toothed belt I (47) is arranged on the inner wall of the arc-shaped plate I (45), arc-shaped grooves I (48) are arranged on the two side walls of the arc-shaped plate I (45) along the circumferential direction of the arc-shaped plate I (45), a sliding block I (50) is arranged in each arc-shaped groove I (48) in a sliding manner, a support rod I (49) is arranged on the upper surface of each sliding block I (50), an arc-shaped plate II (42) perpendicular to the arc-shaped plate I (45) is arranged on the support rod I (49), the middle of the arc-shaped plate II (42) is bent in the direction away from the partition plate (37), a gear I (46) meshed with the toothed belt I (47) is rotatably arranged between the two support rods I (49), a driving motor driving shaft II is arranged on the two side walls of the arc-shaped plate I (42), and a driving motor 46 is arranged on the two side walls of the arc-shaped plate II (42) and connected on the arc-shaped plate I (46), every it is equipped with slider II all to slide in the arc wall II (43), all is equipped with branch II (51) on the upper surface of every slider II, two be equipped with pendulum rod (40) on branch II (51), rotate between two branch II (51) and be equipped with II meshing gears IV (41) of cingulum, the fixed driving motor II that is equipped with between two branch II (51), the output of driving motor II is connected with the pivot of gear IV (41), the outer wall connection of pendulum rod (40) and ball I (39), pendulum rod (40) are the telescopic link.
6. The use method of the tunnel excavation section marking robot as claimed in claim 5, wherein the driving assembly comprises two endless tracks (2), the two endless tracks (2) are sleeved on the bearing plate (1) in the horizontal direction, the bearing column (23) is located between the two endless tracks (2), a plurality of through holes are formed in both sides of the bearing plate (1), a bearing wheel (18) is rotatably arranged in each through hole, the bearing wheels (18) located on the same side of the bearing column (23) are matched with the endless tracks (2), two guide wheels (17) are rotatably arranged at both ends of the bearing plate (1), and the guide wheels (17) located on the same side of the bearing column (23) are matched with the endless tracks (2).
7. The use method of the robot for marking the cross section of the tunnel excavation is characterized in that a paint storage device (3) and a pump are arranged on the upper surface of the bearing plate (1), and a spray head (9) in a spraying assembly is communicated with the pump and the paint storage device (3) through a pipeline (5).
8. The use method of the tunnel excavation section marking robot is characterized by further comprising a control terminal, wherein the control terminal comprises a main control module, the main control module is arranged on the bearing plate (1), a height sensor is arranged on the working platform surface (16), an electromagnetic valve is arranged on the spray head (9), and the height sensor, the electromagnetic valve, the driving motor I, the driving motor II, the micro motor I and the micro motor II are all electrically connected with the main control module; the main control module is used for controlling the height sensor to send out information and sending a control signal to the electromagnetic valve; the height sensor is used for sensing the height of the working table top (16); the electromagnetic valve is used for controlling the closing state of the spray head (9), an alarm is further arranged on the bearing plate (1), and the alarm is electrically connected with the main control module.
9. The use method of the robot for scribing a tunnel excavation section according to claim 3, wherein in step S 4 When a plurality of balancing rods (10) are balanced, the main control module drives the rotating disc to rotate by controlling the micro motor II, and then the limiting rod is pushed out of the cavity I (24) to move towards the direction close to the correcting rod (12) and then is partially embedded into the limiting hole.
CN202011190686.7A 2020-10-30 2020-10-30 Using method of tunnel excavation section marking robot Active CN112539083B (en)

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CN113635281A (en) * 2021-07-20 2021-11-12 西安交通大学 Robot automatic scribing method, system and device based on position error compensation

Citations (5)

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Publication number Priority date Publication date Assignee Title
JP2000328894A (en) * 1999-03-18 2000-11-28 Sato Kogyo Co Ltd Spraying method onto tunnel wall and spraying control method
CN207402812U (en) * 2017-11-20 2018-05-25 郑州大学 A kind of production line system high-speed robot
CN111076061A (en) * 2019-12-31 2020-04-28 山东大学 Automatic detection equipment for rock mass structure
CN111364736A (en) * 2020-04-09 2020-07-03 利生活(上海)智能科技有限公司 Building outer wall spraying device with positioning function
CN111536940A (en) * 2020-05-14 2020-08-14 南京航空航天大学 Tunnel overbreak and underexcavation detection system and detection method thereof

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000328894A (en) * 1999-03-18 2000-11-28 Sato Kogyo Co Ltd Spraying method onto tunnel wall and spraying control method
CN207402812U (en) * 2017-11-20 2018-05-25 郑州大学 A kind of production line system high-speed robot
CN111076061A (en) * 2019-12-31 2020-04-28 山东大学 Automatic detection equipment for rock mass structure
CN111364736A (en) * 2020-04-09 2020-07-03 利生活(上海)智能科技有限公司 Building outer wall spraying device with positioning function
CN111536940A (en) * 2020-05-14 2020-08-14 南京航空航天大学 Tunnel overbreak and underexcavation detection system and detection method thereof

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