CN113446042A - Ventilation method for water delivery tunnel in steel pipe transportation and welding process - Google Patents
Ventilation method for water delivery tunnel in steel pipe transportation and welding process Download PDFInfo
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- CN113446042A CN113446042A CN202110826636.1A CN202110826636A CN113446042A CN 113446042 A CN113446042 A CN 113446042A CN 202110826636 A CN202110826636 A CN 202110826636A CN 113446042 A CN113446042 A CN 113446042A
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- ventilation
- tunnel
- robot
- transportation
- steel pipe
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F1/00—Ventilation of mines or tunnels; Distribution of ventilating currents
- E21F1/006—Ventilation at the working face of galleries or tunnels
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
- F04D27/004—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids by varying driving speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Abstract
The invention discloses a ventilation method of a water delivery tunnel in a steel pipe transportation and welding process, which can effectively ensure the feasibility, effectiveness, safety, intensification, intellectualization and digitization of ventilation in the steel pipe transportation, particularly the welding process in the construction process of a lining steel pipe of the water delivery tunnel, promote intelligent construction while efficiently ensuring the life safety of constructors, ensure the whole construction process to be safer and the data acquisition to be more convenient, and create a new idea for digitally guiding the whole construction process. The method adopts a mode of internally carrying the sensor by the intelligent robot, details the dispatching and operation of the whole ventilation robot system from the four aspects of initial working conditions, standard working conditions, charging working conditions and maintenance working conditions, and provides reference for construction modes of similar projects in future.
Description
Technical Field
The invention relates to a ventilation method of a water delivery tunnel lined with steel pipes in the steel pipe conveying and welding processes, in particular to a ventilation method by using an intelligent mobile robot.
Background
With the continuous development of economy and science and technology, the tunnel technology is more widely applied to various projects. At present, the use of tunnel technology in water supply engineering is increasing, and many projects adopt mine, shield and other construction methods to complete tunnel construction, and then a nodular cast iron pipe or a steel pipe is laid in the tunnel to transmit and distribute water. Meanwhile, in order to utilize the tunnel space to a greater extent, maximize the water delivery capacity of the pipeline in the tunnel and simultaneously improve the water supply safety, a tunnel lining pipeline technology is adopted. However, the ventilation related research of the engineering is few, particularly the tunnel lining steel pipe engineering, and besides the ventilation of the pipe transportation working condition, a series of ventilation problems such as pipeline welding and the like need to be considered. Because the application time of the tunnel lining steel pipe technology is short, the domestic engineering cases are few, and the research on the engineering ventilation problem is almost blank.
In projects such as road tunnels and the like, ventilation in the construction process usually adopts an air pipe to supply air to directly reach a tunnel face, so that fresh air of a construction operation face is ensured. But need the inside lining steel pipe if the tunnel engineering, need carry out the transportation and the welding of steel pipe in the tunnel promptly after accomplishing the tunnel, steel pipe outer wall and tunnel inner wall closely laminate and fill with anticorrosive material. At this moment, the ventilation mode of fixing the air pipe at the top of the tunnel cannot be referred to during tunnel construction, and the mode can certainly obstruct the transportation of the steel pipe. The invention discloses a ventilation method of a water delivery tunnel in a steel pipe transportation and welding process, which adopts an intelligent movable ventilation robot to ventilate and reasonably operate and schedule. The top of the robot is an axial flow or centrifugal fan, the lower part of the robot is a crawler transmission device and is fixed with an upper fan device, a small power supply and distribution box body is provided with a power supply device and a power supply device, and the power supply device is connected with a cable to supply power or a lithium battery to supply power. If the method is adopted for programming design, the service performance and the user experience are improved. The method can effectively guarantee the feasibility, effectiveness and safety of ventilation of the lining steel pipe of the water delivery tunnel in the transportation and welding processes, is intensive, intelligent and digital, promotes intelligent construction while efficiently guaranteeing the life safety of constructors, ensures that the whole construction process is safer, is more convenient and faster in data acquisition, and creates a new idea for digitally guiding the whole construction process.
Disclosure of Invention
The invention aims to provide a ventilation method for a water delivery tunnel in the steel pipe transportation and welding process. In order to ensure the safety of personnel, the operators in the tunnel need to ensure the fresh air quantity. In the pipeline transportation process, the personnel need guarantee the fresh air intake, and in the pipeline welding process, will produce a large amount of smoke and dust, be unfavorable for personnel's health and follow-up normal operation. For long and narrow tunnel lining steel pipe engineering, the design of the whole ventilation system needs to ensure the normal transportation of pipelines and the good operation of the pipeline welding construction process. Simultaneously, long and narrow tunnel if adopt natural draft can't satisfy the ventilation demand, need adopt mechanical draft and make fresh air flow in whole section tunnel through reasonable design, reduce the appearance in detention district, avoid the production in backward flow district.
Aiming at the water delivery tunnel project of the lining steel pipe, in order to realize the aim, the invention adopts the technical scheme that:
firstly, three ventilation modes are contrastively analyzed, and the two ends are mechanical: the tunnel system between two wells is regarded as an air pipe, the inlet and the outlet of the tunnel are sealed, and the door is opened to facilitate the entering and exiting of pipes and personnel. Tunnel mouth one end sets up the fan air inlet, and the other end sets up the fan and airs exhaust, adopts piston ventilation system's overall thinking, carries out air replacement to whole tunnel, guarantees the whole ventilation of tunnel. The portable type is as follows: the personnel carry with the oxygen cylinder, guarantee personnel's personal safety under the most unfavorable condition. The oxygen bottle made of light materials is convenient to carry and can be carried about and used as needed. When the fan is out of order, the body is uncomfortable, the smoke concentration is too high and the like, the oxygen cylinder is used for ensuring the intake of normal fresh air. The intelligent mobile type: and an intelligent movable ventilation robot is adopted, and the robot synchronously operates along with the conveying pipeline vehicle, so that the whole robot array is correspondingly controlled, the fan relay is carried out, and the feasibility of the whole tunnel ventilation system is guaranteed. The scheme-one air system is simple to implement, has certain difficulty in sealing the tunnel portal, but can be implemented generally, but the mode does not utilize the conveying of materials and needs to continuously open and close the portal. Scheme two is convenient feasible, but carries the oxygen cylinder and is unfavorable for the convenient operation of personnel. The third scheme can be used in the steel pipe welding working condition and also can be used during maintenance, and the ventilation robot is driven into the well to follow the vehicle and ensure the fresh air volume of personnel and a working face. And determining to adopt the intelligent mobile robot for ventilation.
The ventilation method in the steel pipe transportation and welding process by using the intelligent mobile robot comprises the following steps:
and S1, selecting the intelligent mobile ventilation robot and the transportation robot for construction, numbering the robots and presetting the initial positions of the robots in the tunnel.
And S2, conveying the first section of steel pipe to the middle of the tunnel by the AAO conveying robot, and allowing the A8-A14 ventilation robot and the B8-B14 ventilation robot to enter from the other end and stop in the steel pipe.
Further, the A8-A14 and B8-B14 ventilation robots are parked at the middle position of the tunnel, and the A14 and the B14 can be used as standby ventilation robots.
S3: AAO transportation robot transports the 1 st section of steel pipe in the left side to the tunnel in the middle of, and during A1 ~ A6 ventilation robot got into the tunnel in proper order, BBO transportation robot transported the 1 st section of steel pipe in the right side to the tunnel, and B1 ~ B6 ventilation robot got into the tunnel in proper order, welded the first section of steel pipe respectively with the 1 st section of steel pipe in left side, the 1 st section of steel pipe in right side.
Further, AAO transport robot can transport the 1 st section of steel pipe in the left side to the tunnel in the middle of earlier, and then BBO transport robot transports the 1 st section of steel pipe in the right side to the tunnel, and is preferred, AAO transport robot and BBO transport robot impel the work of transporting the steel pipe in step.
Further, the step S3 also comprises A7 and B7 ventilation robots, the A7 and B7 ventilation robots are parked outside the tunnel for standby, and the A7 and B7 can replace the low-power ventilation robots. For example, when the A8-A13 ventilation robots parked in the middle of the tunnel move to the left end and are fully distributed at the left end of the tunnel for ventilation, any one of the A8-A13 ventilation robots with lower electric quantity can be replaced by the A7 ventilation robot.
S4: AAO transport robot and BBO transport robot transport the nth steel pipe in left side, the nth steel pipe in right side (n is more than or equal to 2) respectively to the tunnel in, weld the steel pipe once more, the ventilation robot of parking in the middle of the tunnel moves to the tip in step.
Furthermore, a plurality of steel pipes are welded, the length of the steel pipes is continuously increased, the A8-A13 and B8-B13 ventilation robots parked in the middle of the original tunnel can move towards two ends or one end to ensure uniform ventilation, wherein the A8-A13 moves towards the left end, and the B8-B13 ventilation robots move towards the right end.
S5: and repeating the step S4 until the construction is finished, and enabling the ventilation robot positioned at the rear part of the transportation robot to exit the tunnel along with the transportation robot and carry out centralized charging.
Further, the AAO transportation robot moves towards the left end and exits the tunnel, and then the A1-A6 ventilation machines exit sequentially along with the AAO transportation robot; the BBO transportation robot moves to the right end to exit the tunnel, the B1-B6 ventilation robots sequentially exit along with the BBO transportation robot, the AAO transportation robot and the BBO transportation robot can synchronously exit from two sides of the tunnel, for example, the AAO transportation robot, the BBO transportation robot, the A1-A6 and the B1-B6 ventilation robots all exit the tunnel, and the tunnel is only full of the A8-A13 and the B8-B13 ventilation robots.
Furthermore, but according to the actual situation of the project, only one end of the transport robot exits from the tunnel, and the position of the other end of the transport robot is unchanged, for example, the AAO transport robot and the A1-A6 ventilation robot exit from the tunnel, the left end of the tunnel is full of the A8-A13 ventilation robot, and the positions of the robots at the right end of the tunnel are unchanged.
Furthermore, a charging pile is arranged outside the hole A, and the A1-A6 and the B1-B6 ventilation robots which exit from the tunnel can be centralized outside the tunnel to be charged.
Further, under a certain working condition, the A1-A6 ventilation robots completely exit the tunnel, when the robot at the right end of the tunnel does not need to move, the A8-A13 ventilation robot is fully distributed at the left end of the tunnel, the A14 ventilation robot and the B8-B14 ventilation robot are parked in the middle of the tunnel for standby, if the electric quantity of any one of the A8-A13 ventilation robots is low, the ventilation robot can be replaced by the A14 ventilation robot, and similarly, the electric quantity of any one of the B1-B6 ventilation robots positioned at the right side of the tunnel can be replaced by the B14 ventilation robot; and vice versa.
Further, in order that the steel pipe does not fall off in the transportation process, the transportation robot adopts pushing transportation in the steps S2-S5, the transportation device in the front of the transportation robot fixes the steel pipe, the transportation robot pushes the steel pipe to move forwards from the back to the construction position, and the steel pipe is unloaded from the fixing device.
Further, in order to ensure the fresh air volume and facilitate the operation of workers, the ventilation function of the ventilation robot in the tunnel in the steps S2-S5 needs to be synchronously operated when the ventilation robot enters the tunnel, so that the ventilation of the tunnel is kept.
The method has the following advantages:
firstly, a new design idea is provided. This patent adopts intelligent movement formula ventilation robot to ventilate, is different from traditional ventilation mode, adopts this kind of ventilation mode to provide the reference for similar engineering from now on.
And secondly, an effective ventilation method is provided. Adopt intelligent movement formula ventilation robot to ventilate, the principle is similar to the plug flow ventilation of efflux fan relay in the tunnel, and fresh air circulation has in whole tunnel can be guaranteed to this kind of ventilation mode, effectively delivers to the construction operation face with fresh air, guarantees simultaneously that certain velocity of flow takes away the smoke and dust and the particulate matter of production.
And thirdly, forming intelligent construction. The intelligent movable robot is adopted, the sensing equipment can be carried, data such as CO2 concentration, smoke dust particle concentration, air temperature and humidity, air flow rate, personnel and mechanical positions and the like in the tunnel are recorded, detected parameters such as air quantity and air speed can be used as control variables, and a controller and a frequency converter are used as actuators, so that the rotating speed of a ventilator is regulated and controlled in real time, the purposes of real-time early warning, man-machine double control, air supply according to needs and energy-saving operation of a ventilation system are achieved, and a PID closed-loop speed regulation control system is formed.
Drawings
FIG. 1 is a schematic diagram illustrating the steps of a ventilation method of a water transportation tunnel in the process of transporting and welding steel pipes;
FIG. 2 is a schematic diagram of the ventilation method of the water transportation tunnel in the steel pipe transportation welding process;
FIG. 3 is a schematic diagram of an intelligent mobile ventilation robot arrangement in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of an arrangement of a ventilation system of a ventilation robot under an initial condition according to an embodiment of the present invention;
FIG. 5 is a schematic view of a ventilation system of a standard condition ventilation robot according to an embodiment of the present invention;
FIG. 6 is a schematic view of a ventilation system of a charging condition ventilation robot according to an embodiment of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes a specific embodiment of the ventilation method according to the present invention in detail from different initial conditions, standard conditions, and charging conditions.
As shown in figure 3, after the tunnel is communicated, the steel pipes are planned to be conveyed inwards from wells on two sides of the tunnel, the steel pipes can be conveyed from one side firstly, and the steel pipes are conveyed by adopting a conveying robot to push and convey. The ventilation robot sends along with the transport robot, and ventilation robot is sent out in step to the opposite side. Then the ventilation robots between the two transportation robots are parked in the middle steel pipe, and the synchronous transportation robots run. Assuming that the length of one tunnel is 6km, the planning spacing of the ventilation robots is 500m, and the spacing and the number of the robots can be adjusted according to the air quantity of the fans. After the ventilation robot is in place, the same air supply direction is integrally ensured, so that air enters from one side of the two holes and is exhausted from the other side of the two holes.
As shown in the initial working condition diagram of fig. 4, for the initial working condition, 12 fans are needed for working, 4 standby fans are considered, and fans in and out under different working conditions are considered, so that 28 fans are needed. The number of the ventilation robot is in charge of the numbers A1-A14 of the left 3km ventilation robot, the numbers B1-B14 of the right 3km ventilation robot, the numbers AA0 of the left transportation robot and the numbers BB0 of the right transportation robot, wherein the numbers A7, A14, B7 and B14 are preferentially reserved as the ventilation robots; initial working condition: the AA0 transport robot firstly transports the first section of steel pipe to the middle of the tunnel, and meanwhile, A8-A14 and B8-B14 enter the tunnel from the other side and stop in the middle of the tunnel. AAO transportation robot transports the 1 st section of steel pipe in left side to the tunnel in the middle of, and A1 ~ A6 ventilation robot gets into in proper order, and BBO transportation robot transports the 1 st section of steel pipe in right side to the tunnel, and B1 ~ B6 ventilation robot gets into in proper order, can weld first section steel pipe and control the side steel pipe this moment, and ventilation robot A7 and B7 park outside the tunnel for-use. The ventilation robots A1-A6 and B1-B6 are started to ensure the ventilation of the whole tunnel.
As shown in the standard working condition schematic diagram of fig. 5, when the steel pipe enters in the transportation process, the ventilation robot operates similarly to the initial feeding working condition, when the transportation robot exits, the middle A8-a 13 and the middle B8-B13 follow the transportation robot to sequentially operate towards two sides, and simultaneously the ventilation robots a 1-a 6 and the middle B1-B6 exit sequentially.
As shown in fig. 6, if the robot is connected by a cable, the flexibility and mobility of the robot will be affected, so the battery is considered as its kinetic energy source. The A1-A6 or B1-B6 ventilation robot can roll out along with the transportation robot, the centralized charging pile outside the opening is charged, and meanwhile, the standby robot is started. Fig. 6 is a certain embodiment of the invention: and (4) when the left AAO transport robot is pulled out and the A9 ventilation robot has low electric quantity, the left AAO transport robot is pulled out and charged, and the standby A14 ventilation robot is started to replace the A9 ventilation robot for ventilation relay. When the BBO transportation robot enters, the B2 ventilation robot has low electric quantity and stays outside the tunnel opening for charging, the standby B7 ventilation robot is started to replace the B2 ventilation robot for ventilation relay.
On the basis of the steps, when detection and later-stage periodic maintenance and repair are carried out after construction is finished, the ventilation robot enters along with the maintenance vehicle, the crawler-type forward movement is adopted, the limitation of sludge is avoided, and the ventilation robot can well run.
The various working conditions can reasonably schedule different ventilation robots on the basis of ensuring normal operation. Adopt autonomous system simultaneously, load GPS, carry out remote control, more convenient and fast, more wisdom efficient is served the ventilation of whole tunnel engineering, and security, stability, the persistence of guarantee century water supply engineering accomplish "intelligent" tunnel construction.
Claims (8)
1. A ventilation method of a water delivery tunnel in a steel pipe transportation welding process is characterized by comprising the following steps:
s1, selecting the intelligent mobile ventilation robot and the transportation robot for construction, numbering the robots and presetting the initial positions of the robots in the tunnel;
s2, conveying the first section of steel pipe to the middle of the tunnel by the AAO conveying robot, and enabling the A8-A14 ventilation robot and the B8-B14 ventilation robot to enter from the other end and stop in the steel pipe;
s3: the AAO transportation robot transports the 1 st section of steel pipe on the left side to the middle of the tunnel, the A1-A6 ventilation robots sequentially enter the tunnel, the BBO transportation robot transports the 1 st section of steel pipe on the right side to the tunnel, the B1-B6 ventilation robots sequentially enter the tunnel, and the first section of steel pipe is respectively welded with the 1 st section of steel pipe on the left side and the 1 st section of steel pipe on the right side;
s4: the AAO transportation robot and the BBO transportation robot respectively transport the nth steel pipe on the left side and the nth steel pipe (n is more than or equal to 2) on the right side into the tunnel, the steel pipes are welded again, and the ventilation robot parked in the middle of the tunnel synchronously moves towards the end part;
s5: and repeating the step S4 until the construction is finished, and enabling the ventilation robot positioned at the rear part of the transportation robot to exit the tunnel along with the transportation robot and carry out centralized charging.
2. The ventilation method for the water delivery tunnel during the steel pipe transportation and welding process as claimed in claim 1, wherein the transportation robot in the steps S2-S5 adopts pushing transportation.
3. The ventilation method for the water delivery tunnel in the steel pipe transportation and welding process of claim 1, wherein the ventilation function of the ventilation robot in the tunnel in the steps S2-S5 is synchronously operated.
4. The ventilation method for the water transportation tunnel in the steel pipe transportation welding process of claim 1, wherein the step S3 further comprises A7 and B7 ventilation robots, and the A7 and B7 ventilation robots are parked outside the tunnel for standby.
5. The ventilation method of the water delivery tunnel in the steel pipe transportation and welding process of claim 1, wherein the ventilation robot parked in the middle of the tunnel synchronously moves towards the end in the step S4, and is characterized in that the parked ventilation robot synchronously moves towards both ends or one end.
6. The ventilation method of the water delivery tunnel in the steel pipe transportation and welding process of claim 1, wherein the ventilation robot parked in the middle of the tunnel moves towards the end synchronously in the step of S4, wherein the ventilation robots A8-A13 move towards the left end, and the ventilation robots B8-B13 move towards the right end.
7. The ventilation method of the water transportation tunnel in the steel pipe transportation welding process according to claim 1, wherein the ventilation robot exits the tunnel along with the transportation robot in the step S5, wherein the AAO transportation robot exits the tunnel moving to the left end, and the A1-A6 ventilation robots exit in sequence along with the AAO transportation robot; the BBO transportation robot moves to the right end to exit the tunnel, and the B1-B6 ventilation machines exit in sequence along with the BBO transportation robot.
8. The ventilation method for the water delivery tunnel in the steel pipe transportation and welding process of claim 1, wherein the transportation robot and the ventilation robot use a battery as a kinetic energy source.
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