CN113700488A - Automatic tunnel slotting system and emergency processing method - Google Patents
Automatic tunnel slotting system and emergency processing method Download PDFInfo
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- CN113700488A CN113700488A CN202111080128.XA CN202111080128A CN113700488A CN 113700488 A CN113700488 A CN 113700488A CN 202111080128 A CN202111080128 A CN 202111080128A CN 113700488 A CN113700488 A CN 113700488A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
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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
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Abstract
The invention relates to the technical field of tunnel slotting, and discloses an automatic tunnel slotting system and an emergency processing method, wherein the automatic tunnel slotting system comprises a flat car, a generator, a robot fixing device, an industrial robot, a slotting device and a control subsystem; the slotting device comprises a support, the support is connected to the free end of the industrial robot, a sliding table is connected onto the support in a sliding mode, a slotting motor is connected onto the sliding table, a slotting cutter is connected onto the slotting motor, and the sliding table can drive the slotting motor to draw the slotting cutter out of a slot; the control subsystem comprises an upper computer control system, an electrical control system and a robot control system; the upper computer control system is respectively connected with the electric control system and the robot control system, the upper computer control system is used for displaying the user control interface and realizing man-machine interaction for processing emergency signals, and the emergency processing method is used for emergency situations that the system power failure or equipment failure may cause railway operation interruption.
Description
Technical Field
The invention relates to the technical field of tunnel construction equipment and methods, in particular to an automatic tunnel slotting system and an emergency treatment method.
Background
For the treatment problem of the water leakage in the railway tunnel, a blocking and draining combined method is generally adopted for treatment at present. Besides the grouting plugging is carried out by drilling, an inverted trapezoidal groove is arranged in the water seepage area, and a PVC water-permeable blind pipe is buried and fixed in the inverted trapezoidal groove. At present, in railway construction, the method of manual excavation is mostly adopted for arranging the drainage channel. Because the tunnel dome is higher, can only carry out the construction with the help of the scaffold, and the railway still takes on daily transportation task, so the engineering time is very restricted, and manual grooving speed is slow in addition, so the efficiency of construction is very low, can't satisfy the operation demand.
The robot is adopted to replace manual work to perform tunnel drainage groove slotting, the labor intensity of workers can be effectively reduced, the economic benefit is outstanding, the practicability is strong, however, various accidents are often met in the tunnel slotting process, so that slotting cannot be continued, if a generator fault causes system power failure or a robot fault, a robot arm and a slotting cutter cannot recover a shutdown state, the safety limit required to be kept during operation of a flat car and the robot cannot be reached, the robot slotting system and the flat car cannot move to a station and other limited positions within a specified time, and serious consequences of normal operation interruption of a railway are caused.
Disclosure of Invention
The invention aims to: aiming at the serious consequences that in the prior art, when power failure and robot failure occur, the slotting cutter and the robot arm cannot withdraw from the opened slot, the robot arm and the slotting cutter cannot be recovered to a halt state, the safety limit required to be kept during operation of the flat car and the robot cannot be reached, the robot slotting system and the flat car cannot move to the limit positions such as stations and the like within a specified time, and normal operation of railways is interrupted, the automatic tunnel slotting system and the emergency processing method are provided.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic tunnel slotting system comprises a flat car, a generator, a robot fixing device, an industrial robot, a slotting device and a control subsystem, wherein the generator, the robot fixing device and the control subsystem are fixedly connected to the flat car;
the control subsystem comprises an upper computer control system, an electrical control system and a robot control system; the upper computer control system is respectively connected with the electric control system and the robot control system, the signal output end of the robot control system is a first control signal output end of the control subsystem, and the control signal output end of the electric control system is a second control signal output end of the control subsystem; a first control signal output end of the control subsystem is connected with a signal input end of the industrial robot, and a second control signal output end of the control subsystem is connected with a signal input end of the slotting motor;
the industrial robot is provided with a scanning device, a signal input end of the scanning device is connected with a signal output end of the electrical control system, a signal output end of the scanning device is connected with a signal input end of the electrical control system, and the scanning device is used for scanning a working face to obtain scanning information; the scanning information comprises the size of a bulge of the working face;
the grooving device comprises a support, the support is connected to the free end of the industrial robot, a sliding table is connected to the support in a sliding mode, a grooving motor is connected to the sliding table, a grooving cutter is connected to the grooving motor, and the sliding table can drive the grooving cutter to be pulled away from an opened groove.
According to the automatic tunnel slotting system in the technical scheme, the electrical control system is controlled through the upper computer, so that the electrical control system controls the robot to perform slotting operation; before having industrial robot to drive the fluting motor and carrying out the fluting operation, scan the operation face through scanning device, obtain the scanning information of working face, can discern the bellying of working face, generate the fluting orbit by the host computer according to scanning information again to make the fluting cutter avoid dangerous bellying at the fluting in-process, avoid the damage of fluting in-process fluting cutter, practiced thrift construction cost, can not consume time because of the cutter damages and change the cutter, improved the efficiency of construction. The grooving motor is connected to the sliding table in a sliding connection mode, the sliding table is connected with the support in a sliding mode, the grooving motor can be driven to withdraw the grooving tool from the groove in a mode of moving the position of the sliding table, the grooving tool can be withdrawn from the groove under the condition of power failure, the robot arm of the industrial robot and the grooving tool are located in a safety limit, the automatic tunnel grooving system in the scheme can be rapidly transported out of the tunnel, railway operation is timely recovered, and serious consequences causing railway operation interruption are avoided.
As a preferable scheme of the invention, the support is fixedly connected with an air cylinder and a first guide rail, a push rod of the air cylinder is connected with the sliding table, a first sliding block is arranged on the lower side of the sliding table, and the first sliding block slides along the first guide rail.
The sliding table is connected with a push rod of the air cylinder, so that the sliding table does not need to be driven by electric power when the system is powered off, and the sliding table can be moved to enable the cutter to exit from the opened groove.
As a preferred scheme of the present invention, the robot fixing device is a liftable fixing base.
Through adjusting the height of the robot fixing device, the industrial robot can be located in a tunnel safety clearance, and the serious consequence that the robot cannot be timely moved out of a railway operation line due to damage to an automatic slotting system when the flat car is moved is avoided.
As a preferred embodiment of the present invention, the robot fixing device includes a fixed plate, a sliding plate and a mounting plate, wherein the fixed plate is fixed on the flat car, and the sliding plate is located between the fixed plate and the mounting plate and is slidably connected to the fixed plate; a scissor structure is connected between the mounting plate and the sliding plate, the scissor structure adopts a hydraulic cylinder to realize lifting, a power-off brake is arranged at the rotating connection position of two scissor arms of the scissor structure, and the signal input end of the power-off brake is connected with the second control signal output end of the control subsystem; the power-off brake is also provided with a standby power supply, and the industrial robot is fixed on the mounting plate.
The power-off brake can brake when the power is off, so that the movement of the scissor fork structure is prevented, and the industrial robot arranged on the mounting plate is prevented from falling; the standby power supply can provide power for the power-off brake under the condition of system power failure, so that the height of the robot fixing device can be adjusted after the system is powered off; the sliding plate is connected with the fixed plate in a sliding mode, the positions of the industrial robot and the grooving device can be moved, the whole automatic grooving system can be conveniently and safely dragged out of the tunnel, and safety is considered while the height of the robot fixing device is adjusted.
As a preferred embodiment of the present invention, the fixed plate is provided with a second guide rail and a plurality of positioning blocks, the lower surface of the sliding plate is fixedly connected with a second slider, and the second slider slides along the second guide rail; a screw-nut structure is connected between the fixed plate and the sliding plate and is used for driving the sliding plate to slide along the second guide rail; and a positioning bolt is fixedly connected between the mounting plate and the positioning block.
The industrial robot is controlled to move left and right through the mechanical structure, so that the industrial robot can be moved into a safety limit of a tunnel under the condition of power failure, and the serious consequence of railway operation interruption caused by the fact that the industrial robot cannot be moved into the safety limit under the fault condition is avoided.
As a preferable scheme of the invention, a temperature sensor and a current sensor are arranged on the slotting motor, and signal output ends of the temperature sensor and the current sensor are both connected with a signal input end of an electrical control system.
The temperature sensor arranged on the slotting motor can collect data of the slotting motor during working, the data are finally transmitted to the upper computer, and the upper computer analyzes the data so as to realize monitoring of the working state of the slotting motor.
As a preferred scheme of the invention, the upper computer control system comprises an upper computer and a human-computer interaction touch display screen; the upper computer is used for generating a user control interface and generating a slotting track according to the scanning information; the human-computer interaction touch display screen is used for displaying the user control interface and realizing human-computer interaction;
the man-machine interaction comprises the steps that an operator selects commands of starting, suspending slotting, stopping slotting and the like of the automatic slotting system on a user control interface, browses slotting tracks in advance, executes pre-track operation of the robot and sets working parameters, and when actual working parameters exceed the set working parameters, the electric control system sends out emergency signals.
The invention also discloses an emergency processing method of the automatic tunnel slotting system, which adopts the tunnel slotting system for processing the emergency signal and is characterized in that when the electrical control system sends the emergency signal, the upper computer generates a first processing signal, a second processing signal, a third processing signal and a fourth processing signal; the first processing signal is a slotting pause signal, and the first signal can stop the slotting cutter and simultaneously enable the industrial robot to withdraw the slotting cutter from the slotted slot; the second processing signal is a grooving stopping signal, the second signal can stop the grooving cutter, then enable the industrial robot to withdraw the grooving cutter from the opened groove, and enable the industrial robot to return to the starting position of grooving; the third processing signal is an avoidance signal, and the slotting cutter can avoid the bulge by the third processing signal; the fourth processing signal is a non-avoidance signal, and the fourth processing signal can enable the slotting cutter to continue slotting according to the slotting track.
By adopting the method, the slotting cutter can be ensured to exit from the slotted groove in emergency, and the cutter is prevented from being left in the groove to cause damage. For the condition that the operation surface has abnormal bulges, the operator judges whether the bulges need to be avoided or not, and the accident caused when the slotting cutter cuts the bulges can be avoided.
The invention also discloses an emergency treatment method of the automatic tunnel slotting system, which adopts the automatic tunnel slotting system and is characterized by comprising the following steps:
a. judging whether an emergency processing execution instruction is received, if the emergency processing execution instruction is not received, waiting for power restoration, and if the emergency processing execution instruction is received, executing the step b by the tunnel automatic slotting system;
b. compressed air is introduced into the air cylinder, and a push rod of the air cylinder drives the sliding table to withdraw the slotting cutter on the slotting motor from the slotted groove;
c. a standby power supply is used for supplying power to the power-off brake, the brake of the power-off brake is released, and the mounting plate and the industrial robot descend;
d. judging whether the robot and the slotting device are within a safety limit range of the tunnel, if so, executing the step e, and if so, executing the step f;
e. taking down a positioning bolt between the fixing plate and the positioning block, and moving the industrial robot and the slotting device into a safety limit of the tunnel through a screw-nut structure;
f. the entire flat car is pulled away from the tunnel work location.
By adopting the method, compressed air is introduced into the air cylinder, so that the slotting cutter can exit from the slotted groove, the slotting cutter is prevented from being damaged when the flat car is dragged, the automatic slotting system can be manually moved into the safety limit of the tunnel, and the automatic slotting system is prevented from being damaged when the flat car is dragged.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the slotting motor is installed on the sliding table, and the sliding table is connected with the support fixed on the industrial robot in a sliding mode, so that the sliding table can be moved through manual operation under the condition that the whole system is powered off, the slotting motor can be withdrawn from the slotted groove, and damage to a cutter is avoided.
2. When an emergency signal occurs, the control subsystem sends a signal to the industrial robot, so that the slotting cutter exits for a certain distance along the slotting depth direction, and the safety of the slotting cutter is protected.
3. Even if the system is powered off or fails, the automatic slotting system can be adjusted into the safety limit of the tunnel, so that personal safety and equipment safety can be guaranteed when the flat car is pulled away from the operation position by a traction vehicle, and meanwhile, the railway can be guaranteed to timely recover normal operation.
4. The control subsystem can monitor the working state of the slotting device and prevent accidents.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the grooving apparatus of the present invention;
FIG. 3 is a schematic view of the construction of the robot securing device of the present invention;
FIG. 4 is a safety margin diagram;
FIG. 5 is a block diagram of the connection of the components of the present invention;
FIG. 6 is a flow chart of an emergency handling method of the present invention;
FIG. 7 is a flow chart of the present invention in response to pause and stop commands.
Icon: 10. flatbed vehicle; 11. a generator; 12. an industrial robot; 13. an upper computer control system; 14. an electrical control system; 15. a robot control system; 16. a scanning device; 2. a robot fixing device; 21. a fixing plate; 22. a sliding plate; 23. mounting a plate; 24. a scissor structure; 25. a power-off brake; 26. a second guide rail; 27. positioning blocks; 28. a screw rod; 29. a standby power supply; 3. a slotting device; 31. a support; 32. a sliding table; 33. a slot motor; 34. slotting cutters; 35. a cylinder; 36. a first guide rail; 37. a first slider; 4. safety limits.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example 1
As shown in fig. 1, an automatic grooving system includes a flat car 10, a generator 11, a control subsystem, a robot fixture 2, an industrial robot 12, a scanning device 16, a grooving device 3, and a compressed gas tank. The generator 11, the control subsystem and the robot fixing device 2 are all fixed on the flat car 10, the industrial robot 12 is fixed on the robot fixing device 2, the scanning device 16 is fixed on the industrial robot 12, the slotting device 3 is fixed at the free end of the industrial robot 12, and the generator 11 supplies power for the automatic slotting system.
As shown in fig. 5, the control subsystem includes a robot control system 15, an electrical control system 14 and an upper computer control system 13; the electrical control system 14 comprises a PLC controller and a frequency converter, and the PLC controller is connected with the frequency converter; the upper computer control system 13 comprises an upper computer and a man-machine interaction touch display screen. The upper computer is used for generating a user interface of the whole system; the man-machine interaction touch display screen is used for realizing man-machine interaction, and comprises the operations of setting the maximum value of the size of a bulge, the current and temperature safety value when a motor works and the like, selecting whether to open a slot and the like besides basic common operations of starting, scramming, suspending opening, stopping opening and the like. And the upper computer is connected with the robot control system 15, the electric control system 14 and the human-computer interaction touch display screen.
As shown in fig. 3, the robot fixing device 2 includes a fixing plate 21, a sliding plate 22 and a mounting plate 23, the fixing plate 21 is fixed on the flat car 10, second guide rails 26 are disposed on the left and right sides of the fixing plate 21, second sliding blocks are fixedly connected to the left and right sides of the bottom surface of the sliding plate 22, and the second sliding blocks on the left and right sides slide along the same second guide rails 26; a plurality of positioning blocks 27 are arranged on the left side and the right side of the fixed plate 21 along the direction of the second guide rail 26, and the positioning blocks 27 on the left side and the right side are positioned on the inner sides of the second guide rails 26 on the left side and the right side; a positioning bolt is connected between the sliding plate 22 and the positioning block 27. A screw rod 28 nut structure is further connected between the sliding plate 22 and the fixed plate 21, a nut of the screw rod 28 nut structure is fixed at the bottom of the sliding plate 22, a screw rod bracket is connected between the screw rod 28 of the screw rod 28 nut structure and the fixed plate 21, the screw rod 28 penetrates through the screw rod bracket, and a crank is arranged at one end, far away from the nut, of the screw rod 28 penetrating through the screw rod bracket.
As shown in fig. 3, a mounting plate 23 is arranged above the sliding plate 22, the peripheries of the mounting plate 23 and the sliding plate 22 are connected with a scissor structure 24, a first cross rod and a second cross rod are respectively connected between two sets of scissor arms corresponding to the scissor structures 24 on the left and right sides, a hydraulic cylinder is connected between the first cross rod and the second cross rod, an oil path of the hydraulic cylinder is connected with an electromagnetic directional valve, and the electromagnetic directional valve is connected with a PLC controller; the front and rear sides of the scissors structure 24 are provided with power-off brakes 25, the power-off brakes 25 are arranged at the rotating connection positions between the scissors arms, and the power-off brakes 25 are connected with a PLC (programmable logic controller). The power-loss brake 25 is also equipped with a backup power supply 29.
The industrial robot 12 can adopt six-degree-of-freedom robots produced by different manufacturers, the robot control system 15 is a robot control cabinet matched with the industrial robot 12 for use, and a signal input end of the industrial robot 12 is connected with a control signal output end of the robot control system 15.
The scanning device 16 is connected to the industrial robot 12 through bolts, and the signal output end and the signal input end of the scanning device 16 are both connected with the PLC.
As shown in fig. 2, the slotting device 3 includes a bracket 31, a sliding table 32, a slotting motor 33 and a slotting cutter 34. The support 31 is connected to a flange at the tail end of the industrial robot 12 through a flange, and a cylinder 35 and two first guide rails 36 which are parallel to each other are fixedly connected to the support 31; a plurality of first sliding blocks 37 are connected to two sides of the bottom surface of the sliding table 32 through bolts, the first sliding blocks 37 on two sides respectively slide on the first guide rails 36 on the corresponding sides, and a piston rod of the air cylinder 35 is fixedly connected with the sliding table 32; the slotting motor 33 is connected with the frequency converter and fixedly connected to the sliding table 32, in order to avoid the slotting motor 33 from shaking during working, the sliding table 32 and the bracket 31 can be detachably and fixedly connected by bolts, the slotting motor 33 is also provided with a temperature sensor and a current sensor, and the signal output ends of the temperature sensor and the current sensor are both connected with the PLC; the current sensor and the temperature sensor are both used for detecting working parameters of the slotting motor 33, namely the current and the temperature of the slotting motor 33 during working; the slotting cutter 34 is connected to an output shaft of the slotting motor 33.
The specific working principle is as follows:
the temperature sensor and the current sensor are used for collecting temperature and current data of the slotted motor 33 during working and transmitting the temperature and current data back to the electric control system 14, the electric control system 14 transmits the temperature and current data to the upper computer for analysis, the upper computer monitors the working state of the motor according to an analysis result and sends a motor rotating speed control signal to the electric control system 14, and then the frequency converter adjusts the rotating speed of the slotted motor 33 according to the motor rotating speed control signal.
An operator controls the automatic slotting system to start through a man-machine interaction touch display screen, the electrical control system 14 outputs scanning signals, the scanning signals are used for controlling the scanning device 16 to scan the working face to be slotted to obtain scanning information and transmit the scanning information back to the electrical control system 14, the electrical control system 14 transmits the scanning information to the upper computer control system 13, and the upper computer control system 13 establishes a relevant curve model of the working face to be slotted according to the scanning information to generate a slotting track; the upper computer control system 13 transmits the slotting track to the robot control system 15, a control signal output end of the robot control system 15 outputs a first control signal to control the industrial robot 12 to move according to the slotting track, the upper computer control system 13 also transmits the slotting track to the electrical control system 14, and a control signal output end of the electrical control system 14 outputs a second control signal to control the slotting motor 33 to execute slotting operation according to the slotting track.
When the upper computer analyzes the scanning information and finds that the size of the bulge on the working surface exceeds the safety range value set by an operator, the electrical control system 14 sends an emergency signal which is an acousto-optic warning; meanwhile, the upper computer generates a first processing signal, a second processing signal, a third processing signal and a fourth processing signal, wherein the first processing signal is a pause slotting signal, the second processing signal is a stop slotting signal, the third processing signal is an avoidance signal, and the fourth processing signal is a non-avoidance signal; the first processing signal has the functions of: generating a 'pause slotting' button on a man-machine interaction touch display screen; the second processed signal has the functions of: generating a 'slot stopping' button on a man-machine interaction touch display screen; the third processing signal has the functions of: generating an 'avoidance' button on a man-machine interaction touch display screen; the fourth processing signal functions to: and generating a 'no-avoidance' button on the man-machine interaction touch display screen.
If the operator selects the "pause grooving" button, the grooving motor 33 stops working, and the industrial robot 12 drives the grooving motor 33 to move the grooving tool 34 back out of the grooved groove along the grooving depth direction.
If the operator selects the button of stopping slotting, the slotting motor 33 stops working, the industrial robot 12 drives the slotting motor 33 to move the slotting cutter 34 out of the slotted slot along the slotting depth direction, the upper computer generates a cutter retracting path, the cutter retracting path is transmitted to the robot control system 15, and the robot control system 15 receives the cutter retracting path and then controls the industrial robot 12 to retract the slotting device 3 along the cutter retracting path.
If the operator selects the 'avoiding' button, the industrial robot 12 drives the slotting cutter 34 to exit in the slotting depth direction before the slotting cutter 34 cuts the bulge, and meanwhile, the movement in the slotting track direction is kept; after the industrial robot 12 is controlled to avoid the protrusion, the grooving tool 34 is driven to move in the grooving depth direction, and the grooving operation is continuously executed.
If the operator selects the 'no avoidance' button, the industrial robot 12 and the slotting device 3 are controlled to continue slotting along the original slotting track.
When operating personnel carries out the scram operation through man-machine interaction touch display screen, makes electrical control system 14 send the scram signal, or when operating personnel carries out pause or stop operation through man-machine interaction touch display screen, the host computer all can send the pause signal to electrical control system 14 and robot control system 15, the pause signal effect lies in: the grooving motor 33 is stopped, and the industrial robot 12 drives the grooving motor 33 to retract the grooving tool 34 out of the opened groove in the grooving depth direction. If the button pressed by the operator is 'pause', the control subsystem waits for the next instruction of the operator; if the operator presses the stop button, the upper computer generates a tool retracting path and transmits the tool retracting path to the robot control system 15, and the robot control system 15 receives the tool retracting path and then controls the industrial robot 12 to retract the slotting device 3 along the tool retracting path. The above process is illustrated in fig. 7.
When the automatic slotting system is utilized for slotting operation and the system is powered off, the method comprises the following steps:
a. judging whether an emergency processing execution instruction is received, if the emergency processing execution instruction is not received, waiting for power restoration, and if the emergency processing execution instruction is received, executing the step b by the tunnel automatic slotting system;
b. compressed air is introduced into the air cylinder 35, and a push rod of the air cylinder 35 drives the sliding table 32 to withdraw the slotting cutter 34 on the slotting motor 33 from the slotted groove;
c. the standby power supply 29 is used for supplying power to the power-off brake 25, the brake of the power-off brake 25 is released, and the mounting plate 23 and the industrial robot 12 descend;
d. judging whether the robot and the slotting device 3 are within the range of a safety limit 4 of the tunnel, if so, executing the step e, and if so, executing the step f;
e. taking down the positioning bolt between the fixing plate 21 and the positioning block 27, and moving the industrial robot 12 and the slotting device 3 into the safety limit 4 of the tunnel through a screw rod 28 nut structure;
f. the entire platform truck 10 is pulled away from the tunnel job site.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. An automatic tunnel slotting system comprises a flat car (10), a generator (11), a robot fixing device (2), an industrial robot (12), a slotting device (3) and a control subsystem, wherein the generator (11), the robot fixing device (2) and the control subsystem are fixedly connected to the flat car (10);
the system is characterized in that the control subsystem comprises an upper computer control system (13), an electric control system (14) and a robot control system (15); the upper computer control system (13) is respectively connected with the electric control system (14) and the robot control system (15), the signal output end of the robot control system (15) is a first control signal output end of the control subsystem, and the control signal output end of the electric control system (14) is a second control signal output end of the control subsystem; a first control signal output end of the control subsystem is connected with a signal input end of the industrial robot (12), and a second control signal output end of the control subsystem is connected with a signal input end of the slotting motor (33);
a scanning device (16) is mounted on the industrial robot (12), a signal input end of the scanning device (16) is connected with a signal output end of the electrical control system (14), a signal output end of the scanning device (16) is connected with a signal input end of the electrical control system (14), and the scanning device (16) is used for scanning a working face to obtain scanning information; the scanning information comprises the size of a bulge of the working face;
the grooving device (3) comprises a support (31), the support (31) is connected to the free end of the industrial robot (12), the support (31) is connected with a sliding table (32) in a sliding mode, the sliding table (32) is connected with a grooving motor (33), the grooving motor (33) is connected with a grooving cutter (34), and the sliding table (32) can drive the grooving cutter (34) to be pulled away from an opened groove.
2. The automatic tunnel grooving system according to claim 1, wherein a cylinder (35) and a first guide rail (36) are fixedly connected to the support (31), a push rod of the cylinder (35) is connected with the sliding table (32), a first sliding block (37) is arranged on the lower side of the sliding table (32), and the first sliding block (37) slides along the first guide rail (36).
3. The automatic tunnel grooving system of claim 2, wherein the robot fixing device (2) is a liftable fixing base.
4. A tunnel automatic grooving system according to claim 3, wherein the robot fixing device (2) comprises a fixing plate (21), a sliding plate (22) and a mounting plate (23), the fixing plate (21) is fixed on the flat car (10), the sliding plate (22) is located between the fixing plate (21) and the mounting plate (23) and is slidably connected to the fixing plate (21); a scissor structure (24) is connected between the mounting plate (23) and the sliding plate (22), the scissor structure (24) is lifted by adopting a hydraulic cylinder, a power-off brake (25) is arranged at the rotary joint of two scissor arms of the scissor structure (24), and the signal input end of the power-off brake (25) is connected with the second control signal output end of the control subsystem; the power-loss brake (25) is also provided with a standby power supply (29), and the industrial robot (12) is fixed on the mounting plate (23).
5. The automatic tunnel grooving system according to claim 4, wherein the fixed plate (21) is provided with a second guide rail (26) and a plurality of positioning blocks (27), the lower surface of the sliding plate (22) is fixedly connected with a second sliding block, and the second sliding block slides along the second guide rail (26); a screw rod (28) and nut structure is further connected between the fixed plate (21) and the sliding plate (22), and the screw rod (28) and nut structure is used for driving the sliding plate (22) to slide along the second guide rail (26); and a positioning bolt is fixedly connected between the mounting plate (23) and the positioning block (27).
6. The automatic tunnel grooving system according to claim 5, wherein a temperature sensor and a current sensor are arranged on the grooving motor (33), and signal output ends of the temperature sensor and the current sensor are connected with a signal input end of the electric control system (14).
7. The automatic tunnel slotting system as claimed in claim 6, wherein the upper computer control system (13) comprises an upper computer and a human-computer interaction touch display screen; the upper computer is used for generating a user control interface and generating a slotting track according to the scanning information; the human-computer interaction touch display screen is used for displaying the user control interface and realizing human-computer interaction;
the man-machine interaction comprises the steps that an operator selects commands of starting, suspending slotting, stopping slotting and the like of the automatic slotting system on a user control interface, browses slotting tracks in advance, executes pre-track operation of the robot and sets working parameters, and when actual working parameters exceed the set working parameters, the electric control system (14) sends out emergency signals.
8. An emergency processing method of an automatic tunnel grooving system, which adopts the automatic tunnel grooving system of claim 7, and is used for processing the emergency signal, wherein when the electrical control system (14) sends the emergency signal, the upper computer generates a first processing signal, a second processing signal, a third processing signal and a fourth processing signal;
the first processing signal is a pause grooving signal, and the first signal can stop the grooving cutter (34) and simultaneously enable the industrial robot (12) to withdraw the grooving cutter (34) from the opened groove;
the second processing signal is a grooving stop signal, and the second processing signal can stop the operation of the grooving cutter (34), then enable the industrial robot (12) to withdraw the grooving cutter (34) from the opened groove and enable the industrial robot (12) to return to a grooving starting position;
the third processing signal is an avoidance signal, and the third processing signal can enable the slotting cutter (34) to avoid the protrusion;
the fourth processing signal is a non-avoidance signal, and the fourth processing signal enables the slotting cutter (34) to continue slotting according to the slotting track.
9. An emergency processing method of an automatic tunnel slotting system, which is characterized in that the automatic tunnel slotting system of any one of claims 5 to 7 is adopted, an operator sets working parameters on a user control interface of the automatic tunnel slotting system and starts the automatic tunnel slotting system to perform slotting operation, a scanning device (16) scans an operation surface, the scanning device (16) transmits data obtained by scanning to an upper computer control system through an electric control system (14), and the upper computer control system generates slotting tracks; the upper computer transmits the slotting track to the electrical control system (14), and the electrical control system (14) controls the industrial robot to slot according to the slotting track; if the system is powered off in the grooving process, entering an emergency treatment mode, wherein the emergency treatment method comprises the following steps:
a. judging whether an emergency processing execution instruction is received, if the emergency processing execution instruction is not received, waiting for power restoration, and if the emergency processing execution instruction is received, executing the step b by the tunnel automatic slotting system;
b. compressed air is introduced into the air cylinder (35), and a push rod of the air cylinder (35) drives the sliding table (32) to withdraw the slotting cutter (34) on the slotting motor (33) from the slotted groove;
c. a standby power supply (29) is used for supplying power to the power-losing brake (25), the brake of the power-losing brake (25) is released, and the mounting plate (23) and the industrial robot (12) descend;
d. judging whether the robot and the slotting device (3) are within the range of a safety limit (4) of the tunnel, if the robot and the slotting device exceed the range of the safety limit (4), executing the step e, and if the robot and the slotting device are within the range of the safety limit (4), executing the step f;
e. taking down a positioning bolt between the fixing plate (21) and the positioning block (27), and moving the industrial robot (12) and the slotting device (3) into a safety limit (4) of the tunnel through a screw rod (28) and nut structure;
f. the entire platform lorry (10) is pulled away from the tunnel operation position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111080128.XA CN113700488A (en) | 2021-09-15 | 2021-09-15 | Automatic tunnel slotting system and emergency processing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111080128.XA CN113700488A (en) | 2021-09-15 | 2021-09-15 | Automatic tunnel slotting system and emergency processing method |
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| CN113700488A true CN113700488A (en) | 2021-11-26 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111535381A (en) * | 2020-05-12 | 2020-08-14 | 中铁二局集团有限公司 | Automatic slotting system and method for tunnel drainage channel |
| CN112127903A (en) * | 2020-09-29 | 2020-12-25 | 中铁二局集团有限公司 | Slotting device for installing robot to operate |
| CN214059741U (en) * | 2020-12-17 | 2021-08-27 | 中铁二局集团有限公司 | Movable lifting device |
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2021
- 2021-09-15 CN CN202111080128.XA patent/CN113700488A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111535381A (en) * | 2020-05-12 | 2020-08-14 | 中铁二局集团有限公司 | Automatic slotting system and method for tunnel drainage channel |
| CN112127903A (en) * | 2020-09-29 | 2020-12-25 | 中铁二局集团有限公司 | Slotting device for installing robot to operate |
| CN214059741U (en) * | 2020-12-17 | 2021-08-27 | 中铁二局集团有限公司 | Movable lifting device |
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