CN114575903A - Intelligent construction method and construction device for high slope and large-scale cavern support - Google Patents
Intelligent construction method and construction device for high slope and large-scale cavern support Download PDFInfo
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- CN114575903A CN114575903A CN202011293233.7A CN202011293233A CN114575903A CN 114575903 A CN114575903 A CN 114575903A CN 202011293233 A CN202011293233 A CN 202011293233A CN 114575903 A CN114575903 A CN 114575903A
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- 238000010276 construction Methods 0.000 title claims abstract description 76
- 238000005553 drilling Methods 0.000 claims abstract description 70
- 238000005507 spraying Methods 0.000 claims abstract description 19
- 239000011435 rock Substances 0.000 claims abstract description 7
- 239000004568 cement Substances 0.000 claims abstract description 4
- 239000004567 concrete Substances 0.000 claims description 29
- 238000000034 method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000010586 diagram Methods 0.000 claims description 11
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 239000011378 shotcrete Substances 0.000 claims description 7
- 238000013461 design Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 239000007921 spray Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A10/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE at coastal zones; at river basins
- Y02A10/23—Dune restoration or creation; Cliff stabilisation
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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)
- Structural Engineering (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses an intelligent construction method and device for supporting a high slope and a large-scale grotto, which are used for carrying out site construction by establishing a construction map, positioning an operation point, planning construction steps and then carrying out site construction. The designed automatic construction device comprises an anchor cable and anchor rod drilling mechanical arm, an anchor cable and anchor rod mounting mechanical arm and a grouting mechanical arm; the anchor bolt and anchor rod drilling mechanical arm is used for drilling holes in a rock wall, the anchor bolt and anchor rod mounting mechanical arm is used for grabbing anchor bolts and anchor cables and conveying the anchor bolts and anchor cables into the drilled holes, and the grouting mechanical arm is used for spraying cement paste into the drilled holes to achieve mounting of the anchor bolts and anchor cables. This mode has avoided building the scaffold in the large-scale side slope work progress, and has avoided constructor's demand that needs high altitude construction, has improved the security of side slope construction greatly.
Description
Technical Field
The invention belongs to the field of water conservancy, hydropower and civil engineering and particularly relates to an intelligent construction method and a construction device for supporting a high slope and a large-scale cavern.
Background
During supporting construction of a high slope or a large-sized chamber of an engineering project, in the prior art, a mode of erecting a high bent frame is often adopted, and then multiple working procedures of anchor rod drilling and installation, prestressed anchor cable drilling and installation, grouting, drain hole drilling and installation, steel wire mesh hanging and concrete spraying and the like are carried out on the high bent frame. On one hand, the high bent erection cycle is long, the manual investment is large, and the time and the labor are wasted; on the other hand, the potential safety hazard is more prominent; when the concrete is sprayed for the third time, the worker has poor working environment and is harmful to the health of the body, and the bent frame is detached from the upper side to spray the concrete; the adopted engineering equipment is also the traditional hand-air drill and anchor cable drilling machine, the construction of the multiple procedures is carried out manually, the work efficiency is low, and the construction period is long.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the intelligent construction method and the construction device for supporting the high slope and the large-scale cavern, which have high efficiency, short construction period and excellent working environment.
In order to achieve the purpose, the intelligent construction method for supporting the high slope and the large-scale cavern is characterized by comprising the following steps of:
step 1: positioning a working point, and quickly imaging a working surface by a three-dimensional scanning quick imaging technology to generate a three-dimensional digital terrain model diagram of the working surface;
step 2: respectively inputting the established three-dimensional digital terrain model diagram of the working face and the design construction support diagram into a control computer;
and 3, step 3: planning construction, namely designing an automatic construction device at first; then, dividing the working surface, determining an initial coordinate point of the working surface for each working surface, and positioning the working points by adopting the steps 1 and 2;
the automatic construction device comprises an anchor cable anchor rod drilling mechanical arm, an anchor cable anchor rod mounting mechanical arm and a grouting mechanical arm; the anchor bolt and anchor rod drilling mechanical arm is used for drilling holes in a rock wall, the anchor bolt and anchor rod mounting mechanical arm is used for grabbing anchor bolts and anchor cables and conveying the anchor bolts and anchor cables into the drilled holes, and the grouting mechanical arm is used for spraying cement paste into the drilled holes to achieve mounting of the anchor bolts and anchor cables.
And 4, step 4: is carried out on site
And constructing the support of the high slope or the large-scale cavern by using the automatic construction device recorded with the coordinates of the support points.
Further, the hardware of the three-dimensional scanning rapid imaging technology in the step 1 is also integrated on an automatic construction device.
Furthermore, the distance between the two working surfaces is 5-10 m.
The invention also designs a device for realizing the intelligent construction method for supporting the high slope and the large-scale cavern, which comprises a platform module, and a three-dimensional laser scanner, a master control computer and an automatic construction device which are arranged on the platform module;
the three-dimensional laser scanner is connected with the master control computer and used for acquiring the coordinates of the operation points according to the intelligent construction method of the high slope and large-scale cavern support;
the automatic construction device is connected with the master control computer and used for constructing the high slope or large-scale cavern support according to the operating point coordinates acquired by the master control computer.
The automatic construction device comprises a drilling module, a concrete spraying or grouting module and an industrial mechanical mounting arm module which are arranged on a platform module, wherein a walking mechanism is arranged on the platform module, and the platform module can be an engineering truck as a whole; the drilling module, the industrial mechanical mounting arm module and the concrete spraying or grouting module are all connected with a master control computer, and the master control computer controls the drilling module, the concrete spraying module and the industrial mechanical mounting arm to realize fixed mounting of the anchor rod.
Furthermore, the drilling module is used for drilling a hole in a rock wall and mainly comprises a hydraulic first mechanical arm capable of automatically stretching, the bottom end of the first mechanical arm is connected to the platform module through a rotating mechanism, and a second support rod for controlling stretching through hydraulic pressure is arranged between the first mechanical arm and the platform module; the rotating mechanism can realize 360-degree rotation; the top end of the first mechanical arm is hinged with a drill rod support, a first support rod which is controlled to stretch out and draw back by hydraulic pressure is connected between the drill rod support close to the hinged point and the first mechanical arm, a drilling machine and a matched drill rod are arranged on the drill rod support, a drill rod guide structure and a screw rod slide rail are further arranged on the drill rod support, the drill rod guide structure is used for limiting the direction of the drill rod, the drill rod can move along the guide structure, deviation can not occur, and the precision of an action process is guaranteed. The screw slide rail is matched with a drilling machine for use, and the drilling machine moves along the screw slide rail in the operation process. In the invention, when the drilling module works, the first mechanical arm and the second support rod are matched for use and are responsible for lifting the drilling machine support to the height of an operation surface, namely, the drilling machine support is coarsely adjusted; the first support rod and the 360-degree rotating mechanism are responsible for moving the drilling machine support to the position of the working surface, namely fine adjustment is carried out on the drilling machine support; the drilling machine bracket is used for mounting the drilling machine, the driving device and the camera; the slide rail that the rig support set up guarantees the steady operation of commentaries on classics machine at the working process.
Furthermore, the industrial mechanical mounting arm module used in the design specifically comprises a hydraulic-driven telescopic second mechanical arm, the bottom end of the second mechanical arm is connected to the platform module through a second rotating platform, a third support rod which is controlled to be telescopic by hydraulic pressure is arranged between the second mechanical arm and the platform module, the top end of the second mechanical arm is hinged with a gripper mounting arm, and a fourth support rod which is controlled to be telescopic by hydraulic pressure is connected between the gripper mounting arm close to the hinged point and the second mechanical arm; and the gripper mounting arm is connected with a gripper used for clamping an anchor rod or an anchor cable through a rotating device. The rotating device is controlled by a main control computer to rotate the angle.
Furthermore, the concrete spraying module comprises a third mechanical arm connected to the platform module through a bottom rotating platform, the top end of the third mechanical arm is hinged to a telescopic fourth mechanical arm, a fifth support rod which is controlled to stretch out and draw back by hydraulic pressure is arranged between the third mechanical arm and the fourth mechanical arm close to the hinged position, a concrete sprayer with a sprayer is arranged on the fourth mechanical arm, and the concrete sprayer is used for spraying concrete conveyed by the concrete conveying hose.
Preferably, in order to meet the requirement of manual operation conveniently, an artificial auxiliary operation platform is further arranged on the platform module, the auxiliary operation platform comprises a telescopic fifth mechanical arm, the bottom end of the telescopic fifth mechanical arm is connected to the platform module through a rotating platform, a sixth support rod which is controlled to be telescopic by hydraulic pressure is arranged between the fifth mechanical arm and the rotating platform, the top end of the sixth mechanical arm is hinged to a connecting arm, a telescopic seventh support rod is arranged between the connecting wall close to the hinged point and the sixth mechanical arm, and an artificial auxiliary operation frame with a guardrail is arranged on the connecting arm.
Drawings
Fig. 1 is a schematic structural view of the intelligent construction device for supporting high slopes and large-scale caverns.
FIG. 2 is a schematic view of another embodiment of the present invention.
Fig. 3 is a schematic view of a retracting structure of the intelligent construction device for supporting a high slope and a large-scale chamber.
Fig. 4 is a schematic structural diagram of the drilling module of the present invention.
Fig. 5 is a schematic structural view of a mechanically mounted gripper module of the present invention.
Fig. 6 is a schematic structural diagram of a shotcrete or grouting module according to the present invention.
FIG. 7 is a schematic structural diagram of a manual-assisted operation platform according to the present invention.
Fig. 8 is a schematic structural diagram of a three-dimensional scanner according to the present invention.
In the figure: drilling module 1: the device comprises an electric drilling machine 1.1, a drill rod 1.2, a screw slide rail 1.3, a guide structure 1.4, a first camera 1.5, a first support rod 1.6, a first mechanical arm 1.7 and a second support rod 1.8;
industrial robot mounting arm module 2: the mechanical mounting gripper comprises a mechanical mounting gripper 2.1, a rotating device 2.2, a second camera 2.3, a third supporting rod 2.4, a second mechanical arm 2.5, a fourth supporting rod 2.6 and a gripper mounting arm 2.7;
shotcrete or grouting module 3: 3.1 of a spray head, 3.2 of a concrete sprayer, 3.3 of a concrete conveying hose, 3.4 of a third mechanical arm, 3.5 of a third camera, 3.6 of a fifth support rod and 3.7 of a fourth mechanical arm;
the manual auxiliary operation platform 4: the manual auxiliary operation frame is 4.1, the connecting wall is 4.2, the rotating device is 4.3, the fifth mechanical arm is 4.4, the sixth supporting rod is 4.5, and the seventh supporting rod is 4.6;
a three-dimensional laser scanner 5; a pump concrete or grouting system 6; a rotating chassis 7; a machineshop car 8; an air compressor 9; a comprehensive trolley head (including an intelligent control system) 10; an illumination 11; the fixture 12 is operated.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the invention relates to an intelligent construction method for supporting a high slope and a large-scale grotto, which comprises the following steps:
step 1: positioning a working point, and quickly imaging a working surface by a three-dimensional scanning quick imaging technology to generate a three-dimensional digital terrain model diagram of the working surface;
step 2: respectively inputting the established three-dimensional digital terrain model diagram of the working face and the design construction support diagram into a control computer;
the construction support map and the operation surface three-dimensional digital terrain model map are overlapped and matched, and support point coordinates are automatically generated; the process adopts a coordinate matching technology, namely, the coordinate information generating data of the construction support drawing is matched with the topographic three-dimensional digital model drawing data information of the construction working surface which is automatically generated by the scanning of a three-dimensional scanner, and the content and the coordinate information of the to-be-supported operation are automatically generated on the topographic three-dimensional digital model drawing of the construction working surface. The data formats of the two are unified, specifically, the coordinate information of the construction support drawing can be generated in an AutoCAD data format, the three-dimensional scanner can generate mostly obj, asc, stl, dxf and other formats, files generated by the three-dimensional scanner in various formats can be easily converted into dwg or dwt formats, and therefore automatic compatible recording can be achieved on the same interface.
And step 3: planning construction steps
Designing an automatic construction device;
dividing the working surfaces, determining an initial coordinate point of each working surface, and positioning the working points by adopting the steps 1 and 2;
the automatic construction device comprises an anchor cable anchor rod drilling mechanical arm, an anchor cable anchor rod mounting mechanical arm and a grouting mechanical arm; the anchor bolt and anchor rod drilling mechanical arm is used for drilling holes in a rock wall, the anchor bolt and anchor rod mounting mechanical arm is used for grabbing anchor bolts and anchor cables and conveying the anchor bolts and anchor cables into the drilled holes, and the grouting mechanical arm is used for spraying cement paste into the drilled holes to achieve mounting of the anchor bolts and anchor cables.
And 4, step 4: is carried out on site
And constructing the support of the high slope or the large-scale cavern by using the automatic construction device recorded with the coordinates of the support points.
Preferably, the hardware of the three-dimensional scanning rapid imaging technology in the step 1 is also integrated on an automatic construction device.
Preferably, the distance between the two working surfaces is 5-10 m.
The invention also designs a device for realizing the intelligent construction method of the high slope and large-scale cavern support, which comprises a platform module, and a three-dimensional laser scanner 5, a master control computer and an automatic construction device which are arranged on the platform module;
the three-dimensional laser scanner 5 is connected with the master control computer and used for acquiring the coordinates of the operation points according to the intelligent construction method of the high slope and large-scale cavern support;
the automatic construction device is connected with the master control computer and is used for constructing the high slope or large-scale cavern support according to the operating point coordinates acquired by the master control computer;
the automatic construction device comprises a drilling module 1, a concrete spraying or grouting module 3 and an industrial mechanical arm 2 which are arranged on a platform module, wherein a walking mechanism is arranged on the platform module, and the platform module can be an engineering truck 8 as a whole; the drilling module 1, the industrial mechanical arm 2 and the shotcrete or grouting module 3 are all connected with a master control computer, and the master control computer is internally provided with corresponding programs for controlling the drilling module, the shotcrete module and the industrial mechanical arm to realize the fixed installation of the anchor rod.
The drilling module 1 is used for drilling on a rock wall and mainly comprises a hydraulic first mechanical arm 1.7 capable of automatically telescoping, the bottom end of the first mechanical arm 1.7 is connected to the platform module through a rotating mechanism, and a second support rod 1.8 for hydraulically controlling telescoping is arranged between the first mechanical arm and the platform module; the rotating mechanism can realize 360-degree rotation; the top end of the first mechanical arm 1.7 is hinged with a drill rod support, a first support rod 1.6 which is controlled by hydraulic pressure to stretch is connected between the drill rod support close to the hinged point and the first mechanical arm, the drill rod support is provided with a drilling machine 1.1 and a matched drill rod 1.2, the drill rod support is further provided with a drill rod guide structure 1.4 and a spiral slide rail 1.3, and the drill rod guide structure 1.4 is used for limiting the direction of the drill rod 1.2, so that the drill rod 1.2 moves along the guide structure 1.4 without deviation, and the precision of the action process is ensured. The spiral slide rail 1.3 is matched with the drilling machine 1.1 for use, and the drilling machine 1.1 moves along the spiral slide rail 1.3 in the operation process. In the invention, when the drilling module works, the first mechanical arm 1.7 and the second support rod 1.8 are matched for use and are responsible for lifting the drilling machine support to the height of an operation surface, namely, the drilling machine support is coarsely adjusted; the first support 1.6 rod and the 360-degree rotating mechanism are responsible for moving the drilling machine support to the position of the working surface, namely fine adjustment is carried out on the drilling machine support; the drilling machine bracket is used for mounting the drilling machine, the driving device and the camera; the slide rail that the rig support set up guarantees the steady operation of commentaries on classics machine at the working process.
The industrial mechanical mounting arm module 2 is used for grabbing anchor rods and anchor cables and conveying the anchor rods and the anchor cables into a drill hole. The industrial mechanical arm module 2 used in the design specifically comprises a hydraulic-driven telescopic second mechanical arm 2.5, the bottom end of the second mechanical arm 2.5 is connected to the platform module through a second rotating platform, a hydraulic-control telescopic third support rod 2.4 is arranged between the second mechanical arm 2.5 and the platform module, the top end of the second mechanical arm 2.5 is hinged with a gripper mounting arm 2.7, and a hydraulic-control telescopic fourth support rod 2.6 is connected between the gripper mounting arm 2.7 close to the hinged point and the second mechanical arm 2.5; the gripper mounting arm 2.7 is connected with a gripper 2.1 for clamping the anchor rod or anchor cable through a rotating device. The rotating device is controlled by a main control computer to rotate the angle.
The concrete spraying or grouting module 3 comprises a third mechanical arm 3.4 connected to the platform module through a bottom rotating platform, a telescopic fourth mechanical arm 3.7 is hinged to the top end of the third mechanical arm 3.4, a fifth support rod 3.6 which is controlled to be telescopic by hydraulic pressure is arranged between the third mechanical arm 3.4 and the fourth mechanical arm 3.7 close to the hinged position, a concrete sprayer 3.2 with a sprayer 3.1 is arranged on the fourth mechanical arm 3.7, and the concrete sprayer 3.2 is used for spraying concrete conveyed by a concrete conveying hose 3.3.
Preferably, in order to meet the requirement of manual operation conveniently, an artificial auxiliary operation platform is further arranged on the platform module, the auxiliary operation platform comprises a telescopic fifth mechanical arm, the bottom end of the telescopic fifth mechanical arm is connected to the platform module through a rotating platform, a sixth support rod which is controlled to be telescopic by hydraulic pressure is arranged between the fifth mechanical arm and the rotating platform, the top end of the sixth mechanical arm is hinged to a connecting arm, a telescopic seventh support rod is arranged between the connecting wall close to the hinge point and the sixth mechanical arm, and an artificial auxiliary operation frame with a guardrail is arranged on the connecting arm.
The structure for controlling the pose of the drilling module, the industrial mechanical arm module, the concrete spraying or grouting module and the manual auxiliary operation platform can be realized by adopting the existing mechanical arm, the structure for controlling the pose can be realized by adopting the existing mechanical arm, such as a structure formed by a rotating mechanism, a first mechanical arm, a second supporting rod, a drill rod support and a first supporting rod in the drilling module, special control software for each operation can be compiled according to all poses, the number of joints, the action amplitude and the action speed of each operation process, and after the software is compiled, each operation process is truly simulated and all control parameters are accurately calibrated. And all be equipped with the camera of being connected with the master control computer on drilling module, industrial robot arm module and the shotcrete module, the dynamic change condition of accurate coordinate value on the accessible master control computer display screen combines manual operation control handle to carry out the accurate positioning, until the accurate supporting point that arrives the construction of planning.
Further, the number of the drilling modules is 2; the drilling module is provided with a camera which is connected with the control module. And the drilling module is responsible for drilling the anchor rod, the anchor cable and the drain hole. The industrial mechanical arm is arranged between the two drilling modules, so that the convenience of mounting the anchor rod and the anchor cable is ensured.
Two drilling modules are adopted to improve the construction efficiency, and two drilling operations can be simultaneously carried out, namely, a multi-arm drilling mode mature in the engineering field is adopted.
And furthermore, cameras connected with a master control computer are arranged on the drilling module, the concrete spraying or grouting module and the industrial mechanical arm module. In order to in various construction operation processes, operating personnel can carry out whole journey control to automatic control system operation process in the driver's cabin, but the discovery problem timely processing is revised to in order to whole construction process is accurate effectual going on. The field construction and monitoring are avoided from being carried out from each operation point by manpower, the manpower can be greatly reduced, the labor intensity is reduced, and the working environment of operators is improved.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (7)
1. An intelligent construction method for supporting a high slope and a large-scale chamber is characterized by comprising the following steps: the invention relates to a designed intelligent construction method for supporting a high slope and a large-scale cavern, which is characterized by comprising the following steps:
step 1: establishing a construction map, designing a construction support map, and inputting the construction support map into a control computer;
step 2: positioning a working point, and quickly imaging a working surface by a three-dimensional scanning quick imaging technology to generate a three-dimensional digital terrain model diagram of the working surface;
and 3, step 3: planning construction, namely designing an automatic construction device at first; then, dividing the working surface, determining an initial coordinate point of the working surface for each working surface, and positioning the working points by adopting the steps 1 and 2;
the automatic construction device comprises an anchor cable and anchor rod drilling mechanical arm, an anchor cable and anchor rod mounting mechanical arm and a grouting mechanical arm; the anchor rod and anchor rod drilling mechanical arm is used for drilling a hole in a rock wall, the anchor rod and anchor rod mounting mechanical arm is used for grabbing an anchor rod and an anchor rope and conveying the anchor rod and the anchor rope into the drilled hole, and the grouting mechanical arm is used for spraying cement paste into the drilled hole to realize mounting of the anchor rod and the anchor rope;
and 4, step 4: is carried out on site
And constructing the support of the high slope or the large-scale cavern by using the automatic construction device recorded with the coordinates of the support points.
2. The intelligent construction method for the high slope and large-scale cavern support according to claim 1, which is characterized in that: the hardware of the two-position scanning rapid imaging technology in the step 2 is also integrated on an automatic construction device.
3. The intelligent construction method for the high slope and large-scale cavern support according to claim 1, which is characterized in that: the distance between the two working surfaces is 5-10 m.
4. A device for realizing the intelligent construction method of high slope and large-scale cavern support comprises a platform module, and a three-dimensional laser scanner, a master control computer and an automatic construction device which are arranged on the platform module;
the three-dimensional laser scanner is connected with the master control computer and used for acquiring the coordinates of the operation points according to the intelligent construction method of the high slope and large-scale cavern support;
the automatic construction device is connected with the master control computer and is used for constructing a high slope or large-scale cavern support according to the operating point coordinates acquired by the master control computer;
the automatic construction device comprises a drilling module (1), a concrete spraying or grouting module (3) and an industrial mechanical mounting arm (2), wherein the drilling module, the concrete spraying or grouting module and the industrial mechanical mounting arm are arranged on a platform module, a walking mechanism is arranged on the platform module, and the platform module can be an engineering truck (8) as a whole; the drilling module (1), the industrial mechanical installation arm (2) and the sprayed concrete or grouting module (3) are connected with a master control computer, and the master control computer controls the drilling module, the sprayed concrete module and the industrial mechanical installation arm to realize fixed installation of the anchor rod.
5. The device for realizing the intelligent construction method for supporting the high slope and the large-scale cavern according to claim 4, is characterized in that: the drilling module (1) is used for drilling on a rock wall and mainly comprises a hydraulic first mechanical arm (1.7) capable of automatically stretching, the bottom end of the first mechanical arm (1.7) is connected to the platform module through a rotating mechanism, and a second support rod (1.8) for controlling stretching through hydraulic pressure is arranged between the first mechanical arm and the platform module; the rotating mechanism can realize 360-degree rotation; a drill rod support is hinged to the top end of the first mechanical arm (1.7), a first support rod (1.6) which is controlled to stretch out and draw back by hydraulic pressure is connected between the drill rod support close to the hinged point and the first mechanical arm, a drilling machine (1.1) and a matched drill rod (1.2) are arranged on the drill rod support, a drill rod guide structure (1.4) and a screw rod slide rail (1.3) are further arranged on the drill rod support, the screw rod slide rail (1.3) is matched with the drilling machine (1.1) in use, and the drilling machine (1.1) moves along the screw rod slide rail (1.3) in the operation process.
6. The device for realizing the intelligent construction method for supporting the high slope and the large-scale cavern according to claim 5, is characterized in that: the industrial mechanical mounting arm (2) specifically comprises a hydraulic-driven telescopic second mechanical arm (2.5), the bottom end of the second mechanical arm (2.5) is connected to the platform module through a second rotating platform, a hydraulic-control telescopic third support rod (2.4) is arranged between the second mechanical arm and the platform module, the top end of the second mechanical arm (2.5) is hinged with a gripper mounting arm (2.7), and a hydraulic-control telescopic fourth support rod (2.6) is connected between the gripper mounting arm (2.7) close to the hinged point and the second mechanical arm (2.5); the gripper mounting arm (2.7) is connected with a gripper (2.1) used for clamping an anchor rod or an anchor cable through a rotating device.
7. The device for realizing the intelligent construction method for supporting the high slope and the large-scale cavern according to claim 5, is characterized in that: the concrete spraying module (3) comprises a third mechanical arm (3.4) connected to the platform module through a bottom rotating platform, a telescopic fourth mechanical arm (3.7) is hinged to the top end of the third mechanical arm (3.4), a fifth support rod (3.6) which is controlled to stretch by hydraulic pressure is arranged between the third mechanical arm (3.4) and the fourth mechanical arm (3.7) close to the hinged position, a concrete sprayer (3.2) with a sprayer (3.1) is arranged on the fourth mechanical arm (3.7), and the concrete sprayer (3.2) is used for spraying concrete conveyed by a concrete conveying hose (3.3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011293233.7A CN114575903A (en) | 2020-11-18 | 2020-11-18 | Intelligent construction method and construction device for high slope and large-scale cavern support |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011293233.7A CN114575903A (en) | 2020-11-18 | 2020-11-18 | Intelligent construction method and construction device for high slope and large-scale cavern support |
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| CN114575903A true CN114575903A (en) | 2022-06-03 |
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| CN202011293233.7A Pending CN114575903A (en) | 2020-11-18 | 2020-11-18 | Intelligent construction method and construction device for high slope and large-scale cavern support |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115142447A (en) * | 2022-09-06 | 2022-10-04 | 山东孟子居生态农业股份有限公司 | Slope reinforcement system and method with shock absorption and energy dissipation functions |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115142447A (en) * | 2022-09-06 | 2022-10-04 | 山东孟子居生态农业股份有限公司 | Slope reinforcement system and method with shock absorption and energy dissipation functions |
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