CN114960596B - A survey integrative construction equipment of caulking that is arranged in ocean tunnel foundation to visit and dig in-process - Google Patents
A survey integrative construction equipment of caulking that is arranged in ocean tunnel foundation to visit and dig in-process Download PDFInfo
- Publication number
- CN114960596B CN114960596B CN202210913162.9A CN202210913162A CN114960596B CN 114960596 B CN114960596 B CN 114960596B CN 202210913162 A CN202210913162 A CN 202210913162A CN 114960596 B CN114960596 B CN 114960596B
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- frame
- plate
- motor
- agv
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000010276 construction Methods 0.000 title claims abstract description 20
- 230000000670 limiting effect Effects 0.000 claims abstract description 37
- 230000003287 optical effect Effects 0.000 claims abstract description 20
- 238000005070 sampling Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000005553 drilling Methods 0.000 claims abstract description 13
- 238000003860 storage Methods 0.000 claims description 31
- 238000007789 sealing Methods 0.000 claims description 16
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 14
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 14
- 241001330002 Bambuseae Species 0.000 claims description 14
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 14
- 239000011425 bamboo Substances 0.000 claims description 14
- 238000009412 basement excavation Methods 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 11
- 239000007787 solid Substances 0.000 claims description 10
- 244000309464 bull Species 0.000 claims description 6
- 239000011440 grout Substances 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims 1
- 239000002689 soil Substances 0.000 abstract description 10
- 230000000630 rising effect Effects 0.000 abstract description 2
- 238000005096 rolling process Methods 0.000 description 8
- 230000002349 favourable effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007569 slipcasting Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002337 anti-port Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D1/00—Investigation of foundation soil in situ
- E02D1/02—Investigation of foundation soil in situ before construction work
- E02D1/04—Sampling of soil
-
- 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
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- Architecture (AREA)
- General Engineering & Computer Science (AREA)
- Geology (AREA)
- Soil Sciences (AREA)
- Paleontology (AREA)
- Geochemistry & Mineralogy (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention provides a surveying and joint filling integrated construction device used in a marine tunnel foundation exploring and excavating process, and relates to the technical field of marine tunnel optical exploring and excavating. The invention can form a closed space, avoids the sample from being influenced by other soil layers, and enables the sample frame to move to a position which is in a same horizontal position with the limiting frame along with the rising of the drilling barrel, thereby realizing the exploration on different positions for many times, avoiding the sample from being taken out after each sampling, and saving the working time.
Description
Technical Field
The invention relates to a survey and joint filling integrated construction device for a marine tunnel, in particular to a survey and joint filling integrated construction device for a marine tunnel foundation exploration and excavation process, and belongs to the technical field of marine tunnel optical exploration and excavation.
Background
The submarine tunnel is a traffic pipeline engineering for building communication and land traffic under the sea bottom at straits, bay, estuary and the like. The submarine tunnel is generally divided into a submarine surface type and a submarine stratum type, and the construction method is different. The submarine tunnel does not obstruct the navigation of the water ship and is not influenced by weather conditions such as strong wind, strong fog and the like.
In the excavation process of the foundation of the tunnel region in the shallow sea, the tunnel needs to be surveyed through equipment, and the geological formation in the tunnel needs to be sampled and surveyed at the same time, so that the following problems exist in the actual survey process:
1. in surveying the sample, can't appoint to acquire to the stratum soil property of required degree of depth, need the manual work to take out the drill bit after the sample, take inside sample again, the operation is too loaded down with trivial details.
2. Survey the in-process, can't take the sample voluntarily behind the drill bit sample, be not convenient for carry out a lot of samples.
3. In the process of tunnel exploration, the function of gap filling treatment on the top of the tunnel is not provided, and in the existing gap filling treatment operation, a support plate is usually erected and grouting is carried out.
Disclosure of Invention
The technical problems are not solved: the invention provides a surveying and joint filling integrated construction device used in a marine tunnel foundation exploration and excavation process, which comprises an AGV body, wherein a travelling mechanism is installed at the bottom of the AGV body, the top of the AGV body is fixedly connected with a fixed frame, a drill cylinder is arranged inside the fixed frame, a sample frame is arranged inside the drill cylinder, and a sampling assembly is arranged inside the drill cylinder;
a lifting frame is arranged on one side of the fixing frame and fixedly connected with the AGV body, and a lifting assembly used for lifting the drilling barrel is arranged in the lifting frame;
a fixing frame is arranged inside the fixing frame and fixedly connected with the AGV body, and a pushing assembly used for replacing the sample frame is arranged at the top of the fixing frame;
a supporting frame is arranged inside the fixing frame and fixedly connected with the AGV body, a rotating plate is arranged at the top of the supporting frame, and a storage assembly for collecting samples after sampling is arranged at the top of the rotating plate;
a fixed cylinder is arranged on one side of the fixed frame and fixedly connected with the AGV body, and a rotating assembly used for pushing the sample frame to be converted is arranged in the fixed cylinder;
the pushing assembly comprises a limiting frame, the limiting frame is fixedly connected to the top of a fixing frame, a strip-shaped plate is arranged on the top of the limiting frame, a pushing transverse plate is fixedly connected to the outer side of the strip-shaped plate, a vertical block is fixedly connected to the top of the limiting frame, the pushing transverse plate is in sliding connection with the vertical block, a deflection plate is arranged at the bottom of the strip-shaped plate, a vertical shaft is fixedly connected to the top of the deflection plate, the vertical shaft extends into the strip-shaped plate and is in sliding connection with the strip-shaped plate, a driving rod is fixedly connected to the bottom of the deflection plate, the driving rod penetrates through the limiting frame and is in rotating connection with the limiting frame, a third motor is fixedly connected to the outer side of the fixing frame, an output shaft of the third motor is fixedly connected with the driving rod, an L-shaped supporting frame is fixedly connected to the outer side of the limiting frame, a second telescopic rod is fixedly connected to one side of the L-shaped supporting frame, a roller seat is fixedly connected to one end of the second telescopic rod, a second spring is arranged between the roller seat and the L-shaped supporting frame, the second spring is sleeved outside the second telescopic rod, and in the use process, so that the sample frame can be automatically supplemented and replaced;
the storage assembly comprises a plurality of storage frames which are annularly distributed around a rotating plate, the storage frames are all fixedly connected to the top of the rotating plate, arc-shaped clamping plates are arranged on two sides of the inner wall of each storage frame, first telescopic rods are fixedly connected to two sides of the inner wall of each arc-shaped clamping plate and two sides of the inner wall of each storage frame, a first spring is sleeved on the outer side of each first telescopic rod, a positioning plate is fixedly connected to the bottom of each storage frame and is matched with a limiting plate fixedly connected to the bottom of a sample frame, a rotating rod is fixedly connected to the bottom of each rotating plate and penetrates through a supporting frame and is rotatably connected with the supporting frame, a fifth motor is fixedly connected to the top of an AGV body, an output shaft of the fifth motor is fixedly connected with the rotating rod, and the design is that the sample frames with samples are pushed into the storage frames to be stored;
the runner assembly includes the bull stick, the bull stick runs through solid fixed cylinder and rotates with solid fixed cylinder to be connected, a plurality of slurcam of solid fixed cylinder outside fixedly connected with, the spout has been seted up in the solid fixed cylinder outside, fixedly connected with slope slide between solid fixed cylinder and the spacing frame, the equal fixedly connected with band pulley in bull stick and the dwang outside, two connect through belt drive between the band pulley, be favorable to replenishing new sample frame, AGV automobile body front side is equipped with the device of caulking.
Preferably, the sampling component includes fixed connection in the inside supporting disk of a brill section of thick bamboo, the supporting disk bottom is equipped with the rolling disc, two arc closing plates of rolling disc bottom fixedly connected with, the rolling disc bottom is equipped with the chassis, chassis bottom fixedly connected with bracing piece, bracing piece bottom fixedly connected with fixed disk, the fixed disk with bore section of thick bamboo inner wall fixed connection, the feed chute has been seted up in the brill section of thick bamboo outside, the sample frame sets up in the chassis top, chassis top fixedly connected with mounting panel, sample frame bottom fixedly connected with limiting plate, limiting plate and mounting panel sliding connection, logical groove has been seted up at the chassis top, is favorable to the limiting plate location to the limiting plate bottom the limiting plate through the mounting panel, makes the sample frame keep stable the placing.
Preferably, the sampling assembly further comprises two thread plates which are fixedly connected to the bottoms of the two arc-shaped sealing plates respectively, and two thread plates are connected between the thread plates through threads, the thread plates are sleeved on the outer side of the supporting rod, a sliding groove is formed in the outer side of the supporting rod, a protruding block is fixedly connected to the inner wall of the thread plate and arranged inside the sliding groove formed in the outer side of the supporting rod and slidably connected with the supporting rod, a connecting plate is fixedly connected to the top of the thread plate, two positioning rods are fixedly connected to the top of the connecting plate, the positioning rods are matched with through grooves formed in the chassis, two positioning blocks are fixedly connected to the bottom of the sample frame, a first motor is fixedly connected to the top of the supporting plate, an output shaft of the motor penetrates through the supporting plate and is fixedly connected with the rotating plate, the thread plates push the thread plates, the positioning rods are pushed by the thread plates, and the positioning rods are favorably inserted into the positioning blocks fixedly connected to the bottom of the sample frame.
Preferably, lifting unit includes the lead screw, the lead screw rotates to be connected in AGV automobile body top, the lead screw runs through the lifting frame and rotates with the lifting frame to be connected, the lead screw outside is connected with the connecting block through the ball nut pair, connecting block outside fixedly connected with backup pad, backup pad top fixedly connected with second motor, second motor output shaft and bore a section of thick bamboo fixed connection, lifting frame top fixedly connected with fourth motor, fourth motor output shaft and lead screw fixed connection, this design is favorable to controlling the exploration degree of depth of boring a section of thick bamboo.
Preferably, the device of caulking includes the arch support frame, two hydraulic telescoping rod of arch support frame bottom fixedly connected with, two hydraulic telescoping rod all with AGV automobile body fixed connection, the defeated thick liquid equipment of AGV automobile body top fixedly connected with, defeated thick liquid equipment grout outlet fixedly connected with conveyer pipe, conveyer pipe and arch support frame bottom fixed connection are favorable to filling tunnel arch top seam.
Preferably, AGV automobile body outside fixedly connected with handrail, handrail outside fixedly connected with control panel, control panel and two hydraulic telescoping rod, first motor, second motor, third motor, fourth motor, fifth motor and defeated thick liquid equipment all set up to electric connection.
Preferably, AGV automobile body top fixedly connected with fixing base, optical ranging device is installed at the fixing base top, optical ranging device includes optical range finder.
The invention provides a survey and joint filling integrated construction device used in the marine tunnel foundation exploration and excavation process, which has the following beneficial effects:
1. this an integrative construction equipment of investigation of caulking that is used for marine tunnel basis to visit and dig in-process, be provided with the chassis inside the bore section of thick bamboo, be equipped with the sample frame at the chassis top, it is half to rotate a circle through first motor start drive rolling disc forward, the feed chute of seting up the bore section of thick bamboo outside is sealed when rolling disc bottom fixed connection's arc closing plate, when the bore section of thick bamboo descends to the degree of depth that needs the sample, start first motor this moment and drive the arc closing plate and rotate, the feed chute of seting up the bore section of thick bamboo outside is opened, take a sample to the soil of this degree of depth, reverse rotation rolling disc again after the sample is accomplished, make the rolling disc close the arc closing plate, form the enclosure space, avoid the sample to receive other soil layers to influence, along with the rising of bore section of thick bamboo, make the sample frame remove to be located unified horizontal position with spacing frame.
2. This a survey integrative construction equipment of caulking that is used for ocean tunnel foundation to visit and dig in-process, start the third motor and make the actuating lever drive the deflector rotate, make deflector top fixed connection's vertical axis slide in the bar shaped plate, thereby make the vertical axis promote the bar shaped plate and remove, make the bar shaped plate promote the diaphragm, promote the diaphragm under the riser limiting displacement, make the inside sample frame that is equipped with of promotion diaphragm promotion drill section of thick bamboo, make the sample promote to the frame inside of accomodating of deflector top fixed connection, thereby convenient carry out the automatic change operation, can realize exploring different positions many times, dismantle again after having avoided at every turn taking a sample and take out the sample, the time of work has been saved.
3. This a survey integrative construction equipment of caulking that is used for ocean tunnel foundation to visit and dig in-process makes the gyro wheel seat promote sample frame and spacing frame one side and laminates mutually, makes the sample frame can be smooth pass through the feed chute that the drill barrel outside was seted up to make vacant sample frame promote the sample frame that is equipped with the sample of placing inside the drill barrel, in order to reach and promote the diaphragm and promote the implementation effect that the sample frame carries out the change, repeat above-mentioned operation, can realize taking a sample in proper order and operate.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the lifting assembly of the present invention;
FIG. 3 is a schematic view of the lifting frame of the present invention;
FIG. 4 is a schematic cross-sectional view of the drill cylinder of the present invention;
FIG. 5 is a schematic diagram of a sample frame structure according to the present invention;
FIG. 6 is a schematic view of an arc-shaped sealing plate according to the present invention;
FIG. 7 is a schematic view of a support bar according to the present invention;
FIG. 8 is a schematic view of a supporting frame according to the present invention;
FIG. 9 is an enlarged view of portion A of FIG. 8 according to the present invention;
FIG. 10 is a schematic view of a pushing assembly according to the present invention;
FIG. 11 is a schematic view of the structure of the push cross plate of the present invention;
FIG. 12 is an enlarged view of the portion B of FIG. 11 according to the present invention;
fig. 13 is a schematic diagram of the internal control of the optical distance measuring device of the present invention.
In the figure: 1. an AGV body; 2. a traveling mechanism; 3. a fixing frame; 4. a lifting frame; 5. a screw rod; 6. connecting blocks; 7. a support plate; 8. drilling a barrel; 9. a support disc; 10. a chassis; 11. rotating the disc; 12. an arc-shaped sealing plate; 13. a support bar; 14. fixing the disc; 15. a threaded disc; 16. a thread plate; 17. a connecting plate; 18. positioning a rod; 19. a sliding groove; 20. a sample frame; 21. a limiting plate; 22. a support frame; 23. a rotating plate; 25. a storage frame; 26. rotating the rod; 27. a fifth motor; 29. an arc-shaped clamping plate; 30. a first telescopic rod; 31. a first spring; 32. positioning a plate; 33. a fixed cylinder; 34. a rotating rod; 35. a push plate; 36. a tilting slide plate; 37. a fixed mount; 38. a limiting frame; 39. a strip plate; 40. a deflection plate; 41. a vertical axis; 42. a drive rod; 43. pushing the transverse plate; 44. a vertical block; 45. an L-shaped support frame; 46. a second telescopic rod; 47. a second spring; 48. a roller seat; 49. a pulley; 50. a fixed seat; 51. an optical rangefinder; 53. a control panel; 54. positioning blocks; 55. an arched support frame; 56. a pulp conveying device; 57. a delivery pipe; 59. mounting a plate; 60. a hydraulic telescopic rod; 61. a first motor; 62. a second motor; 63. a third motor; 64. and a fourth motor.
Detailed Description
The embodiment of the invention provides a survey and joint filling integrated construction device used in the marine tunnel foundation exploration and excavation process.
Referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12, the AGV comprises an AGV body 1, a traveling mechanism 2 is mounted at the bottom of the AGV body 1, a fixed frame 3 is fixedly connected to the top of the AGV body 1, a drill barrel 8 is arranged in the fixed frame 3, a sample frame 20 is arranged in the drill barrel 8, a feeding chute is arranged at the outer side of the drill barrel 8, and a sampling assembly is arranged in the drill barrel 8;
a lifting frame 4 is arranged on one side of the fixed frame 3, the lifting frame 4 is fixedly connected with the AGV body 1, and a lifting assembly used for lifting the drilling barrel 8 is arranged inside the lifting frame 4;
a fixed frame 37 is arranged inside the fixed frame 3, the fixed frame 37 is fixedly connected with the AGV body 1, and a pushing assembly for replacing the sample frame 20 is arranged at the top of the fixed frame 37;
a supporting frame 22 is arranged inside the fixed frame 3, the supporting frame 22 is fixedly connected with the AGV body 1, a rotating plate 23 is arranged at the top of the supporting frame 22, and a storage assembly for collecting samples after sampling is arranged at the top of the rotating plate 23;
a fixed cylinder 33 is arranged on one side of the fixed frame 37, the fixed cylinder 33 is fixedly connected with the AGV body 1, and a rotating assembly used for pushing the sample frame 20 to be converted is arranged inside the fixed cylinder 33.
The sampling assembly comprises a supporting plate 9, the supporting plate 9 is fixedly connected inside a drilling barrel 8, a rotating disc 11 is arranged at the bottom of the supporting plate 9, two arc-shaped sealing plates 12 are fixedly connected at the bottom of the rotating disc 11, a base plate 10 is arranged at the bottom of the rotating disc 11, a supporting rod 13 is fixedly connected at the bottom of the base plate 10, a fixed disc 14 is fixedly connected at the bottom of the supporting rod 13, the fixed disc 14 is fixedly connected with the inner wall of the drilling barrel 8, a sample frame 20 is arranged at the top of the base plate 10, a mounting plate 59 is fixedly connected at the top of the base plate 10, a limiting plate 21 is fixedly connected at the bottom of the sample frame 20, the limiting plate 21 is in sliding connection with the mounting plate 59, a through groove is formed at the top of the base plate 10, the positioning of the limiting plate 21 at the bottom of the sample frame 20 through the mounting plate 59 is facilitated, the sample frame 20 is kept stably placed, the sampling assembly further comprises two threaded plates 16, and the two threaded plates 16 are respectively and fixedly connected at the bottoms of the two arc-shaped sealing plates 12, the outer side of the supporting rod 13 is provided with a sliding groove 19, the inner wall of the threaded disc 15 is fixedly connected with a lug, the lug is arranged in the sliding groove 19 arranged on the outer side of the supporting rod 13 and is in sliding connection with the supporting rod 13, the top of the threaded disc 15 is fixedly connected with a connecting plate 17, the top of the connecting plate 17 is fixedly connected with two positioning rods 18, the positioning rods 18 are matched with a through groove arranged on the base plate 10, the bottom of the sample frame 20 is fixedly connected with two positioning blocks 54, the top of the supporting plate 9 is fixedly connected with a first motor 61, an output shaft of the first motor 61 penetrates through the supporting plate 9 and is fixedly connected with the rotating disc 11, the threaded disc 15 is in threaded connection between the two threaded plates 16, the threaded disc 15 is sleeved on the outer side of the supporting rod 13, the inner side of the threaded plate 16 is provided with threads which are engaged with the threads arranged on the outer side of the threaded disc 15, when the rotating disc 11 drives the two fixedly connected arc-shaped sealing plates 12 to rotate, the sealing plate 12 drives the thread plate 16 fixedly connected with the sealing plate to rotate together, a bump (not shown in the figure) fixedly connected with the inner wall of the thread disc 15 is arranged, the bump can slide in a sliding groove of the supporting rod 13, so that the thread disc 15 does not rotate relative to the supporting rod 13, and simultaneously under the action of the threads of the thread plate 16 and the thread disc 15, the thread disc 15 achieves the effect of moving upwards outside the supporting rod 13, thereby being beneficial to pushing the thread disc 15 through the thread plate 16, enabling the thread disc 15 to push the positioning rod 18, enabling the positioning rod 18 to be inserted into the positioning block 54 fixedly connected with the bottom of the sample frame 20, and fixing the positioning block 54.
Lifting unit includes lead screw 5, and lead screw 5 rotates to be connected in 1 top of AGV automobile body, and lead screw 5 runs through the carriage 4 and rotates with carriage 4 to be connected, for the lead screw module promptly, and the 5 outsides of lead screw module are equipped with ball nut, be connected with connecting block 6 on the ball nut, 6 outside fixedly connected with backup pad 7 of connecting block, 7 top fixedly connected with second motors 62 of backup pad, second motors 62 output shaft and the 8 fixed connection that bore a section of thick bamboo, 4 top fixedly connected with fourth motors 64 of carriage, fourth motors 64 output shaft and 5 fixed connection of lead screw, and this design is favorable to controlling the exploration degree of depth that bores a section of thick bamboo 8.
Specifically, because survey and fill a crack to the soil layer geology of tunnel in ocean tunnel, and if only depend on artifical handheld survey device and sampling equipment to take a sample can't carry out the realization, so install running gear 2 through 1 bottom of AGV automobile body, make running gear 2 remove in the tunnel, it is required to explain that running gear 2 adopts crawler-type running gear, do not explain here further.
When the soil layer in the tunnel needs to be explored, when this application equipment reaches the place of surveying the sample, through starting fourth motor 64, make fourth motor 64 drive lead screw 5 and rotate, the lead screw module is the acquisition piece, its principle is that the ball nut that can guarantee through the rotation of lead screw 5 with 5 threaded connection of lead screw moves along lead screw 5, drive connection block 6 on ball nut promptly and descend, connection block 6 drives backup pad 7 and descends, and drive the drill barrel 8 through starting second motor 62 and rotate, make the drill barrel 8 bore the tunnel bottom, be provided with chassis 10 inside the drill barrel 8, be equipped with sample frame 20 at chassis 10 top, it has two apron still to articulate at fixed frame 3 top, two apron set up respectively in rotor plate 23 and fixed cylinder 33 top, so that open and take and place sample frame 20.
The first motor 61 is arranged to drive the rotating disc 11 to rotate forwards for a half turn, the arc-shaped sealing plate 12 fixedly connected with the bottom of the rotating disc 11 seals the feeding groove formed in the outer side of the drill cylinder 8, when the drill cylinder 8 descends to a depth required to be sampled, the first motor 61 is restarted to drive the arc-shaped sealing plate 12 to rotate at the moment, the feeding groove formed in the outer side of the drill cylinder 8 is opened, the second motor 62 drives the drill cylinder 8 to rotate to collect soil in a soil layer into the sample frame 20, the soil at the depth is sampled, after the sampling is completed, the rotating disc 11 is rotated reversely to close the arc-shaped sealing plate 12, a closed space is formed, the sample is prevented from being influenced by other soil layers, the sample frame 20 is moved to be positioned at a horizontal position relative to the limiting frame 38 along with the ascending of the drill cylinder 8, the AGV body 1 is generally called as an AGV and is provided with an automatic navigation device such as an electromagnetic or optical navigation device, the AGV can travel along a specified navigation path, a transport vehicle with various functions is safe protection function, a transport vehicle is not needed in industrial application, and a driver does not need to further use the AGV in a crawler-based on ocean engineering mechanism.
Referring to fig. 1, 2, 4, 5, 8, 9, 10, 11 and 12 again, the pushing assembly includes a limiting frame 38, the limiting frame 38 is fixedly connected to the top of the fixing frame 37, a strip-shaped plate 39 is disposed on the top of the limiting frame 38, a pushing horizontal plate 43 is fixedly connected to the outer side of the strip-shaped plate 39, a vertical block 44 is fixedly connected to the top of the limiting frame 38, the pushing horizontal plate 43 is slidably connected to the vertical block 44, a deflecting plate 40 is disposed at the bottom of the strip-shaped plate 39, a vertical shaft 41 is fixedly connected to the top of the deflecting plate 40, the vertical shaft 41 extends into the strip-shaped plate 39 and is slidably connected to the strip-shaped plate 39, a driving rod 42 is fixedly connected to the bottom of the deflecting plate 40, the driving rod 42 penetrates through the limiting frame 38 and is rotatably connected to the limiting frame 38, a third motor 63 is fixedly connected to the outer side of the fixing frame 37, an output shaft of the third motor 63 is fixedly connected to the driving rod 42, an L-shaped support frame 45 is fixedly connected to the outer side of the limiting frame 38, a second telescopic rod 46 is fixedly connected to one end of the second telescopic rod 46, a second spring 47 is disposed between the roller seat 48 and is used for automatically replacing the sample frame 20.
After accomplishing the sample, through starting first motor 61, make rolling disc 11 drive two arc sealing plates 12 and carry out the antiport two and a half circles, arc sealing plate 12 rotates the in-process, because at arc sealing plate 12 bottom fixedly connected with threading board 16, threading board 16 and 15 threaded connection of threading board simultaneously, sliding tray 19 has been seted up in the bracing piece 13 outside, the lug of 15 inner wall fixed connection of threading board sets up inside the sliding tray 19 that the bracing piece 13 was seted up, thereby realize making threading board 15 promote connecting plate 17 to descend, connecting plate 17 top fixed connection's locating piece 18 roll-off from sample frame 20 bottom fixed connection's locating piece 54, thereby realize relieving the fixed to sample frame 20.
At this time, the driving rod 42 drives the deflection plate 40 to rotate by starting the third motor 63, so that the vertical shaft 41 fixedly connected to the top of the deflection plate 40 slides in the strip-shaped plate 39, and thus the vertical shaft 41 pushes the strip-shaped plate 39 to move, and the strip-shaped plate 39 drives the pushing transverse plate 43, and the pushing transverse plate 43 pushes the sample frame not filled with the sample to push the sample filled with the sample frame 20 inside the drill barrel 8 under the limiting action of the vertical block 44, so that the sample is pushed into the storage frame 25 fixedly connected to the top of the rotation plate 23 (it should be noted that, in the drawing, fig. 11 is used as a reference, the distance between the vertical shaft 41 and the deflection plate 40 can be adjusted in actual use, so as to ensure that the movement of the pushing transverse plate 43 is not affected, and the length of the pushing transverse plate 43 during design needs to push the sample frame 20 into the storage frame 25), so that automatic replacement operation can be conveniently performed, and multiple surveys on different positions can be realized, and the samples can be taken out after each sampling, and the working time can be saved.
Referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 and 12 again, the storage assembly includes a plurality of storage frames 25 annularly distributed around a rotation plate 23, the plurality of storage frames 25 are all fixedly connected to the top of the rotation plate 23, arc-shaped clamping plates 29 are respectively disposed on two sides of an inner wall of the plurality of storage frames 25, first telescopic rods 30 are respectively fixedly connected to two sides of the inner wall of the two arc-shaped clamping plates 29 and two sides of the inner wall of the storage frame 25, a first spring 31 is sleeved outside the first telescopic rod 30, a positioning plate 32 is fixedly connected to the bottom of the storage frame 25, the positioning plate 32 is adapted to a limiting plate 21 fixedly connected to the bottom of the sample frame 20, a rotation rod 26 is fixedly connected to the bottom of the rotation plate 23, the rotation rod 26 penetrates through a support frame 22 and is rotatably connected to the support frame 22, a fifth motor 27 is fixedly connected to the top of the AGV body 1, and an output shaft of the fifth motor 27 is fixedly connected to the rotation rod 26.
The rotating assembly comprises a rotating rod 34, the rotating rod 34 penetrates through the fixed cylinder 33 and is connected with the fixed cylinder 33 in a rotating mode, a plurality of pushing plates 35 are fixedly connected to the outer side of the fixed cylinder 33, a sliding groove is formed in the outer side of the fixed cylinder 33, an inclined sliding plate 36 is fixedly connected between the fixed cylinder 33 and the limiting frame 38, belt wheels 49 are fixedly connected to the outer sides of the rotating rod 34 and the rotating rod 26, the two belt wheels 49 are connected through belt transmission, supplement of a new sample frame 20 is facilitated, and a gap filling device is arranged on the front side of the AGV body 1.
Specifically, a plurality of containing frames 25 of fixed connection at rotor plate 23 top are inside to be provided with locating plate 32, make sample frame 20 bottom fixed connection's limiting plate 21 spacing, make sample frame 20 can stably slide in and accomodate inside frame 25, and all be equipped with arc grip block 29 in containing frame 25 inner wall both sides, it is equipped with first spring 31 to accomodate between frame 25 and the arc grip block 29, make first spring 31 promote arc grip block 29, realize that arc grip block 29 carries out the purpose of centre gripping to sample frame 20, the stability of sample frame 20 is kept, after accomplishing to put, through starting fifth motor 27, make fifth motor 27 drive dwang 26, make dwang 26 drive rotor plate 23 rotate, thereby make a plurality of containing frames 25 at rotor plate 23 top switch, prepare for depositing the sample next time.
Meanwhile, the rotating rod 34 is rotated through belt transmission outside the belt wheel 49 between the rotating rod 34 and the rotating rod 26, when the rotating rod 34 rotates to drive the plurality of pushing plates 35 to rotate, a sample frame 20 is arranged between every two adjacent pushing plates 35, when the pushing plates 35 push the sample frame 20 to rotate, one of the sample frames 20 moves to the inclined sliding plate 36, so that the sample frame 20 slides to the top of the limiting frame 38 through the inclined sliding plate 36, the sample frame 20 is pushed through the pushing assembly, the sample frame 20 is pushed into the top of the chassis 10 inside the drill barrel 8, preparation is carried out for next sampling, and the purpose that the sample frame 20 can be automatically replaced is achieved.
Through the L-shaped support frame 45 fixedly connected with one side of the limit frame 38, as the roller seat 48 is contacted with the sample frame 20, the roller seat 48 pushes the sample frame 20 to be attached to one side of the sample frame 20 and the limit frame 38, so that the sample frame 20 can smoothly pass through the feeding groove formed in the outer side of the drill barrel 8, the vacant sample frame 20 pushes the sample frame 20 which is arranged in the drill barrel 8 and is filled with samples, the implementation effect that the transverse plate 43 is pushed to push the sample frame 20 to be replaced is achieved, and the sampling operation can be sequentially carried out by repeating the operation.
Please refer to fig. 1 again, the caulking device includes the arch support 55, two hydraulic telescoping rods 60 of arch support 55 bottom fixedly connected with, two hydraulic telescoping rods 60 all with AGV automobile body 1 fixed connection, AGV automobile body 1 top fixedly connected with defeated thick liquid equipment 56, defeated thick liquid equipment 56 grout outlet fixedly connected with conveyer pipe 57, conveyer pipe 57 and arch support 55 bottom fixed connection, AGV automobile body 1 outside fixedly connected with handrail, handrail outside fixedly connected with control panel 53, be favorable to filling up tunnel arch top seam, control panel 53 and two hydraulic telescoping rods 60, first motor 61, second motor 62, third motor 63, fourth motor 64, fifth motor 27 and defeated thick liquid equipment 56 all set up to electric connection.
It is specific, when needs carry out the crack filling to tunnel arch top, make hydraulic telescoping rod 60 extend through operation control panel 53, make arch support 55 top laminate with the gap department that appears mutually, pass through defeated thick liquid equipment 56 this moment, make defeated thick liquid equipment 56 pass through conveyer pipe 57 to the inside slip casting that carries out of arch support 55, and keep arch support 55 and tunnel top crack laminating state, after slip casting solidification, through shrink hydraulic telescoping rod 60, thereby accomplish and fill the gap, the simple operation, do not need personnel to operate through setting up the foot rest, it is more convenient quick to operate.
Referring to fig. 13 again, the top of the AGV body is fixedly connected with a fixing base, the top of the fixing base is provided with an optical ranging device, the optical ranging device includes an optical ranging instrument 51, and the optical ranging instrument 51 can be used in combination with a processor, an AGV body control module, a storage unit, a reading unit, a wireless transmission module, a cloud storage server, a networking reading module, data comparison and data correction, which are not described herein too much and can be regarded as the prior art.
Specifically, optical distance measuring instrument 51 is on AGV automobile body 1, and its mounting means can be decided according to actual range finding scope, can arrange current instrument holder and use, to this optical distance measuring instrument 51's application method, this application does not do specific restriction, and optical distance measuring instrument 51 can carry out the transmission of signal and data with built-in treater, and optical distance measuring instrument transmits the signal of acquireing for the treater, and the treater is stored through two kinds of means to the data of surveying:
1. the storage unit arranged on the AGV body 1 is used for storing data, so that the data can be stored in an area without a network, the optical distance meter 51 is used for detecting the data with frequency for multiple times, sending a detection signal, the detection signal is processed by the processor and stored in the storage unit, then the stored data is read, then the data is compared and corrected for multiple times, and the signal after the data correction, such as the distance from a barrier and the vehicle body passing space, is transmitted to the AGV body control module through the processor, so that the obstacle avoidance or the danger avoidance can be conveniently carried out, and the damage to the AGV body control module can be avoided;
2. in an environment with a relatively good network environment or an environment with a local area network, the signal data can be transmitted to the cloud storage server through the wireless transmission module to be stored.
Further, data comparison and data correction can be performed on the data stored in the storage unit and the data stored in the cloud storage server, so that the accuracy of the data can be further improved, and the accuracy of data recording in exploration is facilitated.
Claims (7)
1. A survey integrative construction equipment of caulking that is used for ocean tunnel foundation to visit to dig the in-process, including AGV automobile body (1), running gear (2), its characterized in that are installed to AGV automobile body (1) bottom: the AGV comprises an AGV body (1) and is characterized in that a fixed frame (3) is fixedly connected to the top of the AGV body (1), a drilling cylinder (8) is arranged inside the fixed frame (3), a sample frame (20) is arranged inside the drilling cylinder (8), and a sampling assembly is arranged inside the drilling cylinder (8);
a lifting frame (4) is arranged on one side of the fixed frame (3), the lifting frame (4) is fixedly connected with the AGV body (1), and a lifting assembly used for lifting the drilling barrel (8) is arranged in the lifting frame (4);
a fixing frame (37) is arranged inside the fixing frame (3), the fixing frame (37) is fixedly connected with the AGV body (1), and a pushing assembly used for replacing the sample frame (20) is arranged at the top of the fixing frame (37);
a supporting frame (22) is arranged inside the fixed frame (3), the supporting frame (22) is fixedly connected with the AGV body (1), a rotating plate (23) is arranged at the top of the supporting frame (22), and a storage assembly for collecting samples is arranged at the top of the rotating plate (23);
mount (37) one side is equipped with a fixed cylinder (33), a fixed cylinder (33) and AGV automobile body
(1) The fixed cylinder (33) is internally provided with a rotating component for pushing the sample frame (20) to convert;
the promotion subassembly includes spacing frame (38), spacing frame (38) fixed connection is in mount (37) top, spacing frame (38) top is equipped with bar board (39), bar board (39) outside fixedly connected with promotes diaphragm (43), spacing frame (38) top fixedly connected with riser (44), promote diaphragm (43) and riser (44) sliding connection, bar board (39) bottom is equipped with deflector (40), deflector (40) top fixedly connected with vertical axis (41), vertical axis (41) extend to bar board (39) inside and with bar board (39) sliding connection, deflector (40) bottom fixedly connected with actuating lever (42), actuating lever (42) run through spacing frame (38) and rotate with spacing frame (38) and be connected, mount (37) outside fixedly connected with third motor (63), third motor
(63) The output shaft is fixedly connected with the driving rod (42), the outer side of the limiting frame (38) is fixedly connected with an L-shaped supporting frame (45), one side of the L-shaped supporting frame (45) is fixedly connected with a second telescopic rod (46),
one end of the second telescopic rod (46) is fixedly connected with a roller seat (48), a second spring (47) is arranged between the roller seat (48) and the L-shaped supporting frame (45), and the second spring (47) is sleeved on the outer side of the second telescopic rod (46);
accomodate the subassembly including a plurality of storage frame (25) that revolute movable plate (23) annular distribution, a plurality of storage frame (25) equal fixed connection in movable plate (23) top, a plurality of storage frame (25) inner wall both sides all are equipped with arc grip block (29), two arc grip block (29) and storage frame (25) inner wall both sides equal first telescopic link (30) of fixedly connected with, first telescopic link (30) outside cover is equipped with first spring (31), storage frame (25) bottom fixedly connected with locating plate (32), locating plate (32) and sample frame (20) bottom fixed connection's limiting plate (21) looks adaptation, movable plate (23) bottom fixedly connected with dwang (26), dwang (26) run through support frame (22) and with support frame (23) bottom fixed connection dwang (26)
(22) The AGV comprises an AGV body (1), a fifth motor (27) is fixedly connected to the top of the AGV body (1), and an output shaft of the fifth motor (27) is fixedly connected with a rotating rod (26);
the runner assembly includes bull stick (34), bull stick (34) run through solid fixed cylinder (33) and rotate with solid fixed cylinder (33) and be connected, a plurality of slurcam (35) of solid fixed cylinder (33) outside fixedly connected with, the spout has been seted up in solid fixed cylinder (33) outside, fixedly connected with slope slide (36) between solid fixed cylinder (33) and spacing frame (38), bull stick (34) and the equal fixedly connected with band pulley (49) in dwang (26) outside, two connect through belt drive between band pulley (49), AGV automobile body (1) front side is equipped with the device of caulking.
2. The integrated construction device for surveying and filling joints in the marine tunnel foundation exploration and excavation process as claimed in claim 1, wherein: the sampling component comprises a supporting disk (9) fixedly connected with the inside of a drilling cylinder (8), a rotating disk (11) is arranged at the bottom of the supporting disk (9), two arc-shaped sealing plates (12) fixedly connected with the bottom of the rotating disk (11), a chassis (10) is arranged at the bottom of the rotating disk (11), a supporting rod (13) fixedly connected with the bottom of the chassis (10), a fixed disk (14) fixedly connected with the bottom of the supporting rod (13), the fixed disk (14) is fixedly connected with the inner wall of the drilling cylinder (8), a feeding groove is formed in the outer side of the drilling cylinder (8), a sample frame (20) is arranged at the top of the chassis (10), and the chassis (10)
Top fixedly connected with mounting panel (59), sample frame (20) bottom fixedly connected with limiting plate (21), limiting plate (21) and mounting panel (59) sliding connection, logical groove has been seted up at chassis (10) top.
3. The integrated surveying and caulking construction device used in the marine tunnel foundation exploration and excavation process according to claim 2, characterized in that: the sampling assembly further comprises two threaded plates (16), wherein the threaded plates (16) are fixedly connected to the bottoms of the two arc-shaped sealing plates (12) respectively, two threaded plates (16) are connected with threaded discs (15) in a threaded mode, the outer sides of the supporting rods (13) are sleeved with the threaded discs (15), sliding grooves (19) are formed in the outer sides of the supporting rods (13), lugs are fixedly connected to the inner walls of the threaded discs (15), are arranged in the sliding grooves (19) formed in the outer sides of the supporting rods (13) and are connected with the supporting rods (13) in a sliding mode, a connecting plate (17) is fixedly connected to the top of each threaded disc (15), two positioning rods (18) are fixedly connected to the top of the connecting plate (17), are matched with through grooves formed in the base plate (10), two positioning blocks (54) are fixedly connected to the bottom of the sample frame (20), a first motor (61) is fixedly connected to the top of the supporting plate (9), and an output shaft of the first motor (61) penetrates through the supporting plate (9) and is fixedly connected with the rotating discs (11).
4. The integrated surveying and caulking construction device used in the marine tunnel foundation exploration and excavation process according to claim 3, characterized in that: lifting unit includes lead screw (5), lead screw (5) are rotated and are connected in AGV automobile body (1) top, lead screw (5) run through lifting frame (4) and rotate with lifting frame (4) and be connected, lead screw (5) outside is equipped with ball nut, the last connecting block (6) that is connected with of ball nut, connecting block (6) outside fixedly connected with backup pad (7), backup pad (7) top fixedly connected with second motor (62), second motor (62) output shaft and bore section of thick bamboo (8) fixed connection, lifting frame (4) top fixedly connected with fourth motor (64), fourth motor (64) output shaft and lead screw (5) fixed connection.
5. The integrated surveying and caulking construction device for the marine tunnel foundation exploration and excavation process according to claim 4, wherein the integrated surveying and caulking construction device comprises: the joint filling device comprises an arched support frame (55), two hydraulic telescopic rods (60) are fixedly connected to the bottom of the arched support frame (55), and the two hydraulic telescopic rods (60)
All with AGV automobile body (1) fixed connection, AGV automobile body (1) top fixedly connected with defeated thick liquid equipment (56), defeated thick liquid equipment (56) grout outlet fixedly connected with conveyer pipe (57), conveyer pipe (57) and arch support frame (55) bottom fixed connection.
6. The integrated construction device for surveying and caulking in marine tunnel foundation exploration and excavation process as claimed in claim 5, wherein: AGV automobile body (1) outside fixedly connected with handrail, handrail outside fixedly connected with control panel (53), control panel (53) and two hydraulic telescoping rod (60), first motor (61), second motor (62), third motor (63), fourth motor (64), fifth motor (27) and defeated thick liquid equipment (56) all set up to electric connection.
7. The integrated construction device for surveying and caulking in marine tunnel foundation exploration and excavation process according to claim 1, characterized in that: AGV automobile body (1) top fixedly connected with fixing base (50), optical ranging device is installed at fixing base (50) top, optical ranging device includes optical distance meter (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210913162.9A CN114960596B (en) | 2022-08-01 | 2022-08-01 | A survey integrative construction equipment of caulking that is arranged in ocean tunnel foundation to visit and dig in-process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210913162.9A CN114960596B (en) | 2022-08-01 | 2022-08-01 | A survey integrative construction equipment of caulking that is arranged in ocean tunnel foundation to visit and dig in-process |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114960596A CN114960596A (en) | 2022-08-30 |
| CN114960596B true CN114960596B (en) | 2023-04-07 |
Family
ID=82970472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210913162.9A Active CN114960596B (en) | 2022-08-01 | 2022-08-01 | A survey integrative construction equipment of caulking that is arranged in ocean tunnel foundation to visit and dig in-process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114960596B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116046451B (en) * | 2023-02-24 | 2023-07-04 | 山东省土壤污染防治中心 | Sampling device for soil pollution control |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113927716A (en) * | 2021-10-14 | 2022-01-14 | 浙江勤伟建材股份有限公司 | Side cut device to size environment-friendly concrete dicing |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323259B (en) * | 2020-04-13 | 2020-11-10 | 山东国晟环境科技有限公司 | Soil sampler capable of automatically storing soil sample |
| CN214200706U (en) * | 2020-09-01 | 2021-09-14 | 长沙环境保护职业技术学院 | Soil sampling device for environmental monitoring |
| CN112710498B (en) * | 2020-12-15 | 2021-12-10 | 浙江大学 | Deep sea sediment sample transfer and on-line detection system and application method thereof |
| CN112832818B (en) * | 2021-02-09 | 2023-03-14 | 中建七局交通建设有限公司 | Device and method for eliminating danger of tunnel vault after blasting construction |
| CN113266280B (en) * | 2021-07-19 | 2021-10-26 | 江苏龙共真空技术有限公司 | Drilling equipment for mining tunnel survey and using method |
| CN113898294B (en) * | 2021-11-15 | 2024-05-17 | 青岛海上综合试验场有限公司 | Vibrating type deep sea rock drilling machine of underwater carrier and manipulator control system thereof |
-
2022
- 2022-08-01 CN CN202210913162.9A patent/CN114960596B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113927716A (en) * | 2021-10-14 | 2022-01-14 | 浙江勤伟建材股份有限公司 | Side cut device to size environment-friendly concrete dicing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114960596A (en) | 2022-08-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109799110B (en) | Geological survey instrument with soil sampling function | |
| CN114960596B (en) | A survey integrative construction equipment of caulking that is arranged in ocean tunnel foundation to visit and dig in-process | |
| CN201433731Y (en) | Coring tool and rock core transporting assembly | |
| CN105485425A (en) | Automatic continuous paving operation robot for large-diameter pipelines and operation method of robot | |
| CN105485424B (en) | A kind of large diameter pipeline is automatically continuously laid with the method and Work robot of operation | |
| AU2010264099A1 (en) | Method for determining the position or situation of installation components in mineral mining installations and mining installation | |
| CN112067353A (en) | Hydrogeology detecting device | |
| CN202929049U (en) | Automatic flow measuring railed dolly based on channel section | |
| CN113334404B (en) | Karst cave detection robot | |
| CA1103467A (en) | No translation available | |
| CN107816578A (en) | Cities and towns metallic conduit intelligence laying machine people | |
| CN210660092U (en) | Stable receiving device of shield machine | |
| CN116481612A (en) | Hoisting type lifting and delivering equipment for water level recorder | |
| CN216132497U (en) | All-terrain pipe culvert water affair detection robot | |
| CN107813315A (en) | Natural-gas transfer pipeline intelligence laying machine people | |
| CN113624560A (en) | Underwater environment surveying device for hydraulic engineering | |
| CN211826555U (en) | Underground pipe network detection mechanism for homeland survey | |
| CN203116749U (en) | Precise attitude measurement device | |
| CN112681278A (en) | Highway engineering geological survey ground detection device | |
| CN112782389A (en) | Geological exploration system for shield overlapping tunnel construction of deep sandy mucky soil layer | |
| Ray et al. | Sub-terranean robot: A challenge for the Indian coal mines | |
| JP2764679B2 (en) | Hume pipe burial method by propulsion excavation and self-propelled device for automatic surveying used in this method | |
| CN220438567U (en) | Cable pipeline detection imaging device | |
| JP4139207B2 (en) | Telemetry system in the tunnel | |
| JP3231386B2 (en) | Shield surveying method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |