CN115492612A - Non-operation tunnel reinforcing method and device - Google Patents
Non-operation tunnel reinforcing method and device Download PDFInfo
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- CN115492612A CN115492612A CN202211108670.6A CN202211108670A CN115492612A CN 115492612 A CN115492612 A CN 115492612A CN 202211108670 A CN202211108670 A CN 202211108670A CN 115492612 A CN115492612 A CN 115492612A
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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
- E21D11/14—Lining predominantly with metal
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
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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
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention discloses a method and a device for reinforcing a non-operation tunnel, wherein the method for reinforcing the non-operation tunnel comprises the following steps: acquiring installation parameters of a steel ring piece to be installed in a tunnel; controlling the mechanical arm to obtain a steel ring sheet with a corresponding size; calculating a safe radius and controlling a driving device to adjust the mechanical arm; controlling the travelling mechanism to move the base to a depth position corresponding to the tunnel; controlling the driving device to drive the mechanical arm to move the steel ring sheet to a position corresponding to the circumferential position of the tunnel; controlling the driving device to drive the mechanical arm to enable the picking part to move towards a fixed end far away from the mechanical arm, so that the steel ring sheet is attached to the side wall of the tunnel; judging whether the actual distance between the first position sensor and the second position sensor is smaller than a preset distance or not; the invention realizes the automatic carrying of the tunnel reinforcing duct piece to the mounting position, greatly shortens the time required by reinforcing and ensures the safety of constructors.
Description
Technical Field
The invention relates to the technical field of tunnel reinforcement, in particular to a method and equipment for reinforcing a non-operation tunnel.
Background
Along with the continuous construction of public transport facilities, subway tunnels are more and more, and in order to guarantee the security in tunnel, the maintenance and the reinforcement work in tunnel also are more and more frequent, and the task load is constantly increased.
The tunnel reinforcing method is characterized in that a plurality of steel ring sheets are spliced into a ring in a tunnel, the steel ring is connected with the wall of the tunnel through a steel bar, so that the aim of reinforcing the wall of the tunnel is fulfilled, and in the process of splicing the steel ring sheets into the ring, rail cars are often adopted for transportation, manual transportation and installation.
The existing reinforcement method has low installation efficiency, slow reinforcement work progress, larger construction risk for constructors and easy initiation of safety accidents.
Disclosure of Invention
The invention mainly aims to provide a method and equipment for reinforcing a non-operating tunnel, and aims to solve the problems of low steel ring piece transportation efficiency, poor installation precision and high construction risk during reinforcing the non-operating tunnel.
In order to achieve the purpose, the method for reinforcing the non-operation tunnel provided by the invention comprises the following steps:
s10: acquiring installation parameters of a steel ring piece to be installed in a tunnel, wherein the installation parameters comprise a tunnel radius of a steel ring piece installation position, a tunnel depth parameter of the steel ring piece installation position and a circumferential position parameter of the steel ring piece installation position in the tunnel;
s20: controlling the mechanical arm to obtain the steel ring sheet with the corresponding size according to the tunnel radius of the installation position of the steel ring sheet;
s30: calculating the safe radius and controlling a driving device to adjust the mechanical arm to ensure that the included angle between the first connecting arm and the horizontal direction is theta 1 The included angle between the second connecting arm and the horizontal direction is theta 2 So that the steel ring sheet is positioned in the safe radius and faces the depth direction of the tunnel, and the safe radius is smaller than the tunnel radius;
s40: according to the tunnel depth parameters, the travelling mechanism is controlled to move the machine base to a depth position corresponding to the tunnel, then the driving device is controlled to drive the mechanical arm to rotate along the horizontal direction, so that the picking part faces the side wall of the tunnel, and at the moment, the lateral direction of the steel ring sheet corresponds to the side wall of the tunnel;
s50: controlling the driving device to drive the mechanical arm according to the circumferential position parameters of the tunnel, so that the steel ring sheet moves up and down within the safe radius range to move the steel ring sheet to a position corresponding to the circumferential position of the tunnel;
s60: controlling the driving device to drive the mechanical arm to enable the picking part to move towards the fixed end far away from the mechanical arm, so that the steel ring sheet is attached to the side wall of the tunnel;
s70: and judging whether the actual distance between the first position sensor and the second position sensor is smaller than a preset distance, judging that the steel ring sheet is attached to the side wall of the tunnel when the actual distance is smaller than the preset distance, and repeating the step S60 and the step S70 when the actual distance is larger than or equal to the preset distance.
Optionally, the non-operating tunnel reinforcing apparatus includes:
a machine base;
the traveling mechanism comprises a traveling part arranged at the bottom of the base;
the mechanical arm is movably arranged to have a horizontal rotating stroke, an up-down rotating stroke and a moving stroke which can be close to and far away from a fixed end of the mechanical arm;
the driving device drives the mechanical arm to move;
a control device electrically connected to the driving device, the control device comprising a memory, a processor, and a non-operational tunnel reinforcement program stored on the memory and operable on the processor, the non-operational tunnel reinforcement program being configured to implement the steps of the non-operational tunnel reinforcement method as recited in claim 1.
Optionally, the robotic arm comprises:
one end of the mounting seat is rotatably connected with the base;
one end of the first connecting arm is rotatably connected with the other end of the mounting seat; and the number of the first and second groups,
one end of the second connecting arm is rotatably connected with the other end of the first connecting arm, and the other end of the second connecting arm is used for installing the picking part;
the driving device includes:
the rotating device drives the mounting seat to rotate relative to the machine seat;
the first driving device drives the first connecting arm to rotate relative to the mounting seat; and (c) a second step of,
and the second driving device drives the second connecting arm to rotate relative to the first connecting arm.
Optionally, the rotating device comprises a rotating part, and the rotating part is in transmission connection with the mounting seat;
the first driving device comprises a first linear driving device, and a fixed end and a driving end of the first linear driving device are correspondingly hinged with the base and the first connecting arm; and the number of the first and second groups,
the second driving device comprises a second linear driving device, and the fixed end and the driving end of the second linear driving device are correspondingly hinged with the first connecting arm and the second connecting arm.
Optionally, the rotating part comprises a rotating motor, and the rotating motor is in transmission connection with the mounting seat and is used for driving the mounting seat to rotate by taking the vertical direction as an axis;
the first linear driving device comprises a first hydraulic cylinder, a cylinder barrel of the first hydraulic cylinder is hinged with the mounting seat, a piston rod of the first hydraulic cylinder is hinged with the first connecting arm, and the first hydraulic cylinder is used for driving the first connecting arm to rotate relative to the mounting seat by taking the horizontal direction as an axis; and the number of the first and second groups,
the second linear driving device comprises a second hydraulic cylinder, a cylinder barrel of the second hydraulic cylinder is hinged to the first connecting arm, a piston rod of the second hydraulic cylinder is hinged to the second connecting arm, and the second hydraulic cylinder is used for driving the second connecting arm to rotate relative to the first connecting arm by taking the horizontal direction as an axis.
Optionally, a first angle detector is arranged on the first connecting arm, and the first angle detector is used for detecting an included angle between the first connecting arm and the horizontal direction in real time;
and a second angle detector is arranged on the second connecting arm and is used for detecting the included angle between the second connecting arm and the horizontal direction in real time.
Optionally, one side of the picking part is fixedly connected with a free end of the second connecting arm, and a connecting piece is arranged on the other side of the picking part and is used for being detachably connected with a matching piece on the steel ring piece.
Optionally, the connector comprises:
the first lugs are fixedly connected to one side, away from the second connecting arm, of the picking part and are arranged at intervals along the horizontal direction, and through holes are formed in the first lugs; and the number of the first and second groups,
the movable bolt is detachably connected with the first lugs;
the first lugs are used for being in inserting fit with second lugs arranged on the fitting piece at intervals in the horizontal direction, and the movable bolts are used for being arranged through the through holes in the first lugs and the second lugs.
Optionally, a position detection device is disposed on one side of the base, and the position detection device is configured to detect a position of the base in the depth direction of the tunnel.
Optionally, the position detecting device is an image collector, and the number of the image collectors is two, and the two image collectors are respectively arranged on the left side and the right side of the base, and the central position of the image collector in the direction of the base proceeding direction is in the same line with the connecting position of the mechanical arm and the base.
According to the technical scheme, after the installation parameters of the steel ring pieces are obtained, the mechanical arm is controlled to obtain the corresponding steel ring pieces, the safety radius is calculated and the mechanical arm is driven to adjust the steel ring pieces to the depth direction of the tunnel in the safety radius, then the traveling mechanism is driven to move the base to the position to be reinforced, the steel ring pieces are adjusted to the direction towards the side wall of the tunnel in the safety radius, the mechanical arm is controlled to adjust the steel ring pieces to the position to be installed in the safety radius and finally to be attached to the side wall of the tunnel, whether the steel ring pieces are moved in place or not is judged according to the detection data of the first position sensor and the second position sensor, the subsequent reinforcement work can be completed manually after the steel ring pieces are moved in place, the transportation and adjustment processes are completed automatically by equipment, the transportation efficiency is improved, the installation precision is guaranteed, the manual operation is reduced, and the construction risk is reduced.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a control device of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flowchart illustrating an embodiment of a method for reinforcing a non-operational tunnel according to the present invention;
fig. 3 is a schematic diagram illustrating a formula calculation assistance of the non-operating tunnel reinforcement method in fig. 2;
fig. 4 is another schematic diagram of the non-operational tunnel consolidation method in fig. 3;
fig. 5 is a schematic structural diagram of a non-operational tunnel reinforcing apparatus according to the present invention;
fig. 6 is a schematic view of the safety radius of the present invention.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions relating to "first", "second", etc. in the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The technical scheme of the invention is suitable for the non-operation tunnel of the subway, in the non-operation tunnel, the pipeline bundle is less or even not available, even if a small amount of pipeline bundles exist, the pipeline bundle is not practically applied, so that the avoidance problem of the pipeline bundle is not considered in the process of reinforcing the tunnel.
In view of this, the present invention provides a method for reinforcing a non-operating tunnel, and referring to fig. 1, fig. 1 is a schematic structural diagram of a control device of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the control device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the control device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and a non-operating tunnel reinforcement program.
In the control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the non-operating tunnel reinforcement apparatus of the present invention may be provided in a control device, and the control device calls the non-operating tunnel reinforcement program stored in the memory 1005 through the processor 1001 and executes the non-operating tunnel reinforcement method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for reinforcing a non-operating tunnel, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the method for reinforcing a non-operating tunnel according to the present invention.
In this embodiment, the non-operational tunnel reinforcing method includes:
step S10: acquiring installation parameters of a steel ring piece 300 to be installed in a non-operation tunnel 200, wherein the installation parameters comprise the radius of the non-operation tunnel 200 at the installation position of the steel ring piece 300, the depth parameter of the non-operation tunnel 200 at the installation position of the steel ring piece 300 and the circumferential position parameter of the installation position of the steel ring piece 300 in the non-operation tunnel 200;
in this embodiment, the aperture, the circumferential side wall, the extension direction and the position to be reinforced of the non-operational tunnel 200 are manually mapped in advance, the related data are programmed in advance and stored in the control device, the corresponding and matched steel ring pieces 300 are produced according to the mapped data, the size parameter of each steel ring piece 300 and the corresponding position to be installed are recorded so as to be called by the operational tunnel reinforcement program when the steel ring pieces are installed, the position to be reinforced refers to the depth position in the tunnel depth direction where the non-operational tunnel 200 needs to be reinforced, the position to be installed refers to the circumferential direction of the non-operational tunnel 200, and the steel ring pieces 300 are specifically installed at the angle position of the circumferential side wall of the non-operational tunnel 200.
Step S20: controlling the mechanical arm 2 to obtain the steel ring sheet 300 with the corresponding size according to the radius of the non-operation tunnel 200 at the installation position of the steel ring sheet 300;
the control device receives an instruction, confirms that the current position to be reinforced is located at a specific position in the non-operation tunnel 200, determines the radius of the non-operation tunnel 200 at the corresponding position according to the installation parameters stored in the control device, further determines the size of each steel ring sheet 300 required by reinforcing the steel ring, acquires the corresponding steel ring sheet 300, and fixes the steel ring sheet 300 on the mechanical arm 2 under the assistance of manpower.
Step S30: calculating a safe radius 201 and controlling a driving device to adjust the mechanical arm 2 so that the included angle between the first connecting arm 21 and the horizontal direction is theta 1 The angle between the second connecting arm 22 and the horizontal direction is theta 2 So that the steel ring sheet 300 is located within the safety radius 201 and faces the depth direction of the non-service tunnel 200, and the safety radius 201 is smaller than the radius of the non-service tunnel 200; controlling the driving means to adjust the robot arm 2 so that the pickup portion 211 is directed in the depth direction of the non-working tunnel 200;
calculating a safe radius 201 according to the inner diameter of the non-operation tunnel 200 and the size of the steel ring sheet 300, ensuring that the steel ring sheet 300 does not collide with the circumferential side wall of the non-operation tunnel 200 when adjusted within the safe radius 201, simultaneously increasing the size of the safe radius 201 as much as possible, controlling the movement of the mechanical arm 2 according to the size information of the steel ring sheet 300, adjusting the steel ring sheet 300 to the front side of the mechanical arm 2, adjusting the first connecting arm 21 and the second connecting arm 22 through the first angle detector and the second angle detector for detecting the included angles of the first connecting arm 21 and the second connecting arm 22 with the horizontal direction in real time, and making the included angle of the first connecting arm 21 with the horizontal direction be theta 1 The angle between the second connecting arm 22 and the horizontal direction is theta 2 And the highest point of the steel ring sheet 300 is lower than the top of the non-operating tunnel 200, and the steel ring sheet 300 is positioned in the middle of the non-operating tunnel 200 in the left-right direction, so as to ensure that the steel ring sheet 300 does not collide with the side wall of the non-operating tunnel 200 in the process of transporting the steel ring sheet 300 to the position to be reinforced.
Step S40: according to the depth parameter of the non-operating tunnel 200, controlling the travelling mechanism to move the machine base 1 to a depth position corresponding to the non-operating tunnel 200, and then controlling the driving device to drive the mechanical arm 2 to rotate along the horizontal direction, so that the picking part 211 faces the side wall of the non-operating tunnel 200, and at this time, the lateral direction of the steel ring sheet 300 corresponds to the side wall of the non-operating tunnel 200;
when frame 1 moves to treating and consolidates the position after, arm 2 with the tie point of frame 1 should with treat that the center of consolidating the position on non-operation tunnel 200 depth direction aligns, promptly controlling means control arm 2 rotates and to be relative with non-operation tunnel 200 lateral wall, only needs the adjustment steel ring piece 300 moves in non-operation tunnel 200 circumferential direction and can make steel ring piece 300 moves to treating the mounted position.
Step S50: controlling the driving device to drive the mechanical arm 2 according to the circumferential position parameter of the non-operating tunnel 200, so that the steel ring sheet 300 moves up and down within a safe radius 201 range to move the steel ring sheet 300 to a position corresponding to the circumferential position of the non-operating tunnel 200, wherein the safe radius 201 is smaller than the radius of the non-operating tunnel 200;
referring to fig. 3, the central point of the non-operational tunnel 200 is a, and the height f of the steel ring sheet 300 in the non-operational tunnel 200 is H f ＝h 0 +h 1 +h 2 +h 3 The height e of the low point of the steel ring piece 300 is H e ＝h 0 +h 1 +h 2 -h 3 From
The specific values of the high spot height and the low spot height are known.
In the present embodiment, the radius r of the non-operating tunnel 200 and the height h of the support platform of the robotic arm 2 are known through manual mapping 0 The arc angle alpha of the steel ring sheet 300 and the length L of the second connecting arm 22 high Length L of the first connecting arm 21 low The initial angle theta between the first connecting arm 21 and the horizontal direction 1 The initial included angle theta between the second connecting arm 22 and the horizontal direction 2 。
After the mechanical arm 2 picks up the steel ring piece 300, the control device controls the driving device to drive the second connecting arm 22 and the first connecting arm 21 to rotate so as to adjust the initial included angle theta 1 And said initial angle θ 2 The height H of the steel ring piece 300 is increased according to the size of the steel ring piece 300 f Is positioned in the range of the safe radius 201, and theta is more than or equal to 40 degrees 1 Less than or equal to 50 degrees, the value is determined according to the actual situation, and theta is adjusted 2 Such that the height of the high points of the different steel ring segments 300 are all located within the safety radius 201.
Step S60: and controlling the driving device to drive the mechanical arm 2 to enable the picking part 211 to move towards the fixed end far away from the mechanical arm 2, so that the steel ring sheet 300 is attached to the side wall of the tunnel.
Referring to fig. 3 and 4, a first plane rectangular coordinate system axy is established with the central point a of the non-operation tunnel 200 as the origin of coordinates, the vertical direction as the positive direction of the y axis, and the horizontal direction as the positive direction of the x axis, and then the coordinates of the intersection point c of the second connecting arm 22 and the first connecting arm 21 in the first plane rectangular coordinate system are:
in the above formula
p is the angle of rotation of the first connecting arm 21 relative to the initial position.
Coordinates of the objectThe origin of the system O 'X' Y 'is unchanged, the coordinate axis rotates anticlockwise by t degrees to form a coordinate system O' X 'Y', and the coordinate of the point M 'in the coordinate system O' X 'Y' is M 1 ＝(x 1 ，y 1 ) The coordinate of point M in the coordinate system O "X" Y "is M 2 ＝(x 2 ，y 2 ) Then:
when using initial position second linking arm 22 with the nodical c of first linking arm 21 is the origin of coordinates, with second linking arm 22 is the vertical axis, follows second linking arm 22 is kept away from the direction of c point is the positive direction, keeps away from the direction of first linking arm 21 is the positive direction of cross axle, establishes second plane rectangular coordinate system cx 'y', then second plane rectangular coordinate system with the conversion relation of first plane rectangular coordinate system is:
the second connecting arm 22 rotates by an angle q around the point c, and the second rectangular planar coordinate system rotates together with the point c to form a third rectangular planar coordinate system cx "y", and the conversion relationship between the second rectangular planar coordinate system and the third rectangular planar coordinate system is:
the coordinate of the highest point f of the steel ring sheet 300 in the third plane rectangular coordinate system is
The coordinate of the lowest point e of the steel ring piece 300 in the third plane rectangular coordinate system is
From the above calculation formula, when the radius R of the non-operating tunnel 200, the radius R of the steel ring sheet 300, the radian α of the steel ring sheet 300, and the height h of the support platform of the robot arm 2 are known 0 Length L of the second connecting arm 22 high Length L of the first connecting arm 21 low The first connecting arm 21 forms an initial included angle theta with the horizontal direction 1 An initial included angle theta between the second connecting arm 22 and the horizontal direction 2 That is, the coordinates of the highest point f and the lowest point e of the steel ring piece 300 in the first plane rectangular coordinate system are determined according to the rotation angle q of the second connecting arm 22 relative to the initial position and the rotation angle p of the first connecting arm 21 relative to the initial position, that is, the position of the steel ring piece 300 in the non-operating tunnel 200 is controlled, so that the steel ring piece 300 moves to the position to be installed on the premise of not colliding with the side wall of the non-operating tunnel 200.
In this embodiment, the steel ring plate 300 is attached to the non-operating tunnel 200, and R = R is taken.
In this embodiment, the control device controls the driving device to make the mechanical arm 2 rotate in the vertical direction, in this process, the driving device drives the mechanical arm 2 to rotate at a controllable angle, and after the mechanical arm 2 picks up the steel ring piece 300, the control device firstly adjusts the included angles between the second connecting arm 22 and the first connecting arm 21 and the horizontal direction to θ respectively 2 And theta 1 。
It should be noted that there are many methods for realizing the controllable rotation angle of the mechanical arm 2 by the driving device, and if the driving device is a hydraulic cylinder, the corresponding relationship between the movement range of the piston rod and the rotation angle of the mechanical arm 2 can be established by controlling the movement of the piston rod of the hydraulic cylinder and associating the movement range of the piston rod with the rotation angle of the mechanical arm 2, so as to realize the controllable rotation angle; or the driving device is a motor, etc., in the prior art, the technology for realizing the controllable rotation angle of the mechanical arm 2 is mature, and is not limited too much here.
After the non-operating tunnel reinforcing equipment 100 reaches the position to be reinforced, the control device controls the mechanical arm 2 to rotate, so that the steel ring piece 300 corresponds to the side wall of the non-operating tunnel 200 in the circumferential direction, at this time, according to the coordinate relation and known conditions, the coordinate of the steel ring piece 300 in the third coordinate system can be accurately calculated, the coordinate is converted into the second coordinate system, and further into the first coordinate system, so as to determine the coordinates of the highest point and the lowest point of the steel ring piece 300 in the first coordinate system after the mechanical arm 2 rotates, and the specific position of the steel ring piece 300 in the non-operating tunnel 200 can be limited by limiting the coordinate, so that the collision between the steel ring piece 300 and the side wall of the non-operating tunnel 200 is avoided.
S70: judging whether the actual distance between the first position sensor and the second position sensor is smaller than a preset distance, when the actual distance is smaller than the preset distance, judging that the steel ring piece 300 is attached to the side wall of the non-operation tunnel 200, and when the actual distance is larger than or equal to the preset distance, repeating the step S60 and the step S70.
The method comprises the steps that a first position sensor is arranged on the side wall of the non-operation tunnel 200 at a position to be reinforced, a second position sensor is arranged at the bottom of a steel ring piece 300, the first position sensor and the second position sensor are mutually positioned to determine the actual distance between the first position sensor and the second position sensor, a value is preset according to actual needs to be a preset distance, when the actual distance is smaller than the preset distance, the steel ring piece 300 is judged to be attached to the side wall of the non-operation tunnel 200, the steel ring piece 300 is located at the position to be mounted, subsequent manual reinforcement work can be carried out, and if the actual distance is larger than or equal to the preset distance, the steps S60 and S70 are repeated until the actual distance is smaller than the preset distance.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The present invention also proposes a non-operating tunnel reinforcement device 100, and referring to fig. 5 and 6, the non-operating tunnel reinforcement device 100 includes: the mechanical arm comprises a base 1, a travelling mechanism, a mechanical arm 2, a driving device and a control device, wherein the travelling mechanism comprises a travelling part arranged at the bottom of the base 1; the mechanical arm 2 is arranged on the base 1, a picking part 211 is arranged at the free end of the mechanical arm 2, the picking part 211 is used for picking up the steel ring piece 300, and the mechanical arm 2 is movably arranged to have a horizontal rotating stroke, a vertical rotating stroke and a moving stroke capable of approaching to and departing from the fixed end of the mechanical arm 2; the driving device drives the mechanical arm 2 to move; the control device is electrically connected with the driving device, and comprises a memory, a processor and a non-operating tunnel reinforcing program which is stored on the memory and can run on the processor, wherein the non-operating tunnel reinforcing program is configured to realize the steps of the non-operating tunnel reinforcing method.
Running gear locates on the frame 1, including walking portion and drive division, the drive division with the walking portion transmission is connected, the drive the walking portion drives frame 1 moves about on non-operation tunnel 200 degree of depth direction, with will steel ring piece 300 transports to the non-operation tunnel 200 degree of depth department of waiting the mounted position, 2 activities of arm are located on the frame 1, have the level to with the up-and-down rotation stroke to and be close to and keep away from arm 2 with the removal stroke of frame 1 junction, so that locate pick up portion 211 can remove the steel ring piece 300 and to waiting the mounted position, the whole mechanical automatic operation of technical scheme that this application provided compares and pierces through artifical mounting method, has that the conveying efficiency is fast, the installation accuracy is high, advantage that the construction risk is little.
It should be noted that the traveling mechanism only drives the base 1 to move in the depth direction of the non-operating tunnel 200, and there are many mature technologies in the existing driving technologies, such as matching a motor with a roller or matching an oil cylinder with a track, and according to the actual needs, the traveling mechanism may be selected for practical use, and is not limited specifically herein.
Further, in the present embodiment, the mechanical arm 2 includes a mounting seat 11, a first connecting arm 21 and a second connecting arm 22, and one end of the mounting seat 11 is rotatably connected to the base 1; one end of the first connecting arm 21 is rotatably connected with the other end of the mounting seat 11; one end of the second connecting arm 22 is rotatably connected with the other end of the first connecting arm 21, and the other end of the second connecting arm 22 is provided for the pickup part 211 to be installed; the driving device includes: the rotating device drives the mounting seat 11 to rotate relative to the machine seat 1; the first driving device 31 drives the first connecting arm 21 to rotate relative to the mounting seat 11; the second driving device 32 drives the second connecting arm 22 to rotate relative to the first connecting arm 21.
The mounting seat 11 is rotatably connected with the base 1, and the rotating device is in transmission connection with the mounting seat 11 to drive the mounting seat 11 to rotate relative to the base 1, so that the rotation of the mechanical arm 2 in the horizontal direction is realized; the first connecting arm 21 is rotatably connected with the mounting base 11, and the first driving device 31 is in transmission connection with the first connecting part so as to drive the first mechanical arm 2 to rotate up and down relative to the mounting base 11; the second connecting arm 22 is rotatably connected with the first connecting arm 21, and the second driving device 32 is in transmission connection with the second connecting arm 22 so as to drive the second connecting arm 22 to rotate up and down relative to the first connecting arm 21; the first connecting arm 21 and the second connecting arm 22 cooperate to realize a turning stroke of the robot arm 2 in the up-down direction and a moving stroke capable of approaching and departing from the fixed end of the robot arm 2.
In another embodiment, the mechanical arm 2 further includes a third connecting arm and a third driving device (not shown in the figure), the third connecting arm is rotatably connected to one end of the second connecting arm 22 far away from the first connecting arm 21, the other end of the third connecting arm is fixedly connected to the picking portion 211, the third driving device is used for driving the third connecting arm to rotate up and down relative to the second connecting arm 22, and the third connecting arm is short in length and is arranged so as to adjust the inclination angle of the steel ring sheet 300, so that the steel ring sheet 300 is more quickly attached to the circumferential pipe wall of the non-operation tunnel 200.
Specifically, in the present embodiment, the rotating device includes a rotating member, and the rotating member is in transmission connection with the mounting base 11; the first driving device 31 comprises a first linear driving device, and the fixed end and the driving end of the first linear driving device are correspondingly hinged with the machine base 1 and the first connecting arm 21; the second driving device 32 includes a second linear driving device, and a fixed end and a driving end of the second linear driving device are hinged to the first connecting arm 21 and the second connecting arm 22 correspondingly.
The rotating part is in transmission connection with the mounting seat 11, so that the mounting seat 11 is opposite to the machine base 1 and can rotate for 360 degrees, different angle requirements of the picking part 211 for loading the steel ring pieces 300 and for installing different steel ring pieces 300 on the left side and the right side of a tunnel are met, the rotation of the first connecting arm 21 and the second connecting arm 22 is realized by using the first linear driving device and the second linear driving device, the rotation stroke of the first connecting arm 21 and the second connecting arm 22 is smaller than 180 degrees, when the picking part 211 is loaded with the steel ring pieces 300, the connecting arms are adjusted to adjust the positions of the steel ring pieces 300, so that the steel ring pieces 300 cannot overturn, the stability of equipment is ensured, the first connecting arm 21 and the second connecting arm 22 rotate more quickly, and the working efficiency is improved.
Further, in the present embodiment, the rotating component includes a rotating motor, and the rotating motor is in transmission connection with the mounting seat 11 and is used for driving the mounting seat 11 to rotate around a vertical direction; the first linear driving device comprises a first hydraulic cylinder, a cylinder barrel of the first hydraulic cylinder is hinged with the mounting seat 11, a piston rod of the first hydraulic cylinder is hinged with the first connecting arm 21, and the first hydraulic cylinder is used for driving the first connecting arm 21 to rotate relative to the mounting seat 11 by taking the horizontal direction as a shaft; and the second linear driving device comprises a second hydraulic cylinder, a cylinder barrel of the second hydraulic cylinder is hinged to the first connecting arm 21, a piston rod of the second hydraulic cylinder is hinged to the second connecting arm 22, and the second hydraulic cylinder is used for driving the second connecting arm 22 to rotate relative to the first connecting arm 21 by taking the horizontal direction as an axis.
Due to the arrangement, when the position of the steel ring piece 300 is adjusted, the mechanical arm 2 can realize quick response and controllable precision, a hydraulic cylinder is used as a driving device of the first connecting arm 21 and the second connecting arm 22, the bearing capacity of the mechanical arm is higher, the mechanical arm can cope with the relatively higher weight of the steel ring piece 300, and the service life of the mechanical arm is ensured.
Furthermore, a first angle detector is arranged on the first connecting arm 21, and the first angle detector is used for detecting an included angle between the first connecting arm 21 and the horizontal direction in real time; a second angle detector is arranged on the second connecting arm 22The second angle detector is used for detecting an included angle between the second connecting arm 22 and the horizontal direction in real time. So set up, accessible first angle detector with the second angle detector detects in real time the contained angle of first connecting arm 21 and horizontal direction
And the angle of the second connecting arm 22 to the horizontal
It is convenient to calculate the position coordinates of the steel ring sheet 300 in the non-operational tunnel 200.
In order to enable the mechanical arm 2 to rapidly pick up the steel ring piece 300, the free end of the mechanical arm 2 is provided with the picking part 211, one side of the picking part 211 is fixedly connected with the free end of the second connecting arm 22, the other side of the picking part 211 is provided with a connecting piece, and the connecting piece is detachably connected with a matching piece on the steel ring piece 300, so that the picking part 211 can conveniently load the steel ring piece 300, the steel ring piece 300 can be firmly fixed on the mechanical arm 2 during transportation, the working efficiency is improved, and the construction safety is guaranteed.
Specifically, the connecting piece includes a plurality of first lugs and a movable bolt, the first lugs are fixedly connected to one side of the picking portion 211, which is far away from the second connecting arm 22, and are arranged at intervals along the horizontal direction, and through holes are arranged on the first lugs; the movable bolt is detachably connected with the plurality of first lugs; the movable bolt is used for passing through the through holes in the first lugs and the second lugs.
The connecting piece and the mating piece are aligned through the first lugs and the second lugs, and the connecting piece and the mating piece are connected together through the movable bolts passing through the through holes on the first lugs and the second lugs, so that the mechanical arm 2 can lift and transport the steel ring sheet 300 to a position to be installed, and further adjust the angle of the steel ring sheet 300 to be attached to the wall of the tunnel pipe.
In this embodiment, the number of the first lugs is two, the number of the second lugs is one, and the length of the picking portion 211 in the vertical direction is set such that the upper end is closer to the second connecting arm 22, and the lower end is farther from the second connecting arm 22, so that when the mechanical arm 2 lifts the steel ring piece 300 after the connecting member is matched with the matching member, the lower end of the picking portion 211 abuts against the inner wall of the steel ring piece 300, the steel ring piece 300 cannot rotate under the action of gravity, and after the steel ring piece 300 is adjusted to the position to be installed, the inclination angle of the steel ring piece 300 can be adjusted within a certain range by adjusting the mechanical arm 2, so as to better enable the steel ring piece 300 to be attached to the sidewall of the non-operating tunnel 200.
In order to determine the position of the non-operating tunnel reinforcement device 100 in the depth direction of the non-operating tunnel 200, a position detection device 4 is disposed on one side of the base 1, and the position detection device 4 is used to determine whether the base 1 moves to a position to be installed, so as to improve the automation degree of the non-operating tunnel reinforcement device 100.
Specifically, in this embodiment, the position detecting device 4 is an image collector, and the two image collectors are respectively disposed on the left side and the right side of the base 1, and the image collector is disposed at the center of the base 1 in the direction of the movement and is located on the same straight line with the mechanical arm 2 and the connection position of the base 1.
Two circular curves which are arranged at intervals along the depth direction of the non-operating tunnel 200 are drawn on the side wall of the non-operating tunnel 200 at the position to be installed along the circumferential direction, the central distance of the two circular curves is the central line of the position to be installed, the image acquisition device acquires images of the two circular curves, and the control device controls the driving device to drive the travelling mechanism to move according to the data, so that the mechanical arm 2 and the machine base 1 are connected at the position where the central lines of the two circular curves are located at the same tunnel depth, and the fact that the non-operating tunnel reinforcing equipment 100 reaches the position to be installed is determined.
In another embodiment, the position detecting device 4 is two distance sensors, one of the two distance sensors is disposed at a fixed position, and the other is disposed on the machine base 1, and the control device determines the traveling distance of the non-operating tunnel reinforcing apparatus 100 in the depth direction of the non-operating tunnel 200 by obtaining the distance between the two distance sensors, and further determines whether the non-operating tunnel reinforcing apparatus reaches the position to be installed.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A non-operation tunnel reinforcing method is used for non-operation tunnel reinforcing equipment, a first position sensor is arranged on the side wall of a non-operation tunnel at a position to be reinforced, and a second position sensor is arranged at the bottom of a steel ring sheet, and is characterized by comprising the following steps:
s10: acquiring installation parameters of a steel ring piece to be installed in a tunnel, wherein the installation parameters comprise a tunnel radius of a steel ring piece installation position, a tunnel depth parameter of the steel ring piece installation position and a circumferential position parameter of the steel ring piece installation position in the tunnel;
s20: controlling the mechanical arm to obtain the steel ring sheet with the corresponding size according to the tunnel radius of the installation position of the steel ring sheet;
s30: calculating the safe radius and controlling a driving device to adjust the mechanical arm to enable the included angle between the first connecting arm and the horizontal direction to be theta 1 The included angle between the second connecting arm and the horizontal direction is theta 2 So that the steel ring sheet is positioned in the safe radius and faces the depth direction of the tunnel, and the safe radius is smaller than the tunnel radius;
s40: controlling the travelling mechanism to move the base to a depth position corresponding to the tunnel according to the tunnel depth parameter, and then controlling the driving device to drive the mechanical arm to rotate along the horizontal direction so that the picking part faces to the side wall of the tunnel, and the side direction of the steel ring sheet corresponds to the side wall of the tunnel at the moment;
s50: controlling the driving device to drive the mechanical arm according to the circumferential position parameters of the tunnel, so that the steel ring sheet moves up and down in the safe radius range, and the steel ring sheet is moved to a position corresponding to the circumferential position of the tunnel;
s60: controlling the driving device to drive the mechanical arm to enable the picking part to move towards the fixed end far away from the mechanical arm, so that the steel ring sheet is attached to the side wall of the tunnel;
s70: and judging whether the actual distance between the first position sensor and the second position sensor is smaller than a preset distance, judging that the steel ring sheet is attached to the side wall of the tunnel when the actual distance is smaller than the preset distance, and repeating the step S60 and the step S70 when the actual distance is larger than or equal to the preset distance.
2. A non-operational tunnel reinforcement apparatus, characterized in that the non-operational tunnel reinforcement apparatus comprises:
a machine base;
the traveling mechanism comprises a traveling part arranged at the bottom of the base;
the mechanical arm is arranged on the base, a picking part is arranged at the free end of the mechanical arm and used for picking up the steel ring sheet, and the mechanical arm is movably arranged so as to have a horizontal rotating stroke, a vertical rotating stroke and a moving stroke which can be close to and far away from the fixed end of the mechanical arm;
the driving device drives the mechanical arm to move;
a control device electrically connected to the driving device, the control device comprising a memory, a processor, and a non-operational tunnel reinforcement program stored on the memory and operable on the processor, the non-operational tunnel reinforcement program being configured to implement the steps of the non-operational tunnel reinforcement method as recited in claim 1.
3. The non-operational tunnel strengthening apparatus of claim 2,
the robot arm includes:
one end of the mounting seat is rotatably connected with the base;
one end of the first connecting arm is rotatably connected with the other end of the mounting seat; and the number of the first and second groups,
one end of the second connecting arm is rotatably connected with the other end of the first connecting arm, and the other end of the second connecting arm is used for installing the picking part;
the driving device includes:
the rotating device drives the mounting seat to rotate relative to the base;
the first driving device drives the first connecting arm to rotate relative to the mounting seat; and the number of the first and second groups,
and the second driving device drives the second connecting arm to rotate relative to the first connecting arm.
4. The non-operational tunnel strengthening apparatus of claim 3,
the rotating device comprises a rotating piece, and the rotating piece is in transmission connection with the mounting seat;
the first driving device comprises a first linear driving device, and a fixed end and a driving end of the first linear driving device are correspondingly hinged with the base and the first connecting arm; and the number of the first and second groups,
the second driving device comprises a second linear driving device, and the fixed end and the driving end of the second linear driving device are correspondingly hinged with the first connecting arm and the second connecting arm.
5. The non-operational tunnel strengthening apparatus of claim 4,
the rotating part comprises a rotating motor, and the rotating motor is in transmission connection with the mounting seat and is used for driving the mounting seat to rotate by taking the vertical direction as a shaft;
the first linear driving device comprises a first hydraulic cylinder, a cylinder barrel of the first hydraulic cylinder is hinged with the mounting seat, a piston rod of the first hydraulic cylinder is hinged with the first connecting arm, and the first hydraulic cylinder is used for driving the first connecting arm to rotate relative to the mounting seat by taking the horizontal direction as a shaft; and (c) a second step of,
the second linear driving device comprises a second hydraulic cylinder, a cylinder barrel of the second hydraulic cylinder is hinged to the first connecting arm, a piston rod of the second hydraulic cylinder is hinged to the second connecting arm, and the second hydraulic cylinder is used for driving the second connecting arm to rotate relative to the first connecting arm by taking the horizontal direction as an axis.
6. The non-operational tunnel reinforcement apparatus according to claim 3, wherein the first connection arm is provided with a first angle detector, and the first angle detector is configured to detect an angle between the first connection arm and a horizontal direction in real time;
and a second angle detector is arranged on the second connecting arm and used for detecting the included angle between the second connecting arm and the horizontal direction in real time.
7. The non-operational tunnel strengthening apparatus of claim 3, wherein the pick-up portion is fixedly connected to the free end of the second connecting arm on one side and is provided with a connecting member on the other side, the connecting member being configured to be detachably connected to a mating member on the steel ring plate.
8. The non-operational tunnel strengthening apparatus of claim 7, wherein the connector comprises:
the first lugs are fixedly connected to one side, away from the second connecting arm, of the picking part and are arranged at intervals along the horizontal direction, and through holes are formed in the first lugs; and (c) a second step of,
the movable bolt is detachably connected with the first lugs;
the first lugs are used for being in inserting fit with second lugs arranged on the fitting piece at intervals in the horizontal direction, and the movable bolts are used for being arranged through the through holes in the first lugs and the second lugs.
9. The non-operational tunnel reinforcement apparatus according to claim 2, wherein a position detecting device is provided at one side of the housing, the position detecting device being configured to detect a position of the housing in a depth direction of the tunnel.
10. The non-operating tunnel reinforcement equipment according to claim 9, wherein the position detection device is two image collectors respectively disposed on the left and right sides of the base, and a center position of the image collectors in a direction in which the base moves is aligned with a connection position of the mechanical arm and the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211108670.6A CN115492612B (en) | 2022-09-13 | 2022-09-13 | Non-operation tunnel reinforcement method and equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211108670.6A CN115492612B (en) | 2022-09-13 | 2022-09-13 | Non-operation tunnel reinforcement method and equipment |
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| CN115492612A true CN115492612A (en) | 2022-12-20 |
| CN115492612B CN115492612B (en) | 2023-07-21 |
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|---|---|
| CN115492612B (en) | 2023-07-21 |
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