CN207813620U - Tunnel defect comprehensive improvement automatization operation system - Google Patents
Tunnel defect comprehensive improvement automatization operation system Download PDFInfo
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- CN207813620U CN207813620U CN201721898440.9U CN201721898440U CN207813620U CN 207813620 U CN207813620 U CN 207813620U CN 201721898440 U CN201721898440 U CN 201721898440U CN 207813620 U CN207813620 U CN 207813620U
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Abstract
The utility model belongs to Curing of Tunnel Diseases technical field, and disclose a kind of tunnel defect comprehensive improvement automatization operation system, include track, guide rail and pedestal including vehicular platform, guider, horizontal rotation mechanism, mechanical arm, sensing auxiliary device, concreting outfit, grouting equipment and high-pressure cleaning device, guider；Mechanical arm includes fuselage, large arm, forearm, hand and Pneumatic paw；It includes imaging sensor and laser range finder to sense auxiliary device, and they are installed on hand；Concreting outfit, grouting equipment and high-pressure cleaning device are installed on vehicular platform, for carrying out Disease Treatment to tunnel with mechanical arm cooperation.The utility model is suitable for highway and railway tunnel disease management, it is equipped with the implements such as drilling, slip casting, cleaning, concrete perfusion simultaneously, tunnel defect position can quickly be reached, comprehensive improvement is carried out to tunnel defect, avoids the low problem of the traditional artificial time-consuming efficiency for building job platform.
Description
Technical field
The invention belongs to Curing of Tunnel Diseases technical fields, automatic more particularly, to a kind of tunnel defect comprehensive improvement
Change operating system.
Background technology
China has become the country that tunnel quantity is most in the world.But in the tunnel of substantial amounts, general technical shape
State is poor, and tunnel has different degrees of disease, and quality condition allows of no optimist.Tunnel Common Diseases mainly have Tunnel Water Leakage
And freeze injury, lining cracking, tunnel bottom disease and earthquake etc..In order to ensure safety of the tunnel during operation, need to tunnel disease
Evil is renovated.Currently, the regulation method of domestic tunnel defect relies primarily on and builds scaffold, pass through man-hour manually hand-held drilling, note
The equipment such as slurry carry out operation, and working efficiency is very low, and especially when carrying out Disease Treatment in electric railway, skylight is being repaired in requirement
Time operation, and being interfered by contact net, construction personnel's heavy workload, construction safety can not ensure, and railway Window time compared with
Short, maintenance cycle is long, and manual operation efficiency is low, far from meeting a large amount of Tunnel Engineering needs of China's railway in operation.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of tunnel defect comprehensive improvement is automatic
Change operating system, Neng Dui highways and railway tunnel disease carry out comprehensive treatment, realize that automation combines manual maintenance tunnel.
To achieve the above object, it is proposed, according to the invention, a kind of tunnel defect comprehensive improvement automatization operation system is provided,
It is characterized in that, including vehicular platform, guider, horizontal rotation mechanism, mechanical arm, sensing auxiliary device, concrete construction are set
Standby, grouting equipment and high-pressure cleaning device, wherein
The guider includes track, guide rail and pedestal, and the track installation is on the vehicular platform, the guide rail
Installation is on the track and the vertical consistency of the longitudinal direction of the guide rail and the vehicular platform, the pedestal are mounted on described lead
On rail；
The horizontal rotation mechanism is mounted on the pedestal, and the mechanical arm is installed in the horizontal rotation mechanism,
For driving the mechanical arm horizontal rotation；
The mechanical arm includes fuselage, large arm, forearm, hand and Pneumatic paw, and the fuselage is mounted on the pedestal,
The fuselage is hinged the large arm by the first vertical rotating joint, and the large arm is hinged described by the second vertical rotating joint
Forearm, the forearm is hinged the hand by third vertical rotating joint, the Pneumatic paw is installed on the hand, described
First vertical rotating joint, the second vertical rotating joint and third vertical rotating joint are horizontally disposed；
The sensing auxiliary device includes imaging sensor and laser range finder, and they are installed in the hand
On；
The concreting outfit, grouting equipment and high-pressure cleaning device are installed on the vehicular platform, with
Disease Treatment is carried out to tunnel in coordinating with the mechanical arm.
Preferably, the concreting outfit include concrete spraying machine, concrete pump and concrete mixer and
They are sequentially connected.
Preferably, the high-pressure cleaning device includes the high-pressure hydraulic pump and water tank to link together.
Preferably, further include the air compressor machine and air accumulator to link together.
Preferably, the grouting equipment includes the grouting pump and mortar mixer to link together.
Preferably, multiple headlamps are also equipped on the vehicular platform.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect：
(1) tunnel defect comprehensive improvement automatization operation system provided by the invention is mounted in vehicular platform, is suitable for public affairs
Road and railway tunnel disease management, while the implements such as drilling, slip casting, cleaning, concrete perfusion are equipped with, it can quickly arrive
Up to tunnel defect position, comprehensive improvement is carried out to tunnel defect, avoids the traditional artificial time-consuming effect for building job platform
The low problem of rate.
(2) it uses the equipment such as mechanical arm crawl drilling, slip casting, cleaning, concrete perfusion to carry out operation, is by being programmed in
The built-in disease management scheme of system realizes Partial Jobs automation mechanized operation, improves operating efficiency, when necessary, can also manually be grasped
Make, control machinery arm fulfils assignment, and meets the complex job requirement of Curing of Tunnel Diseases.
(3) during non-operation, mechanical arm is in playback state, and operating system equipment meets vehicle gauge requirement.
(4) disease management operation is carried out using more industrial machinery arm cooperations, realizes the machinery of Curing of Tunnel Diseases work
Change and partial automation, greatly improve the safety of operating environment, shorten maintenance cycle, reduce cost of labor and time
Cost is of great significance for the disease management of a large amount of existing tunnels in China.
Description of the drawings
Fig. 1 and Fig. 2 is the axonometric schematic diagram under different visual angles of the present invention；
Fig. 3 is the vertical view of the present invention；
Fig. 4 is mechanical arm schematic diagram in the present invention；
Fig. 5 is mechanical arm hand schematic diagram in the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
Referring to Fig.1~Fig. 5, a kind of tunnel defect comprehensive improvement automatization operation system, including vehicular platform 1, guiding dress
It sets, horizontal rotation mechanism 5, mechanical arm, sense auxiliary device 13, concreting outfit, grouting equipment and high-pressure cleaning device,
Wherein,
The guider includes track 2, guide rail 3 and pedestal 4, and the track 2 is mounted on the vehicular platform 1, institute
Guide rail 3 is stated on the track 2 and the vertical consistency of the longitudinal direction of the guide rail 3 and the vehicular platform 1, the pedestal 4
On the guide rail 3；
The horizontal rotation mechanism 5 is mounted on the pedestal 4, and installs the machinery in the horizontal rotation mechanism 5
Arm, for driving the mechanical arm horizontal rotation；
The mechanical arm includes fuselage 6, large arm 8, forearm 10, hand 12 and Pneumatic paw 14, and the fuselage 6 is mounted on institute
It states on pedestal 4, the fuselage 6 is hinged the large arm 8 by the first vertical rotating joint 7, and the large arm 8 passes through second vertical turn
Movable joint 9 is hinged the forearm 10, and the forearm 10 is hinged the hand 12, the hand by third vertical rotating joint 11
The Pneumatic paw 14, first vertical rotating joint 7, the second vertical rotating joint 9 and third vertical rotating are installed on 12
Joint 11 is horizontally disposed；
The sensing auxiliary device 13 includes imaging sensor 15 and laser range finder 16, and they be installed in it is described
On hand 12；
The concreting outfit, grouting equipment and high-pressure cleaning device are installed on the vehicular platform 1, with
Disease Treatment is carried out to tunnel in coordinating with the mechanical arm.
Further, the concreting outfit includes concrete spraying machine 17, concrete pump 18 and concrete mixer
19 and they be sequentially connected.
Further, the high-pressure cleaning device includes the high-pressure hydraulic pump 20 to link together and water tank 21.
Further, further include the air compressor machine 23 to link together and air accumulator 24.
Further, the grouting equipment includes the grouting pump 25 to link together and mortar mixer 26.
Further, multiple headlamps 27 are also equipped on the vehicular platform 1.
Heretofore described vehicular platform 1 can be that vehicle platform is run on highway or track, in a specific embodiment,
Golden hawk heavy industry JC-2 types railcar may be used as vehicular platform 1, vehicular platform 1 includes driver's cabin, car bottom plate, hydraulic system
And electrical system, all devices of the present invention are installed on car bottom plate, include mainly mechanical arm control system and tunnel in driver's cabin
Road Disease Treatment control system.Mechanical arm control system can built-in renovation scheme, automatic to execute regulation operation, control system is also wrapped
Teaching machine is included, teaching machine is to allow user either manually or by the rocker control system of programming Control machinery arm, by manually controlling
Mechanical arm processed is completed to administer part more complicated in operation.Hydraulic system and electrical system are for driving and control machinery arm.
Curing of Tunnel Diseases control system receives the image information at the tunnel-liner disease position that imaging sensor 9 is shot, and cooperation is used in combination
Mechanical arm captures the equipment such as drilling, slip casting, cleaning, concrete perfusion and carries out operation, is the master control platform for renovating tunnel defect.
When carrying out Curing of Tunnel Diseases operation, vehicular platform 1 is moved to tunnel defect position, 4 mechanical arm centre positions
Corresponding tunnel-liner disease position, mechanical arm control system publication instruction drive mechanical arm fortune by hydraulic system and electrical system
It is dynamic, guide rail 3 is provided among 2 groove of track, 2 top of track is provided with mechanical arm pedestal 4, exists by motor drive mechanism in pedestal 4
Walk on track 2, the movement that guide rail 3 limits pedestal 4 is front-rear direction linear motion, fuselage 64 top of pedestal and pedestal 4 it
Between connected by horizontal rotation mechanism 5, horizontal rotation mechanism 5 limits fuselage 6 and does and horizontally rotates around vertical lines, 6 top of fuselage
One end of large arm 8 is connected by the first vertical rotating joint 7, the first vertical rotating joint 7 limitation large arm 8 is done perpendicular around horizontal linear
To rotation (pitching movement), the other end of large arm 8 connects forearm 10 by the second vertical rotating joint 9, and the second vertical rotating closes
9 limitation forearm 10 of section does vertical rotating (pitching movement) around horizontal linear, and the other end of forearm 10 is closed by third vertical rotating
11 connection hand 12 of section, third vertical rotating joint 11 limits hand 12 and does vertical rotating (pitching movement), hand around horizontal linear
Portion 12 connects Pneumatic paw 14 and sensing auxiliary device 13, and Pneumatic paw 14 is located at hand far from 10 one end of forearm, for being clamped
And the equipment such as fixed drilling, slip casting, sensing auxiliary device 13 are mounted on hand 12 close to forearm one end, including imaging sensor 15
It is used to obtain the clear image of disease region in real time when operation with equipment, imaging sensors 15 such as laser range finders 16 and is seen convenient for artificial
It surveys, laser range finder 16 is for measuring mechanical arm at a distance from tunnel-liner and instructing manual control robotic arm manipulation.
It is lived along track groove in 12 front end of hand in mechanical arm for capturing the Pneumatic paw 14 of the equipment such as drilling, slip casting
It is dynamic, control crawl and release device by closing up, opening.
Mechanical arm right rear side is disposed with concrete spraying machine 17, concrete pump 18 and concrete stirring from front to back
Machine 19, concrete spraying machine 17 connect concrete mixer 19 by pipeline, are applied by nozzle after concrete is pressurizeed,
Nozzle can be captured by mechanical arm Pneumatic paw 14, and concrete pump 18 connects concrete mixer 19 simultaneously concrete pump by pipeline
It is sent to Seeding location, concrete mixer 19 is for storage and ready-mixed concrete.
19 rear of concrete mixer is disposed with high-pressure hydraulic pump 20 and water tank 21, and high-pressure hydraulic pump 19 is connected by pipeline
Water tank 21 rinses both sides ditch and center inspection shaft position in tunnel, high-pressure gun after water pressurizes by high-pressure gun
It can be captured by mechanical arm Pneumatic paw 14, water tank 21 is for storing water.
Power supply system 22 is arranged on vehicular platform 1 and is located at the mechanical arm left rear side, for each of regulation system
A equipment provides required various power supplys.
22 rear of power supply system is disposed with air compressor machine 23 and air accumulator 24, and air compressor machine 23 connects air accumulator by pipeline
24, will be rock drilling after air pressurized, the spray pneumatic equipments such as anchor provide air driving, air accumulator 24 is for providing air source.
24 rear of air accumulator is disposed with grouting pump 25 and mortar mixer 26, and grouting pump 25 connects mortar by pipeline
Blender 26 carries out slip casting operation after mortar pressurizes by Grouting Pipe, and Grouting Pipe can be captured by mechanical arm Pneumatic paw, mortar
Blender 26 is for storing and stirring mortar.
Further, the present invention can carry out following basic operation：
(a) it drills.Vehicular platform 1 stops at tunnel defect position, and 4 mechanical arm centre positions correspond to tunnel-liner disease
Position, mechanical arm control system publication instruction drive manipulator motion, Pneumatic paw 14 to exist by hydraulic system and electrical system
Fixed position captures drilling device, is moved to job position by track 2 under setting program guiding, passes through horizontal rotation mechanism
5, the first vertical rotating joint 7, large arm 8, the second vertical rotating joint 9, forearm 10, third vertical rotating joint 11 and hand 12
Drilling device posture is adjusted, makes drilling device and tunnel-liner surface at setting angle, is detected by laser range finder 16 and tunnel
The spacing on road lining cutting surface judges whether drilling device serves as a contrast close to tunnel and needs bore position, starts drilling device and drill
Operation.
(b) slip casting.It is drilled injected hole in advance, Pneumatic paw 14 captures the Grouting Pipe pipe of connection grouting pump 25 in fixed position
Mouthful, the posture of Grouting Pipe nozzle is adjusted, emitting the artificial guide grouting pipe nozzle of visible laser by laser range finder 16 enters note
Hole is starched, Grouting Pipe is fixed by accelerated cement mortar and works as grouting pressure finally by grouting pump 25 to water filling cement mortar after lining cutting
Reach design final pressure and stablize after a certain period of time, midge amount seldom or not midge when terminate slip casting.
(c) anchor pole is set.Before anchor pole is set, should grouting filling first be carried out to lining cutting back cavity or loose media.First,
Bolthole is bored at disease position, Pneumatic paw 14 captures self-feeding anchor pile equipment in fixed position, and the posture of adjusting device passes through
Laser range finder 16 emits visible laser and manually guides to bolthole.Start self-feeding anchor pile equipment and pierces anchor pole, quick slip casting
Connector is connect with end of anchor rod, by 25 slip casting of grouting pump, when grouting pressure reaches design final pressure and stablizes after a certain period of time, suction
Slurry amount seldom or not midge when terminate slip casting, finally manually installed backing plate and nut are sealed.
(d) steel arch-shelf is installed.First in the raggle of lining damages position, Pneumatic paw 14 captures the cutting equipments such as angle grinder,
By the posture of each joint adjusting device of mechanical arm, lining cutting is cut, other mechanical arm Pneumatic paws 14 can capture pneumatic pick etc.
Breaking concrete equipment slots to tunnel-liner corresponding position.Mechanical arm pedestal 4 keeps identical cross at left and right sides of front-seat or heel row
To position, Pneumatic paw 14 is adjusted by each joint motion of mechanical arm and keeps same lateral position, synchronous crawl steel arch-shelf or
Steel arch-shelf connecting elements, the adjustment left and right sides 14 different height of Pneumatic paw, keeps steel arch-shelf parallel with fluting bottom surface, passes through machinery
The each joint motion of arm heads into steel arch-shelf in fluting, and steel arch-shelf is answered closely connected with groove bottom, other mechanical arm Pneumatic paws 14 are grabbed
The concrete delivery pipe nozzle for taking connection concrete pump 18 emits the artificial guiding concrete of visible laser by laser range finder 16
Delivery pipe nozzle carries out C30 concrete backfills behind to steel arch-shelf, is needed after backfill to arch behind mud jacking, mud jacking operation and backfill
Concrete is consistent, and in the case where hanging bar-mat reinforcement, the nozzle of the crawl connection concrete spraying machine 17 of Pneumatic paw 14 is to bar-mat reinforcement
Carry out gunite concrete closing.The operation for beating steel band is similar to steel arch-shelf.
Situation in Curing of Tunnel Diseases operation practical operation is typically complex, and it is complete to cannot rely on single basic operation
At needing a variety of basic operations to be combined, illustrated below in conjunction with common Curing of Tunnel Diseases technique：
(1) grouting and reinforcing is backfilled
First in tunnel defect position blossom type cloth hole, (a) drilling operation is carried out, then carry out (b) grouting operation and complete back
Fill in slurry reinforcement operation.
(2) bolt anchorage
(a) drilling operation is carried out at tunnel defect position first, then carries out (c) and sets anchor pole operation, wherein setting anchor pole
It synchronous can be carried out with slip casting, be finally completed bolt anchorage operation.
(3) pneumatically placed concrete is reinforced
Tunnel-liner surface after treatment, carries out (a) drilling operation first, secondly carries out (c) and sets anchor pole operation, then
Bar-mat reinforcement is laid, and the nozzle of connection concrete spraying machine 17 is captured to bar-mat reinforcement progress gunite concrete by Pneumatic paw 14
Closing.
(4) reinforcing of set lining, embedding steel arch-shelf
Under the conditions ofs secondary lining is of poor quality, thickness is insufficient etc. and vault headroom have it is more than needed in the case of, can be to lining arch
Portion carries out the reinforcing of set lining, embedding steel arch-shelf+anchor and spray net processing.When set lining is reinforced, armored concrete is generally used, first to former lining cutting
It invades limit part to be cut, capturing the breaking concretes equipment such as pneumatic pick by Pneumatic paw 14 cuts concrete, other mechanical arms
Pneumatic paw 14 captures dabbing machine and then carries out dabbing cleaning to surface, secondly, (a) drilling operation, implantation is carried out to former lining cutting
It is followed closely for connector sleeve arch and the reinforcing bar pricker of former lining cutting, after being laid with steel reinforcement cage and template, the crawl connection of mechanical arm Pneumatic paw 14 is mixed
The concrete delivery pipe nozzle of solidifying soil pump 18, carries out concreting, completes set lining reinforcement operation.It is tighter in tunnel-liner disease
Weight and when needing to reinforce lining cutting stress, needs to carry out the embedding steel arch-shelf of raggle to reinforce, and carries out (c) and sets anchor pole operation and (d) installation
Steel arch-shelf operates.Under the conditions of tunnel headroom height deficiency, prestressed anchor+galvanized steel strip can be used and reinforce, carries out (c) and set anchor
Bar operates and (d) installation steel band operation.
(5) blind pipe, inspection shaft are cleaned
For double track tunnel, mechanical arm Pneumatic paw 14 captures the hydraulic giant being connect with high-pressure hydraulic pump 20 and enters lateral sulcus to blind pipe
It is rinsed, Central drain inspection shaft can also be cleaned.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of tunnel defect comprehensive improvement automatization operation system, which is characterized in that including vehicular platform, guider, water
Flat swing mechanism, mechanical arm, sensing auxiliary device, concreting outfit, grouting equipment and high-pressure cleaning device, wherein
The guider includes track, guide rail and pedestal, and the track installation is on the vehicular platform, the guide rail installation
On the track and the vertical consistency of the longitudinal direction of the guide rail and the vehicular platform, the pedestal are mounted on the guide rail
On；
The horizontal rotation mechanism is mounted on the pedestal, and the mechanical arm is installed in the horizontal rotation mechanism, with
In the drive mechanical arm horizontal rotation；
The mechanical arm includes fuselage, large arm, forearm, hand and Pneumatic paw, and the fuselage is mounted on the pedestal, described
Fuselage is hinged the large arm by the first vertical rotating joint, and the large arm is hinged described small by the second vertical rotating joint
Arm, the forearm are hinged the hand by third vertical rotating joint, install the Pneumatic paw on the hand, and described
One vertical rotating joint, the second vertical rotating joint and third vertical rotating joint are horizontally disposed；
The sensing auxiliary device includes imaging sensor and laser range finder, and they are installed on the hand；
The concreting outfit, grouting equipment and high-pressure cleaning device are installed on the vehicular platform, for
The mechanical arm cooperation carries out Disease Treatment to tunnel.
2. a kind of tunnel defect comprehensive improvement automatization operation system according to claim 1, which is characterized in that described mixed
Solidifying soil construction equipment include concrete spraying machine, concrete pump and concrete mixer and they be sequentially connected.
3. a kind of tunnel defect comprehensive improvement automatization operation system according to claim 1, which is characterized in that the height
It includes the high-pressure hydraulic pump and water tank to link together to press cleaning equipment.
4. a kind of tunnel defect comprehensive improvement automatization operation system according to claim 1, which is characterized in that further include
The air compressor machine and air accumulator to link together.
5. a kind of tunnel defect comprehensive improvement automatization operation system according to claim 1, which is characterized in that the note
It includes the grouting pump and mortar mixer to link together to starch equipment.
6. a kind of tunnel defect comprehensive improvement automatization operation system according to claim 1, which is characterized in that the vehicle
Multiple headlamps are also equipped on carrying platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721898440.9U CN207813620U (en) | 2017-12-29 | 2017-12-29 | Tunnel defect comprehensive improvement automatization operation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721898440.9U CN207813620U (en) | 2017-12-29 | 2017-12-29 | Tunnel defect comprehensive improvement automatization operation system |
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| Publication Number | Publication Date |
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| CN207813620U true CN207813620U (en) | 2018-09-04 |
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ID=63328422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201721898440.9U Active CN207813620U (en) | 2017-12-29 | 2017-12-29 | Tunnel defect comprehensive improvement automatization operation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108019219A (en) * | 2017-12-29 | 2018-05-11 | 中铁第四勘察设计院集团有限公司 | Tunnel defect comprehensive improvement automatization operation system and method |
| CN112160204A (en) * | 2020-08-18 | 2021-01-01 | 上海工程技术大学 | Track maintenance vehicle with fire-fighting function |
| CN112729111A (en) * | 2020-12-23 | 2021-04-30 | 南京康泰建筑灌浆科技有限公司 | Integrated detection vehicle for highway tunnel diseases |
-
2017
- 2017-12-29 CN CN201721898440.9U patent/CN207813620U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108019219A (en) * | 2017-12-29 | 2018-05-11 | 中铁第四勘察设计院集团有限公司 | Tunnel defect comprehensive improvement automatization operation system and method |
| CN108019219B (en) * | 2017-12-29 | 2023-12-15 | 中铁第四勘察设计院集团有限公司 | Automatic operation system and method for comprehensive tunnel defect treatment |
| CN112160204A (en) * | 2020-08-18 | 2021-01-01 | 上海工程技术大学 | Track maintenance vehicle with fire-fighting function |
| CN112729111A (en) * | 2020-12-23 | 2021-04-30 | 南京康泰建筑灌浆科技有限公司 | Integrated detection vehicle for highway tunnel diseases |
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