CN209892245U - Tunnel waterproofing membrane laying vehicle - Google Patents

Abstract

The utility model discloses a tunnel waterproofing membrane laying vehicle, including the chassis, still include: the working arms are telescopic and rotatable, so that the extending ends of the working arms move along the section of the inner contour of the tunnel; the suspension device is used for arranging the waterproof coiled material, and two ends of the suspension device are respectively connected with the extending ends of the two working arms; and the hanging basket assembly is arranged between the extending ends of the two working arms and is used for bearing constructors. The length of the telescopic arm can be adjusted when the working arm rotates, so that the extending end of the telescopic arm always moves along the section of the inner contour of the tunnel, the tunnel waterproof coiled material laying vehicle can meet the requirement of laying tunnel waterproof coiled materials of tunnels with different sections or large variable sections, one-time full-section operation is realized, the construction is convenient, and the construction efficiency is improved; and the device can be used for multiple purposes, has wide application range and saves equipment cost.

Description

Tunnel waterproofing membrane laying vehicle

Technical Field

The utility model relates to a tunnel construction equipment technical field, more specifically say, relate to a tunnel waterproofing membrane laying vehicle.

Background

In tunnel waterproofing, in order to prevent water leakage in a tunnel, geotextile and waterproof board are usually laid on a section of the tunnel to serve as a main water-proof and drainage measure of the tunnel.

At present, the geotextile and the waterproof board are generally paved on a trolley in China, and the paving construction of the waterproof coiled material of the tunnel is completed by combining a manual auxiliary paving mode.

Prior art geotextile and flashing laying trolleys typically comprise an arched steel frame structure and projecting platforms of different heights. During construction, constructors stand on the extension platforms with different heights to assist operation, convey, discharge and move the geotextile and the waterproof board along the arched steel frame structure, and then fix the geotextile and the waterproof board in position and the like to finish laying the geotextile and the waterproof board.

However, the laying method is not only high in labor intensity and low in working efficiency, but also the contour dimension of the existing arched steel frame structure is usually designed by taking the tunnel section as a reference, so that the method can only adapt to the construction of the fixed section, cannot meet the laying of the tunnel waterproof coiled materials of the tunnels with different sections or large variable sections, is small in application range, and causes inconvenience for the laying construction of the tunnel waterproof coiled materials.

In summary, how to provide a tunnel waterproofing membrane laying vehicle capable of adapting to roadways with different cross sections or large variable cross sections is a problem to be solved urgently by technical personnel in the field.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a tunnel waterproofing membrane laying vehicle can satisfy the demand that the tunnel waterproofing membrane in different cross-sections or big variable cross section tunnel was laid.

In order to achieve the above object, the present invention provides the following technical solutions:

the utility model provides a tunnel waterproofing membrane laying vehicle, includes the chassis, still includes:

the working arms are telescopic and rotatable, so that the extending ends of the working arms move along the section of the inner contour of the tunnel;

the suspension device is used for arranging waterproof coiled materials, and two ends of the suspension device are respectively connected with the extending ends of the two working arms;

and the hanging basket assembly is arranged between the extending ends of the two working arms and is used for bearing constructors.

Preferably, the two working arms are respectively connected with the two rotating mechanisms in a one-to-one correspondence manner, and the output ends of the two rotating mechanisms are connected through a cross beam so as to ensure that the two working arms synchronously rotate.

Preferably, the rotating mechanism includes:

the mounting base is fixedly connected with the chassis;

the working arm and the cross beam are respectively fixedly connected with the rotary support;

and the at least one rotary driving piece is connected with the rotary support and used for driving the rotary support to rotate.

Preferably, the two rotating mechanisms are respectively connected with a first controller for controlling the rotating mechanisms to rotate, the robot further comprises a first angle sensor for detecting the rotating angles of the two working arms, and the first angle sensor is connected with the first controller, so that the first controller controls the two rotating mechanisms to rotate synchronously according to detection signals of the first angle sensor.

Preferably, the working arm comprises:

at least two sections of telescopic arms with collinear axes, wherein any two adjacent sections of telescopic arms are in sliding sleeve joint;

and the telescopic driving devices are connected with the telescopic arms in a one-to-one correspondence manner and are used for driving the corresponding telescopic arms to move along the axial direction of the telescopic arms.

Preferably, each telescopic driving device is respectively connected with a second controller for controlling the telescopic driving device to stretch, the telescopic device further comprises a displacement sensor for detecting real-time stretching amounts of the two working arms, and the displacement sensor is connected with the second controller, so that the second controller controls the two working arms to stretch synchronously according to detection signals of the displacement sensor.

Preferably, the suspension device comprises:

the two swing arms are respectively and rotatably connected with the extending ends of the two working arms and can stretch out and retract;

two ends of the supporting rod are respectively detachably connected with the two swing arms and are used for hanging the waterproof coiled material;

and the swing arm rotation driving device is connected with the swing arms in a one-to-one correspondence manner and is used for driving the swing arms to rotate.

Preferably, the two swing arm rotation driving devices are respectively connected with a third controller for controlling the swing arm rotation driving devices to rotate, and the swing arm rotation driving device further comprises a second angle sensor for detecting the rotation angles of the two swing arms, and the second angle sensor is connected with the third controller, so that the third controller controls the two swing arm rotation driving devices to synchronously rotate according to detection signals of the second angle sensor;

the swing arm include with the end that stretches out of work arm rotates the fixed knot of connecting and with the telescopic joint that the fixed knot slip cup jointed, the telescopic joint with be used for the drive the flexible swing arm telescopic cylinder of telescopic joint links to each other, two the flexible cylinder of swing arm realizes two through the reposition of redundant personnel collecting valve the synchronous flexible of swing arm.

Preferably, both ends of the basket assembly are respectively and rotatably connected with the extending ends of the two working arms, and the basket assembly further comprises a basket driving device for driving the basket assembly to rotate in opposite directions when the working arms rotate so as to keep the basket assembly horizontal.

Preferably, the hanging basket driving device is connected with a fourth controller used for controlling the rotation angle of the hanging basket driving device, the hanging basket driving device further comprises an inclination angle sensor used for detecting the inclination angle of the hanging basket assembly in real time, and the inclination angle sensor is connected with the fourth controller so that the fourth controller controls the leveling of the hanging basket assembly according to the detection signal of the inclination angle sensor.

The utility model provides a tunnel waterproofing membrane laying vehicle, during the use, with waterproofing membrane setting on linkage, constructor gets into the hanging flower basket subassembly, in the rotatory while of work arm, carries out concertina movement to make the end that stretches out of work arm along the motion of profile cross-section in the tunnel, accomplish laying of waterproofing membrane under constructor's additional action.

Because the length of the telescopic arm can be adjusted in the process of rotating the working arm, the extending end of the telescopic arm always moves along the section of the inner contour of the tunnel. The working arm can adapt to the laying construction of the tunnel waterproof rolls with different sections or large variable sections, so that the tunnel waterproof roll laying vehicle can meet the laying requirement of the tunnel waterproof rolls of the tunnels with different sections or large variable sections, the one-time full-section operation is realized, the construction is convenient, and the construction efficiency is improved; and the device can be used for multiple purposes, has wide application range and saves equipment cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural view of a concrete embodiment of a tunnel waterproof roll laying vehicle provided by the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a schematic view of the working arm of FIG. 1;

FIG. 4 is a schematic view of the working arm of FIG. 3 in an operating state;

FIG. 5 is a schematic view of the chassis of FIG. 1;

FIG. 6 is a schematic view of the cross-beam of FIG. 1;

FIG. 7 is a schematic view of the suspension of FIG. 1;

FIG. 8 is a schematic view of the basket assembly of FIG. 1;

FIG. 9 is a schematic view of the walking system of FIG. 1;

FIG. 10 is a first schematic illustration of the powertrain of FIG. 1;

FIG. 11 is a second schematic illustration of the powertrain of FIG. 1.

The reference numerals in fig. 1-11 are as follows:

1 is a chassis, 11 is a vertical supporting leg, 12 is a transverse supporting leg, 2 is a working arm, 21 is a one-arm assembly, 22 is a two-arm assembly, 23 is a three-arm assembly, 24 is a four-arm assembly, 25 is a five-arm assembly, 26 is a balancing weight, 27 is a telescopic oil cylinder, 3 is a suspension device, 31 is a swing arm, 32 is a supporting rod, 33 is a swing arm rotation driving device, 34 is a swing arm telescopic oil cylinder, 35 is a limiting plate, 4 is a hanging basket assembly, 41 is a hanging basket welding, 42 is an iron box welding, 43 is a rotating shaft welding, 44 is a protective door, 5 is a rotating mechanism, 51 is an installation base, 52 is a rotary support, 53 is a rotary driving piece, 6 is a cross beam, 61 is a transfer seat, 7 is a walking system, 71 is a tire, 72 is a front axle, 73 is a rear axle, 74 is a front axle transmission shaft, 75 is a rear axle transmission shaft, 76 is a fixed transmission shaft, 81 is an engine assembly, 82 is an, Engine exhaust 84, fuel supply 85, and remote filter line 86.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The core of the utility model is to provide a tunnel waterproofing membrane laying vehicle can satisfy the demand that the tunnel waterproofing membrane in different cross-sections or big variable cross section tunnel was laid.

Referring to fig. 1 to 11, fig. 1 is a schematic structural view of a tunnel waterproofing membrane laying vehicle according to an embodiment of the present invention; FIG. 2 is a front view of FIG. 1; FIG. 3 is a schematic view of a working arm; FIG. 4 is a schematic view of the working arm in an operating state; FIG. 5 is a schematic view of a chassis; FIG. 6 is a schematic view of a cross beam; FIG. 7 is a schematic view of a suspension arrangement; FIG. 8 is a schematic view of a basket assembly; FIG. 9 is a schematic view of a walking system; FIG. 10 is a first schematic illustration of the powertrain; FIG. 11 is a second schematic diagram of the powertrain.

The utility model provides a tunnel waterproofing membrane laying vehicle, including chassis 1, still including two work arms 2 of locating chassis 1 front and back both ends respectively, be used for setting up waterproofing membrane's linkage 3 and be used for bearing constructor's hanging flower basket subassembly 4. The two working arms 2 are respectively telescopic and rotatable so that the projecting ends of the working arms 2 move along the tunnel inner profile section. Two ends of the suspension device 3 are respectively connected with the extending ends of the two working arms 2, so that the suspension device 3 moves along with the movement of the working arms 2, and the waterproof coiled material is convenient to lay. The hanging basket assembly 4 is arranged between the extending ends of the two working arms 2 so as to facilitate the construction personnel to assist the laying of the waterproof coiled materials.

It should be noted that the working arm 2 is rotatable, which mainly means that the working arm 2 rotates along the inner profile section of the tunnel; the working arm 2 is telescopic to ensure that the length of the working arm 2 is adjustable, so that the distance between the extending end of the working arm 2 and the inner wall of the tunnel can be adjusted.

According to the motion synthesis principle, when the working arm 2 rotates, the telescopic motion is carried out, the compound motion of the extending end of the working arm 2 can be realized, namely, the length of the telescopic arm can be adjusted simultaneously in the rotating process of the working arm 2, and the extending end of the telescopic arm can move along the section of the inner contour of the tunnel all the time. The working arm 2 can adapt to the laying construction of the tunnel waterproof rolls with different sections or large variable sections, so that the tunnel waterproof roll laying vehicle can meet the laying requirement of the tunnel waterproof rolls of the tunnels with different sections or large variable sections, the one-time full-section operation is realized, the construction is convenient, and the construction efficiency is improved; and the device can be used for multiple purposes, has wide application range and saves equipment cost.

In consideration of actual construction requirements, the telescopic range of the working arm 2 preferably comprises 0-7360 mm; the angle of the working arm 2 in the vertical position is defined as 0 degree, the clockwise rotation angle of the working arm 2 is positive, the counterclockwise rotation angle of the working arm 2 is negative, and the rotation angle range of the working arm 2 comprises-105 degrees to +105 degrees.

Considering the specific implementation manner of the extension of the working arm 2, as a preferred scheme, the working arm 2 comprises at least two sections of telescopic arms with collinear axes, and any two adjacent sections of telescopic arms are in sliding sleeve joint; the telescopic driving device is connected with the telescopic arms in a one-to-one correspondence mode and used for driving the corresponding telescopic arms to move along the axial direction of the telescopic arms.

That is, the working arm 2 in the present embodiment has a multi-stage telescopic arm, and the entire length of the working arm 2 is adjusted comprehensively by the extension and contraction of the multi-stage telescopic arm, which can increase the adjustment range of the length of the working arm 2.

Preferably, two adjacent sections of telescopic arms realize sliding connection through the matching of the sliding rail and the sliding groove.

Preferably, the telescopic driving device is a hydraulic cylinder, that is, the telescopic arm is driven to extend and retract by the hydraulic cylinder.

In view of the balance stability of the tunnel waterproofing membrane laying vehicle, it is preferable that the end of the working arm 2 remote from the protruding end is provided with a weight 26 for preventing the tunnel waterproofing membrane laying vehicle from overturning, and the weight 26 can also reduce the driving torque for driving the working arm 2 to rotate.

For example, as shown in fig. 3, the working arm 2 includes a first arm assembly 21 for connecting with the chassis 1, a second arm assembly 22 slidably fitted with the first arm assembly 21, a third arm assembly 23 slidably fitted with the second arm assembly 22, a fourth arm assembly 24 slidably fitted with the third arm assembly 23, and a fifth arm assembly 25 slidably fitted with the fourth arm assembly 24, the second arm assembly 22, the third arm assembly 23, the fourth arm assembly 24, and the fifth arm assembly 25 being connected with a telescopic cylinder 27, respectively; the weight 26 is provided at an end of the one arm assembly 21 remote from the two arm assembly 22.

Considering the specific implementation manner of the rotation of the working arms 2, as a preferred scheme, the two working arms 2 are respectively connected with the two rotating mechanisms 5 in a one-to-one correspondence manner, and the rotating mechanisms 5 are used for independently driving the corresponding working arms 2 to rotate; the output ends of the two rotating mechanisms 5 are connected through a cross beam 6 to ensure that the two working arms 2 rotate synchronously. That is, the provision of the cross member 6 forces the synchronous rotation of the two working arms 2 to be ensured from the mechanical aspect. This ensures that each of the working arms 2 has a sufficient driving force, and at the same time, reduces the cost for controlling the synchronous rotation of the two working arms 2.

It will be appreciated that the cross-beam 6 is required to have sufficient structural strength and resistance to twisting.

In view of the specific structure of the rotating mechanism 5, on the basis of the above-described embodiment, the single rotating mechanism 5 includes a mounting base 51 fixedly connected to the chassis 1, a swiveling support 52 rotatably connected to the mounting base 51, and at least one rotary driving member 53 connected to the swiveling support 52, and the working arm 2 and the cross beam 6 are respectively fixedly connected to the swiveling support 52.

That is, when mounting, the rotating mechanism 5 is fixed on the chassis 1 by the mounting base 51, and preferably, the mounting base 51 is mounted on the chassis 1 by bolts.

The working arm 2 is fixedly arranged on the rotary support 52, that is, the working arm 2 is indirectly arranged on the chassis 1 through the rotary support 52 and the mounting base 51, the rotary support 52 plays a role of fixing and supporting the working arm 2, and the rotary driving member 53 is used for driving the rotary support 52 to rotate, so that the rotary support 52 drives the working arm 2 to rotate.

In addition, two ends of the cross beam 6 are fixedly connected with the two rotary supports 52 respectively to ensure that the two rotary supports 52 rotate synchronously, so that the two rotary supports 52 drive the two working arms 2 to rotate synchronously.

Preferably, the rotary support 52 is provided with a flange, the working arm 2 is provided with a mounting plate for connecting with the flange, and the two ends of the beam 6 are respectively provided with an adapter 61 for connecting with the flange.

Further preferably, the mounting plate, adapter 61 and flange are substantially identical in shape and size. Preferably, the flange is a circular flange, the mounting plate is a circular mounting plate, and the adapter 61 is a circular adapter 61.

It should be noted that the specific number of the rotation driving members 53 in the present invention is not limited, and the more the number of the rotation driving members 53 is, the more sufficient the rotation power is provided for the rotation support 52.

In order to ensure the uniformity of the force applied to the rotary support 52, on the basis of the above-described embodiment, when the number of the rotary drivers 53 is at least two, all the rotary drivers 53 are uniformly distributed along the circumferential direction of the rotation axis of the rotary support 52.

Preferably, the number of the rotary driving members 53 is two, and the two rotary driving members 53 are arranged at 180 degrees around the rotation axis of the rotary support 52, so as to save space and make the structure more compact while ensuring a large torque output of the rotary support 52.

In view of the realization of the specific structure of the rotary drive member 53, on the basis of the above-described embodiment, the rotary drive member 53 includes a rotary speed reducer and a drive gear connected to an output shaft of the rotary speed reducer; the rotary support 52 includes a driven gear for driving engagement with the drive gear.

That is to say, in this embodiment, the driving gear is driven to rotate by the rotation reducer, and the rotation support 52 is driven to rotate by the meshing transmission of the driving gear and the driven gear, so that the rotation support 52 drives the working arm 2 to rotate.

Preferably, the rotary speed reducer is provided to the mounting base 51.

In order to ensure the stability of the movement of the working arm 2, on the basis of the above embodiment, the two rotating mechanisms 5 are respectively connected to a first controller for controlling the rotation of the rotating mechanisms 5, and the device further comprises a first angle sensor for detecting the rotation angles of the two working arms 2, wherein the first angle sensor is connected to the first controller, so that the first controller controls the two rotating mechanisms 5 to rotate synchronously according to the detection signal of the first angle sensor.

It can be understood that the synchronous rotation of the two working arms 2 ensures the consistency of the movement of the two ends of the suspension device 3, thus ensuring the smoothness of the laying of the waterproofing membrane.

It should be noted that, please refer to the prior art for the structure and the action principle of the first angle sensor, which is not described herein again, as long as the rotation angle of the working arm 2 can be detected.

Preferably, the number of the first angle sensors is two, and the first angle sensors are respectively arranged on the adapter seats 61 at the two ends of the cross beam 6 and are used for detecting the rotation angle of the adapter seats 61 at the two ends of the cross beam 6 in real time.

It can be understood that the adapter 61 and the working arm 2 are fixedly connected to the slewing support 52 of the slewing mechanism 5, and therefore, the rotation angle of the adapter 61 is the rotation angle of the slewing support 52 and the working arm 2.

The two first angle sensors respectively send rotation angle signals of the two adapter seats 61 detected by the two first angle sensors to the first controller, the first controller calculates an angle difference of the two adapter seats 61, and controls the output rotation speed of the two rotating mechanisms 5 in real time according to the angle difference, so that the two working arms 2 are controlled to rotate synchronously.

Further, in order to guarantee the smoothness of the waterproof roll laying, on the basis of the above embodiment, each telescopic driving device is respectively connected with a second controller for controlling the telescopic driving device to stretch, and the waterproof roll laying device further comprises a displacement sensor for detecting the real-time stretching amount of the two working arms 2, and the displacement sensor is connected with the second controller so that the second controller controls the two working arms 2 to stretch synchronously according to the detection signal of the displacement sensor.

It can be understood that the two working arms 2 are synchronously telescopic, so that the laying smoothness of the waterproof coiled material can be ensured.

The utility model discloses do not restrict displacement sensor's structure and effect principle, as long as can detect the flexible volume of work arm 2.

Preferably, the displacement sensor is a pull-cord sensor.

The number of the pull rope sensors is preferably four, and two pull rope sensors are provided for each working arm 2, so that the detection accuracy is improved by the average value of the amounts of extension and retraction of the same working arm 2 detected by the two pull rope sensors corresponding to the same working arm 2.

The mounting seat of the pull rope sensor is fixedly arranged at the fixed end (for example, one arm part 21) of the working arm 2, and the end of the pull rope sensor far away from the fixing seat is fixedly arranged at the extending end (for example, five-arm assembly 25) of the working arm 2, so that the telescopic length of the working arm 2 can be detected through the telescopic length of the pull rope sensor.

Each stay cord sensor respectively with its flexible volume signal transmission to the second controller that corresponds work arm 2 that detects, the difference of two work arm 2 flexible volumes is obtained in the calculation of second controller to the flexible length of two work arms 2 is controlled through real-time control each flexible drive arrangement's telescopic motion according to this difference, thereby control two work arms 2 synchronous telescope.

It will be appreciated that the suspension means 3 serve to hold the waterproofing membrane in position to allow it to move with the movement of the working arm 2.

The extending ends of the two working arms 2 respectively support two ends of the suspension device 3, so that the suspension device 3 is ensured to have a stable supporting structure, the suspension device 3 is ensured to be stressed uniformly, and the laying stability of the waterproof coiled material is ensured.

In consideration of the specific structure of the suspension device 3, the suspension device 3 includes, on the basis of any of the above embodiments: the waterproof roll fixing device comprises a supporting rod 32 for hanging a waterproof roll, two swing arms 31 respectively connected with the extending ends of two working arms 2 in a rotating mode, and swing arm rotating driving devices 33 connected with the swing arms 31 in a one-to-one corresponding mode, wherein two ends of the supporting rod 32 are respectively detachably connected with the two swing arms 31 so that the waterproof roll can be conveniently arranged; the swing arm rotation driving device 33 is used for driving the swing arm 31 to rotate, and meanwhile, the swing arm 31 is telescopic, so that the swing arm 31 is rotated and stretched, the composite motion is realized, the position of the swing arm 31 is adjusted, and the support rod 32 is located at a proper position, so that the waterproof coiled material is installed.

It should be noted that the swing arm 31 is used for fine adjustment of the position of the support rod 32, and is used for increasing the position adjustment range of the support rod 32.

Preferably, the support rod 32 is used for inserting an inner core hole of the waterproofing membrane, so that the waterproofing membrane is hung on the hanging device 3 through the support rod 32. During construction, under the rotation and telescopic motion of the working arm 2, the waterproof coiled material is laid under the auxiliary action of manually pushing the waterproof coiled material to roll by constructors.

It will be appreciated that the support bar 32 is removably connected to the swing arm 31 in order to facilitate the securement of the waterproofing membrane. That is, when the waterproofing membrane is installed, the support rod 32 is firstly detached from the swing arms 31, the support rod 32 is inserted into the inner core hole of the waterproofing membrane, and then both ends of the support rod 32 are respectively fixed with the two swing arms 31.

Preferably, both ends of the support rod 32 are connected to the two swing arms 31 through a clip, respectively, and an R-shaped pin for preventing the clip from being loosened is provided on the clip.

In order to reduce the labor intensity of constructors, preferably, the telescopic joint of the swing arm 31 is provided with a support rod driving device for driving the support rod 32 to rotate, the support rod driving device comprises two rotating shafts respectively connected with the two swing arms 31 correspondingly, preferably, the rotating shafts are rotatably connected with the swing arms 31 through bearings, and two ends of the support rod 32 are respectively detachably connected with the two rotating shafts through clamps; the driving device further includes a rotary power source rotatably connected to one of the shafts to drive the shaft 32 to rotate. It can be understood that, this moment, waterproofing membrane's inner core hole and bracing piece 32 are tight fit to the rotation through bracing piece 32 drives waterproofing membrane and rotates, avoids the manual work to promote waterproofing membrane and rolls, reduces intensity of labour.

Preferably, a position limiting plate 35 for limiting the position of the waterproofing membrane is provided on the support rod 32 to prevent the waterproofing membrane from shaking on the support rod 32.

Preferably, the position of the limit plate 35 on the support bar 32 is adjustable to accommodate waterproofing rolls of different widths.

It can be understood that after two adjacent waterproof boards are laid, the splicing part of the two adjacent waterproof boards needs to be welded and fixed. In view of convenience of welding, it is preferable that the climbing welder is provided on the swing arm 31 through an auxiliary arm of the climbing welder.

In order to ensure the stability of the movement of the support rod 32, on the basis of the above embodiment, the two swing arm rotation driving devices 33 are respectively connected to a third controller for controlling the rotation of the swing arm rotation driving devices 33, and the apparatus further includes a second angle sensor for detecting the rotation angles of the two swing arms 31, and the second angle sensor is connected to the third controller, so that the third controller controls the two swing arm rotation driving devices 33 to rotate synchronously according to the detection signals of the second angle sensor.

Preferably, the swing arm rotation driving device 33 includes a rotation reducer fixedly disposed at the extending end of the working arm 2, and an output shaft of the rotation reducer is connected to a rotating shaft of the swing arm 31.

Preferably, the second angle sensor is an encoder, and the number of the encoders is two, and the two encoders are respectively disposed on the output shafts of the rotary speed reducers corresponding to the two swing arms 31.

The two encoders respectively send the rotation angles of the corresponding swing arms 31 detected by the two encoders to a third controller, the third controller calculates the rotation angle difference of the two swing arms 31, and controls the output rotation speed of the rotary speed reducer according to the rotation angle difference so as to control the two swing arms 31 to rotate synchronously.

Preferably, the swing arm 31 comprises a fixed joint rotatably connected with the extending end of the working arm 2 and an expansion joint slidably sleeved with the fixed joint, the expansion joint is connected with a swing arm expansion cylinder 34 for driving the expansion joint to expand, and the two swing arm expansion cylinders 34 realize synchronous expansion of the two swing arms 31 through the flow distribution and collection valve.

That is to say, the oil inlets of the two swing arm telescopic cylinders 34 are respectively connected with the oil outlets of the flow dividing and combining valve, and the oil inlets of the flow dividing and combining valve are connected with the oil supply source, so that the same oil supply source supplies the same flow of hydraulic oil to the two swing arm telescopic cylinders 34 through the flow dividing and combining valve, thereby driving the synchronous telescopic motion of the two swing arms 31.

The basket assembly 4 is used for bearing construction personnel, and in view of construction convenience, on the basis of any one of the above embodiments, two ends of the basket assembly 4 are respectively and rotatably connected with the extending ends of the two working arms 2, and the basket driving device is used for driving the basket assembly 4 to rotate in opposite directions when the working arms 2 rotate so as to keep the basket assembly 4 horizontal.

That is, in the present embodiment, the basket assembly 4 rotates together with the rotation of the work arm 2, and in order to ensure the safety of the personnel, the basket assembly 4 rotates around the work arm 2 in the opposite direction while rotating with the work arm 2 by the basket driving device, so as to ensure that the basket assembly 4 is always in the horizontal state. That is, the hanging basket assembly 4 in the embodiment can be leveled in a self-adaptive manner, and the horizontal position of the hanging basket assembly is always kept, so that the safety of constructors is guaranteed.

Preferably, the basket driving device is a rotary speed reducer, and is preferably arranged outside the extending end of the working arm 2.

On the basis of the above embodiment, the basket driving device is connected to a fourth controller for controlling the rotation angle of the basket driving device, and the basket driving device further comprises an inclination angle sensor for detecting the inclination angle of the basket assembly 4 in real time, and the inclination angle sensor is connected to the fourth controller, so that the fourth controller controls the leveling of the basket assembly 4 according to the detection signal of the inclination angle sensor.

Preferably, the number of the inclination sensors is three to improve the detection accuracy by an average value of the inclinations of the basket assembly 4 detected by the three inclination sensors; or, during work, only one tilt angle sensor is used for collecting data, and the other two tilt angle sensors are used as standby, so that after the tilt angle sensors participating in work are damaged, qualified tilt angle sensors can be selected from the other two standby tilt angle sensors in time to participate in work, and normal operation of equipment is guaranteed.

Preferably, the tilt sensor is mounted horizontally, e.g., the tilt sensor is fixed horizontally to the bottom surface of the basket assembly 4 or to a surface parallel to the bottom surface of the basket assembly 4, for detecting an angular deviation of the bottom surface of the basket assembly 4 from the horizontal, i.e., detecting an angle of rotation of the basket assembly 4 along the X-axis and the Y-axis of the spatial coordinate system. Consider that hanging flower basket subassembly 4 is located between the end that stretches out of two work arms 2, the both ends of hanging flower basket subassembly 4 receive work arm 2's restriction, can not produce and deflect, consequently, the utility model provides a tilt sensor mainly used detects hanging flower basket subassembly 4 relative automobile body length direction's deflection. When the lifting basket leveling device is used, a zero position is set firstly, when the working arm 2 rotates, an angle is generated, the working arm 2 drives the lifting basket component 4 to generate the same angle, at the moment, the inclination angle sensor detects the angle and sends an angle signal detected by the inclination angle sensor to the fourth controller, and the fourth controller controls the lifting basket component 4 to rotate reversely according to the detection signal of the inclination angle sensor, so that the lifting basket component 4 is leveled. It should be noted that the first controller, the second controller, the third controller, and the fourth controller may be a master controller of the tunnel waterproofing roll laying vehicle, or may be independent control modules.

In consideration of the specific structure of the basket assembly 4, as a preferred scheme, as shown in fig. 8, the basket assembly 4 includes a basket weld 41, an iron box weld 42, a rotation shaft weld 43, and a guard door 44. Basket welds 41 as the body of the basket assembly 4, preferably of frame-like construction; the can welds 42 are provided on the inner bottom side of the basket welds 41.

Preferably, the extending end of the working arm 2 is provided with a mounting hole for mounting the rotating shaft welding 43, a copper sleeve is arranged in the mounting hole, and the rotating shaft welding 43 is sleeved with the copper sleeve.

It should be noted that, the present invention does not limit the specific structure of the chassis 1, and refer to the prior art.

Preferably, the chassis 1 is provided with a horizontal leg 12 and a vertical leg 11 for positioning the tunnel waterproofing membrane laying vehicle when laying the waterproofing membrane, the horizontal leg 12 and the vertical leg 11 are respectively connected with a leg driving device so that both can be telescopically retracted. After the tunnel waterproof coiled material laying vehicle reaches the construction station, firstly extending the transverse support legs 12 and then extending the vertical support legs 11 to position and fix the tunnel waterproof coiled material laying vehicle; when the construction is finished and the next station or transition is needed, the horizontal support leg 12 and the vertical support leg 11 are respectively retracted to the original positions so as to facilitate the movement of the tunnel waterproof coiled material laying vehicle.

Preferably, the chassis 1 is provided with a second inclination angle sensor for detecting the inclination angle of the chassis 1 when the transversely-extending supporting legs 12 and the vertical supporting legs 11 extend and support, the second inclination angle sensor is connected with a main controller of the tunnel waterproof roll laying vehicle, the main controller is connected with the supporting leg driving device, so that the main controller controls the power output of the supporting leg driving device according to the detection signal of the second inclination angle sensor, the telescopic amount of the vertical supporting legs 11 is adjusted, the chassis 1 is kept horizontal, and the working stability is ensured.

It will be appreciated that the tunnel waterproofing roll laying vehicle also comprises a travelling system 7, a power system and a control system.

As shown in fig. 9, the traveling system 7 includes tires 71, a front axle 72, a rear axle 73, a front axle propeller shaft 74, a rear axle propeller shaft 75, and a fixed propeller shaft 76. The front axle transmission shaft 74 and the rear axle transmission shaft 75 are respectively connected with the fixed transmission shaft 76 through bolts, the front axle transmission shaft 74 is connected with the front axle 72, and the rear axle transmission shaft 75 is connected with the rear axle 73.

As shown in fig. 10 and 11, the power system includes an engine mount 81, an engine pump stack 82, an engine air intake system 83, an engine exhaust system 84, a fuel supply system 85, a remote filter line mount 86, and the like.

The control system comprises a hydraulic system, an electrical system, an arm support hydraulic system and the like, namely, the control system of the tunnel waterproof coiled material laying vehicle is a power transmission system based on electromechanical-hydraulic integrated transmission control so as to ensure that the equipment runs stably and normally.

It should be noted that the utility model discloses do not specifically limit driving system and control system's theory of action and implementation, as long as can ensure the complete machine function of tunnel waterproofing membrane laying vehicle can, can specifically refer to prior art, or realize through field technician's conventional technological means.

Preferably, the tunnel waterproofing membrane laying vehicle further comprises a wireless remote controller, so that the remote control of the operation of the whole machine for braking, gear shifting, lighting, a horn and the working arm 2 is realized through a wireless remote control technology. The cab can be removed through the wireless remote controller, so that the whole vehicle structure is more compact, and the equipment is more flexible in transition and station transition. Please refer to the prior art for the wireless remote control principle and implementation, which are not described herein.

It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

It is right above the utility model provides a tunnel waterproofing membrane laying vehicle has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims (10)

1. The utility model provides a tunnel waterproofing membrane laying vehicle, includes chassis (1), its characterized in that still includes:

the two working arms (2) are respectively arranged at the front end and the rear end of the chassis (1), and the working arms (2) can stretch and rotate so as to enable the extending ends of the working arms (2) to move along the section of the inner contour of the tunnel;

the suspension device (3) is used for arranging waterproof coiled materials, and two ends of the suspension device (3) are respectively connected with the extending ends of the two working arms (2);

and the hanging basket assembly (4) is arranged between the extending ends of the two working arms (2) and is used for bearing constructors.

2. The tunnel waterproofing membrane laying vehicle according to claim 1, characterized in that two working arms (2) are connected with two rotating mechanisms (5) in a one-to-one correspondence, and the output ends of the two rotating mechanisms (5) are connected through a cross beam (6) to ensure that the two working arms (2) rotate synchronously.

3. The tunnel waterproofing roll laying vehicle according to claim 2, characterized in that the rotating mechanism (5) comprises:

a mounting base (51) fixedly connected with the chassis (1);

the rotary support (52) is rotatably connected with the mounting base (51), and the working arm (2) and the cross beam (6) are respectively and fixedly connected with the rotary support (52);

and at least one rotary driving piece (53) connected with the rotary support (52) and used for driving the rotary support (52) to rotate.

4. The tunnel waterproofing membrane laying vehicle according to claim 2, characterized in that two of the rotating mechanisms (5) are respectively connected to a first controller for controlling the rotation of the rotating mechanisms (5), and further comprising a first angle sensor for detecting the rotation angle of the two working arms (2), wherein the first angle sensor is connected to the first controller, so that the first controller controls the two rotating mechanisms (5) to rotate synchronously according to the detection signal of the first angle sensor.

5. The tunnel waterproofing roll laying vehicle according to claim 1, characterized in that the working arm (2) comprises:

at least two sections of telescopic arms with collinear axes, wherein any two adjacent sections of telescopic arms are in sliding sleeve joint;

and the telescopic driving devices are connected with the telescopic arms in a one-to-one correspondence manner and are used for driving the corresponding telescopic arms to move along the axial direction of the telescopic arms.

6. The tunnel waterproofing membrane laying vehicle of claim 5, wherein each of the telescopic driving devices is connected to a second controller for controlling the telescopic driving devices to extend and retract, and further comprising a displacement sensor for detecting real-time extension and retraction amounts of the two working arms (2), and the displacement sensor is connected to the second controller, so that the second controller controls the two working arms (2) to extend and retract synchronously according to detection signals of the displacement sensor.

7. Tunnel waterproofing roll laying vehicle according to any one of claims 1 to 6, wherein the suspension device (3) comprises:

the two swing arms (31) are respectively and rotatably connected with the extending ends of the two working arms (2), and the swing arms (31) can stretch out and draw back;

two ends of the supporting rod (32) are respectively detachably connected with the two swing arms (31) and used for hanging the waterproof coiled material;

and the swing arm rotation driving devices (33) are connected with the swing arms (31) in a one-to-one correspondence manner and are used for driving the swing arms (31) to rotate.

8. The tunnel waterproofing membrane laying vehicle according to claim 7, wherein the two swing arm rotation driving devices (33) are respectively connected to a third controller for controlling the rotation of the swing arm rotation driving devices (33), and further comprising a second angle sensor for detecting the rotation angle of the two swing arms (31), the second angle sensor being connected to the third controller, so that the third controller controls the two swing arm rotation driving devices (33) to rotate synchronously according to the detection signal of the second angle sensor;

swing arm (31) include with the fixed knot of connecting and with the telescopic joint that the fixed knot slip cup jointed are rotated to the end that stretches out of work arm (2), the telescopic joint with be used for the drive the flexible swing arm telescopic cylinder (34) of telescopic joint link to each other, two swing arm telescopic cylinder (34) realize two through the reposition of redundant personnel collecting valve the synchronous flexible of swing arm (31).

9. Tunnel waterproofing membrane laying vehicle according to any of claims 1 to 6, characterized in that both ends of the basket assembly (4) are rotatably connected with the protruding ends of the two working arms (2), respectively, further comprising a basket driving device for driving the basket assembly (4) to rotate in opposite directions when the working arms (2) are rotated, in order to keep the basket assembly (4) horizontal.

10. The tunnel waterproofing membrane laying vehicle of claim 9, wherein the basket driving device is connected to a fourth controller for controlling the rotation angle of the basket driving device, and further comprising an inclination sensor for detecting the inclination angle of the basket assembly (4) in real time, the inclination sensor being connected to the fourth controller, so that the fourth controller controls the leveling of the basket assembly (4) according to the detection signal of the inclination sensor.

Images