CN210068194U - Intelligent guniting system - Google Patents
Intelligent guniting system Download PDFInfo
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- CN210068194U CN210068194U CN201920982224.5U CN201920982224U CN210068194U CN 210068194 U CN210068194 U CN 210068194U CN 201920982224 U CN201920982224 U CN 201920982224U CN 210068194 U CN210068194 U CN 210068194U
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Abstract
The utility model discloses an intelligence whitewashing system, include the whitewashing bridge that sets up along tunnel axial direction, the circumference direction of whitewashing bridge is provided with slewer, is connected with the whitewashing manipulator on slewer's the rotation mechanism, is provided with the spouting mouth on the whitewashing manipulator, is provided with the multi freedom three-dimensional scanner group that links to each other with the observing and controlling center on the whitewashing bridge, slewer and spouting manipulator and spouting mouth all link to each other with the observing and controlling center. The utility model discloses replace among the prior art indispensable whitewashing system operating personnel, both effectively improved the efficiency that the tunnel whitewashing was strutted, fully guaranteed the quality that the whitewashing was strutted again, effectively reduced the rock burst, gushed the incidence of construction accidents such as water.
Description
Technical Field
The utility model relates to a full section tunnel boring machine whitewashing technical field especially indicates an intelligence whitewashing system.
Background
The operation of traditional TBM mixed spraying system has high requirement on comprehensive quality of workers, long culture period of an operator, high dependence of a construction site on the operator, severe environment of TBM mixed spraying operation area, the operator of the guniting system can skillfully control the operation system for at least three years, the operation environment of guniting process is severe, the skilled operator is very short due to various factors, and guniting supporting effect is greatly influenced by the level of the operator. Therefore, the operators with abundant field experience and proficiency are in a state of shortage all the time. And the mixed spraying quality is greatly influenced by human factors and is unstable. With the vigorous popularization of the later TBM tunneling construction method and the improvement of occupational health requirements, the scarce state of operators becomes more and more serious. TBM constructors and owners have urgent needs for intelligent guniting projects.
The existing TBM intelligent guniting system is a very key system in a TBM complete machine, plays a vital role in the smooth tunneling of TBM construction, and is a product with high technical content and high added value. At present, each set of TBM is at least provided with two operators for manual guniting, the guniting effect is greatly influenced by the level of the operators, the skilled operators are very short, the horizontal instability of the operators directly causes the poor tunnel supporting quality, and the construction accidents such as rock burst, water burst and the like are very easy to cause. The method has become a bottleneck for restricting the safety of TBM tunnel construction, and owners have urgent full-automatic guniting requirements.
SUMMERY OF THE UTILITY MODEL
To not enough among the above-mentioned background art, the utility model provides an intelligence whitewashing system has solved the whitewashing quality of current mixed whitewashing system and has seriously relied on the proficiency of operative hand and the problem that skilled operative hand is in short supply.
The technical scheme of the utility model is realized like this: the utility model provides an intelligence whitewashing system, includes the whitewashing bridge that sets up along tunnel axial direction, and the circumference direction of whitewashing bridge is provided with slewer, is connected with the whitewashing manipulator on slewer's the rotation mechanism, is provided with the whitewashing mouth on the whitewashing manipulator, is provided with the multi freedom three-dimensional scanner group that links to each other with observing and controlling the center on the whitewashing bridge, slewer and whitewashing manipulator and whitewashing mouth all link to each other with observing and controlling the center.
The rotary device comprises a first rotary device and a second rotary device which are arranged at intervals, the guniting manipulator comprises a first guniting manipulator and a second guniting manipulator, the rotary mechanism of the first rotary device is connected with the first guniting manipulator, and the rotary mechanism of the second rotary device is connected with the second guniting manipulator.
The multi-degree-of-freedom three-dimensional scanner group comprises a first multi-degree-of-freedom three-dimensional scanner and a second multi-degree-of-freedom three-dimensional scanner, the first multi-degree-of-freedom three-dimensional scanner is arranged on the front side of the first rotating device, and the second multi-degree-of-freedom three-dimensional scanner is arranged between the first rotating device and the second rotating device.
The first multi-degree-of-freedom three-dimensional scanner and the second multi-degree-of-freedom three-dimensional scanner are respectively provided with two, the two first multi-degree-of-freedom three-dimensional scanners are symmetrically arranged on the left side and the right side of the guniting bridge, and the two second multi-degree-of-freedom three-dimensional scanners are symmetrically arranged on the left side and the right side of the guniting bridge.
The utility model discloses not only replaced indispensable whitewashing system operating personnel among the prior art, broken moreover the whitewashing and strutted the problem that the quality seriously restricted in whitewashing system operating personnel technique, both effectively improved whitewashing and strutted efficiency, fully guaranteed the quality that the whitewashing was strutted again, effectively reduced the rock burst, gushed the incidence of construction accidents such as water.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive work.
Fig. 1 is a schematic side view of the present invention;
FIG. 2 is a cross-sectional view taken along the line A-A in FIG. 1;
fig. 3 is a cross-sectional view taken along the plane B-B in fig. 1.
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 any creative effort belong to the protection scope of the present invention.
The multi-degree-of-freedom three-dimensional scanner group connected with the measurement and control center is arranged on the guniting bridge 1, the rotating device, the guniting mechanical arm and the guniting nozzle 4 are connected with the measurement and control center, and the measurement and control center can detect data of the inner ring surface of the tunnel through the three-dimensional scanner group and further control the rotating device, the guniting mechanical arm and the guniting nozzle 4 to make corresponding actions. The lower part of the guniting bridge 1 is provided with a sliding support 6, a sliding track 7 is arranged to be matched with the sliding support 6, and after one guniting circulation is finished, the guniting bridge 1 moves forwards along the sliding track 7, so that the multi-degree-of-freedom three-dimensional scanner set, the rotating device, the guniting manipulator and the guniting nozzle 4 are driven to enter the next guniting supporting position.
The rotary device comprises a first rotary device 2-1 and a second rotary device 2-2 which are arranged at intervals, and the guniting manipulator comprises a first guniting manipulator 3-1 and a second guniting manipulator 3-2. The rotating mechanism of the first rotating device 2-1 is connected with the first guniting manipulator 3-1, the rotating mechanism of the second rotating device 2-2 is connected with the second guniting manipulator 3-2, and the first guniting manipulator 3-1 and the second guniting manipulator 3-2 are both provided with guniting nozzles 4. Set up two sets of slewer, whitewashing manipulator and spouting nozzle 4, can carry out the whitewashing to the tunnel inner ring face more conveniently fully and strut.
The multi-degree-of-freedom three-dimensional scanner group comprises a first multi-degree-of-freedom three-dimensional scanner 5-1 and a second multi-degree-of-freedom three-dimensional scanner 5-2, wherein the first multi-degree-of-freedom three-dimensional scanner 5-1 is arranged on the front side of a first rotating device 2-1 and provides pre-guniting data for the first rotating device 2-1 and a first guniting manipulator 3-1 and a guniting nozzle 4 arranged on the first rotating device. The second multi-degree-of-freedom three-dimensional scanner 5-2 is arranged between the first rotating device 2-1 and the second rotating device 2-2 and provides data before guniting for the second rotating device 2-2, the first guniting manipulator 3-2 and the guniting nozzle 4.
Example 2, an intelligent guniting system, as shown in fig. 2, is indicated at C as a scanning area. The first multi-degree-of-freedom three-dimensional scanner 5-1 and the second multi-degree-of-freedom three-dimensional scanner 5-2 are both provided with two, the two first multi-degree-of-freedom three-dimensional scanners 5-1 are symmetrically arranged on the left side and the right side of the guniting bridge 1, and the two second multi-degree-of-freedom three-dimensional scanners 5-2 are symmetrically arranged on the left side and the right side of the guniting bridge 1, so that the scanning efficiency can be effectively improved, the integrity of a scanning area can be ensured, and the problem of high cost caused by the use of an excessively complex.
The other structure of this embodiment is the same as embodiment 1.
The utility model discloses a guniting method, including following step:
the method comprises the following steps: three-dimensional scanning, wherein the measurement and control center controls a first multi-degree-of-freedom three-dimensional scanner 5-1 to scan the contour of the inner ring surface of the tunnel and transmits scanning image data back to the measurement and control center;
step two: automatically spraying for the first time, wherein the measurement and control center automatically controls the first rotating device 2-1 to output a matched rotating speed according to the scanned image data in the step one, automatically controls the first spraying mechanical arm 3-1 to drive the spraying nozzle 4 to face a matched spraying direction, and further controls the first rotating device 2-1 to drive the spraying nozzle 4 on the first spraying mechanical arm 3-1 to spray the inner ring surface of the tunnel for the first time;
step three: scanning detection, wherein the measurement and control center controls the second multi-degree-of-freedom three-dimensional scanner 5-2 to scan the inner ring surface of the tunnel after the first guniting is finished, and returns the scanned image data to the measurement and control center;
step four: and judging a scanning result, comparing the scanning image data obtained in the step three with the set supporting contour data by the measurement and control center, if the comparison result is within an error range, advancing the guniting bridge 1 along the sliding track 7, entering the next guniting supporting cycle, and repeating the steps from the first step to the fourth step.
If the comparison result in the fourth step exceeds the error range, performing the fifth step: and (4) automatic fine spraying correction, wherein the measurement and control center automatically controls the second rotating device 2-2 to output matched rotating speed according to the comparison result, automatically controls the second guniting manipulator 3-2 to drive the spraying nozzle 4 to face a matched spraying direction, further controls the second rotating device 2-2 to drive the spraying nozzle 4 on the second guniting manipulator 3-2 to automatically perform fine spraying correction on the inner ring surface of the tunnel after the primary guniting in the step two is completed, then enters the next guniting supporting cycle, and repeats the steps one to five.
The present invention is not exhaustive and is well known to those skilled in the art.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides an intelligence whitewashing system which characterized in that: the device comprises a guniting bridge (1) arranged along the axial direction of a tunnel, wherein a rotating device is arranged in the circumferential direction of the guniting bridge (1), a guniting mechanical arm is connected to a rotating mechanism of the rotating device, a guniting nozzle (4) is arranged on the guniting mechanical arm, a multi-degree-of-freedom three-dimensional scanner set connected with a measurement and control center is arranged on the guniting bridge (1), and the rotating device, the guniting mechanical arm and the guniting nozzle (4) are all connected with the measurement and control center.
2. The intelligent guniting system according to claim 1, wherein: the rotary device (2) comprises a first rotary device (2-1) and a second rotary device (2-2) which are arranged at intervals, the guniting manipulator comprises a first guniting manipulator (3-1) and a second guniting manipulator (3-2), the rotary mechanism of the first rotary device (2-1) is connected with the first guniting manipulator (3-1), and the rotary mechanism of the second rotary device (2-2) is connected with the second guniting manipulator (3-2).
3. The intelligent guniting system according to claim 2, wherein: the multi-degree-of-freedom three-dimensional scanner set comprises a first multi-degree-of-freedom three-dimensional scanner (5-1) and a second multi-degree-of-freedom three-dimensional scanner (5-2), wherein the first multi-degree-of-freedom three-dimensional scanner (5-1) is arranged on the front side of a first rotating device (2-1), and the second multi-degree-of-freedom three-dimensional scanner (5-2) is arranged between the first rotating device (2-1) and the second rotating device (2-2).
4. The intelligent guniting system according to claim 3, wherein: the two first multi-degree-of-freedom three-dimensional scanners (5-1) and the two second multi-degree-of-freedom three-dimensional scanners (5-2) are arranged, the two first multi-degree-of-freedom three-dimensional scanners (5-1) are symmetrically arranged on the left side and the right side of the guniting bridge (1), and the two second multi-degree-of-freedom three-dimensional scanners (5-2) are symmetrically arranged on the left side and the right side of the guniting bridge (1).
5. The intelligent guniting system according to any one of claims 1-4, wherein: the lower part of the guniting bridge (1) is provided with a sliding support (6), and a sliding track (7) is matched with the sliding support (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920982224.5U CN210068194U (en) | 2019-06-27 | 2019-06-27 | Intelligent guniting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920982224.5U CN210068194U (en) | 2019-06-27 | 2019-06-27 | Intelligent guniting system |
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| CN210068194U true CN210068194U (en) | 2020-02-14 |
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| CN201920982224.5U Active CN210068194U (en) | 2019-06-27 | 2019-06-27 | Intelligent guniting system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110159313A (en) * | 2019-06-27 | 2019-08-23 | 中铁工程装备集团有限公司 | A kind of intelligence spraying system and its gunite method |
| CN114941540A (en) * | 2022-07-20 | 2022-08-26 | 湖南鹏翔星通汽车有限公司 | Multifunctional wet spraying machine for tunnel |
-
2019
- 2019-06-27 CN CN201920982224.5U patent/CN210068194U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110159313A (en) * | 2019-06-27 | 2019-08-23 | 中铁工程装备集团有限公司 | A kind of intelligence spraying system and its gunite method |
| CN114941540A (en) * | 2022-07-20 | 2022-08-26 | 湖南鹏翔星通汽车有限公司 | Multifunctional wet spraying machine for tunnel |
| CN114941540B (en) * | 2022-07-20 | 2022-11-04 | 湖南鹏翔星通汽车有限公司 | Multifunctional wet spraying machine for tunnel |
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