CN220015196U - Multifunctional full-automatic spraying maintenance trolley for tunnel - Google Patents

Abstract

The utility model discloses a multifunctional full-automatic spraying maintenance trolley for a tunnel, which comprises an automatic spraying device, a tunnel maintenance bench and an automatic traveling device positioned at the bottom of the tunnel maintenance bench, wherein the automatic traveling device comprises a traveling mechanism and a steering mechanism, the traveling mechanism comprises a traveling driving speed reducer motor, a traveling wheel mounting frame and traveling wheels, the steering mechanism comprises a steering driving speed reducer motor, a steering wheel mounting frame and steering wheels, the automatic spraying device comprises an arched mounting frame, a water supply pipeline, a temperature and humidity measurement assembly and a water heating assembly which is arranged on a top platform and is communicated with the water supply pipeline, the water supply pipeline is provided with nozzles facing the inner wall of the tunnel at intervals, and when the full-automatic tunnel maintenance trolley encounters an obstacle, the tunnel maintenance bench realizes automatic driving and obstacle avoidance turning by means of the automatic traveling device; has the advantages of full automation, wide spraying range, good concrete curing effect, etc.

Description

Multifunctional full-automatic spraying maintenance trolley for tunnel

Technical Field

The utility model belongs to the technical field of tunnel lining maintenance, and particularly relates to a multifunctional full-automatic spraying maintenance trolley for tunnels.

Background

In the existing construction projects of large highways, high-speed railways and the like, the tunnel construction ratio is large, the period is long, and the construction period is short. However, the tunnel lining maintenance rack is limited by technical conditions and the like, is not mature and widely applied with automatic spraying maintenance products, is mainly processed by steel sections, has large weight, is driven to move forward by a loader when being driven to walk, has large size, and is inconvenient to use due to occupied space of main equipment in a tunnel. The traveling directions of four wheels are consistent when the traveling device of the traditional tunnel lining maintenance rack is driven by a loader to move, the wheels on the left side and the right side are at the same speed, the traveling direction of a trolley is limited, the obstacle cannot be flexibly avoided, and the automatic turning obstacle avoidance cannot be flexibly realized.

For spray curing operation, a constructor temporarily installs a water pipe, manual and simple operation is adopted to perform sprinkling curing on concrete, and the constructor needs to fix the operation, or lays a temporary water pipe on a concrete lining trolley, and manual curing is adopted, so that the curing efficiency is low, the water resource waste is serious, the tunnel is difficult to comprehensively spray, and the curing effect is poor; at present, the temperature regulation and control of spray water are not available, but the best mechanical properties of the concrete after initial setting or solidification can be ensured when the concrete is kept at proper temperature and humidity, so that the curing effect is better.

Disclosure of Invention

The utility model aims to provide a multifunctional full-automatic spraying maintenance trolley for a tunnel, which is driven by automatic steering and traction, has high automatic spraying maintenance efficiency and flexible regulation and control of heating and humidification, and solves the problems that the existing tunnel lining maintenance trolley is large in weight, needs to be driven by a loader to move forwards and can not be flexibly prevented from obstacle avoidance, and has poor maintenance effect and low maintenance efficiency due to lack of spraying maintenance on temperature regulation and control of spraying water.

The technical scheme adopted by the utility model is as follows: the utility model provides a multi-functional full automatization of tunnel sprays maintenance platform truck, includes automatic spray device, tunnel maintenance platform and is located the automatic running gear of tunnel maintenance platform bottom, automatic running gear includes bilateral symmetry fixed mounting in the running gear of main body frame bottom front side both corners and bilateral symmetry rotatable mounting in the steering gear of main body frame bottom rear side both corners, running gear includes walking drive speed reducer motor, walking wheel mounting bracket and installs the walking wheel on walking wheel mounting bracket, steering gear includes steering drive speed reducer motor, steering wheel mounting bracket and installs the steering wheel on the steering wheel mounting bracket, automatic spray device includes the arch mounting bracket that sets up along tunnel maintenance platform hoop, the water supply pipeline of following arch mounting bracket, the humiture measurement subassembly of vertical installation on the top layer platform and install on the top layer platform and with the water heating subassembly of water supply pipeline intercommunication, the water supply pipeline interval is equipped with the nozzle towards tunnel lining concrete temperature and humidity, humiture measurement subassembly is used for detecting tunnel lining concrete temperature and humidity; the traction steering driving obstacle avoidance device is characterized in that the walking driving speed reducer motor and the steering driving speed reducer motor are combined to achieve traction steering driving obstacle avoidance.

As the optimization of the scheme, the tunnel maintenance rack comprises a main body frame, a plurality of layers of side work tables positioned on the left side and the right side of the main body frame and a top layer platform positioned on the top of the main body frame, wherein the plurality of layers of side work tables positioned on the left side and the right side of the main body frame ensure that workers can have an operation space without all-round dead angles of a tunnel side wall, the top layer platform provides an installation space for a water heating assembly, so that heated spraying water can be conveniently injected from a vault of a water supply pipeline, and the portal structure is reasonable in design; the side wall ranging component is arranged on one side of the main body frame corresponding to the tunnel side wall, so that the distance between the main body frame and the tunnel side wall can be detected in real time, the sensitivity is high, and data support is provided for automatic driving obstacle avoidance; the side workbench all is equipped with cat ladder installation passageway and is equipped with the cat ladder except the bottom and supplies the staff to reciprocate, removes convenient and fast.

Further preferably, the side wall ranging assembly comprises an L-shaped supporting bracket, a ranging installation frame, an ultrasonic radar device and an infrared ranging device, wherein the ultrasonic radar device and the infrared ranging device are respectively arranged at the upper corner and the lower corner of the far end of the ranging installation frame, the sensitivity of ranging with a tunnel side wall is guaranteed through ultrasonic radar and infrared ranging, the near-end bolt of the L-shaped supporting bracket is arranged on the main body frame, and the far end of the L-shaped supporting bracket is connected with the near end of the ranging installation frame, so that the structural design is reasonable.

Further preferably, the small chain wheel is installed at the output end of the walking drive speed reducer motor, the end part of the walking wheel central shaft extending out of the walking wheel mounting frame is provided with the large chain wheel, and the large chain wheel and the small chain wheel are arranged on the same side and are provided with chains, so that chain transmission is realized, the transmission structure is reasonable, and time and labor are saved.

Still preferably, the top of the steering wheel mounting frame is connected with the main body frame through a bearing assembly, the bearing assembly comprises a slewing bearing outer ring which is in butt joint with the main body frame and a slewing bearing inner ring which is in butt joint with the top of the steering wheel mounting frame, the steering drive speed reducer motor is arranged on the slewing bearing outer ring, and an output end penetrates through the slewing bearing outer ring to be in butt joint with the slewing bearing inner ring, so that the steering wheel mounting frame can be driven to rotate by pushing the slewing bearing inner ring, the design is ingenious, the steering function of the steering wheel is realized by means of the drive speed reducer motor, and the structure is stable.

Still preferably, the travelling wheel mounting frame on one side is provided with encoder equipment for recording travelling data, the travelling drive speed reducer motor on the side adopts a double-output-shaft speed reducer motor, the output end of the double-output-shaft speed reducer motor, which is far away from the small chain wheel, is communicated with the encoder equipment, and the travelling wheel mounting frame on the other side is provided with an anti-collision travel switch, so that the automatic driving travel can be recorded in real time and the travelling is stopped when the vehicle encounters an obstacle, the functional design is reasonable, the anti-collision travel switch adopts a photoelectric travel switch, and whether an obstacle is in front of the anti-collision travel switch for preventing the rack from collision.

Further preferably, the water heating assembly comprises a water storage tank, a primary preheating water tank and a secondary constant temperature heater which are sequentially connected, and the water for spraying is subjected to primary preheating and secondary heating, and the water for spraying is preheated for a certain time, so that the water heating time can be effectively shortened, the timely temperature rise of the water for spraying is ensured, and the rapid temperature rise and the timely reaction are ensured.

It is further preferable that a frame type water tank installation seat is arranged at the bottom of the water tank, a plate type primary water tank installation seat is arranged at the bottom of the primary water tank, and the frame type water tank installation seat is higher than the plate type primary water tank installation seat, so that the bottom of the water tank is higher than the bottom of the primary water tank, and after a water tank switch is opened by means of height difference, water can actively flow into the primary water tank to perform primary water heating, so that the design is ingenious; the water outlet of the secondary constant temperature heater is connected with the water inlet at the top of the water supply pipeline through a pipeline with a pump, so that spraying water with regulated temperature can enter the water supply pipeline, and the structure is buckled.

Further preferably, the temperature and humidity measurement assembly comprises a sensor mounting frame, a humidity sensor and an infrared temperature sensor which are respectively arranged on the left side and the right side above the sensor mounting frame, and the temperature and humidity of concrete poured by the tunnel lining are accurately detected through the humidity sensor and the infrared temperature sensor, so that automatic regulation and control are performed, and the sensor is reasonable to install; the sensor mounting frame comprises a vertical groove and L-shaped mounting seats symmetrically arranged on the left side plate and the right side plate of the vertical groove, and the humidity sensor and the infrared temperature sensor are arranged on the L-shaped mounting seats on the corresponding sides.

Still more preferably, the left side plate, the right side plate and the L-shaped mounting seat side plate of the vertical groove are respectively provided with screw holes which are equidistantly arranged at intervals, and are provided with bolts for fixedly connecting the vertical groove and the L-shaped mounting seat, so that the mounting position of the L-shaped mounting seat on the side plate of the vertical groove can be flexibly adjusted, and the distance between the L-shaped mounting seat and the tunnel arch can be flexibly adjusted.

The utility model has the beneficial effects that:

(1) Compared with the running directions of four wheels of the running gear of the existing tunnel lining maintenance trolley are consistent, the running mechanism is bilaterally symmetrically located at the front side of the bottom of the tunnel lining maintenance automatic driving trolley to generate driving force and torque for automatic driving and running of the trolley, the steering mechanism is bilaterally symmetrically located at the rear side of the bottom of the tunnel lining maintenance automatic driving trolley to generate cornering torque, an automatic driving steering function is achieved, the steering mechanism does not need to turn around, only the running direction is required to be set, automatic driving turning or reversing operation is more sensitive and convenient, the operation is flexible, the function is divided into working details, and the structural design is reasonable.

(2) Compare in current tunnel lining maintenance adoption manual maintenance and lack the temperature regulation and control to the shower water, this scheme adopts automatic spray to realize temperature regulation and control through water heating component, supply line lays along arch mounting bracket and forms arc structure, and the supply line interval is equipped with the nozzle towards tunnel inner wall, so the omnidirectional alignment tunnel lining of nozzle, thereby realizes comprehensive spraying, sprays the scope extensively.

(3) The temperature and humidity measurement assembly can detect the temperature and humidity of the tunnel lining concrete, heat and humidify the tunnel lining concrete through the water heating assembly and the spray nozzle, automatically drive to avoid obstacles, automatically spray, humidify and heat, realize full-automatic spraying maintenance of the tunnel, and automatically start spraying when the temperature and humidity of the concrete is detected to be lower than a set threshold range; when the concrete is in the set temperature and humidity range, the method is beneficial to initial setting and solidification of the concrete, and can better ensure the mechanical property of the concrete after solidification, so that the concrete curing effect is better, and the method has great application prospect and application value and high practicability.

In conclusion, the concrete curing agent has the advantages of full automation in function, wide spraying range, good concrete curing effect and the like.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a schematic diagram of a running gear structure with an anti-collision travel switch.

Fig. 3 is a schematic view of the running gear structure with the encoder apparatus mounted.

Fig. 4 is a schematic structural view of the steering mechanism.

Fig. 5 is a schematic structural diagram of a side wall ranging assembly.

Fig. 6 is a schematic structural view of the automatic spraying device (the temperature and humidity measuring assembly is not shown).

Fig. 7 is a schematic structural diagram of the temperature and humidity measuring assembly.

Detailed Description

The utility model is further illustrated by the following examples in conjunction with the accompanying drawings:

referring to fig. 1-7, a multifunctional full-automatic spraying maintenance trolley for tunnels is composed of an automatic spraying device 3, a tunnel maintenance rack 2 and an automatic travelling device 1 positioned at the bottom of the tunnel maintenance rack 2.

The automatic walking device 1 consists of a walking mechanism a which is symmetrically and fixedly arranged at two corners of the front side of the bottom of the main body frame 21 and a steering mechanism b which is symmetrically and rotatably arranged at two corners of the rear side of the bottom of the main body frame 21.

The travelling mechanism a mainly comprises a travelling drive speed reducer motor 11, a travelling wheel mounting frame 12 and travelling wheels 13 arranged on the travelling wheel mounting frame 12.

The output end of the walking drive speed reducer motor 11 is provided with a small chain wheel 111, and the end part of the central shaft of the walking wheel 13 extending out of the walking wheel mounting frame 12 is provided with a large chain wheel 131.

The large sprocket 131 is on the same side as the small sprocket 111 and is equipped with a chain, thereby realizing chain transmission.

The steering mechanism b is mainly composed of a steering drive speed reducer motor 14, a steering wheel mounting frame 15, and steering wheels 16 mounted on the steering wheel mounting frame 15.

The top of the steering wheel mount 15 is connected to the main body frame 21 by a bearing assembly.

The bearing assembly consists of a slewing bearing outer ring 151 that interfaces with the main body frame 21 and a slewing bearing inner ring 152 that interfaces with the top of the steering wheel mount 15.

The steering drive speed reducer motor 14 is mounted on the slewing bearing outer ring 151, and the output end passes through the slewing bearing outer ring 151 and is in butt joint with the slewing bearing inner ring 152, so that the steering wheel mounting frame 15 can be driven to rotate by pushing the slewing bearing inner ring 152.

The travelling wheel mounting frame 12 on one side is provided with an encoder device 17 for recording travelling data, and the travelling drive speed reducer motor 11 on the side adopts a double-output-shaft speed reducer motor, and the output end of the double-output-shaft speed reducer motor, which is far away from the small sprocket 111, is communicated with the encoder device 17.

An anti-collision travel switch 18 is arranged on the travelling wheel mounting frame 12 on the other side, and the anti-collision travel switch 18 adopts a photoelectric travel switch.

The tunnel maintenance rack 2 is composed of a main body frame 21, a plurality of layers of side work tables 22 positioned at the left and right sides of the main body frame 21, and a top layer platform 23 positioned at the top of the main body frame 21.

The side tables 22 are provided with a ladder mounting channel 221 except for the bottom layer and are equipped with a ladder for the staff to move up and down.

The side wall ranging component 24 is arranged on one side of the main body frame 21 corresponding to the tunnel side wall.

The side wall ranging assembly 24 consists of an L-shaped supporting bracket 241, a ranging mounting frame 242, an ultrasonic radar device 243 and an infrared ranging device 244 which are respectively positioned at the upper and lower corners of the distal end of the ranging mounting frame 242.

An "L" shaped support bracket 241 is bolted to the main body frame 21 at a proximal end and is connected at a distal end to a range mount 242.

When the full-automatic tunnel maintenance trolley encounters an obstacle, the tunnel maintenance trolley 2 realizes automatic driving obstacle avoidance turning by means of the automatic travelling device 1.

When the tunnel lining maintenance automatic driving trolley moves forward or backward in the tunnel, the steering traction device is automatically controlled to start turning to avoid the obstacle.

The travelling drive speed reducer motor 11 provides a forward driving force for the travelling wheel 13, the steering drive speed reducer motor 14 provides a lateral deviation force and a moment for the steering wheel 16, the steering wheel 16 changes the direction of the force, the movement direction of the trolley is changed, the steering adjustment is realized, the trolley is prevented from colliding with the wall surface of the tunnel, and the trolley returns to the correct travelling range.

Then, when the vehicle is required to be backed up, the whole turning is not required, only the running direction is required to be changed, the travelling wheels 13 are used as the front wheels of the rack, the steering wheels 16 are used as the rear wheels of the rack, and the automatic driving running effect is not affected.

The automatic spraying device 3 mainly comprises an arched mounting frame 31 which is erected along the circumferential direction of the tunnel maintenance bench 2, a water supply pipeline 32 which is arranged along the arched mounting frame 31, a temperature and humidity measurement assembly 36 which is vertically arranged on the top-layer platform 23, and a water heating assembly which is arranged on the top-layer platform 23 and is communicated with the water supply pipeline 32.

The water supply line 32 is provided with nozzles 321 facing the inner wall of the tunnel at intervals.

The water heating assembly consists of a water storage tank 33, a primary preheating water tank 34 and a secondary constant temperature heater 35 which are connected in sequence.

The temperature and humidity measuring assembly 36 can detect the temperature and humidity of the tunnel lining concrete and heat and humidify the tunnel lining concrete through the water heating assembly and the nozzle 321.

The bottom of the water tank 33 is provided with a frame type water tank mounting seat 331.

A plate-type primary preheating water tank mount 341 is provided at the bottom of the primary preheating water tank 34.

The frame type water tank mount 331 is higher than the plate type primary preheating water tank mount 341 so that the bottom of the water tank 33 is higher than the bottom of the primary preheating water tank 34.

The water outlet of the secondary constant temperature heater 35 is connected with the water inlet at the top of the water supply pipeline 32 through a pipeline 351 with a pump.

The temperature and humidity measuring assembly 36 mainly comprises a sensor mounting frame, and humidity sensors 361 and infrared temperature measuring sensors 362 respectively arranged on the left side and the right side above the sensor mounting frame.

The sensor mounting frame is composed of a vertical slot 363 and an L-shaped mounting seat 364 symmetrically arranged on the left and right side plates of the vertical slot.

The humidity sensor 361 and the infrared temperature sensor 362 are mounted on the corresponding side "L" type mounting seat 364.

The left and right side plates of the vertical slot 363 and the side plates of the L-shaped mounting seat 364 are respectively provided with screw holes which are equidistantly arranged at intervals, and are provided with bolts for fixedly connecting the vertical slot 363 and the L-shaped mounting seat 364.

The values detected by the temperature and humidity measuring assembly 36 are transmitted back to the PLC control system in real time and are compared with the set temperature and humidity parameters in the system, the set concrete humidity parameter range is 80% -90%, the set concrete temperature parameter range is 15-25 ℃, and the initial setting or the mechanical properties after setting of the concrete in the range are optimal.

When the temperature and humidity measuring component 36 detects that the temperature and humidity of the tunnel lining concrete is lower than the set range, spraying water heated by the water heating component is used for spraying humidifying and heating the concrete by means of the nozzle 321 until the temperature and humidity reach the set range.

Claims (10)

1. The utility model provides a multi-functional full automatization in tunnel sprays maintenance platform truck which characterized in that: comprises an automatic spraying device (3), a tunnel maintenance rack (2) and an automatic walking device (1) positioned at the bottom of the tunnel maintenance rack (2), wherein the automatic walking device (1) comprises a walking mechanism (a) which is fixedly installed at two corners of the front side of the bottom of a main body frame (21) in a bilateral symmetry manner and a steering mechanism (b) which is rotatably installed at two corners of the rear side of the bottom of the main body frame (21) in a bilateral symmetry manner, the walking mechanism (a) comprises a walking driving speed reducer motor (11), a walking wheel installation frame (12) and walking wheels (13) which are installed on the walking wheel installation frame (12), the steering mechanism (b) comprises a steering driving speed reducer motor (14), a steering wheel installation frame (15) and steering wheels (16) which are installed on the steering wheel installation frame (15), the automatic spraying device (3) comprises an arch installation frame (31) which is erected in a circular way along the tunnel maintenance rack (2), a water supply pipeline (32) which is arranged along the arch installation frame (31), a temperature and humidity measurement assembly (36) which is vertically installed on a top layer platform (23) and a water supply pipeline (32) which are installed on the top layer platform (23) and is communicated with the water supply pipeline (321) and provided with the water supply pipeline (321) at intervals, the temperature and humidity measurement assembly (36) is used for detecting the temperature and humidity of the tunnel lining concrete; the traction steering driving obstacle avoidance device is characterized in that the walking driving speed reducer motor (11) and the steering driving speed reducer motor (14) are combined to achieve traction steering driving obstacle avoidance.

2. The multifunctional full-automatic spraying maintenance trolley for tunnels according to claim 1, which is characterized in that: the tunnel maintenance rack (2) comprises a main body frame (21), a plurality of layers of side work tables (22) located on the left side and the right side of the main body frame (21) and a top layer platform (23) located on the top of the main body frame (21), a side wall ranging component (24) is arranged on one side, corresponding to a tunnel side wall, of the main body frame (21), a ladder mounting channel (221) is formed in the side work table (22) except for the bottom layer, and a ladder is arranged for workers to move up and down.

3. The multifunctional full-automatic spraying maintenance trolley for tunnels according to claim 2, which is characterized in that: the side wall ranging assembly (24) comprises an L-shaped supporting bracket (241), a ranging installation frame (242) and ultrasonic radar devices (243) and infrared ranging devices (244) which are respectively positioned at the upper corners and the lower corners of the far end of the ranging installation frame (242), wherein the near-end bolt of the L-shaped supporting bracket (241) is installed on the main body frame (21), and the far end of the L-shaped supporting bracket is connected with the near end of the ranging installation frame (242).

4. The multifunctional full-automatic spraying maintenance trolley for tunnels according to claim 1, which is characterized in that: the small chain wheel (111) is installed at the output of walking drive speed reducer motor (11), the tip that walking wheel (13) center pin stretched out walking wheel mounting bracket (12) is equipped with big sprocket (131), big sprocket (131) and small chain wheel (111) homonymy are equipped with the chain to realize chain drive.

5. The multifunctional full-automatic spraying maintenance trolley for tunnels according to claim 1, which is characterized in that: the top of steering wheel mounting bracket (15) is connected with main body frame (21) through bearing assembly, bearing assembly includes slewing bearing outer lane (151) with main body frame (21) butt joint and slewing bearing inner circle (152) with the top butt joint of steering wheel mounting bracket (15), steering drive speed reducer motor (14) are installed on slewing bearing outer lane (151), and the output passes slewing bearing outer lane (151) and slewing bearing inner circle (152) butt joint to can drive steering wheel mounting bracket (15) rotation through promoting slewing bearing inner circle (152).

6. The multifunctional full-automatic spraying maintenance trolley for tunnels according to claim 4, which is characterized in that: one side traveling wheel mounting frame (12) is provided with encoder equipment (17) for recording traveling data, the traveling drive speed reducer motor (11) of the side adopts a double-output-shaft speed reducer motor, the output end of the double-output-shaft speed reducer motor, which is far away from a small chain wheel (111), is communicated with the encoder equipment (17), the traveling wheel mounting frame (12) of the other side is provided with an anti-collision travel switch (18), and the anti-collision travel switch (18) adopts a photoelectric travel switch.

7. The multifunctional full-automatic spraying maintenance trolley for tunnels according to claim 1, which is characterized in that: the water heating assembly comprises a water storage tank (33), a primary preheating water tank (34) and a secondary constant temperature heater (35) which are sequentially connected.

8. The multifunctional full-automatic spraying maintenance trolley for tunnels according to claim 7, which is characterized in that: the utility model discloses a water heater, including storage water tank (33), primary preheating water tank (34), frame-type storage water tank mount pad (331) are equipped with to storage water tank (33) bottom, primary preheating water tank (34) bottom is equipped with board-like primary preheating water tank mount pad (341), frame-type storage water tank mount pad (331) are higher than board-like primary preheating water tank mount pad (341) to make storage water tank (33) bottom be higher than primary preheating water tank (34) bottom, be connected through taking pump pipeline (351) between the delivery port of secondary constant temperature heater (35) and water supply line (32) top water inlet.

9. The multifunctional full-automatic spraying maintenance trolley for tunnels according to claim 1, which is characterized in that: the temperature and humidity measurement assembly (36) comprises a sensor mounting frame, a humidity sensor (361) and an infrared temperature measurement sensor (362) which are respectively arranged on the left side and the right side above the sensor mounting frame, the sensor mounting frame comprises a vertical groove (363) and an L-shaped mounting seat (364) symmetrically arranged on the left side and the right side of the vertical groove, and the humidity sensor (361) and the infrared temperature measurement sensor (362) are arranged on the L-shaped mounting seat (364) on the corresponding side.

10. The multifunctional full-automatic spraying maintenance trolley for tunnels according to claim 9, which is characterized in that: the left side plate, the right side plate and the L-shaped mounting seat (364) of the vertical groove (363) are respectively provided with screw holes which are equidistantly arranged at intervals, and the vertical groove (363) and the L-shaped mounting seat (364) are fixedly connected through bolts.