CN106677811A - Tunnel automatic construction equipment and construction method - Google Patents
Tunnel automatic construction equipment and construction method Download PDFInfo
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- CN106677811A CN106677811A CN201610534679.1A CN201610534679A CN106677811A CN 106677811 A CN106677811 A CN 106677811A CN 201610534679 A CN201610534679 A CN 201610534679A CN 106677811 A CN106677811 A CN 106677811A
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- 230000008093 supporting effect Effects 0.000 claims abstract description 38
- 238000005553 drilling Methods 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000008569 process Effects 0.000 claims abstract description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 14
- 239000000523 sample Substances 0.000 claims description 14
- 230000002787 reinforcement Effects 0.000 claims description 9
- 210000003205 muscle Anatomy 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 4
- 238000009412 basement excavation Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
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- 230000003068 static effect Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims 1
- 239000011435 rock Substances 0.000 abstract description 20
- 230000000694 effects Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 3
- 230000003014 reinforcing effect Effects 0.000 abstract 1
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 238000001514 detection method Methods 0.000 description 6
- 210000004247 hand Anatomy 0.000 description 4
- 241001074085 Scophthalmus aquosus Species 0.000 description 3
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention discloses tunnel automatic equipment and a construction method. The equipment is mainly composed of a rack, a revolving platform, a power arm, a mechanical arm, a wireless pressure sensor, a remoter and a hydraulic system, wherein the hydraulic system provides power and control. Diversified supporting processes such as automatic and quick construction and accurate positioning of a confined concrete arch scaffolding, installation of a connecting rod and pavement of a reinforcing mesh can be achieved; an advance geology forecast drilling machine can be additionally arranged according to situations in the field, rapid grading of surrounding rock and detecting of unfavorable geologic bodies can be conducted, and the effect that one machine serves several purposes is achieved. Multifunctional automatic construction equipment and the quick construction method are adopted to conduct automatic mechanical construction, construction efficiency is greatly improved, labor intensity and safety risks are remarkably reduced, and great application and promotion value is achieved.
Description
Technical field
The invention belongs to underground engineering support field, more particularly to a kind of Tunnel automation construction equipment and construction method.
Background technology
In recent years, China's traffic tunnel construction is developed rapidly, and preliminary bracing is affected as the master operation of constructing tunnel
Project progress, while and maintain Analyses of Tunnel Wall Rock Stability key.Domestic mechanization of tunnelling level is also low, is mostly
Complete by substantial amounts of labour force.In the construction of soft rock, the installation for carrying out steel arch-shelf is generally all by manually setting up, be primarily present
Problems with：(1) the lifting of bow member scene, assembled completely by manually carrying out, large cross-section tunnel is for the quantity and quality of workman
All there are certain requirements, labor strength is too big；(2) tunnel support low construction efficiency is manually carried out, construction environment is poor, safety
It is difficult to ensure；(3) tradition routine bow member is gradually difficult to meet the growing strength demand of tunnel support, it is necessary to increase bow member chi
Very little and intensity, so as to cause workman's construction more difficult.
Although western developed country is in the construction of soft country rock, steel arch-shelf is installed equipment and is commonly used, and constantly remote
Process control technology is applied on chassis so as to which the mechanization and automaticity during constructing tunnel is all greatly carried
It is high.The wherein representative MCH1220Z that chassis and company of Furukawa Electronic are installed for tetra- arm steel arch-shelfs of UTILIFT, these are big
The application of type professional equipment so that constructing tunnel efficiency is increased substantially.But known according to actual experience, in weak surrounding rock
During constructing tunnel, due to geological conditions and the difference of construction environment, overseas equipment technical parameter can not meet the country well
Construction requirement, be limited to many factors such as technology, fund, overseas equipment cannot be widely applied at home.
Additionally, shaped steel arch can not meet supporting requirement, the confined concrete for arising at the historic moment under many geological conditions
Bow member has higher supporting intensity and later stage bearing capacity, disclosure satisfy that the growing strength demand of tunnel support.But by
It is that fill concrete is prepared in steel pipe in confined concrete bow member, so confined concrete bow member compares shaped steel arch more
Heavy, heavier, can the quick-assembling that carry out confined concrete bow member become the key issue of smooth construction.In addition, construction environment
Complexity, it is desirable to plant equipment has a greater flexibility, but existing plant equipment generally existing is heavy, it is ineffective to operate
The drawbacks of living.
In recent years, the country produces and solves the assembled equipment of tunnel arch mechanization, but due to fully meeting
The requirement of site operation, is not really applied in scene.Therefore need a kind of mechanization that disclosure satisfy that field demand badly fast
Fast constructing device and method, reach Rapid Construction of Tunnels, the purpose for mitigating labor strength, improving efficiency of construction.
The content of the invention
To solve problem above present in prior art, it is an object of the present invention to provide a kind of Tunnel automation is applied
Construction equipment, the equipment be fully investigating domestic scene bow member assembling process, to confined concrete supporting site operation machine and
On the basis of matching operation method has carried out feasibility study, design.
It is a further object to provide a kind of method for tunnel construction.The construction method is automatic using above-mentioned tunnel
Change what construction equipment was carried out with reference to collapsible constraint bow member, realize quick, mechanized construction.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of Tunnel automation construction equipment, including travelling platform, revolving dial, power arm, mechanical hand, wherein, it is described
Travelling platform is walked under the driving of driving means, and the revolving dial is generally horizontally arranged on travelling platform, and revolution is flat
Platform adjusts the direction of mechanical hand by rotating, and the edge of the revolving dial is provided with pedestal, and the upper end edge revolution of pedestal is flat
Platform extends radially outwardly；
The power arm includes supporting section and linkage section, and the top of the supporting section is hinged with the upper end of the pedestal,
Support section being arranged above across revolving dial, the end of supporting section are fixedly connected with the top of the linkage section, and linkage section is certainly
To the downward-sloping setting in end, the length of supporting section is more than the length of linkage section, between revolving dial and the supporting section at top
It is connected with driving oil cylinder；
The mechanical hand includes mechanical arm and fixture, is hinged between mechanical arm and the linkage section, and linkage section and machinery
The end of arm is connected with；The fixture is movably arranged on mechanical arm, and the length of the supporting section is more than machine
The length of tool arm, the diameter with diameter greater than mechanical arm of supporting section.
When the supporting section of power arm does not stretch, mechanical hand is placed in front of car body, does not affect car body action；The connection of power arm
The downward-sloping setting of section, can facilitate from ground and directly capture bow member, and the Design of length of mechanical arm, into shorter structure, is in order to more
Bow member fine setting is carried out flexibly, power arm is arranged on pedestal centre position, and driver's cabin and rig are installed in both sides, and three is same with pedestal
Step rotation, neither influences each other, also can holding meanss stability in the large.
Preferably, horizontal adjustment oil cylinder is connected between the mechanical arm and fixture, is the phase between fixture and mechanical arm
Driving force is provided to mobile.
Preferably, 1-1.5 times of the diameter of a diameter of linkage section of the supporting section, the length of supporting section is linkage section
2-8 times of length.
It is further preferred that 1.2-2 times of the diameter of a diameter of mechanical arm of the linkage section.
Preferably, the support arm is telescopic arm, preferably three-level telescopic arm.
Preferably, the lower end of the mechanical arm is removably lifted with manual work platform.
It is further preferred that rotary disk is provided between the fixture and mechanical arm, the rotation of rotary disk drives fixture to make
Vertically rotary motion.
The lower end of mechanical arm is lifted with manual working platform, can make staff near suspender, in equipment hoisting bow member
During, it is also possible to the lifting of operator is realized, traditional method is all that, by building a framework, operator station is on the top of the shelf
It is operated, compared to traditional method, greatlys save manpower and materials, and staff can follow the motion of mechanical arm
And move, with bigger kinematic dexterity, improve work efficiency.
Rotary disk is installed between fixture and mechanical arm, on the one hand can random alignment jig the anglec of rotation, the opposing party
During the mechanical hand gripping bow member of face, the arm of force is relatively short, and good stability, the damage to rotary disk are less, are suitable for the complexity at scene
Construction environment.
Preferably, infrared laser instrument is carried in the both sides of the fixture, and wireless pressure sensor probe is carried in inner side.
Wireless pressure sensor is set in fixture, can be received on the inside of mechanical hand by antenna, reaction machine of popping one's head in
Pressure value between tool handss and bow member.The device is to consider the mechanical breakdown (fixture loosening) that is likely encountered during site operation,
There is certain security risk, jeopardize the safety of field worker and equipment, if pressure value is prominent during fixture gripping weight
So reduce or have significant change, illustrate that manipulator fixture grips insecure or machinery and breaks down, construction can be stopped at once
Carry out the inspection of mechanical hand, it is ensured that job safety when workman constructs.
Preferably, the fixture includes the activity folder being hinged and fixation clamp, and the inside of fixture is provided with clamping cylinder,
One end of clamping cylinder is fixed, and the other end is connected with the activity folder.
It is hinged at only one, work distance is short, flexible operation, gripping is stable.
It is further preferred that adjusting means of dehiscing on the fixture, is additionally provided with, the size of dehiscing of alignment jig.Described
Adjusting means of dehiscing is regulating bolt, plays a part of restriction.
Preferably, driver's cabin is also equipped with the revolving dial.Driver's cabin is moved with revolving dial, it is ensured that
Human pilot can be observed condition of construction at any time, and be made adjustment according to specific condition of construction at any time at any time just to fixture.
It is further preferred that the side of the driver's cabin is provided with advance geologic prediction rig, advance geologic prediction rig
Forward probe system is carried, the forward probe system includes geological radar and the drilling ginseng of the rig with formation parameters data base
Number real-time analyzer, the probe of drilling rod front end is equipped with sensor.
Long range probing is carried out to face before excavating, rig was crept into by the rig drilling parameter real-time analyzer
Rig moment of torsion, axle pressure, rotating speed, drilling speed and the drilling that sensor is received in journey is than work(etc. with brill parameter and formation parameters number
Contrasted according to storehouse, realization is more accurately recognized to underground engineering unfavorable geologic body and country rock rapid classification, according to scene
Country rock situation improves supporting scheme, carries out side wall country rock drilling, contrast surrounding rock supporting situation, carry out country rock before and after tunnel support
Supporting effect is evaluated.
The formation parameters data base is set up by the drilling parameter recorded based on a large amount of, comprehensive rig drilling tests
The relation of drilling parameter and corresponding each class surrounding rock physico-mechanical properties, the physico-mechanical properties include rock mass strength, bullet
Property modulus, cohesive strength and internal friction angle.
The sensor of drilling rod front end can carry out the collection of physical-mechanical properties of rock parameter.Geological radar include emitter and
Receptor, the emitter can launch uhf electromagnetic wave carries out geology detecting, and the receptor is arranged on can on rig probe
Carry out detection data process.
Preferably, the running gear of the travelling platform is 4 wheel driven formula solid tyre, and surface of tyre is provided with antiskid chain.
It is further preferred that being provided with telescopic support device on four angles of the travelling platform, the retractable support is filled
Put preferably hydraulic leg.
Antiskid chain can prevent tyre slip from making traveling more steady, safe, and hydraulic leg can be in machine operation to row
Walk platform to be supported, improve the job stability of machine, prevent rollover.
Preferably, the Tunnel automation construction equipment also includes fluid pressure line wireless remote controller.
Lifting, decline and the mechanical hand that power arm is capable of achieving using Digiplex adjusts the functions such as bow member position.
A kind of rapid constructing method, comprises the steps：
1) the confined concrete bow member for folding is transported to live face by bow member transport；
2) bow member is installed, and controls the construction equipment movement, and collapsed arch is trailed, lifted by the mechanical hand of construction equipment
To tunnel excavation face, another construction equipment cooperation snatch bow member lower end is stretched, both sides bow member is stretched in place；
3) bow member positioning, mechanical hand are utilized by carrying out fine position to bow member, in trim process and are installed on a robotic arm
Laser device transmitting infrared ray, be aligned on the anchor point accomplished fluently of leveling, realize that bow member is accurately positioned；
4) bow member is fixed, and after the completion of positioning, the construction equipment of fixed arch rack position is maintained static, and increases a construction in addition
Equipment hangs manual work platform, is carried out bow member and is tentatively fixed by the dowel of human weld's vault, spandrel, arch bottom position；
5) longitudinally connected muscle, bar-mat reinforcement are welded, after bow member is fixed, the mechanical hand of two construction equipments hangs people's work respectively
Industry platform proceeds by the welding of longitudinally connected muscle and bar-mat reinforcement from both sides.
Beneficial effects of the present invention are：
(1) it is provided with pedestal on revolving dial, the upper end edge revolving dial of pedestal extends radially outwardly, and supporting section crosses over
The surface of revolving dial, and the length and diameter of supporting section are maximum, it is ensured that the center of gravity of whole machine is flat without departing from walking
The width that platform is limited, on the premise of deliberately machine body weight is not increased, makes machine more stable in work progress, can carry
For, the characteristics of bigger lifting force, the mitigation of weight and structure, making machine more flexible.
The downward-sloping setting of linkage section of power arm, end and the mechanical arm of linkage section are hinged, and linkage section and mechanical arm
End be connected with, it is also what is be obliquely installed vertically to adjust oil cylinder, there is provided pulling force and thrust, for adjusting machine
The rotation of tool arm, can make regulation more convenient, flexible, and workman directly carries out the assembly of bow member by way of wireless remote control,
Simple and flexible, and when constructing, two fitting machines are used cooperatively, and can greatly improve efficiency of construction.
(2) equipment of the invention can be given rise to bow member on setting position by fixture, horizontal adjustment oil cylinder and revolution
Disk can be finely adjusted to fixture, the positioning of bow member is capable of achieving using two to three construction equipments, is carried out using the present invention
Live bow member mechanization is assembled, only needs 3~5 workmans to be capable of achieving whole constructing operation, labour force is greatly reduced；Mechanization
It is assembled to replace original artificial assembly, high degree to reduce labor strength, improve working security.
(3) advance geologic prediction rig and geological radar, comprehensive bow member fitting machine and brill are provided with equipment of the invention
The function of machine, can carry out confined concrete bow member mechanization assembly, position, be welded to connect the difference operation such as bar, bar-mat reinforcement, while
Country rock rapid classification, unfavorable geologic body detection etc. can also be carried out.
Description of the drawings
Overall structure diagrams of the Fig. 1 for the embodiment of the present invention；
Structural representations of the Fig. 2 for the mechanical hand of the embodiment of the present invention；
Fig. 3 is mechanized construction method flow diagram；
Fig. 4 is structural representation at the node of confined concrete bow member in the embodiment of the present invention；
Fig. 5 is the structural representation of confined concrete bow member folded state in the embodiment of the present invention.
Wherein, 1- frames；2- revolving dials；3- power arms；4- mechanical hands；5- wireless pressure sensors；6- advance geologics
Forecast rig；7- driver's cabins；8- walking mechanisms；9- support meanss；10- pedestals；11- manual work platforms；12- mechanical arms；13-
Fixture；14- vertically adjusts oil cylinder；15- horizontal adjustment oil cylinders；16- rotary disks；17- adjustable bolts；18- clamping cylinders；19-
Infrared laser instrument；20- geological radars；21- bow members；22- jump rings；23- is hinged；The first annular recess of 24-；25- recesses are tied
Structure；26- bulge-structures；27- steam vents.
Specific embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, tunnel multifunction automatic construction equipment is mainly by frame 1, revolving dial 2, power arm 3, machinery
The hydraulic system composition of handss 4, wireless pressure sensor 5, remote control and offer power and control, is capable of achieving quickly applying for bow member
The working procedures such as work, precise positioning and longitudinally connected muscle, the welding of bar-mat reinforcement；It is pre- that the construction equipment can set up advance geologic
Report rig 6, carries out country rock rapid classification and unfavorable geologic body detection, realizes a tractor serves several purposes.
Revolving dial 2 adjusts the direction of mechanical hand by rotating, and the edge of the revolving dial 2 is provided with pedestal 10,
The upper end edge revolving dial 2 of pedestal 10 extends radially outwardly；
The power arm 3 includes supporting section and linkage section, and the top of the supporting section is hinged with the upper end of the pedestal 10,
Surface of the supporting section across revolving dial, the end of supporting section are fixedly connected with the top of the linkage section, and linkage section is ad initio
The length of the downward-sloping setting in end, supporting section is held to connect between revolving dial 2 and the supporting section more than the length of linkage section
It is connected to driving oil cylinder；
The frame includes driver's cabin 7, walking mechanism 8 and support meanss 9.The running gear is 4 wheel driven formula solid wheel
Tire, the supporting fitting overall chain of surface of tyre；The support meanss are 4 extending hydraulic legs.
The power arm is telescopic arm, is connected with revolving dial, can carry out in horizontal plane in the rear end installation pedestal 10 of arm
360 ° of rotations；The front end of arm is connected with mechanical hand, near position of manipulator welded reinforcement hook on arm, can be hung manual work and be put down
Platform 11, middle part is connected with oil cylinder, by functions such as the flexible of the extension and contraction control power arm of oil cylinder, liftings.
The mechanical hand is made up of mechanical arm 12 and fixture 13.The mechanical arm is connected with power arm, vertically adjusts oil cylinder
Rotation in 14 control perpendiculars, the control of horizontal adjustment oil cylinder 15 are flexible.The mechanical clamp is connected to machine by rotary disk 16
On tool arm, 360 ° of rotations in plane can be carried out, adjustable bolt 17 can adjust the gripping scope of fixture, the control folder of clamping cylinder 18
Tool clamps bow member, can snatch 2~10t weights, mechanical clamp both sides carry infrared laser instrument 19, and inner side is carried wireless pressure and passed
Sensor is popped one's head in.
The wireless pressure sensor includes digitizing display, antenna and sensor probe, the sensor probe peace
It is mounted on the inside of mechanical hand, the wireless pressure sensor receives the mechanical hand of reflection of popping one's head on the inside of mechanical hand by antenna
The pressure between bow member, it is ensured that job safety when workman constructs.
The remote control is fluid pressure line wireless remote controller, is capable of achieving power arm using Digiplex and is lifted, declined
And the institute such as mechanical hand adjustment bow member position is functional, simplifies operation, improves accuracy and safety.
The geologic prediction rig carries forward probe system, and the forward probe system includes geological radar and has rock
The rig drilling parameter real-time analyzer of layer parameter data base, the formation parameters data base are based on a large amount of, comprehensive brills
The drilling parameter recorded by machine drilling test, sets up each class surrounding rock physico-mechanical properties corresponding with drilling parameter, the thing
Reason mechanical property includes rock mass strength, elastic modelling quantity, cohesive strength and internal friction angle.
The advance geologic prediction rig, the probe of its drilling rod front end can carry out rock physicses mechanics equipped with sensor
The collection of nature parameters.
The geological radar 20 includes emitter and receptor, and the emitter can launch uhf electromagnetic wave carries out geology
Detection, the receptor are arranged on rig probe and can carry out detection data process.
The rock physicses mechanics that sensor in borer drilling procedure is received by the rig drilling parameter real-time analyzer
Property is contrasted with formation parameters data base, realizes country rock rapid classification and unfavorable geologic body detection.
The present invention provides a kind of collapsible confined concrete bow member, at least including two sections, is hinged, phase at the node of adjacent segment
The contact surface of adjacent two sections node is set to the structure for cooperating, wherein one section of contact face structure is set to bulge-structure
26, another section of contact face structure is set to the notch configuration 25 coordinated with the bulge-structure 26, bulge-structure 26 and recess
The structure being fixed to both when both are in mated condition is additionally provided between structure 25, per section is in steel pipe
Composite construction filled with concrete.
Wherein, described confined concrete bow member is the composite construction that fill concrete is obtained in Steel tubular arch-frame.
Articulated structure at the node of adjacent segment is arranged near the inner side of confined concrete bow member, it is also possible to be proximate to outside
Arrange, it is preferred that be to arrange near inner side, it is when arranging near inner side, convenient to fold, it is also convenient for carrying after folding.Near outer
When side is arranged, the space taken after folding is more larger, it has not been convenient to carries and lifts.Bow member can also be rolled over along the longitudinal direction of bow member
It is folded, but it is set as making the mechanical property of bow member to reduce.
The bulge-structure 26 and notch configuration 25 are substantially cylindrical, and both are engaged, and are stretched to can bow member
Complete supporting bow member.Engaging fixing structure is provided with bulge-structure 26 and notch configuration 25, the engaging fixing structure can be with
It is designed as following structure：The outer surface of the bulge-structure 26 is provided with the first annular recess 24, the notch configuration 25
The second annular recess is provided with inwall, ring-type jump ring 22 in the second annular recess, is provided with.When bulge-structure 26 be inserted into it is recessed
When in mouth structure 25, the jump ring 2 in the second annular recess is inserted in the first annular recess 24 after there is elastic deformation.
The another embodiment of engaging fixing structure can be designed to following structure：The end of the bulge-structure 26 sets
It is equipped with and expands structure, being internally provided with for notch configuration 25 expands the space that structure is engaged with described.When bulge-structure 26 is inserted
During to notch configuration 25, then enlargement forced contraction is compressed into inside notch configuration 25, is fastened on enlargement
In notch configuration 25, folding confined concrete bow member is made to stretch automatically assembling.
Bulge-structure 26 is fixed, the disengaging between adjacent two sections is prevented, keeps confined concrete bow member
Working condition.The engaging fixing structure is set, in work progress, bow member can be made to stretch automatically, and carry out being fixed into work shape
State, facilitates the positioning of bow member 21 to fix.
Steam vent 27 is additionally provided with 26 bulge-structure.The hop count that the confined concrete bow member includes is odd number
Section, and it is substantially symmetrical relative to the axis of symmetry of confined concrete bow member.Preferred hop count is 3-7 sections.Further, it is described
The node of confined concrete bow member segmentation is located at below the spandrel of bow member.
The tunnel multifunction automatic construction equipment and rapid constructing method mainly comprise the steps：
Step 1：Bow member is transported.(can be the confined concrete arch of above-mentioned offer by the confined concrete bow member for folding
The bow member of frame, or other forms) live face is transported to, often save；
Step 2：Bow member is installed.By remote control control construction equipment shift position, collapsed arch is trailed by mechanical hand,
Tunnel excavation face is lifted, another equipment coordinates snatch bow member lower end to be stretched, is repeated several times by being stretched over both sides bow member
Position；
Step 3：Bow member is positioned.Mechanical hand realizes bow member fine position by oscillating oil cylinder, during using installed in machine
Tool laser device transmitting infrared ray on hand, is aligned on the anchor point that leveling has been accomplished fluently, realizes that bow member is accurately positioned；
Step 4：Bow member is fixed.After the completion of positioning, the mechanical hand of fixed arch rack position is maintained static, and another mechanical hand hangs
Manual work platform is hung, bow member is carried out and is tentatively fixed by the dowel of human weld's vault, spandrel, arch bottom position；
Step 5：It is welded to connect muscle, bar-mat reinforcement.After bow member is fixed, two mechanical hands hang manual work platform respectively from two
Side proceeds by remaining longitudinally connected muscle, the welding of bar-mat reinforcement.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not to invention protection domain
Restriction, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not required to
The various modifications or deformation made by creative work is paid are still within the scope of the present invention.
Claims (10)
1. a kind of Tunnel automation construction equipment, it is characterised in that：Including travelling platform, revolving dial, power arm, mechanical hand,
Wherein, the travelling platform is walked under the driving of driving means, and the revolving dial is generally horizontally arranged on travelling platform
On, revolving dial adjusts the direction of mechanical hand by rotating, and the edge of the revolving dial is provided with pedestal, the upper end of pedestal
Extending radially outwardly along revolving dial；
The power arm includes supporting section and linkage section, and the top of the supporting section is hinged with the upper end of the pedestal, supporting section
Across the surface of revolving dial, the end of supporting section is fixedly connected with the top of the linkage section, and linkage section is from top to end
Hold the length of downward-sloping setting, supporting section that drive is connected between revolving dial and the supporting section more than the length of linkage section
Dynamic oil cylinder；
The mechanical hand includes mechanical arm and fixture, is hinged between mechanical arm and the linkage section, and linkage section and mechanical arm
End is connected with；The fixture is movably arranged on mechanical arm, and the length of the supporting section is more than mechanical arm
Length, the diameter with diameter greater than mechanical arm of supporting section.
2. Tunnel automation construction equipment according to claim 1, it is characterised in that：Connect between the mechanical arm and fixture
Horizontal adjustment oil cylinder is connected to, and driving force is provided for the relative movement between fixture and mechanical arm.
3. Tunnel automation construction equipment according to claim 1, it is characterised in that：A diameter of connection of the supporting section
1-1.5 times of the diameter of section, the length of supporting section are 2-8 times of the length of linkage section；
Preferably, 1.2-2 times of the diameter of a diameter of mechanical arm of the linkage section.
4. Tunnel automation construction equipment according to claim 1, it is characterised in that：The lower end of the mechanical arm is detachable
Be lifted with manual work platform；
Preferably, rotary disk is installed between the fixture and mechanical arm, the rotation of rotary disk drives fixture to make vertically rotation fortune
It is dynamic.
5. Tunnel automation construction equipment according to claim 1, it is characterised in that：Carry infrared in the both sides of the fixture
Line laser instrument, inner side carry wireless pressure sensor probe.
6. Tunnel automation construction equipment according to claim 1, it is characterised in that：The inside of the fixture is provided with folder
Locking oil cylinder, clamping cylinder provide the driving force of clamp or relieving；
Preferably, adjusting means of dehiscing, the size of dehiscing of alignment jig are additionally provided with the fixture.
7. Tunnel automation construction equipment according to claim 1, it is characterised in that：It is also equipped with the revolving dial
Driver's cabin；
Preferably, the side of the driver's cabin is provided with advance geologic prediction rig, and advance geologic prediction rig carries advanced spy
Examining system, the forward probe system include that geological radar and the rig drilling parameter with formation parameters data base are analyzed in real time
System, the probe of the front end of drilling rod is equipped with sensor.
8. Tunnel automation construction equipment according to claim 1, it is characterised in that：The running gear of the travelling platform
For 4 wheel driven formula solid tyre, surface of tyre is provided with antiskid chain；
Preferably, telescopic support device is provided with four angles of the travelling platform, the telescopic support device is preferably liquid
Pressure supporting leg.
9. Tunnel automation construction equipment according to claim 1, it is characterised in that：The Tunnel automation construction equipment
Also include fluid pressure line wireless remote controller.
10. a kind of rapid constructing method, it is characterised in that：Comprise the steps：
1) the confined concrete bow member for folding is transported to live face by bow member transport；
2) bow member is installed, and controls the construction equipment movement, and collapsed arch is trailed by the mechanical hand of construction equipment, lifts tunnel
Road excavation face, another construction equipment coordinate snatch bow member lower end to be stretched, and both sides bow member is stretched in place；
3) bow member positioning, mechanical hand by carrying out fine position to bow member, in trim process using install on a robotic arm swash
Light instrument launches infrared ray, is aligned on the anchor point that leveling has been accomplished fluently, realizes that bow member is accurately positioned；
4) bow member is fixed, and after the completion of positioning, the construction equipment of fixed arch rack position is maintained static, and increases a construction equipment in addition
Manual work platform is hung, bow member is carried out and is tentatively fixed by the dowel of human weld's vault, spandrel, arch bottom position；
5) longitudinally connected muscle, bar-mat reinforcement are welded, after bow member is fixed, the mechanical hand of two construction equipments hangs manual work respectively and puts down
Platform proceeds by the welding of longitudinally connected muscle and bar-mat reinforcement from both sides.
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| CN201610534679.1A CN106677811B (en) | 2016-07-08 | 2016-07-08 | A kind of Tunnel automation construction equipment and construction method |
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| CN201610534679.1A CN106677811B (en) | 2016-07-08 | 2016-07-08 | A kind of Tunnel automation construction equipment and construction method |
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| CN106677811B CN106677811B (en) | 2018-11-09 |
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| CN109093086B (en) * | 2017-06-21 | 2024-04-02 | 江苏金恒信息科技股份有限公司 | Slag adding robot and slag adding system |
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| CN108952763A (en) * | 2018-06-29 | 2018-12-07 | 四川新筑智能工程装备制造有限公司 | A kind of equipment and its engineering method for vcehicular tunnel, railway tunnel supporting construction |
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| CN115492612A (en) * | 2022-09-13 | 2022-12-20 | 武汉容晟吉美科技有限公司 | Non-operation tunnel reinforcing method and device |
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| CN116464487B (en) * | 2023-05-12 | 2023-11-03 | 石家庄铁道大学 | Self-propelled railway tunnel supporting and installing equipment |
| CN116464487A (en) * | 2023-05-12 | 2023-07-21 | 石家庄铁道大学 | Self-propelled railway tunnel supporting and installing equipment |
| CN116557007B (en) * | 2023-07-06 | 2023-09-05 | 中建铁路投资建设集团有限公司 | Tunnel arch frame installation device |
| CN116557007A (en) * | 2023-07-06 | 2023-08-08 | 中建铁路投资建设集团有限公司 | Tunnel arch frame installation device |
| CN117685016A (en) * | 2024-02-02 | 2024-03-12 | 石家庄铁道大学 | Unmanned vertical arch and longitudinal connection integrated construction method |
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