TBM-carried rock slag online compressive strength testing system and method

A compressive strength and testing system technology, which is applied in the direction of applying stable tension/pressure to test material strength, strength characteristics, measuring devices, etc. problem, to achieve the effect of strong timeliness and high degree of automation

Active Publication Date: 2020-02-21
山东百廿慧通工程科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] 1. Coring near the face of the tunnel cannot be carried out during the TBM excavation stage, and it takes time for TBM downtime and maintenance, which affects the excavation
[0006] 2. The drilling, coring, processing and testing process takes a long time, and the rock mass parameters obtained have hysteresis, which cannot meet the actual demand of TBM excavation for rapid and real-time compressive strength of the rock mass
[0009] 1. The speed of the TBM belt conveyor is relatively fast, how to quickly and accurately grab the rock slag that meets the test requirements

Method used

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  • TBM-carried rock slag online compressive strength testing system and method
  • TBM-carried rock slag online compressive strength testing system and method
  • TBM-carried rock slag online compressive strength testing system and method

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Embodiment 1

[0046] In one or more embodiments, a rock slag online compressive strength testing system carried by a TBM is disclosed, referring to figure 1 , including an industrial robot 1, a structured light projector 3, a CCD camera 4 and a compressive strength testing platform 2.

[0047] During the TBM construction process, the rock slag 6 produced by the excavation of the TBM cutter head is transported out of the tunnel by the belt conveyor. An industrial robot 1 is installed on one side of the belt conveyor conveying direction. The industrial robot 1 has a bucket mechanical arm 7 and a gripper mechanical arm 8 respectively. Rock slag obtained. Both the bucket mechanical arm 7 and the gripper mechanical arm 8 are six-degree-of-freedom mechanical arms, which make the operation of the mechanical arm more flexible for rock slag, and the rock slag can be adjusted to any position within the range of movement of the mechanical arm and any posture. Refer to the relative position relations...

Embodiment 2

[0078] In one or more embodiments, a method for testing the online compressive strength of rock slag carried by a TBM is disclosed, comprising the following steps:

[0079] (1) The bucket mechanical arm 7 of the industrial robot 1 moves down close to the TBM belt conveyor and stays for one second to collect the rock slag on the belt conveyor. Since the distance between the two buckets 13 is 30mm, the particle size in the fast movement is less than 30mm Rock slag is screened out from the gap on the bottom surface of the bucket 13 and the gap between the two buckets 13.

[0080] (2) After the bucket mechanical arm 7 scoops up rock slag, the clamp arm moves immediately, and stretches in from the gap of the bucket 13 to clamp any rock slag in the bucket 13 .

[0081](3) After the tongs pick up the rock slag, the high-pressure nozzle 9 carried on the tongs mechanical arm 8 starts to clean off the dust on the rock slag.

[0082] (4) The gripper arm 8 hovers the rock residue at a de...

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Abstract

The invention discloses a TBM-carried rock slag online compressive strength testing system and a TBM-carried rock slag online compressive strength testing method. The TBM-carried rock slag online compressive strength testing system comprises a robot, a grating projection device, a visual processing device and a compressive strength testing device, wherein the robot is used for acquiring rock slagin the TBM tunneling process; the grating projection device can project structured light to the tested rock slag to form a two-dimensional light bar image in the surface shape of the rock slag; the visual processing device can calculate to obtain a rock slag three-dimensional shape model according to the two-dimensional light bar image shot and projected onto the rock slag surface to form distortion; a loading point position is calculated by means of a rock slag three-dimensional shape model, and whether the tested rock slag meets the requirements or not through the distance between the loading points is judged; and the compressive strength testing device is used for automatically testing the compressive strength of the tested rock slag meeting the requirements. The TBM-carried rock slag online compressive strength testing system and the TBM-carried rock slag online compressive strength testing method have the beneficial effects of being high in timeliness, high in automation degree, safe, economical and the like, effectively solves the problem that surrounding rock strength information of current TBM construction is difficult to obtain in real time, and real-time surrounding rockcondition information and a control parameter decision basis are provided for TBM tunneling.

Description

technical field [0001] The invention relates to the technical field of on-line compressive strength testing of rock slag, in particular to an on-line compressive strength testing system and method of rock slag mounted on a TBM. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] TBM construction has the advantages of rapidity, high quality, economy, and safety, and has become the mainstream direction of deep and long tunnel construction. However, TBM excavation is extremely sensitive to rock mass conditions, and the compressive strength of surrounding rock seriously affects the construction efficiency and excavation energy consumption of TBM. In addition, in the actual TBM construction process, it is necessary to adjust the tunneling parameters of the TBM in time according to the change of the strength of the surrounding rock. In the constru...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01N3/12G01B11/25
CPCG01B11/254G01N3/12G01N2203/0048G01N2203/0676G01N2203/0682
Inventor 刘斌高博洋王亚旭王瑞睿郭旭赵光祖朱颜王滨岳景杭
Owner 山东百廿慧通工程科技有限公司
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