Construction robot and construction method for reinforcing tunnel sticky steel

Abstract

The invention relates to a construction robot and construction method for reinforcing tunnel sticky steel, and a tunnel can be reinforced by sticking a prefabricated steel plate (304). The construction robot comprises a working platform (100), a detection module and a construction module, wherein the working platform (100) is provided with a track (502) and an industrial personal computer (503), the track (502) is distributed at the top end and two opposite sides of the working platform (100), the detection module and the construction module are correspondingly installed on the track (502) ina sliding mode through a mechanical arm (501), the mechanical arm (501) is provided with multiple spherical joints and connected with the industrial personal computer (503), and the industrial personal computer (503) controls movement paths of the detection module and the construction module through controlling the mechanical arm (501) to move on the track (502) and rotate around the spherical joints and the axis of the mechanical arm (501). Compared with the prior art, the construction robot and construction method for reinforcing the tunnel sticky steel has the advantages of high automationdegree, wide application range and the like.

Description

technical field [0001] The invention relates to the technical field of building structure construction, in particular to a construction robot and a construction method for reinforcing and reinforcing tunnels with steel. Background technique [0002] For cracked or structurally deformed tunnels, the structural performance can be restored through reinforcement and reinforcement, and the service life of the tunnel can be improved. Bonded steel reinforcement has the advantages of simple construction technology, little impact on the clearance section, and can better adapt to arc structures. It is widely used in the reinforcement of underground structures, but currently in actual engineering, the main steps of tunnel steel reinforcement are: trimming the lining surface to make it flat and positioning and laying out lines; drilling and implanting anchor bolts at positions without steel bars; The steel plate is surface treated and fixed on the lining surface by anchor bolts, and the...

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Problems solved by technology

[0003] The prior art also provides some solutions. Chinese patent CN201310547142.5 proposes a kind of equipment and construction method for reinforcing reinforced concrete bending members with sticky plates, including equipment brackets, and the top of the equipment brackets is fixed to the concrete by bracket fixing bolts. On the bending member, the supporting beam is fixed between the equipment brackets through high-strength bolts and bolt holes on the equipment bracket (2); the supporting beam is provided with a lifting device; the lifting device is provided with a lifting platform, coated The reinforced plate with bonding material is set on the lifting platform, and a method is proposed to ensure the smoothness of bonding, bonding quality, and efficient construction; this patent overcomes the problem of large deformation or even fracture of the composite material plate when it rises , the problem of low bonding quality, the difficulty of fixing the steel plate in the bonding steel reinforcement, and improve the construction efficiency; but the steel plate applied to the patent is in a horizontal state, while the steel plate pasted on the arch of the tunnel is in a curved shape. This type of device does not It is suitable for steel bonding reinforcement of tunnels. At the same time, this patent can only complete a specific link in the steel bonding reinforcement of tunnels, that is, pasting steel plates. Other links such as the deployment of steel bonding glue and glue coating still require manual or other equipment. Manually completed by construction personnel on the work platform, the level of automation is low and the construction cost is high

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