Operation track planning method for TBM spraying and mixing system in steel arch area

A technology for systematic operation and trajectory planning, applied in the direction of manufacturing tools, program control manipulators, manipulators, etc., can solve problems such as inability to apply spray-mixing construction, and achieve the effect of improving the effect and improving the adaptability

Active Publication Date: 2021-06-08
CHINA RAILWAY CONSTR HEAVY IND
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the influence of the steel arch on the spraying construction is more obvious, and the trajectory planning method of the spraying manipulator on the conventional injection surface without the steel arch is no longer applicable to the spraying construction in the area of ​​the steel arch.

Method used

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  • Operation track planning method for TBM spraying and mixing system in steel arch area
  • Operation track planning method for TBM spraying and mixing system in steel arch area
  • Operation track planning method for TBM spraying and mixing system in steel arch area

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Embodiment Construction

[0041] In order to make the above objects, features and advantages of the present invention more comprehensible, the specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0042] In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways than those described here, and those skilled in the art can make similar extensions without departing from the connotation of the present invention. Accordingly, the present invention is not limited to the specific embodiments disclosed below.

[0043] Please refer to figure 1 , figure 1 It is a flow chart of a method for planning an operation trajectory of a TBM spray-mixing system in a steel arch area provided by a specific embodiment of the present invention.

[0044] A specific embodiment of the present invention ...

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Abstract

The invention discloses an operation track planning method for a TBM spraying and mixing system in a steel arch area. The method comprises the following steps that tunnel axial mileage data of multiple circumferential points of a steel arch are acquired by the aid of a designed steel arch detection device; the tunnel circumferential movement of a spraying and mixing mechanical arm is segmented; and all the sections of the steel arch are sequentially sprayed and mixed by controlling the tunnel axial position at the bottom end of a spray head and the pitching angle of the spray head. The change trend of the spatial position of the steel arch can be obtained by detecting the tunnel axial mileage data of the multiple circumferential points of the steel arch; when the device moves in the circumferential direction of the tunnel for spraying and mixing, the tunnel axial position of the spray head can be automatically adjusted according to the position of the steel arch, so that the accuracy of spraying and mixing operation in the steel arch area is guaranteed, and the construction quality and the construction efficiency are improved.

Description

technical field [0001] The invention relates to the technical field of robot motion planning, in particular to a method for planning an operation trajectory of a TBM spray-mixing system in a steel arch area. Background technique [0002] Concrete spraying plays a vital role in the smooth excavation and safe lining of TBM construction. At present, it is mainly completed by manual spraying equipment, which has problems such as high labor intensity, low work efficiency and unstable construction quality. The research and application of automatic control technology of TBM spray mixing can effectively solve the dilemma faced by manual spray mixing operation, and help to improve the safety and efficiency of TBM overall construction. premise. [0003] In tunnel construction, in order to prevent the surrounding rock from deforming and breaking, it is usually necessary to reinforce and line the tunnel by erecting steel arches, installing anchor rods, and hanging steel mesh. Among th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/16
CPCB25J11/0075B25J9/1664B25J9/1661B25J9/1679
Inventor 刘飞香程永亮蔡杰汤云骏张飞龙马金云陈宗景江睿
Owner CHINA RAILWAY CONSTR HEAVY IND
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