An operation trajectory planning method of TBM spray-mixing system in steel arch area

A technology of system operation and trajectory planning, which is applied in the direction of manufacturing tools, program control manipulators, manipulators, etc., can solve the problems of inapplicable spray-mixing construction, etc., and achieve the effect of improving the effect and improving the adaptability

Active Publication Date: 2022-07-19
CHINA RAILWAY CONSTR HEAVY IND
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  • Abstract
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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trajectory planning method of the spraying manipulator on the conventional injection surface without the steel arch is no longer applicable to the spraying construction in the area of ​​the steel arch.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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  • An operation trajectory planning method of TBM spray-mixing system in steel arch area
  • An operation trajectory planning method of TBM spray-mixing system in steel arch area
  • An operation trajectory planning method of TBM spray-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 clearly understood, the specific embodiments of the present invention will be described in detail below with reference to 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 different from those described herein, and those skilled in the art can make similar promotions without departing from the connotation of the present invention. Accordingly, the present invention is not limited by the specific embodiments disclosed below.

[0043] Please refer to figure 1 , figure 1 This 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 inven...

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Abstract

The invention discloses an operation trajectory planning method of a TBM spray-mixing system in a steel arch area, comprising: using a designed steel arch detection device to obtain tunnel axial mileage data of multiple circumferential points of the steel arch; The tunnel circumferential movement of the arm is segmented; by controlling the tunnel axial position at the bottom end of the nozzle and the nozzle pitch angle, the spraying and mixing operations are performed on each section of the steel arch in turn. By detecting the tunnel axial mileage data of multiple circumferential points of the steel arch, the change trend of the spatial position of the steel arch can be obtained; when the spray mix is ​​moved along the circumferential direction of the tunnel, the nozzle can be automatically adjusted according to the position of the steel arch. Therefore, the accuracy of the spray-mixing operation in the steel arch area is ensured, and the construction quality and 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 the 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 operation of spray mixing equipment, which has problems such as high labor intensity, low work efficiency and unstable construction quality. The research and application of TBM spray-mixing automatic control technology can effectively solve the dilemma faced by manual spray-mixing operations, and help to improve the safety and efficiency of the overall TBM construction. Among them, the trajectory planning of spray-mixing operations is an important part of realizing spray-mixing construction automation. premise. [0003] In tunnel construction, in order to prevent deformation and fragmentation of su...

Claims

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Application Information

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Patent Type & Authority Patents(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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