Intelligent construction method and construction device for high slope and large cavern support

Abstract

The present invention discloses an intelligent construction method and device for high slope and large cavern support, which establishes a construction map, locates the work point, plans the construction steps, and then conducts on-site construction. The automatic construction device is designed to include an anchor cable and anchor bolt drilling mechanical arm, an anchor cable and anchor bolt installation mechanical arm, and a grouting mechanical arm; the anchor cable and anchor bolt drilling mechanical arm is used to drill holes on the rock wall, the anchor cable and anchor bolt installation mechanical arm is used to grab the anchor cable and transport it into the borehole, and the grouting mechanical arm is used to spray cement slurry into the borehole to achieve the installation of the anchor cable and anchor bolt. This method avoids the construction of scaffolding during the construction of large slopes, and avoids the need for construction personnel to work at high altitudes, greatly improving the safety of slope construction.

Description

Technical Field

[0001] The invention belongs to the fields of water conservancy, hydropower, and civil engineering, and specifically relates to an intelligent construction method and a construction device for supporting high slopes and large caverns. Background Art

[0002] In the construction of high slopes or large caverns, the existing technology often adopts the method of erecting high-rise frames, and then carries out multiple construction processes such as anchor drilling and installation, prestressed anchor cable drilling and installation, grouting, drainage hole drilling and installation, hanging wire mesh spraying concrete, etc. on the high-rise frames. On the one hand, the erection period of high-rise frames is long, the labor input is large, and it is time-consuming and labor-intensive; on the other hand, the safety hazards are more prominent; the working environment of the workers during spraying concrete is poor, which is harmful to their health, and they have to dismantle the frames from the top while spraying concrete; the engineering equipment used is also the traditional hand drill and anchor cable drilling machine, and the above multiple construction processes are carried out manually, with low efficiency and long construction period. Summary of the invention

[0003] The present invention aims at the deficiencies of the prior art and provides an intelligent construction method and a construction device for supporting high slopes and large caverns with high efficiency, short construction period and excellent working environment.

[0004] In order to achieve the above object, the intelligent construction method for high slope and large cavern support designed by the present invention is characterized by comprising the following steps:

[0005] Step 1: Locate the work point, quickly image the work surface through 3D scanning rapid imaging technology, and generate a 3D digital terrain model of the work surface;

[0006] Step 2: Enter the established three-dimensional digital terrain model map of the working surface and the design and construction support map into the control computer respectively;

[0007] Step 3: Plan the construction steps. First, design the automatic construction device. Then, divide the work surface. For each work surface, first determine the starting coordinate point of the work surface, and then use steps 1 and 2 to locate the work point.

[0008] Among them, the automatic construction device includes an anchor cable and anchor rod drilling robot arm, an anchor cable and anchor rod installation robot arm, and a grouting robot arm; the anchor cable and anchor rod drilling robot arm is used to drill holes on the rock wall, the anchor cable and anchor rod installation robot arm is used to grab the anchor cable and transport it into the borehole, and the grouting robot arm is used to spray cement slurry into the borehole to achieve the installation of the anchor cable and anchor rod.

[0009] Step 4: Conduct on-site construction

[0010] The support of high slopes or large caverns is constructed using an automatic construction device with recorded support point coordinates.

[0011] Furthermore, the hardware of the three-dimensional scanning rapid imaging technology in step 1 is also integrated on the automatic construction device.

[0012] Furthermore, the distance between the two working surfaces is 5 to 10 m.

[0013] The present invention also designs a device for realizing an intelligent construction method for high slope and large cavern support, comprising a platform module and a three-dimensional laser scanner, a main control computer and an automatic construction device arranged on the platform module;

[0014] The three-dimensional laser scanner is connected to the main control computer and is used to obtain the coordinates of the working point according to the intelligent construction method for high slope and large cavern support;

[0015] The automatic construction device is connected to a main control computer and is used to construct high slope or large cave support according to the coordinates of the working points obtained by the main control computer.

[0016] The automatic construction device includes a drilling module, a shotcrete or grouting module, and an industrial machinery installation arm module arranged on a platform module. A walking mechanism is arranged on the platform module, and the platform module can be an engineering vehicle as a whole; the drilling module, the industrial machinery installation arm module and the shotcrete or grouting module are all connected to a main control computer, and the main control computer controls the drilling module, the shotcrete module and the industrial machinery installation arm to achieve fixed installation of the anchor rod.

[0017] Furthermore, the drilling module is used to drill holes on the rock wall, and mainly includes an automatically retractable hydraulic first mechanical arm, the bottom end of the first mechanical arm is connected to the platform module through a rotating mechanism, and a hydraulically controlled retractable second support rod is provided between the first mechanical arm and the platform module; the rotating mechanism can achieve 360° rotation; a drill rod support is hinged at the top of the first mechanical arm, and a hydraulically controlled retractable first support rod is connected between the drill rod support near the hinge point and the first mechanical arm, a drilling rig and a matching drill rod are provided on the drill rod support, and a drill rod guide structure and a screw slide are also provided on the drill rod support, and the drill rod guide structure is used to limit the direction of the drill rod, so that the drill rod moves along the guide structure without deviation, thereby ensuring the accuracy of the action process. The screw slide is used in conjunction with the drilling rig, and the drilling rig moves along the screw slide during operation. In the present invention, when the drilling module is working, the first mechanical arm and the second support rod are used in combination to lift the drill rig support to the height of the working surface, that is, to make a rough adjustment to the drill rig support; the first support rod and the 360-degree rotating mechanism are responsible for moving the drill rig support to the working surface position, that is, to make a fine adjustment to the drill rig support; the drill rig support is responsible for the installation of the drill rig, the drive device and the camera; the slide rail provided on the drill rig support ensures the smooth operation of the turntable during the working process.

[0018] Furthermore, the industrial machinery mounting arm module used in the present design specifically includes a hydraulically driven retractable second mechanical arm, the bottom end of the second mechanical arm is connected to the platform module through a second rotating platform, and a hydraulically controlled retractable third support rod is provided between the second mechanical arm and the platform module, a gripper mounting arm is hinged at the top end of the second mechanical arm, and a hydraulically controlled retractable fourth support rod is connected between the gripper mounting arm near the hinge point and the second mechanical arm; a gripper for clamping an anchor rod or an anchor cable is connected to the gripper mounting arm through a rotating device. The rotation angle of the rotating device is controlled by the main control computer.

[0019] Furthermore, the shotcrete module includes a third mechanical arm connected to the platform module through a bottom rotating platform, a retractable fourth mechanical arm is hinged on the top of the third mechanical arm, a fifth support rod which is retracted and hydraulically controlled is provided between the third mechanical arm and the fourth mechanical arm near the hinge, and a concrete sprayer with a nozzle is provided on the fourth mechanical arm, and the concrete sprayer is used to spray concrete transported by a concrete delivery hose.

[0020] Preferably, in order to facilitate the needs of manual operations, a manual auxiliary operation platform is also provided on the platform module, and the auxiliary operation platform includes a retractable fifth robotic arm whose bottom end is connected to the platform module through a rotating platform, and a sixth support rod which is retracted and extended by hydraulic control is provided between the fifth robotic arm and the rotating platform, and a connecting arm is hinged at the top of the sixth robotic arm, and a retractable seventh support rod is provided between the connecting wall near the hinge point and the sixth robotic arm, and a manual auxiliary operation frame with a guardrail is provided on the connecting arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the intelligent construction device for supporting high slopes and large caverns of the present invention.

[0022] Figure 2 It is another structural schematic diagram of the present invention.

[0023] Figure 3 It is a schematic diagram of the folded structure of the intelligent construction device for supporting high slopes and large caverns of the present invention.

[0024] Figure 4 It is a schematic diagram of the drilling module structure of the present invention.

[0025] Figure 5 It is a schematic diagram of the structure of the mechanical installation gripper module of the present invention.

[0026] Figure 6 It is a schematic diagram of the structure of the shotcrete or grouting module of the present invention.

[0027] Figure 7 It is a schematic diagram of the structure of the artificial assisted operation platform of the present invention.

[0028] Figure 8 It is a schematic diagram of the structure of the three-dimensional scanner of the present invention.

[0029] In the figure: Drilling module 1: electric drill 1.1, drill rod 1.2, screw slide 1.3, guide structure 1.4, first camera 1.5, first support rod 1.6, first mechanical arm 1.7, second support rod 1.8;

[0030] Industrial machinery installation arm module 2: machinery installation gripper 2.1, rotating device 2.2, second camera 2.3, third support rod 2.4, second mechanical arm 2.5, fourth support rod 2.6, gripper installation arm 2.7;

[0031] Sprayed concrete or grouting module 3: spray head 3.1, concrete spraying machine 3.2, concrete delivery hose 3.3, third mechanical arm 3.4, third camera 3.5, fifth support rod 3.6, fourth mechanical arm 3.7;

[0032] Manual assisted operation platform 4: manual assisted operation frame 4.1, connecting wall 4.2, rotating device 4.3, fifth mechanical arm 4.4, sixth support rod 4.5, seventh support rod 4.6;

[0033] 3D laser scanner 5; concrete pumping or grouting system 6; rotating chassis 7; engineering vehicle 8; air compressor 9; integrated trolley head (including intelligent control system) 10; lighting 11; operating fixture 12. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0035] An intelligent construction method for high slope and large cavern support designed by the present invention comprises the following steps:

[0036] Step 1: Locate the work point, quickly image the work surface through 3D scanning rapid imaging technology, and generate a 3D digital terrain model of the work surface;

[0037] Step 2: Enter the established three-dimensional digital terrain model map of the working surface and the design and construction support map into the control computer respectively;

[0038] The construction support map is overlapped and matched with the three-dimensional digital terrain model of the working surface to automatically generate the coordinates of the support points; this process uses coordinate matching technology, that is, the data generated by the coordinate information of the construction support map is matched with the data information of the three-dimensional digital model of the construction working surface terrain automatically generated by the three-dimensional scanner, and the content and coordinate information of the proposed support operation are automatically generated on the three-dimensional digital model of the construction working surface terrain. As long as the data format of the two is unified, the coordinate information of the construction support map can be generated in AutoCAD data format, while the three-dimensional scanner generates mostly in obj, asc, stl and dxf formats. It is easy to convert the files of various formats generated by the three-dimensional scanner into dwg or dwt formats, so that they can be automatically compatible and input in the same interface.

[0039] Step 3: Plan the construction steps

[0040] Design of automatic construction equipment;

[0041] Divide the working surface, and for each working surface, first determine the starting coordinate point of the working surface, and then use steps 1 and 2 to locate the working point;

[0042] Among them, the automatic construction device includes an anchor cable and anchor rod drilling robot arm, an anchor cable and anchor rod installation robot arm, and a grouting robot arm; the anchor cable and anchor rod drilling robot arm is used to drill holes on the rock wall, the anchor cable and anchor rod installation robot arm is used to grab the anchor cable and transport it into the borehole, and the grouting robot arm is used to spray cement slurry into the borehole to achieve the installation of the anchor cable and anchor rod.

[0043] Step 4: Conduct on-site construction

[0044] The support of high slopes or large caverns is constructed using an automatic construction device with recorded support point coordinates.

[0045] Preferably, the hardware of the three-dimensional scanning rapid imaging technology in step 1 is also integrated on the automatic construction device.

[0046] Preferably, the distance between the two working surfaces is 5 to 10 m.

[0047] The present invention also designs a device for realizing an intelligent construction method for supporting high slopes and large caverns, comprising a platform module and a three-dimensional laser scanner 5 arranged on the platform module, a main control computer and an automatic construction device;

[0048] The three-dimensional laser scanner 5 is connected to the main control computer and is used to obtain the coordinates of the working points according to the intelligent construction method for high slope and large cavern support;

[0049] The automatic construction device is connected to the main control computer and is used to construct high slopes or large cavern supports according to the coordinates of the working points obtained by the main control computer;

[0050] Among them, the automatic construction device includes a drilling module 1, a shotcrete or grouting module 3, and an industrial robot arm 2 arranged on a platform module. A walking mechanism is arranged on the platform module, and the platform module can be an engineering vehicle 8 as a whole; the drilling module 1, the industrial robot arm 2 and the shotcrete or grouting module 3 are all connected to the main control computer, and the main control computer has corresponding programs to control the drilling module, the shotcrete module and the industrial robot arm to realize the fixed installation of the anchor rod.

[0051] The drilling module 1 is used for drilling holes on the rock wall, and mainly includes an automatically retractable hydraulic first mechanical arm 1.7. The bottom end of the first mechanical arm 1.7 is connected to the platform module through a rotating mechanism, and a hydraulically controlled retractable second support rod 1.8 is provided between the first mechanical arm 1.7 and the platform module; the rotating mechanism can realize 360° rotation; a drill rod support is hinged at the top of the first mechanical arm 1.7, and a hydraulically controlled retractable first support rod 1.6 is connected between the drill rod support near the hinge point and the first mechanical arm. A drilling rig 1.1 and a matching drill rod 1.2 are provided on the drill rod support, and a drill rod guide structure 1.4 and a spiral slide 1.3 are also provided on the drill rod support. The drill rod guide structure 1.4 is used to limit the direction of the drill rod 1.2, so that the drill rod 1.2 moves along the guide structure 1.4 without deviation, thereby ensuring the accuracy of the action process. The spiral slide 1.3 is used in conjunction with the drilling rig 1.1, and the drilling rig 1.1 moves along the spiral slide 1.3 during operation. In the present invention, when the drilling module is working, the first mechanical arm 1.7 and the second support rod 1.8 are used in combination to lift the drill rig support to the working surface height, that is, to make a rough adjustment to the drill rig support; the first support rod 1.6 and the 360-degree rotating mechanism are responsible for moving the drill rig support to the working surface position, that is, to make a fine adjustment to the drill rig support; the drill rig support is responsible for the installation of the drill rig, the drive device and the camera; the slide rail provided on the drill rig support ensures the smooth operation of the turntable during the working process.

[0052] The industrial mechanical installation arm module 2 is used to grab the anchor rod and cable and transport it into the borehole. The industrial mechanical arm module 2 used in this design specifically includes a hydraulically driven retractable second mechanical arm 2.5, the bottom end of the second mechanical arm 2.5 is connected to the platform module through a second rotating platform, and a hydraulically controlled retractable third support rod 2.4 is provided between the second mechanical arm 2.5 and the platform module, and a gripper installation arm 2.7 is hinged at the top of the second mechanical arm 2.5, and a hydraulically controlled retractable fourth support rod 2.6 is connected between the gripper installation arm 2.7 and the second mechanical arm 2.5 near the hinge point; the gripper installation arm 2.7 is connected to a gripper 2.1 for clamping the anchor rod or cable through a rotating device. The rotation angle of the rotating device is controlled by the main control computer.

[0053] The spraying concrete or grouting module 3 comprises a third mechanical arm 3.4 connected to the platform module via a rotating platform at the bottom, a retractable fourth mechanical arm 3.7 is hinged at the top of the third mechanical arm 3.4, a fifth support rod 3.6 which is retracted and controlled by hydraulic pressure is arranged between the third mechanical arm 3.4 and the fourth mechanical arm 3.7 near the hinge, and a concrete sprayer 3.2 with a nozzle 3.1 is arranged on the fourth mechanical arm 3.7, and the concrete sprayer 3.2 is used to spray concrete transported by a concrete delivery hose 3.3.

[0054] Preferably, in order to facilitate the needs of manual operations, a manual auxiliary operation platform is also provided on the platform module, and the auxiliary operation platform includes a retractable fifth robotic arm whose bottom end is connected to the platform module through a rotating platform, and a sixth support rod which is retracted and extended by hydraulic control is provided between the fifth robotic arm and the rotating platform, and a connecting arm is hinged at the top of the sixth robotic arm, and a retractable seventh support rod is provided between the connecting wall near the hinge point and the sixth robotic arm, and a manual auxiliary operation frame with a guardrail is provided on the connecting arm.

[0055] The drilling module, industrial robot arm module, shotcrete or grouting module and manual auxiliary operation platform, wherein the structure for controlling the position and posture of the module can be realized by using the existing robot arm, and the structure for controlling the position and posture, such as the rotating mechanism in the drilling module, the first robot arm, the second support rod, the drill rod bracket and the first support rod, can be realized by using the existing robot arm, or the special control software for each operation can be written according to the whole posture, number of joints, movement amplitude and movement speed of each operation process. After the software is written, each operation process is simulated in reality and all control parameters are accurately calibrated. Moreover, the drilling module, the industrial robot arm module and the shotcrete module are all provided with cameras connected to the main control computer, which can be accurately positioned by combining the dynamic changes of the precise coordinate values ​​on the display screen of the main control computer with the manual operation control handle until the support point to be constructed is accurately reached.

[0056] Furthermore, two drilling modules are provided; a camera is provided on the drilling module, and the camera is connected to the control module. The drilling module is responsible for the drilling of anchor rods, anchor cables and drainage holes. The industrial robot arm is arranged between the two drilling modules to ensure the convenience of installing anchor rods and anchor cables.

[0057] Two drilling modules are used to improve construction efficiency. Two drilling operations can be carried out simultaneously, which is the mature multi-arm drilling method in the engineering field.

[0058] Furthermore, the drilling module, shotcrete or grouting module and industrial robot arm module are all provided with cameras connected to the main control computer. In various construction operations, the operator can monitor the operation process of the automatic control system in the cab, and can deal with and correct problems in time, so that the entire construction process can be carried out accurately and effectively. It avoids the need for manual construction and monitoring at each operation point, which can greatly reduce manpower, reduce labor intensity and improve the working environment of operators.

[0059] The above embodiments are only used to illustrate the design ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, any equivalent changes or modifications made based on the principles and design ideas disclosed by the present invention are within the protection scope of the present invention.

Claims

1. An intelligent construction method for high slope and large cavern support, characterized in that: The following steps are involved: Step 1: Create a construction map, design a construction support map, and enter it into the control computer; Step 2: Locate the work point, quickly image the work surface through 3D scanning rapid imaging technology, and generate a 3D digital terrain model of the work surface, including: The construction support map is superimposed and matched with the three-dimensional digital terrain model of the working surface to automatically generate the coordinates of the support points; this process uses coordinate matching technology to match the data generated by the coordinate information of the construction support map with the data information of the three-dimensional digital model of the construction working surface terrain automatically generated by scanning with a three-dimensional scanner, and the content and coordinate information of the planned support operation are automatically generated on the three-dimensional digital model of the construction working surface terrain; Step 3: Plan the construction steps. First, design the automatic construction device. Then, divide the work surface. For each work surface, first determine the starting coordinate point of the work surface, and then use steps 1 and 2 to locate the work point. The automatic construction device includes an anchor cable and anchor bolt drilling mechanical arm, an anchor cable and anchor bolt installation mechanical arm, and a grouting mechanical arm; the anchor cable and anchor bolt drilling mechanical arm is used to drill holes on the rock wall, the anchor cable and anchor bolt installation mechanical arm is used to grab the anchor cable and transport it into the borehole, and the grouting mechanical arm is used to spray cement slurry into the borehole to achieve the installation of the anchor cable and anchor bolt; Step 4: Conduct on-site construction The support of high slopes or large caverns is constructed using an automatic construction device with recorded support point coordinates.

2. The intelligent construction method for high slope and large cavern support according to claim 1 is characterized in that: The hardware of the two-dimensional scanning rapid imaging technology in step 2 is also integrated on the automatic construction device.

3. The intelligent construction method for high slope and large cavern support according to claim 1 is characterized in that: The distance between the two working surfaces is 5~10m.

4. A device for implementing the intelligent construction method for high slope and large cavern support as described in any one of claims 1 to 3, comprising a platform module and a three-dimensional laser scanner, a main control computer and an automatic construction device arranged on the platform module; The three-dimensional laser scanner is connected to the main control computer and is used to obtain the coordinates of the working point according to the intelligent construction method for high slope and large cavern support; The automatic construction device is connected to the main control computer and is used to construct high slope or large cave support according to the coordinates of the working point obtained by the main control computer; in, The automatic construction device comprises a drilling module (1), a shotcrete or grouting module (3), and an industrial machinery installation arm module (2) arranged on a platform module; a walking mechanism is arranged on the platform module, and the platform module as a whole is an engineering vehicle (8); the drilling module (1), the industrial machinery installation arm module (2), and the shotcrete or grouting module (3) are all connected to a main control computer, and the main control computer controls the drilling module, the shotcrete module, and the industrial machinery installation arm to achieve fixed installation of the anchor rod.

5. The device for realizing the intelligent construction method for high slope and large cavern support according to claim 4 is characterized in that: The drilling module (1) is used for drilling holes on a rock wall, and mainly comprises an automatically retractable hydraulic first mechanical arm (1.7); the bottom end of the first mechanical arm (1.7) is connected to the platform module via a rotating mechanism, and a hydraulically controlled retractable second support rod (1.8) is provided between the first mechanical arm (1.7) and the platform module; the rotating mechanism can achieve 360° rotation; a drill rod support is hinged at the top end of the first mechanical arm (1.7); a hydraulically controlled retractable first support rod (1.6) is connected between the drill rod support near the hinge point and the first mechanical arm; a drilling rig (1.1) and a matching drill rod (1.2) are provided on the drill rod support; a drill rod guide structure (1.4) and a screw slide rail (1.3) are also provided on the drill rod support; the screw slide rail (1.3) is used in conjunction with the drilling rig (1.1); during operation, the drilling rig (1.1) moves along the screw slide rail (1.3).

6. The device for realizing the intelligent construction method for high slope and large cavern support according to claim 4 is characterized in that: The industrial machinery mounting arm module (2) specifically comprises a hydraulically driven retractable second mechanical arm (2.5); the bottom end of the second mechanical arm (2.5) is connected to the platform module via a second rotating platform, and a hydraulically controlled retractable third support rod (2.4) is provided between the second mechanical arm (2.5) and the platform module; a gripper mounting arm (2.7) is hingedly connected to the top end of the second mechanical arm (2.5); a hydraulically controlled retractable fourth support rod (2.6) is connected between the gripper mounting arm (2.7) and the second mechanical arm (2.5) near the hinge point; and a gripper (2.1) for clamping an anchor rod or an anchor cable is connected to the gripper mounting arm (2.7) via a rotating device.

7. The device for realizing the intelligent construction method for high slope and large cavern support according to claim 4 is characterized in that: The shotcrete or grouting module (3) comprises a third mechanical arm (3.4) connected to the platform module via a bottom rotating platform, a retractable fourth mechanical arm (3.7) is hingedly connected to the top of the third mechanical arm (3.4), a fifth support rod (3.6) which is retractable and controlled by hydraulic pressure is provided between the third mechanical arm (3.4) and the fourth mechanical arm (3.7) near the hinge, and a concrete sprayer (3.2) with a spray head (3.1) is provided on the fourth mechanical arm (3.7), and the concrete sprayer (3.2) is used to spray concrete delivered by a concrete delivery hose (3.3).

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