Concrete spraying and trowelling platform car for initial support of tunnel

Abstract

The application discloses a concrete spraying and trowelling platform vehicle for tunnel primary support, which comprises a concrete spraying system and a multi-degree-of-freedom mechanical arm slipform system, wherein the concrete spraying system and the multi-degree-of-freedom mechanical arm slipform system are arranged on a self-propelled walking platform, the multi-degree-of-freedom mechanical arm slipform system and the concrete spraying system are two independent systems, and the concrete spraying system is above the multi-degree-of-freedom mechanical arm slipform system during operation; the concrete spraying system comprises a mechanical arm arranged at one end of the self-propelled walking platform and a nozzle arranged at the other end of the mechanical arm; the multi-degree-of-freedom mechanical arm slipform system comprises a multi-arm assembly arranged at one end of the self-propelled walking platform and a slipform template arranged at the other end of the multi-arm assembly; and the multi-arm assembly can change the angle of the slipform template. The relative angle between the slipform template and the sprayed concrete on the inner wall of the tunnel can be changed according to the requirement, and the slipform template has a vibrating function, so that the surface of the primary support can be leveled.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of tunnel construction initial support, and particularly relates to a concrete spraying and troweling platform vehicle for tunnel initial support. BACKGROUND

[0002] In the construction stage of a tunnel, after tunnel excavation, the tunnel needs to be initially sprayed with concrete, and after the installation of steel arches, steel mesh and the like is completed, the tunnel will also be resprayed to meet the initial support of the tunnel. The traditional construction method of spraying concrete in tunnel initial support adopts a wet spraying mechanical hand or manual spraying method, which makes the initial support surface flatness depend on the construction experience and operation proficiency of the operator, but the rebound of the sprayed concrete is large, resulting in serious overconsumption of sprayed concrete. In Chinese patent CN215672242U, a subsurface engineering initial support sprayed concrete surface flatness formwork support system is disclosed, which is provided with a formwork with the same curvature as the tunnel cross-section arch, and the formwork is driven to rotate by moving the movable support, which can improve the flatness of the initial support concrete. However, the function of the formwork is single, and the angle between the formwork and the concrete cannot be changed. SUMMARY

[0003] The application provides a concrete spraying and troweling platform vehicle for tunnel initial support, which can change the relative angle between the slip formwork and the tunnel inner wall sprayed concrete as needed, and also has a vibrating function, thereby facilitating the leveling of the initial support surface.

[0004] To this end, the technical scheme adopted by the application is as follows: a concrete spraying and troweling platform vehicle for tunnel initial support, comprising a concrete spraying system and a multi-degree-of-freedom mechanical arm slip formwork system, the concrete spraying system and the multi-degree-of-freedom mechanical arm slip formwork system are both arranged on a self-propelled walking platform, the multi-degree-of-freedom mechanical arm slip formwork system and the concrete spraying system are two independent systems, and the concrete spraying system is above the multi-degree-of-freedom mechanical arm slip formwork system when working; the concrete spraying system comprises a mechanical hand arranged at one end of the self-propelled walking platform and a nozzle arranged at the other end of the mechanical hand, the multi-degree-of-freedom mechanical arm slip formwork system comprises a multi-arm assembly arranged at one end of the self-propelled walking platform and a slip formwork arranged at the other end of the multi-arm assembly, the multi-arm assembly can change the angle of the slip formwork, and the multi-arm assembly has a length adjustment function; the slip formwork comprises a slip formwork, a frequency conversion attached vibrator is arranged on one side of the slip formwork, and a slurry spraying device is arranged on the other side of the slip formwork.

[0005] As the preferred solution of the above scheme, one side of the slip form is provided with a hinged seat for hinging with the multi-arm assembly, two variable frequency attached vibrators are arranged at the upper and lower ends of the hinged seat, the lower end of the other side of the slip form protrudes towards the tunnel wall surface and is provided with a fitting surface for fitting with the primary support surface, and the variable frequency attached vibrators are arranged staggered above and below the fitting surface, and the slurry injection device is arranged at a position close to the upper end of the other side of the slip form, and the end of the slurry injection device does not exceed the fitting surface.

[0006] Further preferably, the upper end of the other side of the slip form is provided with a blocking strip protruding towards the tunnel wall surface, and the end of the blocking strip does not exceed the fitting surface.

[0007] Further preferably, the multi-arm assembly comprises a first arm frame, a second arm frame and a telescopic frame arranged in sequence and hinged, the other end of the telescopic frame is hinged with a slip form, and telescopic cylinders are arranged between the slip form and the telescopic frame, between the second arm frame and the telescopic frame, between the first arm frame and the second arm frame, and between the first arm frame and the self-propelled walking platform.

[0008] Further preferably, the nozzle is arranged in a duckbill shape.

[0009] The beneficial effects of the present application are:

[0010] 1) The slip form is arranged, so that the slip form can smooth the primary support surface under the action of the multi-arm assembly, and the multi-arm assembly can change the angle of the slip form to adapt to the primary support of tunnels with different radii, and the multi-arm assembly has a length adjustment function, so that the slip form can be used for smoothing the primary support surface with different heights.

[0011] 2) The unique concave surface of the slip form can collect part of the rebound material in the spraying construction process, and is used for leveling the uneven primary support surface in the spraying construction process, so that the rebound and overconsumption of the tunnel sprayed concrete can be effectively reduced.

[0012] 3) The slip form comprises a slip form with a variable frequency attached vibrator and a slurry injection device, so that the slip form can vibrate the concrete during the smoothing process to ensure the compactness of the concrete, and the slurry injection device is used for spraying cement or cement mortar, which is more delicate than concrete, so as to further improve the smoothing effect of the slip form.

[0013] 4) Since the multi-degree-of-freedom mechanical arm slip form system and the concrete spraying system are arranged separately, the sprayed concrete and the leveling of the primary support surface can be carried out at the same time, so as to effectively improve the construction efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 The drawings of the present application are shown in the drawings.

[0015] Figure 2 This is a schematic diagram of the sliding mode system of the multi-degree-of-freedom robotic arm in this invention.

[0016] Figure 3 This is a schematic diagram of the sliding template in this invention.

[0017] Figure 4 This is a perspective view of the sliding template in this invention.

[0018] Figure 5 This is a schematic diagram of the concrete spraying system in this invention.

[0019] Figure 6 This is a schematic diagram of the nozzle in this invention. Detailed Implementation

[0020] The present invention will be further described below with reference to the embodiments and accompanying drawings:

[0021] like Figures 1-6 As shown, a concrete spraying and troweling platform vehicle for tunnel initial support mainly consists of a concrete spraying system A and a multi-degree-of-freedom robotic arm slipform system B. Both the concrete spraying system A and the multi-degree-of-freedom robotic arm slipform system B are mounted on a self-propelled walking platform C, and the multi-degree-of-freedom robotic arm slipform system B and the concrete spraying system A are independent systems. The self-propelled walking platform is existing technology and is used to move the concrete spraying system and the multi-degree-of-freedom robotic arm slipform system within the tunnel.

[0022] The concrete spraying system A mainly consists of a robot arm 1 mounted on a self-propelled walking platform C and a nozzle 2 mounted on the other end of the robot arm 1. The nozzle adopts a duckbill shape, that is, the front end of the nozzle is rectangular and the overall shape is divergent, and the tail end of the nozzle is round and connected to the concrete delivery pipe on the robot arm. The structure of the robot arm can be existing technology or the same as the structure of the multi-arm assembly.

[0023] The multi-degree-of-freedom robotic arm sliding system B mainly consists of a multi-arm component 3 with one end set on a self-propelled walking platform and a sliding template 4 set on the other end of the multi-arm component. The multi-arm component 3 can change the angle of the sliding template 4, and the multi-arm component 3 itself has a length adjustment function.

[0024] The specific structure of the sliding formwork 4 includes a sliding formwork 4a, a hinged seat 4b is arranged on one side of the sliding formwork 4a for being hinged with the multi-arm assembly 3, a variable-frequency attached vibrator 4c is arranged at the upper and lower ends of the hinged seat 4b, the arrangement of the upper and lower variable-frequency attached vibrators 4c facilitates the vibration of the whole sliding formwork during the smoothing and facilitates the balance of the upper and lower sides of the sliding formwork. A fitting surface a for being fitted with the primary support surface is arranged on the other side of the sliding formwork 4a and protrudes towards the tunnel wall surface at the lower end, the variable-frequency attached vibrators 4c are arranged above and below the fitting surface a, so as to prevent the variable-frequency attached vibrators from affecting the leveling of the fitting surface. Preferably, an inclined connecting section is arranged between the fitting surface and the sliding formwork, and the variable-frequency attached vibrators are all located above the connecting section. A slurry spraying device 4d is arranged at a position close to the upper end of the other side of the sliding formwork 4a, and the end of the slurry spraying device 4d does not exceed the fitting surface a. The slurry spraying device is used for spraying cement or cement mortar, so as to further improve the flatness of the primary support surface. Since the fitting surface is arranged at the lower end, the slurry spraying device is arranged at a position close to the upper end of the sliding formwork 4a, so as to prevent the slurry spraying device from affecting the leveling of the fitting surface. The variable-frequency attached vibrators and the slurry spraying device are all prior art.

[0025] In order to prevent the slurry spraying device from rebounding from the upper end of the sliding formwork during spraying, a baffle b protruding towards the tunnel wall surface is arranged at the upper end of the other side of the sliding formwork 4a, and the end of the baffle b does not exceed the fitting surface a, so as to prevent the baffle from affecting the leveling.

[0026] The specific structure of the multi-arm assembly 3 includes a first arm frame 3a, a second arm frame 3b and a telescopic frame 3c which are sequentially hinged, the telescopic frame has a telescopic function, the sliding formwork 4 is hinged to the other end of the telescopic frame 3c, and a telescopic cylinder 6 is arranged between the sliding formwork 4 and the telescopic frame 3c, between the second arm frame 3b and the telescopic frame 3c, between the first arm frame 3a and the second arm frame 3b, and between the first arm frame 3a and the self-propelled walking platform C, and the two ends of the telescopic cylinder are both hinged.

[0027] The multi-degree-of-freedom mechanical arm sliding formwork system B is also provided with a laser positioning system for identifying positions, the laser positioning system is arranged on the telescopic frame, and the laser positioning system includes an optical measuring device and a full-automatic computer analysis platform. The laser positioning system is prior art.

[0028] Based on the above-mentioned concrete spraying and smoothing platform vehicle for tunnel primary support, a construction method is further provided, which includes the following steps:

[0029] First step: equipment before construction. The free walking platform C lifts the supporting legs before the shotcrete construction, and the laser positioning system completes the positioning data collection of the walking platform, including the platform mileage (the multi-DOF mechanical arm sliding system B support point mileage), offset distance and elevation. The computer system analyzes the position relationship between the sliding formwork surface of the multi-DOF mechanical arm sliding system B and the inner contour line of the initial support, thereby providing the reference parameters for the initial support surface light receiving and leveling.

[0030] Second step: shotcrete.

[0031] During the shotcrete, the concrete spraying system A sprays concrete on the upper part of the multi-DOF mechanical arm sliding system B until the concrete surface meets the thickness requirement of the initial support inner contour surface. Preferably, the sprayed thickness is slightly thicker than the design thickness to facilitate the supplement during the vibration. The sprayed thickness is usually determined according to the surrounding rock category, and the thickness is between 120-290mm.

[0032] Then the multi-DOF mechanical arm sliding system B performs sliding formwork operation at the position 100-150mm below the concrete spraying system A to prevent the sprayed concrete from sliding downward. During the movement of the sliding formwork 4, the variable frequency attached vibrator 4c always works and can work as needed and adjust the vibration frequency, while the slurry spraying device 4d can spray cement slurry + accelerator mixed slurry or cement slurry alone according to the need to light receiving and leveling the initial support surface. When using cement slurry, the mixing ratio of water and cement is 1:1; when using cement slurry + accelerator mixed slurry, the mixing ratio of water, cement slurry and accelerator is 1.63:1-1.09:1.

[0033] During the entire spraying process, the concrete spraying system A and the multi-DOF mechanical arm sliding system B are from bottom to top. When the left or right side of the tunnel is sprayed to a certain height, it needs to be transferred to the other side of the tunnel for construction of the same height. At this time, the multi-DOF mechanical arm sliding system continues to complete the construction on this side and then transfers to the other side. That is, when the left side of the tunnel is sprayed to a certain height, the concrete spraying system A turns to the right side of the tunnel for spraying construction. At this time, the multi-DOF mechanical arm sliding system continues to complete the construction on the left side of the tunnel and then turns to the right side of the tunnel for construction. This alternation continues until the arch top part construction is completed. Usually, when the construction height reaches 2m, the alternate construction is carried out.

Claims

1. A concrete spraying and trowelling platform vehicle for initial support of a tunnel, characterised in that: The application relates to a concrete spraying system (A) and a multi-degree-of-freedom mechanical arm sliding mode system (B), which are arranged on a self-propelled walking platform (C), the multi-degree-of-freedom mechanical arm sliding mode system (B) and the concrete spraying system (A) are two independent systems, and the concrete spraying system (A) is above the multi-degree-of-freedom mechanical arm sliding mode system (B) during operation; the concrete spraying system (A) comprises a mechanical arm (1) arranged at one end of the self-propelled walking platform (C) and a nozzle (2) arranged at the other end of the mechanical arm (1), and the nozzle (2) is arranged in a duckbill shape; the multi-degree-of-freedom mechanical arm sliding mode system (B) comprises a multi-arm assembly (3) arranged at one end of the self-propelled walking platform (C) and a sliding formwork (4) arranged at the other end of the multi-arm assembly (3), the multi-arm assembly (3) can change the angle of the sliding formwork (4), and the multi-arm assembly (3) has a length adjusting function; the sliding formwork (4) comprises a sliding formwork (4a), one side of the sliding formwork (4a) is provided with a variable-frequency attached vibrator (4c), and the other side of the sliding formwork (4a) is provided with a slurry spraying device (4d); one side of the sliding formwork (4a) is provided with a hinged seat (4b) used for being hinged with the multi-arm assembly (3), two variable-frequency attached vibrators (4c) are arranged at the upper and lower ends of the hinged seat (4b), the lower end of the other side of the sliding formwork (4a) protrudes towards a tunnel wall surface and is provided with a fitting surface (a) used for being fitted with an initial support surface, the variable-frequency attached vibrators (4c) and the fitting surface (a) are arranged in a staggered mode, the slurry spraying device (4d) is arranged at a position close to the upper end of the other side of the sliding formwork (4a), and the tail end of the slurry spraying device (4d) does not exceed the fitting surface (a); the upper end of the other side of the sliding formwork (4a) is provided with a blocking strip (b) protruding towards the tunnel wall surface, and the tail end of the blocking strip (b) does not exceed the fitting surface (a).

2. The concrete spraying and trowelling platform vehicle for initial support of a tunnel according to claim 1, characterized in that: The multi-arm assembly (3) comprises a first arm frame (3a), a second arm frame (3b) and a telescopic frame (3c) arranged in sequence, the other end of the telescopic frame (3c) is hinged with the sliding formwork (4), and telescopic cylinders (6) are arranged between the sliding formwork (4) and the telescopic frame (3c), between the second arm frame (3b) and the telescopic frame (3c), between the first arm frame (3a) and the second arm frame (3b), and between the first arm frame (3a) and the self-propelled walking platform (C).

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