In-situ maintenance system and method for tunnel lining formwork

Abstract

The present invention proposes an in-situ maintenance system for a tunnel lining formwork and an in-situ maintenance method thereof. The in-situ maintenance system includes a ground host and a formwork maintenance robot. The formwork maintenance robot is connected to the ground host via a cable. The ground host includes a host control panel, a winder, a host drive motor, a wire feeder, and a universal wheel. The host control panel is installed above the rear end of the host bracket, the winder and the wire feeder are installed inside the front end of the host bracket, and the universal wheel is installed at the bottom of the front end of the host bracket. The formwork maintenance robot includes a drive mechanism, a guide guard plate, a camera, a support wheel, a constant pressure support unit, a polishing motor, and a polishing wheel. A camera is installed above the guide guard plate, the support wheel is close to the formwork surface, the constant pressure support unit is close to the inner wall of the tunnel, and the polishing wheel is driven to rotate by the polishing motor, replacing manual cleaning of concrete residues on the tunnel formwork, thereby greatly improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, in particular to an on-site maintenance system for a tunnel lining formwork. The present invention also relates to a method for performing on-site maintenance of a tunnel lining formwork by adopting the maintenance system. Background Art

[0002] Tunnels are a vital component of highway, railway, and municipal infrastructure. As a major infrastructure construction country, my country has added over 1,100 kilometers of new highway tunnels annually over the past decade. The construction of numerous tunnel structures requires the use of large, custom-shaped formwork (7-10 meters high and up to 12 meters long) for cyclic support before pouring concrete. After the concrete solidifies, the formwork is tightened, a process known as demolding. During this demolding process, concrete residue can easily adhere to the formwork joints. If not promptly polished and cleaned, the formwork can become more adhered to during the next construction cycle. This can cause honeycombing and chipping on the surface of the already poured tunnel, and can even expose structural rebar, seriously compromising the strength and durability of the concrete structure.

[0003] Furthermore, since the 20th century, my country's tunnel construction has rapidly developed. Due to complex environmental influences and the increasing service life of tunnels, various tunnel diseases have inevitably occurred. my country has gradually shifted from the "tunnel construction era" to the "tunnel maintenance era." Common tunnel diseases include water damage, frost damage, tunnel fires, lining cracking, and lining erosion. Lining cracking is one of the most common and most detrimental tunnel diseases. Lining cracking can, to a certain extent, affect the bearing capacity and stability of the tunnel structure. The cracks reduce the concrete strength and, in severe cases, can even cause tunnel collapse, affecting the safe and normal operation of pedestrians and vehicles. Therefore, it is particularly important to efficiently clean concrete debris from tunnel lining formwork to improve tunnel construction quality.

[0004] Currently, workers primarily rely on handheld angle grinders to clean concrete debris from the lining formwork. However, due to the complex construction site conditions, the process generates significant dust, posing a serious threat to workers' physical and mental health. Furthermore, the extremely narrow construction site operating space, which only allows sideways access, forces workers to manually grind only a small amount of the bottom formwork, making grinding the arc and arch sections extremely difficult. Severe cases of concrete debris adhering to the formwork require the entire formwork trolley to be removed from the tunnel or disassembled for cleaning and reassembly. This creates a high workload, high risk, and low efficiency, severely impacting construction progress. Summary of the Invention

[0005] Based on the above technical problems, the present invention provides an on-site maintenance system for tunnel lining formwork, and provides a method for on-site maintenance of tunnel lining formwork using the robot, which specifically cleans the concrete residue remaining on the surface of the lining formwork, avoids the sticking phenomenon during the concrete pouring process, improves the quality and durability of concrete pouring, and thereby improves the service life and service safety of the tunnel project.

[0006] To achieve its purpose, the present invention adopts the following technical solutions:

[0007] A tunnel lining formwork in-situ maintenance system, comprising a formwork maintenance robot and a ground host, wherein the formwork maintenance robot is electrically connected to the ground host via a data transmission cable;

[0008] The template maintenance robot moves along the upper surface of the lining template, and the lining template is carried by the bottom template trolley; the template maintenance robot includes a frame, the frame is cross-shaped as a whole, the horizontal part is a groove structure, positioning wheels are provided around the bottom of the vertical part, and a polishing motor is provided on the top of the vertical part, and a polishing grinding wheel is installed after the output shaft of the polishing motor passes through the bottom end of the vertical part of the frame; a constant pressure support unit is provided in the center of the upper surface of the vertical part of the frame; the vertical part of the frame is provided with convex side brackets wrapping the groove structure of the horizontal part of the frame along the moving direction of the template maintenance robot, a PLC controller is provided on the inner side of the convex side bracket, and a lithium battery pack is provided in the groove structure of the horizontal part of the frame; the vertical part of the frame is perpendicular to the moving direction of the template maintenance robot and robot side panels are provided on both sides; the outer side of the convex side bracket is provided with guide guard plates at both ends along the moving direction of the template maintenance robot, the bottom of the guide guard plate is fixed to the bottom of the frame by screws, and the top of the guide guard plate is connected to the convex side bracket by bolts; an independent suspension unit is provided between the convex side bracket and the guide guard plate;

[0009] The constant pressure support unit includes an L-shaped base, an electric cylinder is provided on the L-shaped base, the tail end of the electric cylinder is connected to the longitudinal part of the L-shaped base, and the shaft end of the electric cylinder is slidably connected to the transverse part of the L-shaped base through a connecting piece; the transverse part of the L-shaped base is provided with a first transverse strip hole on both sides of one end away from the longitudinal part, and a hinge is provided on both sides of the electric cylinder of the transverse part of the L-shaped base, and the hinge includes a first connecting rod and a second connecting rod hinged into an X shape in the middle, the bottom of the first connecting rod is hinged to the inner side of the transverse part of the L-shaped base, and the bottom of the second connecting rod is hinged to the outer side of the transverse part of the L-shaped base through a pin that passes through the first strip hole and extends to the inside of the connecting piece, and the top of the hinge is provided with an articulated support, and the end of the articulated support connected to the first connecting rod is provided with a second transverse strip The top of the first connecting rod is slidably connected to the inner side of the hinged support by a pin passing through the second transverse strip hole, and the top of the second connecting rod is hinged to the outer side of the hinged support; vertical strip holes are provided on both sides of the top of the hinged support, and a support wheel seat is provided inside the hinged support to provide support through a sliding pin passing through the vertical strip hole, and a support wheel is provided in the support wheel seat, and the top of the support wheel abuts against the cast concrete wall in the highway tunnel; limit switches are provided at the top and bottom of one side of the vertical strip hole on the hinged support; a T-shaped pin is provided between the hinged support and the support wheel seat, and a buffer spring is sleeved on the outer periphery of the T-shaped pin; a torsion spring is also provided on the hinged support at one end close to the longitudinal part of the L-shaped base, and the torsion spring body abuts against the support wheel;

[0010] The guide guard plate comprises a guard plate shell, a guard plate bottom cover is provided at the free end inside the guard plate shell, a camera is installed on the guard plate shell, and a switching power supply is provided on the guard plate bottom cover.

[0011] As a further improvement of the technical solution of the present invention, the ground host is placed on the ground between the mountain and the slit of the lining template.

[0012] Furthermore, the independent suspension unit includes a drive motor, the output shaft end of the drive motor is connected to a star-shaped reducer, the free end of the output shaft of the star-shaped reducer passes through the inner side of the longitudinal part of the L-shaped bracket and is connected to the drive wheel, the transverse part of the L-shaped bracket is provided with a swing arm bracket, the swing arm bracket is connected to the bottom of the connecting bracket through a swing arm connecting rod, the top of the connecting bracket is hinged to one end of the shock absorber, and the other end of the shock absorber is connected to the swing arm bracket.

[0013] Furthermore, the ground host includes a host frame, a control panel is provided on the top of the host frame, a winder is provided on the inner side of the middle, a wire feeder and a guide pulley are provided on the same side as the winder at the bottom, a host suspension is provided on the same side as the control panel at the bottom, and a host motor is provided on the host frame at the top of the host suspension.

[0014] Furthermore, the main engine suspension includes a connecting shaft, main engine driving wheels are provided at both ends of the connecting shaft, and a large synchronous pulley is provided on the connecting shaft inside the main engine driving wheel; a front splint and a rear splint are symmetrically arranged on both sides of the connecting shaft, a torsion support is provided at the center position between the front splint and the rear splint, a bottom plate is provided at the bottom of the torsion support, and brackets are provided on both sides of the bottom plate along the axis of the main engine driving wheel, the top of the bracket is connected to the top of the main engine shock absorber, and the bottom end of the main engine shock absorber is connected to both sides of the front splint and the rear splint through a pin; a motor is provided on the front splint, and a small synchronous pulley is provided at the output shaft end of the motor through an L-shaped fixing frame, the small synchronous pulley is collinear with the large synchronous pulley, and is connected to the large synchronous pulley through a synchronous belt.

[0015] Furthermore, the wire feeder includes a wire feeder bracket, a driven pulley is provided in the middle of one side of the wire feeder bracket, and a wire feeder motor is provided at the top of the other side. The shaft end of the wire feeder motor passes through the wire feeder bracket and is connected to the active pulley, and the active pulley is engaged with the driven pulley.

[0016] Furthermore, a universal wheel is provided on the same side of the bottom end of the main frame and the wire feeder, a main frame side cover and a main frame front and rear cover are provided around the main frame, and a main frame upper cover is provided on the top of the main frame.

[0017] Furthermore, the driving wheel is driven by a driver, and the driver is installed between the side plate of the robot and the longitudinal part of the frame.

[0018] Furthermore, the template maintenance robot is provided with a top cover, and the constant pressure support unit passes through the top cover and abuts against the inner wall of the mountain.

[0019] The method for in-situ maintenance of tunnel lining formwork using the above system of the present invention comprises the following steps:

[0020] Step 1: After the lining formwork at the construction site is separated from the concrete wall, keep the lining formwork in place, place the ground host on the ground on both sides of the tunnel, open the host cover, and remove the data transmission cable;

[0021] Step 2: Open the control panel of the ground host and check whether the indicator light is normal; check whether the camera image recognition effect is clear; check whether the constant pressure support unit of the template maintenance robot is reliable;

[0022] Step 3: Place the formwork maintenance robot in the gap between the lining formwork and the concrete wall, and connect the formwork maintenance robot to the ground host via a data transmission cable;

[0023] Step 4: Turn on the power switch of the template maintenance robot, control the constant pressure support unit to stretch, and support the template maintenance robot to be suspended in the air;

[0024] Step 5: Set the working parameters of the formwork maintenance robot in the control panel of the ground host, control the wire feeder to deliver the data transmission cable, and the formwork maintenance robot crawls upward along the surface of the lining formwork. The camera automatically identifies the concrete residue on the surface of the lining formwork and polishes it with the polishing wheel at the bottom of the formwork maintenance robot;

[0025] Step 6: When the formwork maintenance robot reaches the lining formwork vault, it moves 400 mm in the tunnel forward direction;

[0026] Step 7: The formwork maintenance robot crawls down along the surface of the lining formwork and repeats step 5;

[0027] Step 8: When the formwork maintenance robot reaches the bottom of the lining formwork, it moves 400 mm in the tunnel forward direction;

[0028] Step 9: Repeat steps 5 to 8 until the template is polished. Use the control panel of the ground host to control the wire feeder to retract the cable and retract the template maintenance robot.

[0029] Step 10. Turn off the power of the template maintenance robot and the ground host, and disconnect the data transmission cable.

[0030] Compared with the existing formwork concrete residue grinding method, the beneficial effects of the present invention are:

[0031] 1. The present invention uses robots to replace manual cleaning of concrete residues, which can quickly and efficiently clean the arc section and arch section of the template, which are extremely difficult to polish and difficult to clean, thereby reducing the workload of workers;

[0032] 2. The in-situ formwork maintenance system of the present invention eliminates the need to remove the formwork trolley from the tunnel or disassemble it during the entire in-situ formwork maintenance process. This avoids the problem of removing the formwork trolley from the tunnel or disassembling and reassembling it for overall formwork polishing, which seriously affects the construction progress.

[0033] 3. The constant pressure support unit in the present invention can provide sufficient pressure for the formwork maintenance robot between the lining formwork and the poured concrete wall, ensuring that the robot can move freely in the vertical space without falling; and can adaptively rise and fall according to the arc space in which it is located, ensuring that the pressure remains constant when the working space size changes;

[0034] 4. The independent suspension unit of the present invention has a drive wheel that is directly connected to the drive motor and reducer, resulting in a compact structure and small size, making it suitable for wheeled robot chassis in confined spaces. After the independent suspension unit is installed around the chassis of the template maintenance robot, it can ensure that all drive wheels of the template maintenance robot can touch the ground on uneven ground, maintaining reliable grip. Moreover, because the independent suspension unit is equipped with a star-shaped reducer, the output torque is large, which can ensure that the template maintenance robot chassis has sufficient driving force.

[0035] 5. The main machine suspension structure of the present invention is simple and has low production cost. It is installed as a whole on the main machine frame on the ground, which can ensure the reliable grip of each driving wheel on uneven roads. When encountering undulating roads, the driving wheels on both sides rotate around the center of the torsion support, which can reduce the tilt and undulation of the ground main machine itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the overall on-site installation of the present invention;

[0037] Figure 2 This is a schematic diagram of the overall structure of the template maintenance robot in the present invention;

[0038] Figure 3 This is a top view of the overall structure of the template maintenance robot in the present invention;

[0039] Figure 4 This is a disassembled diagram of the overall structure of the template maintenance robot in the present invention;

[0040] Figure 5 This is a disassembled diagram of the guide guard plate structure of the template maintenance robot in the present invention;

[0041] Figure 6 This is a schematic diagram of the structure of the independent suspension unit of the template maintenance robot in the present invention;

[0042] Figure 7 This is a disassembled diagram of the independent suspension unit structure of the template maintenance robot in the present invention;

[0043] Figure 8 This is a structural schematic diagram of the constant pressure support unit of the template maintenance robot in the present invention;

[0044] Figure 9 This is a disassembled diagram of the constant pressure support unit structure of the template maintenance robot in the present invention;

[0045] Figure 10 This is a schematic diagram of the robot frame structure of the template maintenance robot in the present invention;

[0046] Figure 11 This is a schematic diagram of the overall structure of the ground host in the present invention;

[0047] Figure 12 This is a schematic diagram of the overall disassembly of the ground host structure of the present invention;

[0048] Figure 13 Schematic diagram of the mainframe suspension structure of the ground mainframe in the present invention;

[0049] Figure 14 This is a disassembled diagram of the main engine suspension structure of the ground main engine of the present invention;

[0050] Figure 15 This is a structural diagram of the ground host wire feeder in the present invention;

[0051] Reference Signs: 1. Mountain; 2. Concrete Wall; 3. Lining Formwork; 4. Formwork Trolley; 5. Formwork Maintenance Robot; 6. Ground Host; 7. Guide Guard: 7-1. Guard Bottom Cover; 7-2. Switching Power Supply; 7-3. Camera; 7-4. Guard Shell; 8. Independent Suspension Unit; 8-1. Drive Wheel; 8-2. L-Shaped Bracket; 8-3. Star-Type Reducer; 8-4. Drive Motor; 8-5. Shock Absorber; 8-6. Swing Arm Bracket; 8-7. Swing Arm Connecting Rod; 8-8. Connecting Bracket; 9. Side Bracket; 10. PLC Controller; 11. Lithium Battery; 12. Top Cover; 13. Constant Pressure Support Unit: 13-1. L-Shaped Base; 13-2. Electric Cylinder; 13-3. Connector; 13-4. First Horizontal Strip Hole; 13-5. Hinge; 13-5-1. First connecting rod; 13-5-2. Second connecting rod; 13-6. Articulated support; 13-7. Second horizontal strip hole; 13-8. Vertical strip hole; 13-9. Sliding pin; 13-10. Support wheel seat; 13-11. Support wheel; 13-12. Limit switch; 13-13. T-pin; 13-14. Buffer spring; 13-15. Torsion spring; 14. Grinding motor; 15. Polishing wheel; 16. Positioning wheel; 17. Robot frame; 18. Driver; 19. Robot side panel; 20. Control panel; 21. Main unit frame; 22. Winder; 23. Main unit motor; 24. Main unit suspension; 24-1. Connecting shaft; 24-2. Main unit drive wheel; 24-3. Large synchronous pulley; 24-4. Front splint; 24-5. Rear splint; 24-6. Torsion support; 24-7. Bottom plate; 24-8. Bracket; 24-9. Main unit shock absorber; 24-10. Motor; 24-11. Motor base; 24-12. Small synchronous pulley; 24-13. Coupling; 25. Wire feeder; 25-1. Wire feeder bracket; 25-2. Driven pulley; 25-3. Wire feeder motor; 25-4. Driving pulley; 26. Universal wheel; 27. Guide pulley; 28. Main unit side cover; 29. ​​Main unit front and rear cover; 30. Main unit top cover. DETAILED DESCRIPTION

[0052] The present invention will be described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0053] Reference Figure 1-3The present invention provides an in-situ maintenance system for tunnel lining formwork, comprising a formwork maintenance robot 5 and a ground host 6. The ground host 6 is placed on the ground between the mountain 1 and the lining formwork 3. The formwork maintenance robot 5 is electrically connected to the ground host 6 via a data transmission cable.

[0054] The formwork maintenance robot 5 travels along the upper surface of the lining formwork 3, which is supported by the bottom formwork trolley 4. The formwork maintenance robot 5 includes a frame 17, which is generally cross-shaped, with a grooved transverse portion, positioning wheels 16 around the bottom of the longitudinal portion, and a polishing motor 14 at the top of the longitudinal portion. The output shaft of the polishing motor 14 passes through the bottom end of the longitudinal portion of the frame 17 and is then mounted with a polishing grinding wheel 15. A constant pressure support unit 13 is located at the center of the upper surface of the longitudinal portion of the frame 17. The formwork maintenance robot 5 is provided with a top cover 12, which extends through the top cover 12 and abuts against the inner wall of the mountain 1.

[0055] During operation, the formwork maintenance robot 5 moves across the surface of the lining formwork 3, using the polishing wheel 15 at its base to remove concrete from the surface. The composite cable transmits control signals from the ground host 6 to the formwork maintenance robot 5, provides power to the robot 5, and reads operational data from the robot 5. The constant pressure support unit 13 and positioning wheels 16, respectively, are in close contact with the inner wall of the mountain 1 and the surface of the lining formwork 3, enabling the robot 5 to maneuver stably within the narrow gap.

[0056] Reference Figure 4 、 Figure 10 The longitudinal part of the frame 17 along the moving direction of the template maintenance robot 5 is respectively provided with a convex side bracket 9 that wraps the groove structure of the horizontal part of the frame 17, a PLC controller 10 is provided on the inner side of the convex side bracket 9, and a lithium battery pack 11 is provided in the groove structure of the horizontal part of the frame 17; the longitudinal part of the frame 17 perpendicular to the moving direction of the template maintenance robot 5 is respectively provided with a robot side panel 19 on both sides, a driver 18 is provided between the robot side panel 19 and the longitudinal part of the frame 17, and the drive motor 8-4 is driven by the driver 18; the outer side of the convex side bracket 9 is respectively provided with a guide guard plate 7 at both ends along the moving direction of the template maintenance robot 5, the bottom of the guide guard plate 7 is fixed to the bottom of the frame 17 by screws, and the top of the guide guard plate 7 is connected to the convex side bracket 9 by bolts; an independent suspension unit 8 is provided between the convex side bracket 9 and the guide guard plate 7.

[0057] Specifically, refer to Figure 8-9The constant pressure support unit 13 includes an L-shaped base 13-1, an electric cylinder 13-2 is provided on the L-shaped base 13-1, the tail end of the electric cylinder 13-2 is connected to the longitudinal part of the L-shaped base 13-1, and the shaft end of the electric cylinder 13-2 is slidably connected to the transverse part of the L-shaped base 13-1 through a connecting piece 13-3; the transverse part of the L-shaped base 13-1 is provided with a first transverse strip hole 13-4 on both sides of one end away from the longitudinal part, and the transverse part of the L-shaped base 13-1 is provided with a hinge 13-5 on both sides of the electric cylinder 13-2, and the hinge 13-5 includes a middle part The first connecting rod 13-5-1 and the second connecting rod 13-5-2 are hinged in an X shape. The bottom of the first connecting rod 13-5-1 is hinged to the inner side of the horizontal part of the L-shaped base 13-1. The bottom of the second connecting rod 13-5-2 is hinged to the outer side of the horizontal part of the L-shaped base 13-1 through a pin that passes through the first strip hole 13-4 and extends to the inside of the connecting member 13-3. The top of the hinge member 13-5 is provided with a hinge support 13-6. The end of the hinge support 13-6 connected to the first connecting rod 13-5-1 is provided with a second horizontal strip hole 13-7. The top of the first connecting rod 13-5-1 is slidably connected to the inner side of the hinge support 13-6 through a pin passing through the second transverse strip hole 13-7, and the top of the second connecting rod 13-5-2 is hinged to the outer side of the hinge support 13-6; vertical strip holes 13-8 are provided on both sides of the top of the hinge support 13-6, and a support wheel seat 13-10 is provided inside the hinge support 13-6 to provide support through a sliding pin 13-9 passing through the vertical strip hole 13-8, and a support wheel 13-11 is provided in the support wheel seat 13-10, and the support wheel 13- 11 is in contact with the cast concrete wall 2 in the highway tunnel; limit switches 13-12 are provided on the top and bottom of the vertical strip hole 13-8 on the hinged support 13-6; a T-shaped pin 13-13 is provided between the hinged support 13-6 and the support wheel seat 13-10, and a buffer spring 13-14 is sleeved on the outer periphery of the T-shaped pin 13-13; a torsion spring 13-15 is also provided on the hinged support 13-6 at one end of the longitudinal part close to the L-shaped base 13-1, and the main body of the torsion spring 13-15 is in contact with the support wheel 13-11.

[0058] When the constant pressure support unit 13 is in the retracted state, the electric cylinder 13-2 is extended to the maximum position, the articulated support 13-6, the support wheel seat 13-10, and the support wheel 13-11 are in the lowest position, the buffer spring 13-14 is in an extended state, the sliding pin 13-9 at the vertical strip hole 13-8 on the support wheel seat 13-10 and the articulated support 13-6 is at the top position of the vertical strip hole 13-8, and the limit switch 13-12 installed on the top of the articulated support 13-6 is in a closed state; when starting to work, the electric cylinder 13-2 begins to retract, and the connecting piece 13-3 drives the first connecting rod 13-5-1 along the second transverse strip The shaped hole 13-7 slides backward, the bottom end of the second connecting rod 13-5-2 rotates around the fixed hole on the L-shaped base 13-1, and the top end of the second connecting rod 13-5-2 slides along the first transverse strip hole 13-4 toward one end of the longitudinal portion of the L-shaped base 1. The X-shaped mechanism composed of the first connecting rod 13-5-1 and the second connecting rod 13-5-2 causes the hinged support 13-6 to move upward, while driving the support wheel seat 13-10 and the support wheel 13-11 to move vertically upward; when the support wheel 13-11 hits the poured concrete wall in the highway tunnel, the support wheel 13-11 and the support wheel seat 13-10 rotate around the bottom of the support wheel seat 13-10 together. The T-pin 13-13 at the top rotates, and the buffer spring 13-14 and the torsion spring 13-15 are compressed by the T-pin 13-13, and the sliding pin 13-9 slides downward along the vertical strip hole 13-8; when the limit switch 13-12 at the top of the articulated support 13-6 is disconnected, the electric cylinder 13-2 stops extending and retracting; when the space becomes larger during the movement of the robot, the supporting wheel seat 13-10 rotates upward under the action of the buffer spring 13-14, and when the sliding pin 13-9 moves upward to the limit switch 13-12 at the top of the articulated support 13-6, the electric cylinder 13-2 begins to retract, and the articulated support 13-6 moves upward until When sliding pin 13-9 slides downward and clears limit switch 13-12 at the top of articulated support 13-6, electric cylinder 13-2 stops extending and retracting. As the robot's moving space shrinks, support wheel seat 13-10, under the pressure of support wheel 13-11, pushes buffer spring 13-14 to contract. When sliding pin 13-9 moves downward to limit switch 13-12 at the bottom of articulated support 13-6, electric cylinder 13-2 begins to extend, causing articulated support 13-6 to move downward. This process is adaptively adjusted, providing sufficient pressure for the robot working in the narrow curved space between the lining formwork and the poured concrete wall, ensuring the robot's free movement in vertical space without falling.

[0059] Specifically, refer to Figure 5The guide guard plate 7 includes a guard plate housing 7-4. A guard plate bottom cover 7-1 is located at the free inner end of the guard plate housing 7-4. A camera 7-3 (HF868SS-120-140) is mounted on the guard plate housing 7-4. A switching power supply 7-2 is located on the guard plate bottom cover 7-1. The guide guard plate 7 protects internal components from damage during the movement of the formwork maintenance robot 5. The camera 7-3 identifies and locates residual concrete on the lining formwork 3.

[0060] Specifically, refer to Figure 6-7 The independent suspension unit 8 includes a drive motor 8-4, the output shaft end of the drive motor 8-4 is connected to the star-shaped reducer 8-3, the free end of the output shaft of the star-shaped reducer 8-3 passes through the inner side of the longitudinal part of the L-shaped bracket 8-2 and is connected to the drive wheel 8-1, and the transverse part of the L-shaped bracket 8-2 is provided with a swing arm bracket 8-6, and the swing arm bracket 8-6 is connected to the bottom of the connecting bracket 8-8 through the swing arm connecting rod 8-7. The top of the connecting bracket 8-8 is hinged to one end of the shock absorber 8-5, and the other end of the shock absorber 8-5 is connected to the swing arm bracket 6.

[0061] Specifically, refer to Figure 11-12 The ground host 6 includes a host frame 21. A control panel 20 is provided on the top of the host frame 21, a winder 22 is provided on the inner side of the middle part, a wire feeder 25 and a guide pulley 27 are provided on the same side of the winder 22 at the bottom, a host suspension 24 is provided on the same side of the bottom and the control panel 20, and a host motor 23 is provided on the host frame 21 at the top of the host suspension 24. A universal wheel 26 is provided on the same side of the wire feeder 25 at the bottom of the host frame 21 to facilitate the movement and transportation of the entire ground host 6. The host frame 21 is surrounded by host side covers 28 and host front and rear covers 29, and a host upper cover 30 is provided on the top of the host frame 21. The basic functional operations of the ground host 6 can be completed through the control panel 20, and the template maintenance robot 5 can be further controlled. During operation, the host upper cover 30 is opened to facilitate the ground host 6 to transport and recycle data transmission cables;

[0062] Reference Figure 13-14The main engine suspension 24 includes a connecting shaft 24-1, and main engine driving wheels 24-2 are provided at both ends of the connecting shaft 24-1. A large synchronous pulley 24-3 is provided on the connecting shaft 24-1 inside the main engine driving wheel 24-2; a front splint 24-4 and a rear splint 24-5 are symmetrically provided on both sides of the connecting shaft 24-1, and a torsion support 24-6 is provided at the center position between the front splint 24-4 and the rear splint 24-5. A bottom plate 24-7 is provided at the bottom of the torsion support 24-6, and the bottom plate 24-7 is provided on both sides along the axial direction of the main engine driving wheel 24-2. Bracket 24-8, the top of bracket 24-8 is connected to the top of the main engine shock absorber 24-9, and the bottom of the main engine shock absorber 24-9 is connected to the front splint 24-4 and the rear splint 24-5 on both sides through pins; the motor 24-10 is installed on the front splint 24-4 through the motor base 24-11, and the output shaft end of the motor 24-10 passes through the L-shaped fixing frame 24-11 and is provided with a small synchronous pulley 24-12, the small synchronous pulley 24-12 is collinear with the large synchronous pulley 24-3, and is connected to the large synchronous pulley 24-3 through a synchronous belt.

[0063] When the ground host 6 is running, the motor 24-10 transmits power to the host drive wheel 24-2 through the small synchronous pulley 24-11 and the large synchronous pulley 24-3. The speed difference between the two motors 24-10 is adjusted by the control panel 20 to adjust the forward direction of the ground host 6; when the host drive wheel 24-2 on one side encounters a bump on the ground, the host shock absorber 24-9 installed next to the host drive wheel 24-2 contracts, and the host shock absorber 24-9 on the other side extends, so that the entire connecting shaft 24-1, the front splint 24-4, the rear splint 24-5, and the motor 24-10 rotate together around the pin hole on the torsion support 24-6, and the overall height of the torsion support 24-6 and the base plate 24-7 changes little and can remain basically level, thereby making the overall height of the host frame 21 installed on the base plate 24-7 basically unchanged.

[0064] Reference Figure 15 The wire feeder 25 includes a wire feeder bracket 25-1, a driven pulley 25-2 disposed in the middle of one side of the wire feeder bracket 25-1, and a wire feeder motor 25-3 disposed at the top of the other side. The shaft end of the wire feeder motor 25-3 extends through the wire feeder bracket 25-1 and connects to the driving pulley 25-4, which meshes with the driven pulley 25-2. The wire feeder 25 is responsible for transporting and retrieving the data transmission cable, thereby traction of the template maintenance robot 5.

[0065] The method for in-situ maintenance of a tunnel lining formwork of the present invention comprises the following steps:

[0066] Step 1: After the lining formwork 3 at the construction site is separated from the concrete wall 2, keep the lining formwork 3 in place, place the ground host 6 on the ground on both sides of the tunnel, open the host cover 30, and take out the data transmission cable;

[0067] Step 2: Open the control panel 20 of the ground host 6 and check whether the indicator light is normal; check whether the image recognition effect of the camera 7-3 is clear; check whether the constant pressure support unit 13 of the template maintenance robot 5 is reliable;

[0068] Step 3: Place the formwork maintenance robot 5 in the gap between the lining formwork 3 and the concrete wall 2, and connect the formwork maintenance robot 5 and the ground host 6 via a data transmission cable;

[0069] Step 4: Turn on the switch power 7 - 2 of the template maintenance robot 5 to control the constant pressure support unit 13 to stretch and support the template maintenance robot 5 to be suspended in the air;

[0070] Step 5: Set the working parameters of the formwork maintenance robot 5 in the control panel 20 of the ground host 6, control the wire feeder 25 to deliver the data transmission cable, and the formwork maintenance robot 5 crawls upward along the surface of the lining formwork 3. The camera 7-3 automatically identifies the concrete residue on the surface of the lining formwork 3 and uses the polishing wheel 15 at the bottom of the formwork maintenance robot 5 to polish and grind the identified concrete residue;

[0071] Step 6: When the formwork maintenance robot 5 reaches the top of the lining formwork 3, it moves 400 mm in the tunnel advancing direction;

[0072] Step 7: The formwork maintenance robot 5 crawls downward along the surface of the lining formwork 3 and repeats step 5;

[0073] Step 8: When the template maintenance robot 5 reaches the bottom of the lining template 3, it moves 400 mm in the tunnel forward direction;

[0074] Step 9: Repeat steps 5 to 8 until the template is polished. Then, the control panel 20 of the ground host 6 controls the wire feeder 25 to retract the cable and retract the template maintenance robot 5.

[0075] Step 10: Turn off the power of the template maintenance robot 5 and the ground host 6, and disconnect the data transmission cable.

Claims

1. A tunnel lining formwork in-situ maintenance system, characterized in that: It comprises a template maintenance robot (5) and a ground host (6), wherein the template maintenance robot (5) is electrically connected to the ground host (6) via a composite cable; The template maintenance robot (5) moves along the upper surface of the lining template (3), and the lining template (3) is supported by the bottom template trolley (4); the template maintenance robot (5) includes a frame (17), the frame (17) is cross-shaped as a whole, the horizontal portion is a groove structure, the bottom of the vertical portion is provided with positioning wheels (16) around, the top of the vertical portion is provided with a polishing motor (14), the output shaft of the polishing motor (14) passes through the bottom end of the vertical portion of the frame (17) and the polishing wheel (15) is installed, and a constant pressure support unit (13) is provided at the center of the upper surface of the vertical portion of the frame (17); the vertical portion of the frame (17) is provided with a groove structure wrapping the horizontal portion of the frame (17) on both sides along the moving direction of the template maintenance robot (5). A convex side bracket (9) is provided with a PLC controller (10) on the inner side of the convex side bracket (9), and a lithium battery pack (11) is provided in the groove structure of the horizontal portion of the frame (17); the longitudinal portion of the frame (17) is perpendicular to the direction of travel of the template maintenance robot (5) and is provided with robot side panels (19) on both sides; the outer side of the convex side bracket (9) is provided with guide guard plates (7) at both ends along the direction of travel of the template maintenance robot (5), the bottom of the guide guard plate (7) is fixed to the bottom of the frame (17) by screws, and the top of the guide guard plate (7) is connected to the convex side bracket (9) by bolts; an independent suspension unit (8) is provided between the convex side bracket (9) and the guide guard plate (7); The constant pressure support unit (13) comprises an L-shaped base (13-1), an electric cylinder (13-2) is provided on the L-shaped base (13-1), the tail end of the electric cylinder (13-2) is connected to the longitudinal part of the L-shaped base (13-1), and the shaft end of the electric cylinder (13-2) is slidably connected to the transverse part of the L-shaped base (13-1) through a connecting member (13-3); first transverse strip holes (13-4) are provided on both sides of the transverse part of the L-shaped base (13-1) away from the longitudinal part, and hinges (13-5) are provided on both sides of the electric cylinder (13-2) of the transverse part of the L-shaped base (13-1), and the hinges (13-5) include a middle hinged part. The first connecting rod (13-5-1) and the second connecting rod (13-5-2) are X-shaped, the bottom of the first connecting rod (13-5-1) is hinged to the inner side of the horizontal part of the L-shaped base (13-1), the bottom of the second connecting rod (13-5-2) is hinged to the outer side of the horizontal part of the L-shaped base (13-1) through a pin that passes through the first strip hole (13-4) and extends to the inside of the connecting member (13-3), the top of the hinge member (13-5) is provided with a hinge support (13-6), and the end of the hinge support (13-6) connected to the first connecting rod (13-5-1) is provided with a second horizontal strip hole (13-7), the first connecting rod (13-5 -1) The top is slidably connected to the inner side of the hinged support (13-6) through a pin passing through the second transverse strip hole (13-7), and the top of the second connecting rod (13-5-2) is hinged to the outer side of the hinged support (13-6); vertical strip holes (13-8) are provided on both sides of the top of the hinged support (13-6), and a support wheel seat (13-10) is provided inside the hinged support (13-6) and is supported by a sliding pin (13-9) passing through the vertical strip hole (13-8). A support wheel (13-11) is provided in the support wheel seat (13-10), and the top of the support wheel (13-11) is connected to the cast concrete in the highway tunnel. Abutment against a concrete wall surface (2); limit switches (13-12) are provided at the top and bottom of one side of the vertical strip hole (13-8) on the hinged support (13-6); a T-shaped pin (13-13) is provided between the hinged support (13-6) and the support wheel seat (13-10), and a buffer spring (13-14) is sleeved on the outer periphery of the T-shaped pin (13-13); a torsion spring (13-15) is further provided at one end of the longitudinal portion of the hinged support (13-6) close to the L-shaped base (13-1), one end of the torsion spring (13-15) is in contact with the support wheel seat (13-10), and the other end is in contact with the hinged support (13-6); The guide guard plate (7) comprises a guard plate shell (7-4), a guard plate bottom cover (7-1) is provided at the inner free end of the guard plate shell (7-4), a camera (7-3) is mounted on the guard plate shell (7-4), and a switch power supply (7-2) is provided on the guard plate bottom cover (7-1).

2. The in-situ maintenance system for tunnel lining formwork according to claim 1 is characterized in that: The ground host (6) is placed on the ground between the mountain (1) and the narrow gap between the lining template (3).

3. The in-situ maintenance system for tunnel lining formwork according to claim 1, characterized in that: The independent suspension unit (8) includes a drive motor (8-4), the output shaft end of the drive motor (8-4) is connected to a star-shaped reducer (8-3), the free end of the output shaft of the star-shaped reducer (8-3) passes through the inner side of the longitudinal portion of the L-shaped bracket (8-2) and is connected to the drive wheel (8-1), the transverse portion of the L-shaped bracket (8-2) is provided with a swing arm bracket (8-6), the swing arm bracket (8-6) is connected to the bottom of the connecting bracket (8-8) through a swing arm connecting rod (8-7), the top of the connecting bracket (8-8) is hinged to one end of the shock absorber (8-5), and the other end of the shock absorber (8-5) is connected to the swing arm bracket (6).

4. The in-situ maintenance system for tunnel lining formwork according to claim 1 is characterized in that: The ground host (6) includes a host frame (21), a control panel (20) is provided on the top of the host frame (21), a winding device (22) is provided on the inner side of the middle portion, a wire feeder (25) and a guide pulley (27) are provided on the same side as the winding device (22) at the bottom, a host suspension (24) is provided on the same side as the control panel (20), and a host motor group (23) is provided on the host frame (21) at the top of the host suspension (24).

5. The in-situ maintenance system for tunnel lining formwork according to claim 4 is characterized in that: The main engine suspension (24) includes a connecting shaft (24-1), and main engine driving wheels (24-2) are provided at both ends of the connecting shaft (24-1) through couplings (24-13), and a large synchronous pulley (24-3) is provided on the coupling (24-13) on the inner side of the main engine driving wheel (24-2); a front splint (24-4) and a rear splint (24-5) are symmetrically provided on both sides of the connecting shaft (24-1), a torsion support (24-6) is provided at the center position between the front splint (24-4) and the rear splint (24-5), and a bottom plate (24-7) is provided at the bottom of the torsion support (24-6), and the bottom plate (24-7) is provided along the main engine. Brackets (24-8) are provided on both axial sides of the driving wheel (24-2), the top of the bracket (24-8) is connected to the top of the main engine shock absorber (24-9), and the bottom of the main engine shock absorber (24-9) is connected to both sides of the front splint (24-4) and the rear splint (24-5) through pins; a motor (24-10) is provided on the front splint (24-4), and the output shaft end of the motor (24-10) passes through the L-shaped fixing frame (24-11) and is provided with a small synchronous pulley (24-12), and the small synchronous pulley (24-12) is collinear with the large synchronous pulley (24-3) and is connected to the large synchronous pulley (24-3) through a synchronous belt.

6. The in-situ maintenance system for tunnel lining formwork according to claim 4, characterized in that: The wire feeder (25) comprises a wire feeder bracket (25-1), a driven pulley (25-2) is provided in the middle of one side of the wire feeder bracket (25-1), and a wire feeder motor (25-3) is provided at the top of the other side, the shaft end of the wire feeder motor (25-3) passes through the wire feeder bracket (25-1) and is connected to the driving pulley (25-4), and the driving pulley (25-4) is meshed with the driven pulley (25-2).

7. The in-situ maintenance system for tunnel lining formwork according to claim 4, characterized in that: The bottom end of the main frame (21) and the same side of the wire feeder (25) are provided with a universal wheel (26), the main frame (21) is surrounded by a main frame side cover (28) and a main frame front and rear cover (29), and the top of the main frame (21) is provided with a main frame upper cover (30).

8. The in-situ maintenance system for tunnel lining formwork according to claim 3 is characterized in that: The driving wheel (8-1) is driven by a driver (18), and the driver (18) is installed between the robot side plate (19) and the longitudinal part of the frame (17).

9. The in-situ maintenance system for tunnel lining formwork according to claim 1, characterized in that: The template maintenance robot (5) is provided with a top cover (12), and the constant pressure support unit (13) passes through the top cover (12) and abuts against the inner wall of the mountain (1).

10. A method for in-situ maintenance of tunnel lining formwork using the system according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: After the lining template (3) at the construction site is separated from the concrete wall (2), the lining template (3) is kept in position, the ground host (6) is placed on the ground on both sides of the tunnel, the host upper cover (30) is opened, and the composite cable is taken out; the composite cable is used to transmit the control signal of the ground host (6) to the template maintenance robot (5), to supply power to the template maintenance robot (5), and to read the operation data of the template maintenance robot (5); Step 2: Open the control panel (20) of the ground host (6) and check whether the indicator light is normal; check whether the image recognition effect of the camera (7-3) is clear; check whether the constant pressure support unit (13) of the template maintenance robot (5) is reliable; Step 3: Place the template maintenance robot (5) in the gap between the lining template (3) and the concrete wall (2), and connect the template maintenance robot (5) and the ground host (6) via a composite cable; Step 4: Turn on the switch power (7-2) of the template maintenance robot (5), control the constant pressure support unit (13) to stretch, and support the template maintenance robot (5) to be suspended in the air; Step 5: Set the working parameters of the template maintenance robot (5) in the control panel (20) of the ground host (6), control the composite cable of the wire feeder (25), and the template maintenance robot (5) crawls upward along the surface of the lining template (3). The camera (7-3) automatically identifies the concrete residue on the surface of the lining template (3), and uses the polishing wheel (15) at the bottom of the template maintenance robot (5) to polish and grind the identified concrete residue; Step 6: When the template maintenance robot (5) reaches the top of the lining template (3), it moves 400 mm in the tunnel forward direction; Step 7: The template maintenance robot (5) crawls downward along the surface of the lining template (3) and repeats step 5; Step 8: When the template maintenance robot (5) reaches the bottom of the lining template (3), it moves 400 mm in the tunnel forward direction; Step 9: Repeat steps 5 to 8 until the template is polished, and control the wire feeder (25) through the control panel (20) of the ground host (6) to retract the composite cable and retract the template maintenance robot (5); Step 10: Turn off the power of the template maintenance robot (5) and the ground host (6), and disconnect the composite cable.

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