Intelligent secondary lining construction method

Abstract

The invention relates to a secondary lining intelligent construction method which comprises the following steps that S1, a trolley walks, and a walking mechanism of a secondary lining trolley is selected as a structural form of a steering wheel; s2, trolley positioning: positioning the secondary lining trolley according to the middle line of the secondary lining trolley and the middle line of the tunnel; s3, supporting a formwork by a trolley; s4, pouring and vibrating, wherein a vibrating rod is controlled by a vibrating mechanical arm on the second lining trolley to conduct synchronous vibrating; s5, automatically closing the window: automatically closing the window through a window closing hydraulic device on the second lining trolley; s6, pouring monitoring is conducted, specifically, a sensor monitoring system is installed on the second lining trolley, and the pouring progress and the pouring quality are monitored in real time and fed back to a corresponding control system; and S7, trolley mold collection. The vibrating rod is controlled to vibrate through the vibrating mechanical arm, the window is automatically closed through the window closing hydraulic equipment, manual operation is not needed, and the construction quality can be guaranteed; and the pouring progress and the pouring quality are monitored in real time through a sensor monitoring system, and automation, datamation and intelligentization of secondary lining construction can be achieved.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel construction, and in particular to a secondary lining intelligent construction method. Background Art

[0002] Tunnel engineering is an important part of the modern transportation network, and the secondary lining construction technology is of great significance to ensure the quality and safety of the project. On the basis of the initial support, the construction method of re-lining with concrete or reinforced concrete is adopted. Its main purpose is to improve the strength, stability and durability of the tunnel structure, prevent the deformation or collapse of the surrounding rock, and ensure driving safety. Therefore, the tunnel secondary lining pouring construction method is an important construction method to ensure the quality of the tunnel lining.

[0003] The traditional tunnel secondary lining construction pouring process is as follows: steel bar binding, the secondary lining trolley is moved to the designated position with heavy rails, the trolley centerline is manually positioned, the secondary lining trolley is manually operated with a hydraulic jack to support the formwork, water stop installation and formwork renovation, embedded parts installation, spraying of release agent, end formwork installation, trolley reinforcement, concrete delivery pipeline installation, manual concrete pouring and vibration, standard maintenance, and manual formwork removal and mold closing.

[0004] However, traditional construction is mostly manual, and the lighting at the construction site is dim. The current trolley structure is complex, the manual operation space is limited, and the operating range is small, which is not conducive to concrete pouring and vibration. As a result, the second lining trolley template cannot be accurately operated during installation and reinforcement, and the quality of the second lining is poor during vibration and dismantling of the formwork. At the same time, the operation process of the second lining trolley is mostly manual, with a low degree of automation and high labor intensity. Its walking, positioning, formwork, end sealing, pouring, demoulding, and maintenance processes are mainly based on manual experience and judgment. With the aggravation of population aging and the blessing of the high-altitude environment, the construction personnel of the tunnel second lining will also face a talent gap. Moreover, the second lining concrete is often vibrated manually. People need to stand on the operating platform and hold a vibrating rod to vibrate. In addition, in high-altitude areas, personnel are often in a state of hypoxia, and vibration leakage often occurs, resulting in the honeycomb surface phenomenon of the second lining, affecting the quality of the second lining.

[0005] Therefore, it is necessary to improve the current secondary lining construction process to enhance the degree of construction automation, reduce labor intensity, improve the efficiency and quality of secondary lining construction, and transform the construction process towards informatization, intelligence, digitization and automation. Summary of the invention

[0006] In order to improve the degree of construction automation, reduce labor intensity, and improve the secondary lining construction efficiency and construction quality, the present application provides a secondary lining intelligent construction method.

[0007] The present application provides a secondary lining intelligent construction method using the following technical solutions:

[0008] A secondary lining intelligent construction method comprises the following steps:

[0009] S1. The trolley is moved, and the walking mechanism of the second lining trolley is selected as a steering wheel structure, and the second lining trolley is controlled to reach the pouring position along the parameter trajectory;

[0010] S2. Trolley positioning: after the secondary lining trolley reaches the designated position, it is positioned according to the center line of the secondary lining trolley and the center line of the tunnel;

[0011] S3. The trolley formwork is automatically supported by the hydraulic cylinder on the second lining trolley to control the template, and the top mold, side mold, and end mold are automatically supported in the order of the top mold;

[0012] S4. Pouring and vibrating, aligning the concrete pump pipe with each window, pouring concrete from the bottom right to the top and pouring on both sides at the same time; while pouring, the vibrating rod is controlled by the vibrating robot arm on the second lining trolley for synchronous vibration;

[0013] S5. Automatically seal and close the windows. After the pouring and vibration of each window is completed, the windows are automatically closed by the hydraulic window closing device on the second lining trolley;

[0014] S6. Casting monitoring: a sensor monitoring system is installed on the secondary lining trolley to monitor the casting progress and casting quality in real time and provide feedback to the corresponding control system;

[0015] S7. After the concrete pouring is completed, the second lining trolley automatically retracts the end mold, top mold and side mold.

[0016] Furthermore, in step S1 and step S2, the coordinates of the centerline of the tunnel are input into the trolley positioning control program, and the centerline coordinates of the secondary lining trolley are positioned in real time, and the travel route and direction of the secondary lining trolley are controlled by the positioning control program so that the centerline of the secondary lining trolley is kept coincident with the centerline of the tunnel during the travel and after the secondary lining trolley reaches the designated position.

[0017] Furthermore, in step S4, a row of slide rails are installed at the position of the second lining trolley corresponding to each layer of windows, and the vibrating robot arm is driven by a motor to slide and install on the slide rails. After the vibrating robot arm controls the vibrating rod to vibrate a window, the vibrating robot arm is driven by the motor to move to the next window on the slide rail and vibrate.

[0018] Furthermore, the vibrating robot arm and the vibrating rod installed thereon are controlled by a vibration control program, and the vibration range, vibration time, and vibration frequency data are pre-input into the vibration control program.

[0019] Furthermore, the vibration control program is also configured to record each vibration data, and the vibration data at least includes the vibration range, vibration time, and vibration frequency, and the optimal vibration time and vibration frequency are analyzed through the feedback of the secondary lining pouring quality.

[0020] Furthermore, in step S6, the sensor monitoring system includes a liquid level sensor installed below each window of the second lining trolley, and the liquid level sensor and the window closing hydraulic device are connected to the window closing control program;

[0021] The window closing control program is configured to control the corresponding window closing hydraulic device to close the window corresponding to the liquid level sensor when the liquid level sensor detects the pouring of concrete.

[0022] Furthermore, in step S6, the second lining trolley is positioned on the upper second lining and the second lining trolley is fixed at the joint by soft overlap, and the sensor monitoring system includes a pressure sensor embedded in the soft overlap, and the pressure sensor and the jacking system of the second lining trolley are connected to the jacking control program;

[0023] The jacking control program is configured to control the jacking system of the secondary lining trolley to stop the jacking work when the pressure sensor detects that the internal pressure value of the soft overlap exceeds the set pressure value.

[0024] Furthermore, in step S6, the sensor monitoring system includes a microwave flowmeter installed at the arch top position of the second lining trolley, and the microwave flowmeter monitors the arch top concrete pouring flow in real time to control the arch top concrete pouring rate to prevent insufficient or excessive concrete pouring.

[0025] Furthermore, the sensor monitoring system is also connected to an alarm control system. When the sensor monitoring system detects an abnormal item or a set item, the alarm control system controls the alarm to operate.

[0026] In summary, the beneficial technical effects of this application are:

[0027] 1. By adopting steerable walking wheels to replace the traditional rail walking, the position can be adjusted more flexibly, and the designated position can be reached and a good center positioning can be maintained according to the instructions of the trolley positioning control program without manual adjustment. It can solve the problem of inflexible rail-based walking and inadequate steering during the traditional secondary lining construction process. Moreover, through the setting of the trolley positioning control program, the automatic walking of the secondary lining trolley can be realized, and during the walking process, the walking trajectory and positioning of the secondary lining trolley can be corrected in real time by simply aligning the center line of the secondary lining trolley with the center line of the tunnel. There is no need for expensive and high-maintenance satellite positioning systems for positioning. It is especially suitable for construction environments with weak or no signal strength in closed tunnels. While ensuring the construction quality, it effectively controls the construction cost;

[0028] 2. By adopting a vibrating mechanical arm to install a vibrating rod to replace manual vibration, it is possible to avoid the dependence of manual vibration on the work experience, physical strength and effective operating space of the construction personnel, so that the second lining intelligent construction method of the present application can get rid of the traditional operation mode of exchanging labor for high-quality and high-efficiency construction to the greatest extent, which can not only reduce the labor intensity, but also improve the construction efficiency and quality of the second lining; by controlling the operation of the vibrating mechanical arm and the vibrating rod installed thereon through the vibration control program, the vibrating mechanical arm can be moved to the working window autonomously, and the vibrating rod can be controlled to work at the set vibration time and vibration frequency, and during the vibration process, by moving the vibrating mechanical arm and adjusting the inclination angle of the vibrating rod, effective and sufficient vibration can be achieved within the set vibration range, which can effectively solve the problems of missing vibration and small vibration range existing in traditional manual vibration, and can greatly improve the vibration quality in the second lining construction;

[0029] 3. Through the recording of various vibration data by the vibration control program, the optimal vibration time and vibration frequency can be analyzed with the help of feedback from the casting quality of the secondary lining, so as to further improve the vibration quality in the later stage of the secondary lining construction. This can form a trend that the longer the construction section, the higher the casting and vibration quality, and the relevant data can also be used as a reference for vibration data in other construction projects to ensure the construction quality of similar projects, which is helpful to improve the dataization capability in the secondary lining construction;

[0030] 4. Through the setting of liquid level sensors, the pouring progress of each layer of concrete can be monitored in real time, and when the concrete is poured in place, the window closing control program automatically controls the corresponding window closing hydraulic equipment to close the window corresponding to the liquid level sensor, which can effectively prevent concrete from overflowing from the window. No personnel are required to be on duty during the pouring process, which further reduces the workload of construction personnel;

[0031] 5. By setting up a microwave flowmeter, the pouring flow of the vault concrete can be monitored in real time to ensure that the concrete is poured at a predetermined rate to ensure the uniformity and density of the concrete; and the data provided by the microwave flowmeter can help construction personnel adjust the pouring speed in time to ensure a smooth pouring process, reduce problems such as concrete stratification, segregation or bubble generation caused by improper pouring speed, and prevent excessive or insufficient pouring of concrete, avoid causing unnecessary pressure on the tunnel structure or affecting the structural design, thereby improving the quality of the secondary lining concrete. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the construction process of an embodiment of the present application;

[0033] Figure 2 It is a schematic diagram of the assembly of the secondary lining trolley and the casting template of an embodiment of the present application;

[0034] Figure 3 is a schematic diagram of the assembly position of the window closing hydraulic device according to an embodiment of the present application;

[0035] Figure 4 It is a schematic diagram of the assembly position of the liquid level sensor and the microwave flowmeter according to the embodiment of the present application.

[0036] Description of reference numerals:

[0037] 1. Second lining trolley; 2. Top mold; 3. First side mold; 4. Second side mold; 5. End mold; 6. Vibrating mechanical arm; 7. Window closing hydraulic equipment; 8. Pressure sensor; 9. Liquid level sensor; 10. Microwave flowmeter. DETAILED DESCRIPTION

[0038] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0039] The present application embodiment discloses a secondary lining intelligent construction method. Figure 1 and Figure 2 , which comprises the following steps:

[0040] S1. The trolley moves. The travel mechanism of the secondary lining trolley 1 is selected to be a steering wheel structure. The steering wheel is controlled by a motor to move. The secondary lining trolley 1 is controlled to reach the pouring position along the parameter trajectory.

[0041] S2. Trolley positioning: after the secondary lining trolley 1 arrives at the designated position, it is positioned according to the center line of the secondary lining trolley 1 and the center line of the tunnel.

[0042] S3. The trolley formwork is controlled by the hydraulic cylinder on the second lining trolley 1 to automatically support the formwork, and the automatic formwork is started in the order of the top form 2, the side form, and the end form 5; wherein the side form includes a first side form 3 and a second side form 4, which are arranged on both sides of the top form 2, and the end form 5 is also provided with two groups and arranged on both sides of the top form 2, and the end form 5 is located between the top form 2 and the first side form 3 or the second side form 4, and the top form 2, the side form and the end form 5 together enclose a semi-ring shape adapted to the tunnel shaping.

[0043] S4. Pouring and vibrating. Aim the concrete pump pipe at each window and pour concrete from the right bottom to the top and on both sides at the same time. Keep the pouring speed on both sides consistent during pouring. While pouring, control the vibrating rod through the vibrating mechanical arm 6 on the second lining trolley 1 to perform synchronous vibration.

[0044] S5. Automatically close the windows. After the pouring and vibration of each layer of windows are completed, the windows are automatically closed by the window closing hydraulic device 7 on the second lining trolley 1.

[0045] S6. Casting monitoring: a sensor monitoring system is installed on the secondary lining trolley 1 to monitor the casting progress and casting quality in real time and feed back to the corresponding control system.

[0046] S7. After the concrete pouring is completed, the second lining trolley 1 automatically retracts the end form 5, top form 2 and side form.

[0047] Among them, in step S1 and step S2, the coordinates of the centerline of the tunnel are input into the trolley positioning control program, and the centerline coordinates of the secondary lining trolley 1 are positioned in real time. The moving route and direction of the secondary lining trolley 1 are controlled by the positioning control program so that the centerline of the secondary lining trolley 1 is kept coincident with the centerline of the tunnel during the moving process and after moving to the designated position.

[0048] Therefore, when the secondary lining trolley 1 is traveling, the steerable traveling wheels are used to replace the traditional rail traveling, which can adjust the position more flexibly, and reach the designated position and maintain a good center positioning according to the instructions of the trolley positioning control program, without manual adjustment. It can solve the problem of inflexible rail-type traveling and inadequate steering during the traditional secondary lining construction process. Moreover, through the setting of the trolley positioning control program, the automatic traveling of the secondary lining trolley 1 can be realized, and during the traveling process, the traveling trajectory and positioning of the secondary lining trolley 1 can be corrected in real time by a simple positioning method of aligning the center line of the secondary lining trolley 1 with the center line of the tunnel. There is no need for positioning by a satellite positioning system with high cost and high maintenance cost. It is especially suitable for construction environments with weak or no signal strength in closed tunnels. While ensuring the construction quality, it effectively controls the construction cost.

[0049] Moreover, during the pouring and vibration process, a vibrating rod is installed on the vibrating robot arm 6 to replace manual vibration, which can avoid the dependence of manual vibration on the work experience, physical strength and effective operating space of the construction personnel. The second lining intelligent construction method of the present application can maximize the break away from the traditional operation method of exchanging labor for high-quality and high-efficiency construction, which can not only reduce labor intensity, but also improve the construction efficiency and quality of the second lining.

[0050] Similarly, by automatically closing the windows through the window closing hydraulic equipment 7 on the secondary lining trolley 1, the work intensity of the construction personnel is further reduced, and there is no need to set up a manual working platform on the secondary lining trolley 1, which further simplifies the structural setting of the secondary lining trolley 1, so that a larger vehicle passage can be reserved under the secondary lining trolley 1, creating space support for the simultaneous construction of multiple processes in the tunnel, and is more conducive to further improving the overall construction efficiency of the tunnel.

[0051] Moreover, in step S4, a row of slide rails is installed on the second lining trolley 1 at the position corresponding to each layer of windows, and the vibrating robot arm 6 is driven by a motor to slide and install on the slide rails. After the vibrating robot arm 6 controls the vibrating rod to vibrate a window, the vibrating robot arm 6 is driven by the motor to move to the next window on the slide rails and vibrate.

[0052] The vibrating mechanical arm 6 and the vibrating rod installed thereon are controlled by a vibrating control program, in which the vibration range, vibration time, and vibration frequency data are pre-entered, and the vibrating mechanical arm 6 and the vibrating rod can be controlled by the vibration control program to work automatically without human intervention. The vibration control program is also configured to record each vibration data, which at least includes the vibration range, vibration time, and vibration frequency, and analyze the optimal vibration time and vibration frequency through the secondary lining pouring quality feedback.

[0053] Therefore, by controlling the operation of the vibrating mechanical arm 6 and the vibrating rod installed thereon through the vibration control program, the vibrating mechanical arm 6 can be moved to the working window autonomously, and the vibrating rod can be controlled to work at the set vibration time and vibration frequency. Moreover, during the vibration process, by moving the vibrating mechanical arm 6 and adjusting the inclination angle of the vibrating rod, effective and sufficient vibration can be achieved within the set vibration range, which can effectively solve the problems of missed vibration and small vibration range existing in traditional manual vibration, and can greatly improve the vibration quality in the secondary lining construction.

[0054] At the same time, through the recording of various vibration data by the vibration control program, the best vibration time and vibration frequency can be analyzed with the help of feedback on the casting quality of the secondary lining, so as to further improve the vibration quality in the later secondary lining construction. This can form a trend that the longer the construction section, the higher the casting and vibration quality, and the relevant data can also be used as a reference for vibration data in other construction projects to ensure the construction quality of similar projects and help improve the dataization capabilities in the secondary lining construction.

[0055] In addition, in order to fully improve the automation and intelligence level of the secondary lining intelligent construction method of this application.

[0056] Reference Figure 2 , Figure 3 and Figure 4 In step S6, the sensor monitoring system includes a liquid level sensor 9 installed below each window of the secondary lining trolley 1, and the liquid level sensor 9 and the window closing hydraulic device 7 are connected to the window closing control program;

[0057] The window closing control program is configured such that when the liquid level sensor 9 detects the pouring of concrete, the window closing control program controls the corresponding window closing hydraulic device 7 to close the window corresponding to the liquid level sensor 9 .

[0058] Therefore, under the control of the window closing control program, when each layer of concrete is poured, the liquid level sensor 9 of the corresponding layer monitors the concrete liquid level of the layer in real time. Once the poured concrete level approaches the lower edge of the window of the layer and is detected by the liquid level sensor 9, the window closing control program automatically controls the corresponding window closing hydraulic equipment 7 to close the window corresponding to the liquid level sensor 9, which can effectively prevent concrete from overflowing from the window. No personnel are required to be on duty during the pouring process, which further reduces the workload of construction personnel. Moreover, the reaction speed and operation speed of the window closing hydraulic equipment 7 controlled by the window closing control program are faster and more sensitive than those of manual operation. There is no need to stop pouring midway, which can fully guarantee the efficiency of the second lining pouring.

[0059] And, in step S6, referring to Figure 2 The second lining trolley 1 is positioned on the upper second lining and the second lining trolley 1 is fixed at the joint by a soft overlap, and the sensor monitoring system includes a pressure sensor 8 embedded in the soft overlap, and the pressure sensor 8 and the jacking system of the second lining trolley 1 are connected to the jacking control program;

[0060] The jacking control program is configured to control the jacking system of the secondary lining trolley 1 to stop jacking work when the pressure sensor 8 detects that the internal pressure value of the soft lap exceeds the set pressure value to prevent the secondary lining trolley 1 from being too much pressure and cracking the upper secondary lining.

[0061] And, in step S6, referring to Figure 2 and Figure 4The sensor monitoring system includes a microwave flowmeter 10 installed at the arch position of the second lining trolley 1. The microwave flowmeter 10 monitors the arch concrete pouring flow in real time to control the arch concrete pouring rate to prevent insufficient or excessive concrete pouring.

[0062] Therefore, by setting up the microwave flowmeter 10, the pouring flow rate of the vault concrete can be monitored in real time to ensure that the concrete is poured at a predetermined rate to ensure the uniformity and density of the concrete; and the data provided by the microwave flowmeter 10 can help construction personnel to adjust the pouring speed in time to ensure a smooth pouring process, which can reduce problems such as concrete stratification, segregation or bubble generation caused by improper pouring speed, and can prevent excessive or insufficient pouring of concrete, avoid causing unnecessary pressure on the tunnel structure or affecting the structural design, thereby improving the quality of the secondary lining concrete.

[0063] Moreover, the microwave flowmeter 10 is controllably connected to the concrete pouring pump. During the pouring process, the flow setting value can be dynamically adjusted according to the actual flow conditions and pouring speed of the concrete to ensure uniform pouring of the concrete; and when the microwave flowmeter 10 detects that the flow deviates from the preset range, the corresponding control system can automatically adjust the speed of the concrete pump to restore to the correct flow, which can further improve the degree of intelligence in the secondary lining construction process.

[0064] Therefore, by installing a sensor monitoring system on the secondary lining trolley 1, the pouring progress and pouring quality can be monitored in real time, various problems in the secondary lining construction can be discovered in time and solved automatically or manually in time, which can effectively improve the void problem caused by the lack of monitoring in traditional pouring.

[0065] To this end, the sensor monitoring system in step S6 is also connected to the alarm control system. When the sensor monitoring system detects an abnormal item or a set item, the alarm control system controls the alarm to remind the construction personnel of the current construction progress and the abnormal construction that has occurred, so as to ensure the orderly and normal progress of the secondary lining construction.

[0066] The implementation principle of a secondary lining intelligent construction method in the embodiment of the present application is:

[0067] When the secondary lining trolley 1 is traveling, the steerable traveling wheels are used to replace the traditional rail traveling, which can adjust the position more flexibly, and reach the designated position and maintain a good center positioning according to the instructions of the trolley positioning control program, without manual adjustment. It can solve the problem of inflexible rail-type traveling and inadequate steering during the traditional secondary lining construction process. Moreover, through the setting of the trolley positioning control program, the automatic traveling of the secondary lining trolley 1 can be realized, and during the traveling process, the traveling trajectory and positioning of the secondary lining trolley 1 can be corrected in real time by simply aligning the center line of the secondary lining trolley 1 with the center line of the tunnel. There is no need for positioning by a satellite positioning system with high cost and high maintenance cost. It is especially suitable for construction environments with weak or no signal strength in closed tunnels. While ensuring the construction quality, it effectively controls the construction cost.

[0068] Moreover, during the pouring and vibration process, a vibrating rod is installed on the vibrating robot arm 6 to replace manual vibration, which can avoid the dependence of manual vibration on the work experience, physical strength and effective operating space of the construction personnel. The second lining intelligent construction method of the present application can maximize the break away from the traditional operation method of exchanging labor for high-quality and high-efficiency construction, which can not only reduce labor intensity, but also improve the construction efficiency and quality of the second lining.

[0069] The operation of the vibrating mechanical arm 6 and the vibrating rod installed thereon is controlled by a vibration control program, so that the vibrating mechanical arm 6 can be moved to the working window autonomously, and the vibrating rod can be controlled to work at the set vibration time and vibration frequency. Moreover, by moving the vibrating mechanical arm 6 and adjusting the inclination angle of the vibrating rod during the vibration process, effective and sufficient vibration can be achieved within the set vibration range, which can effectively solve the problems of missed vibration and small vibration range existing in traditional manual vibration, and can greatly improve the vibration quality in the secondary lining construction.

[0070] At the same time, through the recording of various vibration data by the vibration control program, the best vibration time and vibration frequency can be analyzed with the help of feedback on the casting quality of the secondary lining, so as to further improve the vibration quality in the later secondary lining construction. This can form a trend that the longer the construction section, the higher the casting and vibration quality, and the relevant data can also be used as a reference for vibration data in other construction projects to ensure the construction quality of similar projects and help improve the dataization capabilities in the secondary lining construction.

[0071] The automatic window closing by the window closing hydraulic device 7 on the secondary lining trolley 1 further reduces the work intensity of the construction personnel, and there is no need to set up a manual working platform on the secondary lining trolley 1, which further simplifies the structural setting of the secondary lining trolley 1, so that a larger vehicle passage can be reserved under the secondary lining trolley 1, creating space support for the simultaneous construction of multiple processes in the tunnel, and is more conducive to further improving the overall construction efficiency of the tunnel.

[0072] Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The words "first", "second", "third" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and similar words do not indicate a quantitative limit, but indicate that there is at least one. "Include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0073] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A secondary lining intelligent construction method, characterized in that: The following steps are involved: S1. The trolley is moved, and the walking mechanism of the second lining trolley (1) is selected as a steering wheel structure, and the second lining trolley (1) is controlled to reach the pouring position along the parameter trajectory; S2. Trolley positioning: after the second lining trolley (1) reaches the designated position, it is positioned according to the center line of the second lining trolley (1) and the center line of the tunnel; S3 trolley formwork, through the second lining trolley (1) on the hydraulic cylinder control template automatic formwork, in accordance with the top mold (2), side mold, end mold (5) in order to start automatic formwork; S4. Pouring and vibrating, aligning the concrete pump pipe with each window, pouring concrete from the right bottom to the top, pouring on both sides at the same time; while pouring, the vibrating arm (6) on the second lining trolley (1) controls the vibrating rod for synchronous vibration; S5. Automatically seal and close the windows. After the pouring and vibration of each window is completed, the window is automatically closed by the window closing hydraulic device (7) on the second lining trolley (1); S6. Casting monitoring, installing a sensor monitoring system on the second lining trolley (1) to monitor the casting progress and casting quality in real time and provide feedback to the corresponding control system; S7. The trolley retracts the molds. After the concrete pouring is completed, the second lining trolley (1) automatically retracts the end mold (5), the top mold (2), and the side molds.

2. The secondary lining intelligent construction method according to claim 1 is characterized in that: In step S1 and step S2, the coordinates of the tunnel centerline are input into the trolley positioning control program, and the coordinates of the centerline of the secondary lining trolley (1) are positioned in real time. The travel route and direction of the secondary lining trolley (1) are controlled by the positioning control program so that the centerline of the secondary lining trolley (1) is kept coincident with the centerline of the tunnel during the travel process and after the secondary lining trolley (1) reaches a designated position.

3. The secondary lining intelligent construction method according to claim 1 is characterized in that: In step S4, a row of slide rails is installed on the second lining trolley (1) at positions corresponding to windows on each floor, and the vibrating mechanical arm (6) is driven by a motor to slide and install on the slide rails. After the vibrating mechanical arm (6) controls the vibrating rod to vibrate a window, the vibrating mechanical arm (6) is driven by the motor to move on the slide rails to the next window and perform vibration.

4. The secondary lining intelligent construction method according to claim 3 is characterized in that: The vibrating mechanical arm (6) and the vibrating rod mounted thereon are controlled by a vibrating control program, wherein the vibration range, vibration time and vibration frequency data are pre-input into the vibration control program.

5. The secondary lining intelligent construction method according to claim 4 is characterized in that: The vibration control program is also configured to record each vibration data, which at least includes vibration range, vibration time, and vibration frequency, and analyze the optimal vibration time and vibration frequency through the secondary lining pouring quality feedback.

6. The secondary lining intelligent construction method according to claim 1 is characterized in that: In step S6, the sensor monitoring system includes a liquid level sensor (9) installed below each window of the second lining trolley (1), and the liquid level sensor (9) and the window closing hydraulic device (7) are connected to the window closing control program; The window closing control program is configured such that when the liquid level sensor (9) detects the pouring of concrete, the window closing control program controls the corresponding window closing hydraulic device (7) to close the window corresponding to the liquid level sensor (9).

7. The secondary lining intelligent construction method according to claim 1 is characterized in that: In step S6, the second lining trolley (1) is positioned on a second lining and the second lining trolley (1) is fixed at a joint by a soft overlap, the sensor monitoring system comprises a pressure sensor (8) embedded in the soft overlap, and the pressure sensor (8) and the lifting system of the second lining trolley (1) are connected to a lifting control program; The jacking control program is configured such that when the pressure sensor (8) detects that the internal pressure value of the soft overlap exceeds a set pressure value, the jacking control program controls the jacking system of the secondary lining trolley (1) to stop the jacking operation.

8. The secondary lining intelligent construction method according to claim 1 is characterized in that: In step S6, the sensor monitoring system comprises a microwave flowmeter (10) installed at the arch top position of the secondary lining trolley (1), wherein the microwave flowmeter (10) monitors the arch top concrete pouring flow rate in real time to control the arch top concrete pouring rate to prevent insufficient or excessive concrete pouring.

9. The secondary lining intelligent construction method according to claim 1 is characterized in that: The sensor monitoring system is also connected to an alarm control system. When the sensor monitoring system detects an abnormal item or a set item, the alarm control system controls the alarm to operate.

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