Shield tunnel synchronous grouting effect detection device and method

Abstract

The invention relates to the technical field of tunnel construction, in particular to a shield tunnel synchronous grouting effect detection device and method. According to the technical scheme, the system comprises a mobile vehicle body, and further comprises a geological radar arranged above the mobile vehicle body; and the leveling system is mounted on the upper surface of the mobile vehicle body. Through the design of structures such as the mobile vehicle body, the geological radar, the leveling system, the leveling motor and the middle leveling motor, automatic detection of the synchronous grouting effect of the shield tunnel can be achieved, and the detection precision and efficiency are improved. And through adjustment of a fine leveling motor and a middle leveling motor, the device can adapt to different tunnel terrains, and multi-angle grouting effect monitoring is achieved. Real-time monitoring of key parameters such as compactness and uniformity of a grouting area is achieved, and guarantee is provided for shield tunnel construction quality.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel construction, and in particular to a device and method for detecting synchronous grouting effect of a shield tunnel. Background Art

[0002] At present, in the process of shield tunnel construction, in order to maintain the stability of the soil around the tunnel, synchronous grouting is required to fill the gaps caused by shield excavation. This process requires real-time detection and adjustment of the filling effect after grouting to ensure the density and uniformity of grouting. In the prior art, commonly used detection methods mostly rely on manual sampling detection or photoelectric equipment detection, but these methods have problems such as discontinuous data, insufficient detection accuracy, complex operation and detection lag. Therefore, the present invention designs a portable and accurate detection device and method to improve the detection efficiency and construction safety of shield tunnel construction. At the same time, when the detection equipment is detected in a shield tunnel with a large slope, it is necessary to keep itself stable under the condition of large slope: when there is slag, obstacles or misalignment in the shield tunnel, the wheels need to obtain sufficient traction to move forward or backward. Summary of the invention

[0003] The purpose of the present invention is to propose a shield tunnel synchronous grouting effect detection device and method in view of the fact that the commonly used detection methods in the prior art mostly rely on manual sampling detection or photoelectric equipment detection, but these methods have the problems of discontinuous data, insufficient detection accuracy, complex operation and detection lag.

[0004] On the one hand, the present application provides a shield tunnel synchronous grouting effect detection device, including a mobile body, and also including: a geological radar arranged above the mobile body; a leveling system, installed on the upper surface of the mobile body, the leveling system including a large angle adjustment motor, a small angle adjustment motor, a leveling system base, a leveling system fixing device, a mechanical arm mechanism, a geological radar device base, and a height adjustment device arranged in sequence; a fine-leveling motor and a medium leveling motor arranged on the mechanical arm mechanism for performing multi-level horizontal adjustment of the geological radar.

[0005] Optionally, the upper surface of the mobile body is fixedly connected to the lower surface of the large-angle adjustment motor, the top of the large-angle adjustment motor is movably connected to the bottom of the small-angle adjustment motor, the top of the small-angle adjustment motor is movably connected to the bottom of the leveling system base, and the lower surface of the leveling system base is fixedly connected to the bottom end of the leveling system fixing device.

[0006] Optionally, the robotic arm mechanism includes a first robotic arm and a second robotic arm which are rotatably connected in sequence at the top of a leveling system fixing device, the connected ends of the first robotic arm and the second robotic arm are connected through a central leveling motor, and the end of the second robotic arm away from the central leveling motor is rotatably connected to a rotating adjustment support through a micro leveling motor.

[0007] Optionally, the top of the rotating adjustment support is fixedly connected to the lower surface of the base of the geological radar device, the lower surface of the base of the geological radar device is fixedly connected to the bottom end of the height adjustment device, and the top of the height adjustment device is provided with a bottom support plate for supporting the geological radar.

[0008] Optionally, the front and rear ends of the base of the geological radar device are fixedly connected with a front bumper and a rear bumper.

[0009] Optionally, a plurality of movable wheels are provided at the bottom of the movable body, a pair of mounting grooves are provided on both sides of the base of the geological radar device, and a supporting mechanism is provided inside the mounting groove to lift the movable wheels and move them forward.

[0010] Optionally, the abutment mechanism includes a motor fixedly connected in a mounting groove, the output shaft of the motor is fixedly sleeved with a rotating abutment rod, the end of the output shaft of the motor is also fixedly connected with a fixed block, and a pair of motor linkage switches.

[0011] Optionally, one end of the rotating support rod away from the motor is fixedly connected with a plurality of anti-slip convex teeth.

[0012] On the other hand, the present application provides a method for using a synchronous grouting effect detection device for a shield tunnel, the method for using the synchronous grouting effect detection device for a shield tunnel includes the synchronous grouting effect detection device for a shield tunnel of the above aspect, including the following steps:

[0013] S1. First place the device in the tunnel, start the height adjustment device to make the geological radar reach the optimal detection height, and the micro-leveling motor and the middle leveling motor automatically adjust the angle and level of the geological radar;

[0014] S2, restart the geological radar, collect relevant information about the grouting effect by scanning the electromagnetic wave reflection data, and transmit it to the analysis system in real time. The system then analyzes the echo signal to generate a grouting density and distribution map;

[0015] S3. Further, after the detection data is processed, the density distribution of the grouting area is obtained and compared with the preset standard. If an abnormality is found, the system automatically generates a feedback signal;

[0016] S4. Further, for the abnormal position found in the detection, the detection angle of the radar is fine-tuned by the small angle adjustment motor and the large angle adjustment motor to obtain more detailed grouting effect data;

[0017] S5. Finally, during the advancement of the shield machine, the mobile body and the mobile wheels allow the device to move forward with the shield machine, continuously detect the grouting effect, and update the detection data in real time.

[0018] In summary, the present application includes at least one of the following beneficial technical effects:

[0019] The present invention can realize automatic detection of synchronous grouting effect of shield tunnels and improve detection accuracy and efficiency through the design of mobile vehicle body, geological radar, leveling system, leveling motor and middle leveling motor. Through the adjustment of micro-leveling motor and middle leveling motor, the device can also adapt to different tunnel terrains and realize multi-angle grouting effect monitoring. It realizes real-time monitoring of key parameters such as density and uniformity of grouting area, providing guarantee for the construction quality of shield tunnels;

[0020] Furthermore, the present invention utilizes the coordination of structures such as the abutment mechanism, the motor, the rotating abutment rod, and the anti-skid convex teeth, through the reaction force and the principle of leverage. When the end of the rotating abutment rod contacts the ground and applies a force downward, according to Newton's third law (every action force has a reaction force), the ground will apply a reverse force to the rod. These forces will be transmitted to other parts of the mobile body through the rod. And because the rotating abutment rod can rotate 360°, it is equivalent to a lever. When it rotates, through the principle of leverage, the torque generated by the rotation (the distance between the point of application of the force and the center of rotation) will cause the mobile body to produce a certain displacement. The direction of this torque is consistent with the direction of movement of the mobile wheel, and the mobile wheel will be pushed, causing the mobile body to move forward. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic structural diagram of a synchronous grouting effect detection device for a shield tunnel according to the present invention is provided;

[0022] Figure 2 for Figure 1 Schematic diagram of the partial split structure;

[0023] Figure 3 It is a schematic diagram of the partial structure of the figure.

[0024] Figure numerals: 1. Base of geological radar device; 2. Geological radar; 3. Height adjustment device; 31. Bottom support plate; 4. Micro-leveling motor; 41. Rotating adjustment support; 5. Middle leveling motor; 6. Mechanical arm mechanism; 61. First mechanical arm; 62. Second mechanical arm; 7. Leveling system fixing device; 8. Small angle adjustment motor; 9. Leveling system base; 10. Large angle adjustment motor; 11. Moving body; 12. Moving wheels; 13. Front bumper; 14. Rear bumper; 15. Mounting groove; 16. Motor; 17. Rotating push rod; 18. Fixed block; 19. Anti-slip convex teeth. DETAILED DESCRIPTION

[0025] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0026] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0027] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0029] It should be noted that the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Example

[0032] like Figures 1 to 3As shown, a shield tunnel synchronous grouting effect detection device proposed by the present invention includes a mobile body 11, and also includes: a geological radar 2 arranged above the mobile body 11, and the geological radar 2 is a non-destructive survey tool that uses high-frequency electromagnetic waves to detect underground structures. It analyzes the properties, positions and forms of underground materials by emitting electromagnetic waves and receiving wave signals reflected from different underground media; a leveling system is installed on the upper surface of the mobile body 11, and the leveling system includes a large angle adjustment motor 10, a small angle adjustment motor 8, a leveling system base 9, a leveling system fixing device 7, a mechanical arm mechanism 6, a geological radar device base 1, and a height adjustment device 3. The large angle adjustment motor 10 (also called a large angle servo motor) generally refers to a motor that can accurately control the rotation within a large angle range. This type of motor is generally used in application scenarios that require precise position control or dynamic adjustment within a large angle range. The small angle adjustment motor 8 generally refers to a motor for precise adjustment of small angles. This type of motor is often used in scenarios that require high-precision control. Through the rotation of the motor, the angle of a mechanical component can be accurately adjusted, and these adjusted angles are usually small. The leveling system base 9 (or "leveling base") is usually a support device used in precision equipment or systems to ensure that the equipment can maintain a horizontal or stable state at a specific angle during operation. The leveling system fixture 7 is a device or mechanism used to ensure that the equipment or system maintains a horizontal or specific angle during operation, and is usually used in situations where precise posture control is required. Its main function is to ensure that the equipment can maintain the required inclination or position in a dynamic or static state through a specific device or structure to prevent angle deviation caused by external factors (such as vibration, gravity change, etc.). The mechanical arm mechanism 6 refers to a mechanical device composed of a series of mechanical components (such as connecting rods, joints, drive devices, etc.) for imitating human arm movements, and is usually used in automation, robotics or other industrial applications. The geological radar device base 1 is a device for adjusting the height of an object or device. It can change the vertical position or height of the device through different working principles and designs to adapt to different working environments or usage requirements. The height adjustment device 3 is a device for adjusting the height of an object or device. It can change the vertical position or height of the device through different working principles and designs to adapt to different working environments or usage requirements. The front and rear ends of the geological radar device base 1 are fixedly connected with a front stopper 13 and a rear stopper 14; a fine leveling motor 4 and a middle leveling motor 5 are arranged on the mechanical arm mechanism 6 to perform multi-level adjustment of the geological radar 2. The fine leveling motor 4 generally refers to a motor capable of fine position adjustment, and its main feature is that it can achieve very small range and precise motion control. The middle leveling motor 5 generally refers to an electric motor, which plays an adjustment or balancing role in specific applications to ensure that the equipment or system maintains a balanced or stable state during operation.

[0033] Furthermore, the upper surface of the mobile body 11 is fixedly connected to the lower surface of the large-angle adjustment motor 10, the top of the large-angle adjustment motor 10 is movably connected to the bottom of the small-angle adjustment motor 8, the top of the small-angle adjustment motor 8 is movably connected to the bottom of the leveling system base 9, and the lower surface of the leveling system base 9 is fixedly connected to the bottom end of the leveling system fixing device 7.

[0034] Among them, the robotic arm mechanism 6 includes a first robotic arm 61 and a second robotic arm 62 which are rotatably connected in sequence at the top of the leveling system fixing device 7. The connected ends of the first robotic arm 61 and the second robotic arm 62 are connected through a middle leveling motor 5. The end of the second robotic arm 62 away from the middle leveling motor 5 is rotatably connected to a rotating adjustment support 41 through a fine leveling motor 4.

[0035] Secondly, the top of the rotating adjustment support 41 is fixedly connected to the lower surface of the geological radar device base 1, the lower surface of the geological radar device base 1 is fixedly connected to the bottom end of the height adjustment device 3, and the top of the height adjustment device 3 is provided with a bottom support plate 31 for supporting the geological radar 2.

[0036] Furthermore, a plurality of mobile wheels 12 are provided at the bottom of the mobile body 11, and a pair of mounting grooves 15 are provided on both sides of the base 1 of the geological radar device. A resisting mechanism is provided inside the mounting groove 15 to lift and move the mobile wheels 12 forward. The resisting mechanism includes a motor 16 fixedly connected in the mounting groove 15. The motor 16 refers to a motor with a high torque output, which is usually used in applications requiring high-power drive or starting heavy loads. Torque is a measure of the rotational force of the motor, which directly affects the starting, acceleration, carrying capacity and stable operation of mechanical equipment. Large torque motors usually have high power density and torque characteristics, and can provide continuous and stable power output to meet the needs of high load or high-speed operation. The output shaft of the motor 16 is fixedly sleeved with a rotating resist rod 17, and the end of the rotating resist rod 17 away from the motor 16 is fixedly connected with a plurality of anti-skid convex teeth 19, and the anti-skid convex teeth 19 prevent the end of the rotating resist rod 17 from sliding when it is against the slippery ground. The end of the output shaft of the motor 16 is also fixedly connected with a fixed block 18, and the fixed block 18 serves as a decorative aesthetic. The pair of motors 16 are linked to each other to realize the linkage control of the two motors 16, so that the two motors 16 can be started and stopped synchronously under certain conditions or run in a preset sequence and manner. In addition, the pair of rotating support rods 17 can be synchronously supported against the ground, thus preventing the mobile body 11 from tilting and overturning.

[0037] In this embodiment, the device uses the technology of the geological radar 2 to obtain the density, uniformity and thickness of the grouting filling by transmitting and receiving electromagnetic wave signals and analyzing the reflected waveform. During the movement of the mobile wheel 12 in the tunnel, the geological radar 2 of the device scans the grouting layer and judges the filling condition of the grouting area according to the intensity and characteristics of the echo signal. The large angle adjustment motor 10, the small angle adjustment motor 8, the leveling system base 9, the leveling system fixing device 7, the mechanical arm mechanism 6, the geological radar device base 1, the height adjustment device 3 and the geological radar 2 in the leveling system can keep the geological radar level at all times to ensure the detection accuracy. Through the adjustment of the fine leveling motor 4 and the medium leveling motor 5, the geological radar 2 can adjust the angle according to the changes in the tunnel terrain, so that the detection process is stable and accurate. In addition, the first mechanical arm 61 and the second mechanical arm 62 in the mechanical arm mechanism 6 can realize the multi-angle detection of the radar to meet the monitoring needs of the grouting effect at different positions.

[0038] When the moving wheel 12 at the bottom of the moving body 11 is stuck in a shallow pit and cannot move forward or backward, it is only necessary to start the motor 16 in the mounting groove 15. After the motor 16 is started, the output shaft will drive the rotating lever 17 to rotate. After the pair of rotating levers 17 rotate synchronously, the anti-skid protruding teeth 19 on the ends of the two rotating levers 17 will contact the ground. Thus, the end of the moving body 11 with the front stopper 13 is lifted up and suspended in the air and moves forward. The rotating lever 17 rotates repeatedly to completely free the moving wheel 12 at the bottom of the moving body 11 from the shallow pit and restore the power to move forward or backward, which is quick and convenient.

[0039] The present application provides a device for detecting the effect of synchronous grouting in a shield tunnel. Figure 1-Figure 3 As shown, the following steps are included:

[0040] S1, first place the device in the tunnel, start the height adjustment device 3 to make the geological radar 2 reach the optimal detection height, and the fine leveling motor 4 and the middle leveling motor 5 automatically adjust the angle and horizontality of the geological radar 2;

[0041] S2, restart the geological radar 2, collect relevant information about the grouting effect by scanning the electromagnetic wave reflection data, and transmit it to the analysis system in real time. The system then analyzes the echo signal to generate a grouting density and distribution map;

[0042] S3. Further, after the detection data is processed, the density distribution of the grouting area is obtained and compared with the preset standard. If an abnormality is found, the system automatically generates a feedback signal;

[0043] S4. Further, for the abnormal position found in the detection, the detection angle of the radar is fine-tuned by the small angle adjustment motor 8 and the large angle adjustment motor 10 to obtain more detailed grouting effect data;

[0044] S5. Finally, during the advancement of the shield machine, the mobile body 11 and the mobile wheels 12 enable the device to move forward with the shield machine, continuously detect the grouting effect, and update the detection data in real time.

[0045] The preferred embodiments of the present invention described above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A device for detecting the effect of synchronous grouting in a shield tunnel, comprising a moving vehicle (11), characterized in that: Also includes: A geological radar (2) arranged above the mobile vehicle (11); A leveling system is installed on the upper surface of the mobile vehicle body (11), and the leveling system comprises a large angle adjustment motor (10), a small angle adjustment motor (8), a leveling system base (9), a leveling system fixing device (7), a mechanical arm mechanism (6), a geological radar device base (1), and a height adjustment device (3) which are arranged in sequence; A fine leveling motor (4) and a middle leveling motor (5) are arranged on the mechanical arm mechanism (6) to perform multi-level leveling on the geological radar (2).

2. A shield tunnel synchronous grouting effect detection device according to claim 1, characterized in that: The upper surface of the mobile vehicle body (11) is fixedly connected to the lower surface of the large-angle adjustment motor (10), the top of the large-angle adjustment motor (10) is movably connected to the bottom of the small-angle adjustment motor (8), the top of the small-angle adjustment motor (8) is movably connected to the bottom of the leveling system base (9), and the lower surface of the leveling system base (9) is fixedly connected to the bottom end of the leveling system fixing device (7).

3. A shield tunnel synchronous grouting effect detection device according to claim 1, characterized in that: The mechanical arm mechanism (6) comprises a first mechanical arm (61) and a second mechanical arm (62) which are rotatably connected in sequence at the top end of a leveling system fixing device (7); the connected ends of the first mechanical arm (61) and the second mechanical arm (62) are connected via a middle leveling motor (5); and one end of the second mechanical arm (62) away from the middle leveling motor (5) is rotatably connected to a rotating adjustment support (41) via a fine leveling motor (4).

4. A shield tunnel synchronous grouting effect detection device according to claim 3, characterized in that: The top of the rotation adjustment support (41) is fixedly connected to the lower surface of the geological radar device base (1), the lower surface of the geological radar device base (1) is fixedly connected to the bottom end of the height adjustment device (3), and the top of the height adjustment device (3) is provided with a bottom support plate (31) for supporting the geological radar (2).

5. The device for detecting synchronous grouting effect of a shield tunnel according to claim 1, characterized in that: A front stop bar (13) and a rear stop bar (14) are fixedly connected at the front and rear ends of the geological radar device base (1).

6. A shield tunnel synchronous grouting effect detection device according to claim 1, characterized in that: A plurality of moving wheels (12) are provided at the bottom of the moving vehicle body (11), a pair of mounting grooves (15) are provided on both sides of the geological radar device base (1), and a moving mechanism for lifting the moving wheels (12) and moving them forward is provided inside the mounting grooves (15).

7. A shield tunnel synchronous grouting effect detection device according to claim 6, characterized in that: The abutment mechanism comprises a motor (16) fixedly connected in the mounting groove (15), the output shaft of the motor (16) is fixedly sleeved with a rotating abutment rod (17), the end of the output shaft of the motor (16) is also fixedly connected with a fixed clamping block (18), and a pair of the motors (16) are linked switches.

8. A shield tunnel synchronous grouting effect detection device according to claim 7, characterized in that: One end of the rotating support rod (17) away from the motor (16) is fixedly connected with a plurality of anti-slip convex teeth (19).

9. A method for using the shield tunnel synchronous grouting effect detection device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, first place the device in the tunnel, start the height adjustment device (3) to make the geological radar (2) reach the optimal detection height, and the fine leveling motor (4) and the middle leveling motor (5) automatically adjust the angle and horizontality of the geological radar (2); S2, restarting the geological radar (2), collecting relevant information about the grouting effect by scanning the electromagnetic wave reflection data, and transmitting it to the analysis system in real time. The system then analyzes the echo signal to generate a grouting density and distribution map; S3. Further, after the detection data is processed, the density distribution of the grouting area is obtained and compared with the preset standard. If an abnormality is found, the system automatically generates a feedback signal; S4. Further, for the abnormal position found during the detection, the detection angle of the radar is fine-tuned by a small-angle adjustment motor (8) and a large-angle adjustment motor (10) to obtain more detailed grouting effect data; S5. Finally, during the advancement of the shield machine, the moving vehicle body (11) and the moving wheels (12) enable the device to move forward with the shield machine, continuously detect the grouting effect, and update the detection data in real time.

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