Intelligent leveling machine for tunnel sprayed concrete

Abstract

The invention relates to an intelligent leveling machine for tunnel sprayed concrete, and belongs to the technical field of concrete construction machines. Comprising a walking mechanism, a telescopic arm mechanism and a slicking mechanism. A platform is arranged on the walking mechanism, a turntable is arranged on the platform, and the telescopic arm mechanism is arranged on the turntable; the other end of the telescopic arm mechanism is provided with the slicking mechanism; the slicking mechanism comprises a scraper capable of linearly moving back and forth; the telescopic arm mechanism rotates around a hinge shaft to drive the slicking mechanism to ascend and descend. The turntable drives the telescopic arm mechanism to rotate. The machine is used for strickling the inner wall of the tunnel after concrete spraying, automatic construction can be achieved, and the working efficiency is improved. The slicking mechanism of the machine has a long transverse movement stroke through the movement of the scraper and the movement of the mounting plate.

Description

Technical Field

[0001] The invention relates to an intelligent leveling machine for tunnel shotcrete, belonging to the technical field of concrete construction machines. Background Art

[0002] After the tunnel construction, it is necessary to carry out concrete spraying construction on the inner wall of the tunnel to make the inner wall of the tunnel have a good concrete surface. Concrete spraying construction is to spray concrete on the inner wall of the tunnel. After the inner wall of the tunnel is sprayed with concrete, the surface of the inner wall of the tunnel is not very flat, and there will be excess concrete in some places. It is necessary to scrape the surface of the concrete on the inner wall of the tunnel to improve the flatness of the inner wall surface of the tunnel. If a manual hand-held scraper is used, the work efficiency is low. Some machines are used for scraping and leveling construction. However, when the existing machines are used for scraping and leveling construction, their lateral travel is small, the lateral movement is not easy to control, and the overall work efficiency is not high. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent leveling machine for tunnel shotcrete to solve the above technical problems.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is: A tunnel shotcrete intelligent leveling machine comprises a walking mechanism, a telescopic arm mechanism and a scraping mechanism; a platform is arranged on the walking mechanism, a turntable is arranged on the platform, and the telescopic arm mechanism is arranged on the turntable; one end of the telescopic arm mechanism is hinged to the turntable, and the other end is arranged with the scraping mechanism; the scraping mechanism comprises a scraper which can move back and forth in a straight line; the telescopic arm mechanism drives the scraping mechanism to rise and fall by rotating around a hinge shaft; the turntable drives the telescopic arm mechanism to rotate.

[0005] The further improvement of the technical solution of the present invention is: the scraping mechanism includes a mounting plate, a guide rail arranged on the mounting plate and a rodless cylinder; the scraper is driven by the rodless cylinder to move back and forth linearly; the scraper is fixed on the scraper frame and the scraper frame and the guide rail form a guide rail pair.

[0006] A further improvement of the technical solution of the present invention is as follows: the scraping mechanism also includes a transverse adjustment component; the transverse adjustment component includes a transverse track beam, a transverse movable frame and a transverse double-headed oil cylinder; the mounting plate is fixed on the transverse movable frame; the transverse movable frame is provided with a hanging wheel and is installed on the transverse track beam through the hanging wheel; two transverse movable frames are provided, and the two ends of the transverse double-headed oil cylinder are respectively fixedly connected to the two transverse movable frames.

[0007] The further improvement of the technical solution of the present invention is: the guide rail is covered with an accordion shield; a linear bearing is arranged on the guide rail, and the scraper frame slides on the guide rail through the linear bearing; and a guard plate is arranged at the lower end of the mounting plate.

[0008] A further improvement of the technical solution of the present invention is that the telescopic arm mechanism includes a plurality of telescopic cylinders which are sequentially mounted and a plurality of telescopic oil cylinders which drive the telescopic cylinders; the cylinder barrel of the telescopic oil cylinder is fixed to the outer wall of the telescopic cylinder, and the telescopic rod of the telescopic oil cylinder is fixedly connected to the outer wall of the telescopic cylinder of the next level.

[0009] A further improvement of the technical solution of the present invention is as follows: a mounting seat is arranged on the turntable; the first-level telescopic cylinder of the telescopic arm mechanism is hingedly connected to the mounting seat; a height adjustment cylinder is obliquely arranged between the first-level telescopic cylinder and the mounting seat, and the height adjustment cylinder drives the telescopic arm mechanism to rotate and rise and fall.

[0010] A further improvement of the technical solution of the present invention is that the turntable is driven to rotate by a hydraulic motor.

[0011] A further improvement of the technical solution of the present invention is that the platform is provided with outriggers, and the outriggers are controlled by extension arms to extend and contract relative to the platform.

[0012] A further improvement of the technical solution of the present invention is that the traveling mechanism is a crawler-type traveling vehicle; an engine, a hydraulic pump station and an air pump are arranged on the platform.

[0013] A further improvement of the technical solution of the present invention is that a control box is arranged on the platform, and a remote control for cooperation is also included.

[0014] Due to the adoption of the above technical solution, the technical effects achieved by the present invention are as follows: The tunnel shotcrete intelligent leveling machine of the present invention installs the scraping mechanism on the telescopic arm mechanism, and then installs the telescopic arm mechanism on the walking mechanism. The walking mechanism drives the machine to work, and the overall working efficiency is high. The telescopic arm mechanism can be adjusted in telescopic and height, and the telescopic arm mechanism can adjust the position of the scraping mechanism in multiple directions, so the working range of one movement is large and the working efficiency is high.

[0015] The scraping mechanism of the present invention uses a rodless cylinder and a guide rail to support the scraper to move horizontally, so that the scraper moves smoothly and efficiently, and the work efficiency is high. The scraping mechanism is also provided with a horizontal adjustment component, and the mounting plate of the scraper is installed on the horizontal adjustment component. The horizontal adjustment component can be adjusted horizontally by a certain distance, and the mounting plate can be adjusted horizontally by a certain distance, which further expands the horizontal movement stroke of the scraper. Especially when the spraying section is too wide, adaptive adjustment and extension can be performed.

[0016] The lateral adjustment component of the present invention uses a lateral double-head oil cylinder to drive and adjust the mounting plate lateraly, which is easy to control and flexible in action.

[0017] The invention covers the guide rail with an accordion shield, which can cover and protect the guide rail, and when the scraper frame moves, the covering position can be adaptively adjusted. When the machine performs the scraping work, the guide rail can be kept from being contaminated by the scraped concrete, thereby ensuring the normal operation of the guide rail.

[0018] The present invention uses a multi-stage sleeve and a cylinder structure to form a telescopic arm. After the telescopic cylinders are sequentially installed, cylinders are arranged between adjacent installed telescopic cylinders to drive the movement of the telescopic cylinders. The telescopic arm of this structure works smoothly, has a strong load-bearing capacity, and a long telescopic stroke.

[0019] The present invention can realize intelligent and automated construction through the cooperation of multiple sensors and a control system.

[0020] The present invention can realize automated construction and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional schematic diagram of the present invention; Figure 2 It is the front view of the present invention; Figure 3 It is a schematic diagram of the telescopic arm mechanism and the scraping mechanism of the present invention; Figure 4 This is a three-dimensional schematic diagram of the scraping mechanism of the present invention. Figure 1 ; Figure 5 This is a three-dimensional schematic diagram of the scraping mechanism of the present invention. Figure 2 ; Figure 6 It is a top view of the scraping mechanism of the present invention; Among them, 1. platform, 2. walking mechanism, 3. turntable, 4. scraper, 5. mounting plate, 6. guide rail, 7. rodless cylinder, 8. scraper frame, 9. transverse guide beam, 10. transverse double-head cylinder, 11. transverse moving frame, 12. hanging wheel, 13. accordion guard, 14. linear bearing, 15. guard plate, 16. telescopic tube, 17. telescopic cylinder, 18. mounting seat, 19. height adjustment cylinder, 20. hydraulic motor, 21. outrigger, 22. extension arm. DETAILED DESCRIPTION

[0022] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0023] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0024] The invention relates to an intelligent leveling machine for tunnel shotcrete, which is used for scraping and leveling the concrete surface layer on the inner wall of the tunnel after shotcrete.

[0025] The tunnel spraying finishing and scraping machine is mainly used for single-line tunnels without arches and double-line tunnels with arches. It is used for finishing and scraping the side walls after spraying after tunnel excavation. The whole machine is equipped with a diesel engine and an electric motor as power sources. It can be diesel-powered or connected to an external power supply, and the two can be switched for use.

[0026] The walking adopts crawler hydraulic drive, and the scraper device adopts air pressure controlled rodless cylinder. The slider on the cylinder is equipped with a scraper for reciprocating motion to scrape the concrete on the protruding surface.

[0027] This equipment can convert the construction section into angles and positions and import them into the system controller to automatically control the extension and rotation along the entire section to perform scraping and finishing after spraying. The whole machine can be operated by one person remotely, which is easy to operate.

[0028] like Figure 1 , Figure 2 As shown, the machine mainly includes a walking mechanism 2, a telescopic arm mechanism and a scraping mechanism. A platform 1 is set on the walking mechanism 2 to form a small vehicle that can walk and carry equipment. The walking mechanism 2 can usually use a crawler type walking vehicle, which has good traffic capacity and can walk well in the tunnel. The telescopic arm mechanism is installed on the platform 1, and the scraping mechanism is installed on the top of the telescopic arm mechanism. The telescopic arm mechanism is used to adjust the height of the scraping. The scraping mechanism is used to perform scraping construction.

[0029] Specifically, a turntable 3 is provided on the platform 1, and the telescopic arm mechanism is installed on the turntable 3. The turntable 3 can drive the telescopic arm mechanism to rotate 360 ​​degrees. The lower end of the telescopic arm mechanism is hinged with the turntable 3, and the other end of the telescopic arm mechanism, that is, the upper end, is provided with a scraping mechanism. Under the action of the corresponding driving member, the telescopic arm mechanism can swing up and down around the hinge point of the drum turntable 3, thereby realizing the adjustment of the height of the scraping mechanism.

[0030] The scraping mechanism mainly comprises a scraper 4 which can move back and forth linearly. The scraper 4 is driven to move linearly to achieve the scraping of the concrete spraying surface of the inner wall of the tunnel.

[0031] like Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, the scraping mechanism also includes a mounting plate 5, a guide rail 6, a scraper frame 8 and a rodless cylinder 7. The rodless cylinder 7 is used to drive the scraper 4 to move. The rodless cylinder 7 and the guide rail 6 are both mounted on the mounting plate 5. The rodless cylinder 7 has an external slider, and the scraper frame 8 is mounted on the external slider of the rodless cylinder 7, and the scraper 4 is mounted on the scraper frame 8. The guide rail 6 is used to provide guidance for the movement of the scraper frame 8, and the end of the scraper frame 8 is slidably matched with the guide rail 6 to form a guide rail pair. Generally, two guide rails 6 are provided, and the two guide rails 6 are parallel to the rodless cylinder 7, and the two guide rails 6 are respectively located on the upper and lower sides of the rodless cylinder 7. The scraper 4 is driven by the rodless cylinder 7 to move back and forth in a straight line, and the two guide rails 6 play a role in balancing and guiding the scraper frame 8.

[0032] Furthermore, in a specific implementation, a linear bearing 14 is usually provided on the guide rail 6, and both ends of the scraper holder 8 are slid on the guide rail 6 through the linear bearing 14, which has a better and smoother sliding effect.

[0033] The mounting plate 5 of the scraping mechanism in the machine can be directly mounted on the upper end of the telescopic arm mechanism, or mounted on the upper end of the telescopic arm mechanism through a lateral adjustment assembly. The lateral adjustment assembly enables the mounting plate 5, together with the scraper 4, the rodless cylinder 7, the guide rail and other parts, to have a certain lateral displacement adjustment range.

[0034] like Figure 5 , Figure 6 As shown, the scraping mechanism also includes a transverse adjustment component. The transverse adjustment component includes a transverse track beam 9, a transverse moving frame 11 and a transverse double-headed oil cylinder 10. Two transverse moving frames 11 are provided, and a hanging wheel 12 is provided on the transverse moving frame 11, and the transverse moving frame 11 can be hung on the transverse track beam 9 through the hanging wheel 12. The mounting plate 5 is fixedly connected to the transverse moving frame 11. The upper transverse moving frame 11 can drive the mounting plate 5 to move laterally on the transverse track beam 9. A transverse double-headed oil cylinder 10 is installed on the side of the transverse track beam 9, and the telescopic rods at both ends of the transverse double-headed oil cylinder 10 are fixedly connected to the two transverse moving frames 11 respectively. The transverse double-headed moving oil cylinder 10 drives the transverse moving frame 11 to make the mounting plate 5 move laterally to a certain extent, thereby increasing the stroke of the transverse movement of the scraping mechanism. Limit blocks are set at the positions of the two ends of the transverse track beam 9.

[0035] When the machine is performing the scraping work, the scraper 4 scrapes off the excess concrete. In order to keep the guide rail 6 clean and ensure the smooth operation of the guide rail 6, the guide rail 6 can be covered with an accordion shield 13, which can cover and protect the guide rail 6, and when the scraper frame 8 moves, the covering position can be adaptively adjusted by telescopic adjustment. In addition, a guard plate 15 can be set at the lower end of the mounting plate 5 to prevent the scraped concrete from falling directly. The guard plate 15 is set to extend outwards as needed. The drawings in the specification are only schematic diagrams and do not represent the actual outward extension length.

[0036] The telescopic arm mechanism of the machine is a multi-stage telescopic cylinder mechanism, which can have a long telescopic stroke. Specifically, the telescopic assembly includes a set of multi-stage telescopic cylinders and a plurality of telescopic cylinders 5 driving the telescopic cylinders. The multi-stage sleeves here play the role of telescopic bearing, and the telescopic cylinder plays the role of telescopic driving. There are multiple telescopic cylinders 16, that is, multiple telescopic cylinders 16 are set in sequence. A telescopic cylinder 17 is arranged between two adjacent telescopic cylinders 16, and the telescopic cylinder 17 is used to drive the telescopic cylinder 16 to move relative to the telescopic cylinder of the previous level. The telescopic cylinder 17 has a cylinder barrel and a telescopic rod. The cylinder barrel of the telescopic cylinder 17 is fixed on the outer wall of the telescopic cylinder 16 of a certain level, and the outermost end of the telescopic rod of the telescopic cylinder 17 is fixedly connected to the outer wall of the telescopic cylinder 16 of the next level. In this way, the telescopic cylinder 16 of the next level can be pushed out of the telescopic cylinder 16 of this level. The telescopic assembly of this structure has a high load-bearing capacity, and each telescopic cylinder can be controlled separately, which is easier to operate as a whole.

[0037] The machine is provided with a turntable 3 on the platform 1 for installing the telescopic arm mechanism. Specifically, a mounting seat 18 can be provided on the turntable 3, and then the telescopic cylinder of the first stage of the telescopic arm mechanism is hingedly connected to the mounting seat 18. At the same time, a height adjustment cylinder 19 is obliquely arranged between the first stage telescopic cylinder and the mounting seat 18, and the telescopic arm mechanism is driven to rotate and rise and fall by the height adjustment cylinder 19. The telescopic arm mechanism and the coordination mode of the telescopic arm mechanism and the height adjustment cylinder here are similar to the boom mechanism of a vehicle-mounted crane. The height adjustment of the telescopic arm mechanism does not require the use of a height adjustment cylinder, and other driving mechanisms can be used.

[0038] The turntable 3 on the platform 1 of the machine can rotate 360°, and is usually driven to rotate by a hydraulic motor 20 .

[0039] The machine's rodless cylinder, transverse double-headed cylinder, turntable and other components are purchased for use.

[0040] The platform 1 of the machine is provided with outriggers 21 at the four sides thereof, and the outriggers 21 are installed at the four sides of the platform 1 by extension arms 22. The outriggers 21 are controlled by the extension arms 22 to extend and retract relative to the platform 1. The extension arms 22 are arranged transversely, and can be extended and retracted by a cylinder, or can be extended and retracted manually.

[0041] The machine is provided with an engine, a hydraulic pump station and an air pump on a platform 1. The engine increases the power of the whole machine to travel. The hydraulic pump station provides power for the hydraulic system, and the air pump provides power for the rodless cylinder.

[0042] The machine is equipped with a control box on platform 1, and the staff can control the whole machine on the platform. The machine is also equipped with a remote control, and the machine can also be controlled by the remote control.

[0043] The working process of the machine is roughly as follows: Before construction, the construction section data is imported into the control system, and then the center point is measured with a total station. The center point corresponds to the front and rear points of the vehicle-mounted machine. The machine is parked at the central control point that needs to be trimmed and leveled. The total station is then used to remeasure to check whether the machine parking position is the center point of the tunnel.

[0044] After the inspection, the four supporting legs are leveled, the telescopic arm is started to rotate to the given control point of the construction section and marked as the starting zero point. During construction, the control system is used to calculate the rotation angle and telescopic position of the telescopic arm, and the reciprocating scraper is used to trim and level the surface after spraying. All the above operations can be controlled by remote control.

[0045] The equipment uses diesel engine and motor as power source, which can be diesel powered or externally powered. The two can be switched according to the actual situation on site. The walking is driven by crawler hydraulic motor, and the maximum speed can reach 3 kilometers per hour. The equipment is equipped with hydraulic support legs. The machine needs to be supported in the working state to ensure the stability of the machine's construction state. The tilt or unevenness of the machine will seriously affect the construction effect of the machine, so the machine is equipped with an inclination sensor to level the whole machine. In order to align the center point more accurately, the whole machine can be fine-tuned left and right so that the machine can be adjusted to the center point of the tunnel more accurately.

[0046] The crawler vehicle is equipped with a rotating device and a telescopic device, which are rotated and telescoped by a hydraulic motor and a cylinder. The telescopic length is fed back by the wire sensor to the system to control the telescopic length of the cylinder, so as to achieve accurate telescopic extension of the scraper to the appropriate position. The lifting angle is controlled by the angle sensor to drive the lifting cylinder to lift and lower. The data of the angle and telescopic distance are imported into the system, and the controller automatically controls the telescopic and rotating actions to scrape and trim along the entire arc surface after spraying.

[0047] The scraping mechanism is installed at the top of the telescopic arm, and a hydraulic cylinder is installed longitudinally at the top. When the width of the shotcrete section is large, it can be extended longitudinally. The scraping mechanism uses air pressure to control the rodless cylinder. Magnetic switches are installed at both ends of the rodless cylinder. When the magnetic switch senses the cylinder piston, it will transmit the signal to the solenoid valve to control the reciprocating motion of the slider through the solenoid valve. The slider on the cylinder is equipped with a scraper, and the side wall is scraped and trimmed through the reciprocating motion of the scraper.

[0048] Before construction, the construction section is converted into angles and positions and imported into the system controller. Then a center point needs to be given, and the machine is parked at the central control point that needs to be trimmed and leveled. The four hydraulic support legs are automatically leveled, and the telescopic arm is started to rotate to the given control point of the construction section and marked as the starting zero point. During construction, the control system is used to calculate the rotation angle and telescopic position of the telescopic arm, and a reciprocating scraper is used to trim and level the surface after spraying. After inputting the data in advance, the control system can control the scraper to work automatically.

[0049] The present invention is a machine for scraping and leveling the inner wall of a tunnel after concrete spraying, which can realize automated construction and improve work efficiency. The scraping mechanism of the machine has a long lateral movement stroke through the movement of a scraper and a mounting plate. The present invention can realize intelligent and automated construction through the cooperation of multiple sensors and a control system.

[0050] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent leveling machine for tunnel shotcrete, characterized in that: The invention comprises a walking mechanism (2), a telescopic arm mechanism and a scraping mechanism; a platform (1) is arranged on the walking mechanism, a turntable (3) is arranged on the platform (1), and the telescopic arm mechanism is arranged on the turntable (3); one end of the telescopic arm mechanism is hinged to the turntable (3), and the other end is provided with the scraping mechanism; the scraping mechanism comprises a scraper (4) which can move back and forth linearly; the telescopic arm mechanism drives the scraping mechanism to rise and fall by rotating around a hinge axis; and the turntable (3) drives the telescopic arm mechanism to rotate.

2. The intelligent leveling machine for tunnel shotcrete according to claim 1 is characterized in that: The scraping mechanism comprises a mounting plate (5), a guide rail (6) arranged on the mounting plate (5) and a rodless cylinder (7); the scraper (4) is driven by the rodless cylinder (7) to move back and forth in a straight line; the scraper (4) is fixed on a scraper frame (8) and the scraper frame (8) and the guide rail (6) form a guide rail pair.

3. The intelligent leveling machine for tunnel shotcrete according to claim 2 is characterized in that: The scraping mechanism also includes a transverse adjustment component; the transverse adjustment component includes a transverse track beam (9), a transverse moving frame (11) and a transverse double-headed oil cylinder (10); the mounting plate (5) is fixed on the transverse moving frame (11); the transverse moving frame (11) is provided with a hanging wheel (12) and is installed on the transverse track beam (9) via the hanging wheel (12); two transverse moving frames (11) are provided, and the two ends of the transverse double-headed oil cylinder (10) are respectively fixedly connected to the two transverse moving frames (11).

4. The intelligent leveling machine for tunnel shotcrete according to claim 2 is characterized in that: The guide rail (6) is covered with an accordion shield (13); a linear bearing (14) is arranged on the guide rail (6), and the scraper frame (8) slides on the guide rail (6) through the linear bearing (14); and a guard plate (15) is arranged at the lower end of the mounting plate (5).

5. The intelligent leveling machine for tunnel shotcrete according to claim 1 is characterized by: The telescopic arm mechanism comprises a plurality of telescopic cylinders (16) which are sequentially mounted and a plurality of telescopic oil cylinders (17) for driving the telescopic cylinders (16); the cylinder barrel of the telescopic oil cylinder (17) is fixed to the outer wall of the telescopic cylinder (16), and the telescopic rod of the telescopic oil cylinder (17) is fixedly connected to the outer wall of the telescopic cylinder (16) of the next stage.

6. The intelligent leveling machine for tunnel shotcrete according to claim 5 is characterized by: A mounting seat (18) is arranged on the turntable (3); a first-stage telescopic cylinder of the telescopic arm mechanism is hingedly connected to the mounting seat (18); and a height adjustment cylinder (19) is obliquely arranged between the first-stage telescopic cylinder and the mounting seat (18), wherein the height adjustment cylinder (19) drives the telescopic arm mechanism to rotate and rise and fall.

7. The intelligent leveling machine for tunnel shotcrete according to claim 1 is characterized by: The rotating disk (3) is driven to rotate by a hydraulic motor (20).

8. The intelligent leveling machine for tunnel shotcrete according to claim 1 is characterized by: The platform (1) is provided with supporting legs (21), and the supporting legs (21) are controlled by extension arms (22) to extend and retract relative to the platform (1).

9. The intelligent leveling machine for tunnel shotcrete according to claim 1, characterized in that: The traveling mechanism (2) is a crawler-type traveling vehicle; an engine, a hydraulic pump station and an air pump are arranged on the platform (1).

10. The intelligent leveling machine for tunnel shotcrete according to claim 1, characterized in that: A control box is arranged on the platform (1), which also includes a remote control for cooperating with the work.

Images