Tunnel lining reinforcing equipment and method

Abstract

The invention relates to tunnel lining reinforcing equipment and method.The tunnel lining reinforcing equipment comprises a movable base, a grabbing device, a manned platform, a first driving mechanism and a second driving mechanism, the first driving mechanism and the second driving mechanism are both arranged on the movable base, and the grabbing device comprises a fixing piece used for grabbing and fixing a corrugated plate; the grabbing device and the manned platform are both movably arranged in the x direction, the y direction and the z direction relative to the movable base, and the grabbing device moves to a corrugated plate storage position through a first driving mechanism and transfers a corrugated plate to a tunnel to-be-reinforced position. And after the corrugated plate is transferred to the to-be-reinforced position of the tunnel, the manned platform is moved to the position near the to-be-reinforced position of the tunnel through the second driving mechanism and is close to the to-be-connected part of the corrugated plate and the surface of the second lining of the tunnel. According to the tunnel lining reinforcing equipment and method, the problems that an existing reinforcing mode is low in installation efficiency and large in safety risk are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel maintenance, and in particular to a tunnel lining reinforcement device and method. Background Art

[0002] As tunnel operation time increases, affected by engineering activities around the tunnel, changes in climate and environment, and defects in existing tunnel construction, the lining structures of railway and subway tunnels are prone to cracking, falling blocks, cracking, water leakage, frost heave and other defects. These defects seriously threaten the operational safety of railways, subways, etc.

[0003] Corrugated sheet lining technology is currently the primary method used to reinforce tunnel lining defects. However, the remediation of existing tunnel lining defects relies primarily on manual scaffolding and the use of small equipment such as winches to lift the corrugated sheet. This results in low installation efficiency and significant safety risks. Summary of the Invention

[0004] The main purpose of the present invention is to propose a tunnel lining reinforcement device and method, aiming to solve the problems of low installation efficiency and high safety risks in existing reinforcement methods.

[0005] To achieve the above-mentioned objectives, the present invention proposes a tunnel lining reinforcement device, comprising a mobile base, a grabbing device, a manned platform, a first drive mechanism and a second drive mechanism, wherein the first drive mechanism and the second drive mechanism are both arranged on the mobile base, the grabbing device includes a fixing part for grabbing and fixing a corrugated plate, the grabbing device and the manned platform are both arranged to move in the x-direction, y-direction and z-direction relative to the mobile base, the grabbing device is moved to the corrugated plate storage position by the first drive mechanism and the corrugated plate is transferred to the tunnel to be reinforced position, and the manned platform is moved to the vicinity of the tunnel to be reinforced position and close to the connection point between the corrugated plate and the tunnel secondary lining surface by the second drive mechanism after the corrugated plate is transferred to the tunnel to be reinforced position.

[0006] According to some embodiments of the present invention, the first driving mechanism includes a first rotating seat, a first folding arm and a first telescopic arm, the first rotating seat is rotatably installed on the movable base, one end of the first folding arm is rotatably connected to the first rotating seat, and the other end is rotatably connected to the first telescopic arm, and the inner arm of the first telescopic arm is connected to the grasping device.

[0007] According to some embodiments of the present invention, the grabbing device further includes a connecting seat, the fixing member is rotatably arranged relative to the connecting seat, and the axis direction of rotation is perpendicular to the direction of grabbing the corrugated plate, and the fixing member adjusts the angle of the corrugated plate by rotation so that the width direction of the corrugated plate is parallel to the length direction of the tunnel.

[0008] According to some embodiments of the present invention, the grasping device also includes a pitch adjustment mechanism, the connecting seat is connected to the inner arm of the first telescopic arm through the pitch adjustment mechanism, and the fixing part adjusts the pitch angle and position of the corrugated plate through the pitch adjustment mechanism and the first telescopic arm so that the corrugated plate fits the surface of the second lining of the tunnel.

[0009] According to some embodiments of the present invention, the pitch adjustment mechanism includes a connecting member, a telescopic member, a first transmission member, a second transmission member and a third transmission member. The connecting member is installed on the side of the connecting seat facing away from the fixed member. One end of the connecting member is rotatably connected to the end of the first transmission member, and the other end is rotatably connected to the end of the second transmission member. The end of the first transmission member away from the connecting member is fixed to the inner arm of the first telescopic arm. One end of the third transmission member is rotatably connected to the end of the second transmission member away from the connecting member, and the other end is rotatably connected to the middle part of the first transmission member. One end of the telescopic member is connected to the inner arm of the first telescopic arm, and the other end is rotatably connected to the third transmission member. The connection between the telescopic member and the third transmission member is arranged close to the connection between the second transmission member and the third transmission member.

[0010] According to some embodiments of the present invention, the gripping device further includes a mounting seat, which is rotatably mounted on the connecting seat, and the direction of the rotation axis is perpendicular to the direction of gripping the corrugated plate, and the fixing member is rotatably mounted on the mounting seat, and the direction of the rotation axis is parallel to the direction of gripping the corrugated plate.

[0011] According to some embodiments of the present invention, the mobile base includes a chassis, a crawler traveling mechanism and a wheel-rail traveling mechanism, the crawler traveling mechanism and the wheel-rail traveling mechanism are both arranged at the bottom of the chassis, the wheel-rail traveling mechanism includes two rail wheel assemblies, and the two rail wheel assemblies are both detachable relative to the chassis, and the crawler traveling mechanism is located in the middle of the chassis and between the two rail wheel assemblies.

[0012] In addition, the present invention also provides a tunnel lining reinforcement method, comprising the following steps:

[0013] Set positioning marks at the location of the first ring of the tunnel to be reinforced;

[0014] According to the corrugated plate storage position and the first ring to be reinforced position, each corrugated plate is sequentially grabbed, positioned and fixed on the tunnel secondary lining surface corresponding to the first ring to be reinforced position;

[0015] According to the corrugated plate storage position and the first ring to be reinforced position, each corrugated plate is sequentially grabbed, positioned and fixed on the tunnel secondary lining surface corresponding to the second ring to be reinforced position;

[0016] According to the corrugated plate storage position and the position to be reinforced of the previous ring, each corrugated plate is sequentially grabbed, positioned and fixed on the tunnel secondary lining surface corresponding to the position to be reinforced of the next ring;

[0017] In this way, each corrugated plate is sequentially grasped, positioned and fixed on the surface of the tunnel secondary lining corresponding to the position to be reinforced in each subsequent ring until the installation and reinforcement of all corrugated plates are completed.

[0018] According to some embodiments of the present invention, the method of sequentially grabbing, positioning, and fixing each corrugated plate on the tunnel secondary lining surface corresponding to the first ring to be reinforced position according to the corrugated plate storage position and the first ring to be reinforced position includes:

[0019] Grab the first corrugated plate of the first ring and move it to the position to be reinforced according to the storage position of the corrugated plate and the position to be reinforced of the first ring;

[0020] Adjust the angle of the first corrugated plate of the first ring so that the positioning hole on the first corrugated plate of the first ring is aligned with the positioning mark on the position to be reinforced of the first ring, and fix the first corrugated plate of the first ring to the surface of the tunnel secondary lining corresponding to the position to be reinforced of the first ring;

[0021] Grab the second corrugated plate of the first ring to the position of the first corrugated plate of the first ring;

[0022] Adjust the position and angle of the second corrugated plate of the first ring so that the connection holes of the end of the second corrugated plate of the first ring and the end of the first corrugated plate of the first ring in the longitudinal direction of the tunnel are aligned one by one, and fix the second corrugated plate of the first ring to the surface of the secondary lining of the tunnel;

[0023] This method is used to fix the subsequent corrugated plates of the first ring in sequence.

[0024] According to some embodiments of the present invention, the method of sequentially grabbing, positioning, and fixing each corrugated plate on the secondary lining surface of the tunnel corresponding to the secondary ring position to be reinforced according to the corrugated plate storage position and the first ring position to be reinforced includes:

[0025] Grab the first corrugated plate of the secondary ring to the position of the first corrugated plate of the first ring according to the corrugated plate storage position and the position of the first ring to be reinforced;

[0026] Adjust the position and angle of the first corrugated plate of the secondary ring so that the side of the first corrugated plate of the secondary ring and the side of the first corrugated plate of the primary ring are aligned one by one in the tunnel ring direction, and fix the first corrugated plate of the secondary ring to the surface of the secondary lining of the tunnel corresponding to the position of the secondary ring to be reinforced;

[0027] Grab the second corrugated plate of the secondary ring to the position of the first corrugated plate of the secondary ring;

[0028] Adjust the position and angle of the secondary ring second corrugated plate so that the connection holes of the secondary ring second corrugated plate end and the secondary ring first corrugated plate end in the tunnel length direction are aligned one by one, and the connection holes of the secondary ring second corrugated plate side and the primary ring second corrugated plate side in the tunnel circumferential direction are aligned one by one, and fix the secondary ring second corrugated plate to the surface of the tunnel secondary lining;

[0029] This method is used to fix the subsequent corrugated plates of the secondary ring in sequence.

[0030] The present invention has at least the following beneficial effects:

[0031] In the present invention, after the tunnel lining reinforcement equipment is moved to the tunnel area to be reinforced by the mobile base, the first driving mechanism drives the grabbing device to move to the corrugated plate storage position, and the fixing part of the grabbing device grabs and fixes the corrugated plate. Then the first driving mechanism drives the grabbing device to move to the position to be reinforced, and then the second driving mechanism drives the manned platform to move to the vicinity of the position to be reinforced. The workers on the manned platform fix the corrugated plate on the tunnel secondary lining surface corresponding to the position to be reinforced, thereby completing the installation and fixation of one corrugated plate. The above steps can be repeated to install the remaining corrugated plates in sequence. The present invention uses the fixing parts of the grabbing device to grab and fix the corrugated plate and relies on the first driving mechanism to transport the corrugated plate. Compared with the existing reinforcement method of lifting the corrugated plate by a winch, the corrugated plate does not have the risk of falling off, is safer, and does not require manual fine-tuning of the position of the corrugated plate. At the same time, the present invention uses the second driving mechanism to drive the manned platform close to the position to be reinforced so that workers on the manned platform can reinforce the corrugated plate. Compared with the existing reinforcement method that relies on manual scaffolding to perform reinforcement operations, the installation efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A front view of a tunnel lining reinforcement device provided by an embodiment of the present invention;

[0034] Figure 2 for Figure 1 A side view of the tunnel lining reinforcement equipment in Figure 1;

[0035] Figure 3 for Figure 1 A schematic structural diagram of the first driving mechanism and the grasping device in FIG.

[0036] Figure 4 for Figure 1 A schematic diagram of the structure of the grabbing device;

[0037] Figure 5 for Figure 1 A schematic diagram of another perspective of the grasping device in FIG.

[0038] Figure 6 for Figure 1 A schematic structural diagram of the second drive mechanism and the manned platform;

[0039] Figure 7 This is a schematic flow chart of a first embodiment of a tunnel lining reinforcement method according to the present invention;

[0040] Figure 8 This is a schematic flow chart of a second embodiment of the tunnel lining reinforcement method of the present invention;

[0041] Figure 9 Schematic diagram of the process of the third embodiment of the tunnel lining reinforcement method of the present invention.

[0042] Description of reference numerals:

[0043] 100-Tunnel lining reinforcement equipment; 1-Mobile base; 11-Chassis; 12-Crawler walking mechanism; 13-Wheel-rail walking mechanism; 131-Rail wheel assembly; 2-Grabbing device; 21-Fixer; 22-Connecting seat; 23-Pitch adjustment mechanism; 231-Connecting member; 232-Telescopic member; 233-First transmission member; 234-Second transmission member; 235-Third transmission member; 24-Mounting seat; 25-Fixing bolt; 3-Manned platform; 4-First driving mechanism; 41-First rotating seat; 42-First folding arm; 43-First telescopic arm; 431-Inner arm; 432-Outer arm; 5-Second driving mechanism; 51-Second rotating seat; 52-Second folding arm; 53-Second telescopic arm; 6-Visual recognition device; 200-Corrugated plate. DETAILED DESCRIPTION

[0044] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0045] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0046] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] The present invention provides a tunnel lining reinforcement device and method. Figures 1 to 9 This invention provides a specific embodiment of a tunnel lining reinforcement device and method.

[0048] like Figures 1 to 3 As shown, an embodiment of the present invention provides a tunnel lining reinforcement device 100, including a mobile base 1, a grabbing device 2, a manned platform 3, a first drive mechanism 4 and a second drive mechanism 5, wherein the first drive mechanism 4 and the second drive mechanism 5 are both arranged on the mobile base 1, the grabbing device 2 includes a fixing member 21 for grabbing and fixing a corrugated plate 200, the grabbing device 2 and the manned platform 3 are both arranged to move relative to the mobile base 1 in the x direction, the y direction and the z direction, the grabbing device 2 is moved to the corrugated plate storage position by the first drive mechanism 4 and the corrugated plate 200 is transferred to the tunnel to be reinforced position, and the manned platform 3 is moved to the vicinity of the tunnel to be reinforced position and close to the connection point between the corrugated plate 200 and the tunnel secondary lining surface by the second drive mechanism 5 after the corrugated plate 200 is transferred to the tunnel to be reinforced position.

[0049] In the present invention, after the tunnel lining reinforcement equipment 100 is moved to the tunnel area to be reinforced by the mobile base 1, the first driving mechanism 4 drives the grabbing device 2 to move to the corrugated plate storage position, and the fixing part 21 of the grabbing device 2 grabs and fixes the corrugated plate 200. Then the first driving mechanism 4 drives the grabbing device 2 to move to the position to be reinforced, and then the second driving mechanism 5 drives the manned platform 3 to move to the vicinity of the position to be reinforced. The workers on the manned platform 3 fix the corrugated plate 200 on the tunnel secondary lining surface corresponding to the position to be reinforced, thereby completing the installation and fixation of a corrugated plate 200. The above steps can be repeated to install the remaining corrugated plates 200 in sequence. The present invention grasps and fixes the corrugated plate 200 through the fixing part 21 of the grasping device 2 and relies on the first driving mechanism 4 to transport the corrugated plate 200. Compared with the existing reinforcement method of lifting the corrugated plate 200 by a winch, the corrugated plate 200 does not have the risk of falling off, is safer, and does not require manual fine-tuning of the position of the corrugated plate 200. At the same time, the present invention drives the manned platform 3 to approach the position to be reinforced through the second driving mechanism 5 so that the workers on the manned platform 3 can reinforce the corrugated plate 200. Compared with the existing reinforcement method of relying on manual scaffolding for reinforcement operations, the installation efficiency is higher.

[0050] Specifically, the fixing member 21 is a contoured strong magnetic suction cup, an air suction cup or a plate clamp. In order to make the connection between the fixing member 21 and the corrugated plate 200 more secure, as shown in FIG. Figure 4 and Figure 5 As shown, the grabbing device 2 further includes four fixing bolts 25 , which are respectively provided at four corners of the fixing member 21 . The fixing member 21 and the corrugated plate 200 are fixed by the four fixing bolts 25 .

[0051] Since the tunnel lining reinforcement device 100 needs to transfer and reinforce the corrugated plate 200 after it is moved to the tunnel area to be reinforced via the mobile base 1, in order to improve the stability of the tunnel lining reinforcement device 100 during the reinforcement operation, in some embodiments, the tunnel lining reinforcement device 100 further includes four support portions that can be raised and lowered relative to the mobile base 1. The four support portions are respectively installed at the four corners of the mobile base 1. With this arrangement, after the tunnel lining reinforcement device 100 is moved to the tunnel area to be reinforced via the mobile base 1, the four support portions descend and provide support to the mobile base 1, ensuring stability during the reinforcement operation.

[0052] The specific structure of the first driving mechanism 4 is not limited, as long as the first driving mechanism 4 can drive the grasping device 2 to move relative to the movable base 1 in the x direction, y direction and z direction. In some embodiments, such as Figure 2 and Figure 3As shown, the first driving mechanism 4 includes a first rotating seat 41, a first folding arm 42, and a first telescopic arm 43. The first rotating seat 41 is rotatably mounted on the mobile base 1. One end of the first folding arm 42 is rotatably connected to the first rotating seat 41, and the other end is rotatably connected to the first telescopic arm 43. The inner arm 431 of the first telescopic arm 43 is connected to the grasping device 2. With this arrangement, the grasping device 2 can be moved in the x-, y-, and z-directions through the rotation of the first rotating seat 41 itself and the rotational coordination between the first rotating seat 41, the first folding arm 42, and the first telescopic arm 43. At the same time, the first telescopic arm 43 is retractable, extending the transfer range of the corrugated plate 200, making the tunnel lining reinforcement device 100 suitable for reinforcing longer and larger tunnels.

[0053] Likewise, the specific structure of the second driving mechanism 5 is not limited, as long as the second driving mechanism 5 can drive the manned platform 3 to move relative to the mobile base 1 in the x-direction, y-direction and z-direction. In some embodiments, such as Figure 1 and Figure 6 As shown, the second driving mechanism 5 includes a second rotating base 51, a second folding arm 52, and a second telescopic arm 53. The second rotating base 51 is rotatably mounted on the mobile base 1. One end of the second folding arm 52 is rotatably connected to the second rotating base 51, and the other end is rotatably connected to the second telescopic arm 53. The inner arm 431 of the second telescopic arm 53 is connected to the manned platform 3. With this arrangement, the manned platform 3 can be moved in the x-, y-, and z-directions through the rotation of the second rotating base 51 itself and the rotational coordination among the second rotating base 51, the second folding arm 52, and the second telescopic arm 53. At the same time, the second telescopic arm 53 is retractable, allowing the manned platform 3 to always be moved near the corrugated sheet 200 to facilitate workers' reinforcement work.

[0054] Since the corrugated plate 200 needs to be installed at a specified position to be reinforced, it is necessary to set a positioning mark at the position to be reinforced in advance and align the corrugated plate 200 with the mark during the installation operation. Therefore, in some embodiments, such as Figure 3 As shown, the tunnel lining reinforcement equipment 100 also includes a visual recognition device 6, which is provided on the outer arm 432 of the first telescopic arm 43. The visual recognition device 6 obtains the image near the corrugated plate 200 in real time and sends it to the background, so that the operator can adjust the position of the corrugated plate 200 according to the monitoring image, align it with the positioning mark, and avoid installation deviation, which affects the reinforcement effect.

[0055] Since the four sides of the corrugated plate 200 need to be connected to the surface of the tunnel secondary lining to improve the reinforcement effect, in some embodiments, such as Figure 1 and Figure 2 As shown, two second drive mechanisms 5 and two manned platforms 3 are provided, and the first drive mechanism 4 is located between the two second drive mechanisms 5. This arrangement allows two workers to be transported to either side of the corrugated sheet 200, and the workers can simultaneously perform reinforcement work on both sides of the corrugated sheet 200, greatly improving reinforcement efficiency.

[0056] Before workers fix the corrugated plate 200 on the surface of the tunnel secondary lining, they need to adjust the angle of the corrugated plate 200 so that the corrugated plate 200 fits the surface of the tunnel secondary lining. Therefore, in some embodiments, Figure 4 and Figure 5 As shown, the gripping device 2 also includes a connecting seat 22. The fixing member 21 is rotatable relative to the connecting seat 22, and the axis of rotation is perpendicular to the direction of gripping the corrugated plate 200. The fixing member 21 adjusts the angle of the corrugated plate 200 by rotating so that the width direction of the corrugated plate 200 is parallel to the length direction of the tunnel. In this arrangement, the fixing member 21 rotates relative to the connecting seat 22, driving the corrugated plate 200 to rotate relative to the connecting seat 22, thereby achieving left-right angle adjustment of the corrugated plate 200.

[0057] Furthermore, in some embodiments, Figure 3 As shown, the gripping device 2 also includes a pitch adjustment mechanism 23. The connecting seat 22 is connected to the inner arm 431 of the first telescopic arm 43 via the pitch adjustment mechanism 23. The fixing member 21 adjusts the pitch angle and position of the corrugated plate 200 via the pitch adjustment mechanism 23 and the first telescopic arm 43, so that the corrugated plate 200 conforms to the surface of the tunnel secondary lining. With this arrangement, the pitch adjustment mechanism 23 is used to adjust the pitch angle of the corrugated plate 200. The rotation of the pitch adjustment mechanism 23 and the fixing member 21, combined with the extension and retraction of the first telescopic arm 43, allows the corrugated plate 200 to conform to the surface of the tunnel secondary lining.

[0058] The specific structure of the pitch adjustment mechanism 23 is not limited, as long as the pitch angle of the corrugated plate 200 can be adjusted by the pitch adjustment mechanism 23. For example, in some embodiments, Figures 3 to 5As shown, the pitch adjustment mechanism 23 includes a connecting member 231, a telescopic member 232, a first transmission member 233, a second transmission member 234 and a third transmission member 235. The connecting member 231 is installed on the side of the connecting base 22 facing away from the fixing member 21. One end of the connecting member 231 is rotatably connected to the end of the first transmission member 233, and the other end is rotatably connected to the end of the second transmission member 234. The end of the first transmission member 233 away from the connecting member 231 is rotatably connected to the inner end of the first telescopic arm 43. The arm 431 is fixed, one end of the third transmission member 235 is rotatably connected to the end of the second transmission member 234 away from the connecting member 231, and the other end is rotatably connected to the middle part of the first transmission member 233, one end of the telescopic member 232 is connected to the inner arm 431 of the first telescopic arm 43, and the other end is rotatably connected to the third transmission member 235, and the connection between the telescopic member 232 and the third transmission member 235 is arranged close to the connection between the second transmission member 234 and the third transmission member 235. With such arrangement, since the connection between the telescopic member 232 and the third transmission member 235 is close to the connection between the second transmission member 234 and the third transmission member 235, the contraction of the telescopic member 232 can drive the third transmission member 235 to deflect inward, thereby driving the second transmission member 234 to move toward the direction of the inner arm 431 of the first telescopic arm 43, while the first transmission member 233 is stationary relative to the inner arm 431 of the first telescopic arm 43, so that the connecting seat 22 tilts downward, driving the corrugated plate 200 to tilt downward; the extension of the telescopic member 232 can drive the third transmission member 235 to deflect outward, thereby driving the second transmission member 234 to move toward the direction of the inner arm 431 away from the first telescopic arm 43, while the first transmission member 233 is stationary relative to the inner arm 431 of the first telescopic arm 43, so that the connecting seat 22 tilts upward, thereby driving the corrugated plate 200 to tilt upward.

[0059] Since the placement direction of the corrugated plate 200 during storage may be different from the installation direction, in some embodiments, such as Figure 4 and Figure 5 As shown, the gripping device 2 further includes a mounting base 24, which is rotatably mounted on the connecting base 22, with the axis of rotation being perpendicular to the direction of gripping the corrugated plate 200. The fixing member 21 is rotatably mounted on the mounting base 24, with the axis of rotation being parallel to the direction of gripping the corrugated plate 200. With this arrangement, the fixing member 21 rotates relative to the mounting base 24, thereby driving the corrugated plate 200 to rotate, thereby adjusting the mounting direction of the corrugated plate 200.

[0060] The specific structure of the mobile base 1 is not limited, as long as the mobile base 1 can be moved in the tunnel. For example, in some embodiments, Figure 1and Figure 2 As shown, the mobile base 1 includes a chassis 11, a crawler running mechanism 12, and a wheel-rail running mechanism 13. The crawler running mechanism 12 and the wheel-rail running mechanism 13 are both arranged at the bottom of the chassis 11. The wheel-rail running mechanism 13 includes two rail wheel assemblies 131. The two rail wheel assemblies 131 are both arranged to be raised and lowered relative to the chassis 11. The crawler running mechanism 12 is located in the middle of the chassis 11 and is located between the two rail wheel assemblies 131. With this arrangement, the mobile base 1 first moves from the temporary walkway to the tunnel rail line via the crawler running mechanism 12. Then, the two rail wheel assemblies 131 descend and cooperate with the rails on the rail line, allowing the tunnel lining reinforcement equipment 100 to quickly travel on the rails to the tunnel area to be reinforced. The alternating operation of the crawler running mechanism 12 and the wheel-rail running mechanism 13 makes the movement of the mobile base 1 more flexible and efficient.

[0061] Those skilled in the art will appreciate that the above structure does not limit the tunnel lining reinforcement device 100 , and may include more or fewer components than those described above, or a combination of certain components, or a different arrangement of components.

[0062] like Figure 7 As shown, an embodiment of the present invention provides a tunnel lining reinforcement method, comprising the following steps:

[0063] Step S10: Setting a positioning mark at the position of the first ring of the tunnel to be reinforced.

[0064] It should be noted that positioning marks can be set using a laser scanner.

[0065] It should be noted that the positioning mark should be set after the tunnel lining reinforcement device 100 is moved to the area to be reinforced in the tunnel.

[0066] Step S20: according to the corrugated plate storage position and the first ring to be reinforced position, each corrugated plate 200 is sequentially grabbed, positioned and fixed on the tunnel secondary lining surface corresponding to the first ring to be reinforced position.

[0067] It should be noted that the visual recognition device 6 provided on the outer arm 432 of the first telescopic arm 43 of the first driving mechanism 4 can obtain the image near the corrugated plate 200 in real time and send it to the background, so that the operator can adjust the position of the corrugated plate 200 according to the real-time image to complete the positioning.

[0068] Step S30: according to the corrugated plate storage position and the first ring to be reinforced position, each corrugated plate 200 is sequentially grabbed, positioned and fixed on the tunnel secondary lining surface corresponding to the second ring to be reinforced position.

[0069] It should be noted that since the entire tunnel area to be reinforced is long, it is impossible to complete the reinforcement with a single ring of corrugated plates 200. Therefore, the entire tunnel area to be reinforced can be divided into several positions to be reinforced according to the length direction and circumferential direction of the tunnel, and each corrugated plate 200 is installed one by one at each position to be reinforced.

[0070] Step S40: according to the corrugated plate storage position and the previous ring position to be reinforced, each corrugated plate 200 is sequentially grasped, positioned and fixed on the tunnel secondary lining surface corresponding to the next ring position to be reinforced.

[0071] It should be noted that the installation of the corrugated plates 200 of the third ring, the fourth ring and the fifth ring can be completed in sequence according to the method of step S40.

[0072] Step S50: using this method, each corrugated plate 200 is sequentially grasped, positioned and fixed on the surface of the tunnel secondary lining corresponding to the position to be reinforced of each subsequent ring until the installation and reinforcement of all the corrugated plates 200 are completed.

[0073] In the present invention, the tunnel lining reinforcement method includes the following steps: setting a positioning mark at the first ring position to be reinforced of the tunnel; grabbing, positioning and fixing each corrugated plate 200 in turn on the tunnel secondary lining surface corresponding to the first ring position to be reinforced according to the corrugated plate storage position and the first ring position to be reinforced; grabbing, positioning and fixing each corrugated plate 200 in turn on the tunnel secondary lining surface corresponding to the second ring position to be reinforced according to the corrugated plate storage position and the first ring position to be reinforced; grabbing, positioning and fixing each corrugated plate 200 in turn on the tunnel secondary lining surface corresponding to the next ring position to be reinforced according to the corrugated plate storage position and the previous ring position to be reinforced; in this way, each corrugated plate 200 is grabbed, positioned and fixed in turn on the tunnel secondary lining surface corresponding to the subsequent ring position to be reinforced until the installation and reinforcement of all corrugated plates 200 are completed.

[0074] refer to Figure 8 , Figure 8 Schematic diagram of the process of the second embodiment of the tunnel lining reinforcement method of the present invention.

[0075] Based on the first embodiment described above, the tunnel lining reinforcement method of this embodiment includes, in step S20:

[0076] Step S21: grabbing the first corrugated plate of the first ring to the position to be reinforced according to the corrugated plate storage position and the position to be reinforced of the first ring.

[0077] It should be noted that the location of the first ring to be reinforced is generally located at the side wall of the tunnel.

[0078] It should be noted that the first driving mechanism 4 of the tunnel lining reinforcement equipment 100 can be controlled to drive the grabbing device 2 to move to the corrugated plate storage position, and the fixing part 21 of the grabbing device 2 can be fixed to the corrugated plate 200. Then the first driving mechanism 4 can be driven to drive the grabbing device 2 with the corrugated plate 200 to move to the first ring to be reinforced position.

[0079] Step S22: adjust the angle of the first corrugated plate of the first ring so that the positioning hole on the first corrugated plate of the first ring is aligned with the positioning mark on the position to be reinforced of the first ring, and fix the first corrugated plate of the first ring to the surface of the tunnel secondary lining corresponding to the position to be reinforced of the first ring.

[0080] It should be noted that the angle of the corrugated plate 200 fixed on the fixing member 21 can be adjusted by controlling the action of the pitch adjustment mechanism 23 of the grasping device 2 and the rotation between the connecting seat 22 and the mounting seat 24.

[0081] It should be noted that the visual recognition device 6 provided on the outer arm 432 of the first telescopic arm 43 of the first driving mechanism 4 can obtain the image near the corrugated plate 200 in real time and send it to the background, so that the operator can fine-tune the position and angle of the corrugated plate 200 according to the real-time image to align the positioning hole on the first corrugated plate of the first ring with the positioning mark on the position to be reinforced of the first ring to complete the positioning.

[0082] It should be noted that after the first driving mechanism 4 drives the grabbing device 2 to move the corrugated plate 200 to the first ring to be reinforced position, the second driving mechanism 5 of the tunnel lining reinforcement equipment 100 is actuated to drive the manned platform 3 to move to the vicinity of the first ring to be reinforced position, and then after the first corrugated plate of the first ring is positioned, the workers on the manned platform 3 fix the first corrugated plate of the first ring to the surface of the tunnel second lining corresponding to the first ring to be reinforced position.

[0083] Step S23: Grab the second corrugated plate of the first ring to the position of the first corrugated plate of the first ring.

[0084] Step S24: Adjust the position and angle of the second corrugated plate of the first ring so that the connection holes of the second corrugated plate end and the first corrugated plate end in the tunnel length direction are positioned and aligned one by one, and fix the second corrugated plate of the first ring to the surface of the second lining of the tunnel.

[0085] It should be noted that the second corrugated plate of the first ring is generally installed on the tunnel arch waist.

[0086] It should be noted that when the second corrugated plate of the first ring is fixed, its end is pressed on the end of the first corrugated plate of the first ring, and high-strength bolts are used to pass through the connecting holes at the end of the second corrugated plate of the first ring and the connecting holes at the end of the first corrugated plate of the first ring in sequence to complete the connection and fixation of the second corrugated plate of the first ring and the first corrugated plate of the first ring.

[0087] Step S25: Use this method to fix the corrugated plates 200 following the first ring in sequence.

[0088] In this embodiment, the first corrugated plate of the first ring is firstly grabbed to the position of the first ring to be reinforced according to the storage position of the corrugated plate and the position of the first ring to be reinforced, and then the angle of the first corrugated plate of the first ring is adjusted so that the positioning hole on the first corrugated plate of the first ring is aligned with the positioning mark on the position of the first ring to be reinforced, and the first corrugated plate of the first ring is fixed to the second lining surface of the tunnel corresponding to the position of the first ring to be reinforced, and then the second corrugated plate of the first ring is grabbed to the position of the first corrugated plate of the first ring, and the position and angle of the second corrugated plate of the first ring are adjusted so that the end of the second corrugated plate of the first ring and the end of the first corrugated plate of the first ring are positioned and aligned one by one with the connection holes in the length direction of the tunnel, and the second corrugated plate of the first ring is fixed to the second lining surface of the tunnel, and in this way, the subsequent corrugated plates 200 of the first ring are fixed in sequence.

[0089] refer to Figure 9 , Figure 9 Schematic diagram of the process of the third embodiment of the tunnel lining reinforcement method of the present invention.

[0090] Based on the above second embodiment, the tunnel lining reinforcement method of this embodiment includes, in step S30:

[0091] Step S31: grabbing the first corrugated plate of the secondary ring to the position of the first corrugated plate of the first ring according to the corrugated plate storage position and the position of the first ring to be reinforced.

[0092] Step S32: Adjust the position and angle of the first corrugated plate of the secondary ring so that the side of the first corrugated plate of the secondary ring and the side of the first corrugated plate of the primary ring are positioned and aligned one by one in the connection holes in the tunnel ring direction, and fix the first corrugated plate of the secondary ring to the surface of the secondary lining of the tunnel corresponding to the position to be reinforced of the secondary ring.

[0093] Step S33: Grab the second corrugated plate of the secondary ring to the position of the first corrugated plate of the secondary ring.

[0094] Step S34: Adjust the position and angle of the secondary ring second corrugated plate so that the end of the secondary ring second corrugated plate and the end of the secondary ring first corrugated plate are positioned and aligned one by one with each connection hole in the tunnel length direction, and the side of the secondary ring second corrugated plate and the side of the first ring second corrugated plate are positioned and aligned one by one with each connection hole in the tunnel circumferential direction, and fix the secondary ring second corrugated plate to the surface of the secondary lining of the tunnel.

[0095] It should be noted that, by performing dual positioning of the end and side connection holes of the secondary ring second corrugated plate, it is ensured that each corrugated plate 200 is installed correctly, thereby ensuring the reinforcement effect of the tunnel.

[0096] Step S35: Use this method to complete the sequential fixing of the subsequent corrugated plates 200 of the secondary ring.

[0097] In this embodiment, the first corrugated plate of the secondary ring is first grabbed to the position of the first corrugated plate of the first ring according to the corrugated plate storage position and the position to be reinforced of the first ring, and then the position and angle of the first corrugated plate of the secondary ring are adjusted so that the side of the first corrugated plate of the secondary ring and the side of the first corrugated plate of the first ring are positioned and aligned one by one in the tunnel ring direction of each connection hole, and the first corrugated plate of the secondary ring is fixed to the tunnel secondary lining surface corresponding to the position to be reinforced of the secondary ring, and then the second corrugated plate of the secondary ring is grabbed to the position of the first corrugated plate of the secondary ring, and the position and angle of the second corrugated plate of the secondary ring are adjusted so that the end of the second corrugated plate of the secondary ring and the end of the first corrugated plate of the secondary ring are positioned and aligned one by one in the tunnel length direction of each connection hole, and the side of the second corrugated plate of the secondary ring and the side of the second corrugated plate of the first ring are positioned and aligned one by one in the tunnel ring direction of each connection hole, and the second corrugated plate of the secondary ring is fixed to the tunnel secondary lining surface, and the subsequent corrugated plates 200 of the secondary ring are fixed in sequence in this way.

[0098] It should be understood that, although the various steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they may be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times, and their execution order is not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0099] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tunnel lining reinforcement device, characterized in that: The invention comprises a mobile base, a grabbing device, a manned platform, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism and the second driving mechanism are both arranged on the mobile base, the grabbing device comprises a fixing part for grabbing and fixing the corrugated plate, the grabbing device and the manned platform are both arranged to move relative to the mobile base in the x-direction, the y-direction and the z-direction, the grabbing device is moved to the corrugated plate storage position by the first driving mechanism and the corrugated plate is transferred to the position to be reinforced in the tunnel, and the manned platform is moved to the vicinity of the position to be reinforced in the tunnel and close to the position to be connected between the corrugated plate and the secondary lining surface of the tunnel after the corrugated plate is transferred to the position to be reinforced in the tunnel by the second driving mechanism.

2. The tunnel lining reinforcement device according to claim 1, characterized in that: The first driving mechanism includes a first rotating seat, a first folding arm and a first telescopic arm. The first rotating seat is rotatably installed on the movable base. One end of the first folding arm is rotatably connected to the first rotating seat, and the other end is rotatably connected to the first telescopic arm. The inner arm of the first telescopic arm is connected to the grasping device.

3. The tunnel lining reinforcement device according to claim 2, characterized in that: The grabbing device also includes a connecting seat, the fixing member is rotatably arranged relative to the connecting seat, and the axis of rotation is perpendicular to the direction of grabbing the corrugated plate. The fixing member adjusts the angle of the corrugated plate by rotation so that the width direction of the corrugated plate is parallel to the length direction of the tunnel.

4. The tunnel lining reinforcement device according to claim 3, characterized in that: The grabbing device also includes a pitch adjustment mechanism, the connecting seat is connected to the inner arm of the first telescopic arm through the pitch adjustment mechanism, and the fixing part adjusts the pitch angle and position of the corrugated plate through the pitch adjustment mechanism and the first telescopic arm so that the corrugated plate fits the surface of the tunnel secondary lining.

5. The tunnel lining reinforcement device according to claim 4, characterized in that: The pitch adjustment mechanism includes a connecting member, a telescopic member, a first transmission member, a second transmission member and a third transmission member. The connecting member is installed on the side of the connecting seat facing away from the fixed member. One end of the connecting member is rotatably connected to the end of the first transmission member, and the other end is rotatably connected to the end of the second transmission member. The end of the first transmission member away from the connecting member is fixed to the inner arm of the first telescopic arm. One end of the third transmission member is rotatably connected to the end of the second transmission member away from the connecting member, and the other end is rotatably connected to the middle part of the first transmission member. One end of the telescopic member is connected to the inner arm of the first telescopic arm, and the other end is rotatably connected to the third transmission member. The connection between the telescopic member and the third transmission member is arranged close to the connection between the second transmission member and the third transmission member.

6. The tunnel lining reinforcement device according to claim 3, characterized in that: The grabbing device also includes a mounting seat, which is rotatably mounted on the connecting seat, and the axis of rotation is perpendicular to the direction of grabbing the corrugated plate. The fixing member is rotatably mounted on the mounting seat, and the axis of rotation is parallel to the direction of grabbing the corrugated plate.

7. The tunnel lining reinforcement device according to claim 1, characterized in that: The mobile base includes a chassis, a crawler traveling mechanism and a wheel-rail traveling mechanism. The crawler traveling mechanism and the wheel-rail traveling mechanism are both arranged at the bottom of the chassis. The wheel-rail traveling mechanism includes two rail wheel assemblies. The two rail wheel assemblies can be raised and lowered relative to the chassis. The crawler traveling mechanism is located in the middle of the chassis and between the two rail wheel assemblies.

8. A tunnel lining reinforcement method, characterized in that: The following steps are involved: Set positioning marks at the location of the first ring of the tunnel to be reinforced; According to the corrugated plate storage position and the first ring to be reinforced position, each corrugated plate is sequentially grabbed, positioned and fixed on the tunnel secondary lining surface corresponding to the first ring to be reinforced position; According to the corrugated plate storage position and the first ring to be reinforced position, each corrugated plate is sequentially grabbed, positioned and fixed on the tunnel secondary lining surface corresponding to the second ring to be reinforced position; According to the corrugated plate storage position and the position to be reinforced of the previous ring, each corrugated plate is sequentially grabbed, positioned and fixed on the tunnel secondary lining surface corresponding to the position to be reinforced of the next ring; In this way, each corrugated plate is sequentially grasped, positioned and fixed on the surface of the tunnel secondary lining corresponding to the position to be reinforced in each subsequent ring until the installation and reinforcement of all corrugated plates are completed.

9. The tunnel lining reinforcement method according to claim 8, characterized in that: The method of sequentially grabbing, positioning, and fixing each corrugated plate on the tunnel secondary lining surface corresponding to the first ring to be reinforced position according to the corrugated plate storage position and the first ring to be reinforced position includes: Grab the first corrugated plate of the first ring and move it to the position to be reinforced according to the storage position of the corrugated plate and the position to be reinforced of the first ring; Adjust the angle of the first corrugated plate of the first ring so that the positioning hole on the first corrugated plate of the first ring is aligned with the positioning mark on the position to be reinforced of the first ring, and fix the first corrugated plate of the first ring to the surface of the tunnel secondary lining corresponding to the position to be reinforced of the first ring; Grab the second corrugated plate of the first ring to the position of the first corrugated plate of the first ring; Adjust the position and angle of the second corrugated plate of the first ring so that the connection holes of the end of the second corrugated plate of the first ring and the end of the first corrugated plate of the first ring in the longitudinal direction of the tunnel are aligned one by one, and fix the second corrugated plate of the first ring to the surface of the secondary lining of the tunnel; This method is used to fix the subsequent corrugated plates of the first ring in sequence.

10. The tunnel lining reinforcement method according to claim 9, characterized in that: The method of sequentially grabbing, positioning, and fixing each corrugated plate on the secondary lining surface of the tunnel corresponding to the secondary ring to be reinforced position according to the corrugated plate storage position and the first ring to be reinforced position includes: Grab the first corrugated plate of the secondary ring to the position of the first corrugated plate of the first ring according to the corrugated plate storage position and the position of the first ring to be reinforced; Adjust the position and angle of the first corrugated plate of the secondary ring so that the side of the first corrugated plate of the secondary ring and the side of the first corrugated plate of the primary ring are aligned one by one in the tunnel ring direction, and fix the first corrugated plate of the secondary ring to the surface of the secondary lining of the tunnel corresponding to the position of the secondary ring to be reinforced; Grab the second corrugated plate of the secondary ring to the position of the first corrugated plate of the secondary ring; Adjust the position and angle of the secondary ring second corrugated plate so that the connection holes of the secondary ring second corrugated plate end and the secondary ring first corrugated plate end in the tunnel length direction are aligned one by one, and the connection holes of the secondary ring second corrugated plate side and the primary ring second corrugated plate side in the tunnel circumferential direction are aligned one by one, and fix the secondary ring second corrugated plate to the surface of the tunnel secondary lining; This method is used to fix the subsequent corrugated plates of the secondary ring in sequence.

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