Self-adaptive accurately-controlled tunnel waterproof plate laying and hanging trolley

Abstract

The invention belongs to the technical field of tunnel waterproof construction equipment, and discloses a self-adaptive accurately-controlled tunnel waterproof plate laying and hanging trolley. The trolley comprises a door-shaped frame, a walking supporting mechanism, a section adjusting mechanism, a waterproof plate unwinding and tension adjusting mechanism, a laying, hanging and pressing mechanism, a positioning and fixed connection mechanism, a fixed connection detection assembly, a control mechanism, a safety protection mechanism and a data transmission module. The door-shaped frame adjusts the operation contour through the top telescopic beam and the lateral telescopic beam. The waterproof board unwinding and tension adjusting mechanism conducts unwinding and tension adjusting on the waterproof board. The paving, hanging and pressing mechanism conveys the waterproof plate to a tunnel initial supporting surface and presses the waterproof plate; the positioning and fixed connection mechanism identifies the position of the hot melting gasket and completes fixed connection; and the fixed connection detection assembly is used for detecting the fixed connection part. The trolley is suitable for paving and hanging waterproof plates of tunnels with different cross sections.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel waterproofing construction equipment, specifically an adaptive and precise control tunnel waterproofing membrane laying trolley. Background Technology

[0002] In tunnel construction, waterproof membranes are typically laid between the initial support surface and the secondary lining to isolate groundwater and reduce the adverse effects of leakage on the lining structure. The flatness, adhesion, and accuracy of the fixing position of the waterproof membrane after laying directly affect the continuity of the waterproof layer and the quality of subsequent lining construction. Therefore, the unrolling, laying, pressing, and fixing of the waterproof membrane have always been important procedures in tunnel waterproofing construction.

[0003] Existing methods for constructing tunnel waterproofing membranes mainly include two categories: manual installation and installation assisted by a trolley. Manual installation typically involves workers cooperating to unroll, unfold, attach, and fix the waterproofing membrane. This method is labor-intensive, and the difficulty is even greater in the arch, sidewall, and corner transition areas. It is also significantly affected by the construction space, workers' posture, and the coordination of personnel. To improve the level of mechanization, existing technologies have incorporated waterproofing membrane installation trolleys, which use components such as gantry frames, traveling mechanisms, unrolling mechanisms, installation mechanisms, pressing mechanisms, and welding or fixing devices to assist in completing the corresponding processes. While this type of equipment reduces the workload of manual labor to some extent, in practical applications, changes in tunnel cross-sectional dimensions, the transition between the arch and sidewall curved surfaces, the occupation of site structures such as ventilation pipes, and frequent changes in construction location can all affect the cross-sectional adaptation of the trolley, the movement of supports, the transportation of waterproof membranes, the laying and fixing operations. In particular, during the process of transitioning the waterproof membranes from the unrolling state to the laying state, and then from the laying state to the pressing and fixing state, if the connection between each process is insufficient, it is easy to cause fluctuations in unrolling tension, local loosening or wrinkling of the membrane surface, and deviations between the laying position and the fixing position.

[0004] In existing technologies, there is a lack of stable and continuous coordination between the unrolling, laying, pressing and fixing of waterproof membranes. This leads to insufficient correspondence between the laying position and the fixing position after the waterproof membrane is delivered to the initial support surface of the tunnel, which affects the adhesion and fixing consistency of the waterproof membrane. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive and precise control tunnel waterproofing membrane laying trolley to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an adaptive and precise control tunnel waterproof membrane laying trolley, which uses a portal frame as the main load-bearing structure. The portal frame is equipped with a cross-section adjustment mechanism, a waterproof membrane unwinding and tensioning mechanism, a laying and pressing mechanism, and a positioning and fixing mechanism. A traveling support mechanism is set below the portal frame, and a control mechanism is set to coordinate and control the actions of each mechanism, so that the trolley can complete the unwinding, conveying, laying, pressing, and fixing operations of the waterproof membrane under different tunnel cross-section conditions.

[0007] The cross-section adjustment mechanism is mounted on the portal frame and is used to adjust the working profile of the trolley body in the arch and sidewall areas. The cross-section adjustment mechanism includes a top telescopic beam mounted on the top of the portal frame and lateral telescopic beams mounted on both sides of the portal frame. The top telescopic beam and the lateral telescopic beam are respectively connected to the hydraulic drive component, and the outer profile dimensions of the trolley body are changed by telescopic movement. A channel for tunnel ventilation pipes to pass through is provided in the middle of the portal frame. The walking support mechanism is located at the bottom of the trolley body and includes a walking base, hydraulic outriggers and a drive assembly. The drive assembly is used to move the trolley body in the tunnel. The hydraulic outriggers support and position the trolley body after it reaches the working position. The hydraulic outriggers are also equipped with pressure sensors to detect the support stress state. By first adjusting the working profile of the trolley body and then completing the positioning and support of the trolley body, the subsequent waterproof membrane laying and fixing operations can be based on a stable position that matches the tunnel cross-section.

[0008] The waterproof membrane unwinding and tension adjustment mechanism is mounted on the trolley body and is used to unwind and adjust the tension of the waterproof membrane. The waterproof membrane unwinding and tension adjustment mechanism includes an anti-dewinding device, an unwinding motor, a tension sensor, a braking assembly, an adjusting roller, a guide roller, and a servo motor. During operation, the unwinding motor drives the waterproof membrane to be unwound, the tension sensor detects the tension of the waterproof membrane during the unwinding process, and the control mechanism controls the unwinding motor, the braking assembly, and the servo motor to operate based on the tension detection results, so that the adjusting roller and the guide roller cooperate to adjust the unwinding tension of the waterproof membrane. By adjusting the tension of the waterproof membrane before it enters the laying position, the waterproof membrane can be kept taut during the transportation process, thus providing conditions for subsequent laying and pressing.

[0009] The laying and pressing mechanism is connected to the waterproof membrane unwinding and tensioning mechanism, and is used to deliver the waterproof membrane, after tension adjustment, to the tunnel's initial support surface for pressing. The laying and pressing mechanism includes a multi-degree-of-freedom laying arm driven by a double-outlet hydraulic cylinder, and a smoothing assembly consisting of a hydraulic pressing rod, an arc-shaped pressure roller, and a spring smoothing device. After the laying arm delivers the waterproof membrane to the arch area, sidewall area, or corner area, the hydraulic pressing rod drives the arc-shaped pressure roller to press the waterproof membrane and roll it along the laying direction. The spring smoothing device smooths the waterproof membrane in the areas not covered by the arc-shaped pressure roller. The contour of the arc-shaped pressure roller is adapted to the curvature of the tunnel's initial support surface. Through the cooperation of the laying arm and the smoothing assembly, the waterproof membrane can be made to adhere to the tunnel's initial support surface before being fixed.

[0010] The positioning and fixing mechanism is set in the working area corresponding to the laying and pressing mechanism. It is used to complete the position identification of the hot melt gasket and the fixing of the waterproof membrane when it is attached to the tunnel initial support surface. The positioning and fixing mechanism includes a position identification component, a hot melt fixing component, and a fixing detection component. The position identification component includes a camera and a laser positioning sensor to collect the position information of the tunnel initial support surface and the hot melt gasket. The hot melt fixing component includes a welding robotic arm and an electromagnetic hot melt welding gun to connect the waterproof membrane to the corresponding hot melt gasket under the guidance of the position identification result. The fixing detection component includes an ultrasonic detection sensor to detect the strength of the fixing part after the fixing is completed. By performing positioning and fixing while the waterproof membrane is attached, the fixing position can be kept in correspondence with the waterproof membrane laying position.

[0011] The control mechanism receives relevant detection information from the cross-section adjustment mechanism, the traveling support mechanism, the waterproof membrane unwinding and tension adjustment mechanism, the laying and pressing mechanism, and the positioning and fixing mechanism, and outputs corresponding control commands. The control mechanism includes a programmable logic controller, a touchscreen operating terminal, and a data transmission module. Based on the cross-section adjustment requirements, the control mechanism controls the working contour changes of the portal frame; based on the tension detection results, it controls the unwinding and tension adjustment of the waterproof membrane; based on the position recognition results, it controls the welding robotic arm and electromagnetic hot melt welding gun to perform fixing; and it receives fixing detection results and support stress status information for operation status display, fault alarm, and operation process control. Through the coordination of the above mechanisms, the cross-section adjustment of the trolley, the moving support, the unwinding and tension adjustment of the waterproof membrane, the laying and pressing, the position recognition, and the hot melt fixing form a continuous operation process.

[0012] To further improve the adaptability of the trolley to different tunnel cross-sectional conditions and to form a seamless work chain for the waterproof membrane laying, pressing, fixing, and testing processes, this invention sets up a cross-section adjustment mechanism, a walking support mechanism, a waterproof membrane unwinding and tension adjustment mechanism, a laying and pressing mechanism, a positioning and fixing mechanism, a fixing and testing component, a safety protection mechanism, and a data transmission module on the basis of a portal frame. The control mechanism coordinates and controls all the above mechanisms and components. Through the above arrangement, the trolley can complete the positioning and support under different cross-sectional conditions, and after the waterproof membrane is released, it sequentially completes tension adjustment, laying and pressing, position identification, hot-melt fixing, and post-fixing testing.

[0013] The cross-section adjustment mechanism is installed on the portal frame and is used to change the outer contour dimensions of the trolley body in the arch area and sidewall area. The cross-section adjustment mechanism includes a top telescopic beam installed at the top of the portal frame and lateral telescopic beams installed on both sides of the portal frame. The top telescopic beam and the lateral telescopic beam are respectively connected to the hydraulic drive components. A channel for tunnel ventilation pipes to pass through is formed in the middle of the portal frame. By adjusting the extension and retraction of the top telescopic beam and the lateral telescopic beam, the outer contour of the trolley body can be matched with different tunnel cross-sections, thereby providing a working space that matches the tunnel contour for subsequent laying and fixing operations.

[0014] The traveling support mechanism is located at the bottom of the trolley body and is used to move the trolley body and provide support after it reaches its designated position. The traveling support mechanism includes a traveling base, hydraulic outriggers, and a drive assembly. The hydraulic outriggers are mounted on the traveling base and have anti-slip pads on their bottoms. The drive assembly is used to move the trolley body to the working position within the tunnel. The hydraulic outriggers support the trolley body after it reaches the target position. Pressure sensors are also installed on the hydraulic outriggers to detect the stress state of the support. The control mechanism adjusts the extension and retraction of the corresponding hydraulic outriggers based on the detection results of the pressure sensors. Through the movement and support of the traveling support mechanism, the trolley body can maintain a stable position during the laying and fixing process.

[0015] The waterproof membrane unwinding and tension adjustment mechanism is mounted on the trolley body and is used to unwind the waterproof membrane and adjust its tension during the unwinding process. The waterproof membrane unwinding and tension adjustment mechanism includes an anti-dewinding device, an unwinding motor, a braking assembly, a tension sensor, a servo motor, an adjusting roller, and a guide roller. The unwinding motor drives the waterproof membrane to be unwound, the tension sensor detects the tension of the waterproof membrane during the unwinding process, and the control mechanism controls the unwinding motor, the braking assembly, and the servo motor to operate based on the tension detection results. This causes the adjusting roller and the guide roller to work together to adjust the unwinding tension of the waterproof membrane. By adjusting the unwinding tension before the waterproof membrane enters the laying position, the waterproof membrane can be kept taut during the conveying process.

[0016] The laying and pressing mechanism is connected to the waterproof membrane unwinding and tensioning mechanism, used to deliver the tension-adjusted waterproof membrane to the tunnel's initial support surface and form an attached state. The laying and pressing mechanism includes a multi-degree-of-freedom laying arm and a smoothing component. The multi-degree-of-freedom laying arm is driven by a double-rod hydraulic cylinder and has rotational and telescopic movements, used to deliver the waterproof membrane to the arch area, sidewall area, and corner area. The smoothing component includes a hydraulic pressing rod, an arc-shaped pressure roller, and a spring smoothing device. The hydraulic pressing rod drives the arc-shaped pressure roller to press the waterproof membrane and roll it along the laying direction. The spring smoothing device smooths the waterproof membrane in areas not covered by the arc-shaped pressure roller. The contour of the arc-shaped pressure roller is adapted to the curvature of the tunnel's initial support surface, and its surface is covered with an elastic rubber layer. Through the cooperation of the laying arm and the smoothing component, the waterproof membrane can be attached to the tunnel's initial support surface before entering the fixing position.

[0017] The positioning and fixing mechanism is set in the fixing area corresponding to the laying and pressing mechanism. It is used to complete the position identification of the hot melt gasket and the fixing of the waterproof membrane when it is attached to the initial support surface of the tunnel. The positioning and fixing mechanism includes a position identification component and a hot melt fixing component. The position identification component includes a camera and a laser positioning sensor to collect the position information of the hot melt gasket. The hot melt fixing component includes a welding robotic arm and an electromagnetic hot melt welding gun set on the welding robotic arm. The welding robotic arm cooperates with the laying arm. After the laying arm delivers the waterproof membrane to the area where the hot melt gasket is located, the welding robotic arm drives the electromagnetic hot melt welding gun to move to the corresponding hot melt gasket position and connect the waterproof membrane to the hot melt gasket. Through the above arrangement, the fixing action is established after the laying and pressing action, so that the fixing position corresponds to the laying position of the waterproof membrane.

[0018] The fastening detection component is used to detect the fastening status after fastening is completed. The fastening detection component includes an ultrasonic detection sensor, which is used to detect the strength of the fastened part and feed the detection result back to the control mechanism. By setting up a detection step after fastening, the control mechanism can obtain fastening status information.

[0019] The control mechanism receives detection information from the cross-section adjustment mechanism, the traveling support mechanism, the waterproof membrane unwinding and tensioning mechanism, the laying and pressing mechanism, the positioning and fixing mechanism, and the fixing detection component, and outputs corresponding control commands. The control mechanism includes a programmable logic controller (PLC) and a touch screen operation terminal. The PLC is electrically connected to the traveling support mechanism, the waterproof membrane unwinding and tensioning mechanism, the laying and pressing mechanism, the positioning and fixing mechanism, the fixing detection component, and the safety protection mechanism. The touch screen operation terminal is used for parameter setting, operation status display, and fault alarm. The data transmission module is used for uploading construction data and remote monitoring. Through the coordination of the control mechanism, cross-section adjustment, moving support, waterproof membrane unwinding and tensioning, laying and pressing, position identification, hot-melt fixing, and fixing detection form a continuous operation process.

[0020] The safety protection mechanism is installed on the main body of the trolley, including edge guardrails, fall protection devices, anti-collision warning components, and electrical safety protection modules. The anti-collision warning components include infrared sensors and audible and visual alarms. When the distance between the main body of the trolley and the tunnel wall or other equipment is less than the safety threshold, the audible and visual alarms issue a warning and trigger the trolley brakes. Through the installation of the safety protection mechanism, protective conditions can be provided during the trolley's laying and fixing operations.

[0021] The beneficial effects of this invention are as follows: 1. This invention, by setting a cross-section adjustment mechanism on the main body of the trolley and setting adjustable telescopic structures on the top and sides of the portal frame, along with a walking support mechanism, hydraulic outriggers, and outrigger force detection structure, enables the trolley to first adjust its outer contour when entering tunnel construction areas with different cross-section sizes, and then establish a stable support state after reaching the target position. This allows the main body of the trolley to maintain an operating posture that is compatible with the tunnel cross-section in both the arch area and the sidewall area, and provides a stable installation foundation for the subsequent laying, pressing, and fixing of waterproof membranes. This improves the problems of insufficient adaptability of existing equipment in cross-section changing environments and low support stability after positioning.

[0022] 2. This invention, by setting up a waterproof membrane unwinding and tension adjustment mechanism and a laying and pressing mechanism, and configuring an anti-dewinding device, unwinding motor, tension sensor, braking component, servo motor, adjusting roller and guide roller on the unwinding path, and configuring a multi-degree-of-freedom laying arm, hydraulic pressing rod, arc-shaped pressure roller and spring smoothing device at the laying end, ensures that the waterproof membrane is continuously under controlled tension during the unwinding process, and completes pressing and compensation smoothing after being delivered to the tunnel initial support face. This makes the connection between unwinding, laying and attaching of the waterproof membrane more stable, thereby reducing the problems of loosening, offset, wrinkling and local poor adhesion of the waterproof membrane during transportation and laying, and improving the problems of large unwinding tension fluctuation and difficulty in achieving both laying and flatness in the prior art.

[0023] 3. This invention, by setting up a position recognition component, a hot-melt fixing component, a fixing detection component, and a control mechanism electrically connected to each mechanism, enables the camera and laser positioning sensor to identify the position of the hot-melt gasket. After the laying arm completes the plate delivery, the welding robotic arm drives the electromagnetic hot-melt welding gun to perform hot-melt fixing at the corresponding position. After the fixing is completed, the ultrasonic detection sensor detects the fixing part and feeds the detection result back to the control mechanism. This makes the laying position, fixing position and detection of the waterproof membrane form a continuous coordination relationship, thereby improving the problems of separation and insufficient position correspondence of laying, fixing and detection in the prior art, and helping to improve the continuity and consistency of the whole machine construction process. Attached Figure Description

[0024] Figure 1This is a flowchart of the tunnel waterproofing membrane laying trolley with adaptive precision control according to the present invention; Figure 2 This is a flowchart of the process of laying, pressing, positioning, fixing, and testing for this invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] like Figures 1 to 2 As shown, this embodiment of the invention provides an adaptive and precise control tunnel waterproof membrane laying trolley, which includes a trolley body, a walking support mechanism, a cross-section adjustment mechanism, a waterproof membrane unwinding and tensioning mechanism, a laying and pressing mechanism, a positioning and fixing mechanism, a fixing detection component, a control mechanism, a safety protection mechanism, and a data transmission module.

[0027] The main body of the trolley adopts a portal frame structure. The portal frame serves as the load-bearing foundation for the entire machine and is used to install the walking support mechanism, cross-section adjustment mechanism, waterproof membrane unwinding and tensioning mechanism, laying and pressing mechanism, positioning and fixing mechanism, fixing detection components, control mechanism, safety protection mechanism, and data transmission module. A top telescopic beam is set at the top of the portal frame, and lateral telescopic beams are set on both sides. The top telescopic beam and lateral telescopic beams are respectively connected to the hydraulic drive components. When the hydraulic drive components are activated, the top telescopic beam and lateral telescopic beam extend or retract in the corresponding directions, thereby changing the outer contour dimensions of the portal frame in the arch area and sidewall area, so that the main body of the trolley can be adapted to tunnels with different cross-section dimensions. A passage for tunnel ventilation pipes to pass through is formed in the middle of the portal frame, so that the main body of the trolley can avoid the tunnel ventilation pipes during operation.

[0028] The traveling support mechanism is located at the bottom of the portal frame and is used to move the trolley body within the tunnel and support it after it reaches the target position. The traveling support mechanism includes a traveling base, hydraulic outriggers, and a drive assembly. The hydraulic outriggers are mounted on the traveling base, with anti-slip pads at their bottoms. The drive assembly moves the portal frame along the tunnel's extension direction. After the trolley body reaches the target position, the hydraulic outriggers extend downwards, the anti-slip pads contact the support surface, and the outriggers continue to extend, supporting the trolley body. Pressure sensors are installed on the hydraulic outriggers to detect the force state of each outrigger. After receiving the detection signals from the pressure sensors, the control mechanism judges the force state of each hydraulic outrigger and controls the corresponding outrigger to extend or retract, ensuring stable support for the trolley body. The cross-section adjustment mechanism works in conjunction with the traveling support mechanism to ensure the trolley body moves, reaches its position, and is supported in a manner adapted to the tunnel cross-section.

[0029] The waterproof membrane unwinding and tension adjustment mechanism is mounted on the portal frame and is used to unwind the waterproof membrane roll and adjust the tension during the unwinding process. The waterproof membrane unwinding and tension adjustment mechanism includes an anti-dewinding device, an unwinding motor, a braking assembly, a tension sensor, a servo motor, an adjusting roller, and a guide roller. The anti-dewinding device is used to limit the waterproof membrane roll and prevent it from unwinding itself when not being unwound. The unwinding motor is used to drive the waterproof membrane roll to rotate and unwind the waterproof membrane. The braking assembly is used to provide braking force during the unwinding process. The tension sensor is located on the waterproof membrane unwinding path to detect the current tension value of the waterproof membrane.

[0030] The adjusting roller is connected to the servo motor, which drives the adjusting roller to rise and fall. The guide roller works with the adjusting roller to change the conveying path and stress state of the waterproof membrane. After receiving the tension signal output by the tension sensor, the control mechanism compares the current tension value with the set tension value.

[0031] When the current tension value is lower than the set tension value, the control mechanism controls the braking component to increase the braking force and controls the servo motor to drive the adjusting roller to change position, thereby increasing the tension of the waterproof membrane; when the current tension value is higher than the set tension value, the control mechanism controls the unwinding motor to reduce the unwinding resistance, or controls the servo motor to adjust the position of the adjusting roller, thereby reducing the tension of the waterproof membrane; the waterproof membrane after tension adjustment enters the laying and pressing mechanism; through the above structure and action coordination, the waterproof membrane is kept taut before entering the laying station.

[0032] The laying and pressing mechanism is connected to the waterproof membrane unwinding and tensioning mechanism, and is used to deliver the tension-adjusted waterproof membrane to the tunnel initial support face and adhere it to the tunnel initial support face; the laying and pressing mechanism includes a laying arm and a smoothing component; the laying arm is a multi-degree-of-freedom laying arm, driven by a double-outlet hydraulic cylinder, and has rotation and extension movements; when the double-outlet hydraulic cylinder drives the laying arm to swing or extend, the laying arm can deliver the waterproof membrane to the arch area, side wall area and corner area.

[0033] The smoothing assembly includes a hydraulic pressing rod, an arc-shaped pressure roller, and a spring smoothing device. The hydraulic pressing rod drives the arc-shaped pressure roller close to the surface of the waterproof membrane and causes it to roll along the laying direction. The contour of the arc-shaped pressure roller is adapted to the curvature of the tunnel's initial support surface, and its surface is covered with an elastic rubber layer. The spring smoothing device is located on the side of the arc-shaped pressure roller's working area and is used to compensate for and smooth the waterproof membrane in areas not directly covered by the arc-shaped pressure roller.

[0034] In actual operation, the laying arm first delivers the waterproof membrane to the area to be laid, and then the hydraulic pressing rod drives the arc-shaped pressure roller to press the waterproof membrane onto the surface. The spring smoothing device then compensates for the edge areas.

[0035] Through the continuous movements of the laying arm and the smoothing component, the waterproof membrane can be attached to the initial support surface of the tunnel before entering the positioning and fixing position.

[0036] The positioning and fixing mechanism is set in the fixing area corresponding to the laying and pressing mechanism. It is used to complete the position identification of the hot-melt gasket and the fixing of the waterproof membrane after the waterproof membrane has been attached to the tunnel initial support surface. The positioning and fixing mechanism includes a position identification component and a hot-melt fixing component.

[0037] The location recognition component includes a camera and a laser positioning sensor; the camera is used to collect image information of the area where the hot melt gasket is located, and the laser positioning sensor is used to collect distance information between the hot melt gasket and the trolley body.

[0038] After receiving image information from the camera and distance information from the laser positioning sensor, the control mechanism determines the position of the hot melt gasket in the current work area.

[0039] The hot melt bonding assembly includes a welding robotic arm and an electromagnetic hot melt welding gun mounted on the welding robotic arm. The welding robotic arm works in conjunction with the laying arm, which is responsible for delivering the waterproof membrane to the area where the hot melt gasket is located and keeping the waterproof membrane in a state ready for bonding. The welding robotic arm, under the control of the control mechanism, moves the electromagnetic hot melt welding gun to the corresponding hot melt gasket position.

[0040] After the electromagnetic hot melt welding gun is in place, it heats the area where the hot melt gasket is located, so that the waterproof membrane is connected to the hot melt gasket. Since the laying, pressing and fixing actions are completed continuously around the same area, the laying position of the waterproof membrane and the fixing position of the hot melt gasket can maintain a corresponding relationship.

[0041] The bonding detection component is installed on the main body of the trolley and is used to detect the bonding area after the hot melt bonding is completed. The bonding detection component includes an ultrasonic detection sensor. After the hot melt bonding is completed, the ultrasonic detection sensor detects the bonding area and outputs a detection signal related to the bonding status. After receiving the detection signal, the control mechanism can display the detection result on the touch screen operation terminal so that the operator can judge the current bonding status. By setting a detection step after the hot melt bonding, the main body of the trolley can continuously complete the laying, pressing, bonding and detection in the same working area.

[0042] The control mechanism is used to coordinate and control the cross-section adjustment mechanism, the walking support mechanism, the waterproof membrane unwinding and tension adjustment mechanism, the laying and pressing mechanism, the positioning and fixing mechanism, and the fixing detection component. The control mechanism includes a programmable logic controller and a touch screen operation terminal. The programmable logic controller is electrically connected to the walking support mechanism, the waterproof membrane unwinding and tension adjustment mechanism, the laying and pressing mechanism, the positioning and fixing mechanism, the fixing detection component, and the safety protection mechanism, respectively. It is used to receive detection signals output by pressure sensors, tension sensors, cameras, laser positioning sensors, and ultrasonic detection sensors, and output corresponding control commands according to the detection signals.

[0043] The touch screen operating terminal is used for parameter setting, operation status display and fault alarm. The data transmission module is connected to the control mechanism for uploading construction data and remote monitoring. Through the unified coordination of the control mechanism, the trolley body can sequentially complete the following tasks: cross-section adjustment, movement into position, support stabilization, unwinding and tensioning of the waterproof membrane, laying and pressing, position recognition, hot-melt bonding and bonding detection.

[0044] The safety protection mechanism is installed on the main body of the trolley to provide protection during the laying and fixing operations performed by the trolley. The safety protection mechanism includes edge guardrails, fall protection devices, collision warning components and electrical safety protection modules. The collision warning components include infrared sensors and audible and visual alarms.

[0045] When the infrared sensor detects that the distance between the trolley body and the tunnel wall or other equipment is less than the safety threshold, the audible and visual alarm will issue an alarm signal, and the control mechanism will trigger the trolley brake.

[0046] In this embodiment, the cross-section adjustment mechanism, the walking support mechanism, the waterproof membrane unwinding and tensioning mechanism, the laying and pressing mechanism, the positioning and fixing mechanism, the fixing detection component, the control mechanism, the safety protection mechanism, and the data transmission module are all installed on the same vehicle body and continuously complete cross-section adjustment, waterproof membrane transportation, laying and pressing, hot melt gasket position identification, hot melt fixing, and fixing detection around the same construction area.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adaptive and precise control tunnel waterproofing membrane laying trolley, characterized in that: It includes the trolley body, walking support mechanism, cross-section adjustment mechanism, waterproof membrane unwinding and tensioning mechanism, laying and pressing mechanism, positioning and fixing mechanism, and control mechanism; The main body of the trolley includes a portal frame; The cross-section adjustment mechanism is located on the trolley body and is used to adjust the working profile of the trolley body; The walking support mechanism is located at the bottom of the trolley body and is used to drive the trolley body to move and support and position the trolley body. The waterproof membrane unwinding and tension adjustment mechanism is mounted on the trolley body and includes an unwinding assembly, a tension detection assembly, and a tension adjustment assembly. The unwinding assembly is used to unwind the waterproof membrane, the tension detection assembly is used to detect the tension of the waterproof membrane during the unwinding process, and the tension adjustment assembly is used to adjust the tension of the waterproof membrane during the unwinding process. The laying and pressing mechanism is mounted on the trolley body and includes a laying arm and a smoothing component. The laying arm is used to send the waterproof membrane after unwinding and tensioning to the tunnel initial support surface, and the smoothing component is used to press the waterproof membrane onto the tunnel initial support surface. The positioning and fixing mechanism is mounted on the trolley body and includes a position recognition component and a hot melt fixing component. The position recognition component is used to obtain the position information of the hot melt gasket, and the hot melt fixing component is used to fix the waterproof membrane to the corresponding hot melt gasket according to the position information. The control mechanism is connected to the cross-section adjustment mechanism, the walking support mechanism, the waterproof membrane unwinding and tension adjustment mechanism, the laying and pressing mechanism, and the positioning and fixing mechanism, respectively. It is used to control the cross-section adjustment mechanism to adjust the working contour of the trolley body, control the unwinding component and the tension adjustment component to move according to the tension value detected by the tension detection component, and control the hot melt fixing component to fix according to the hot melt washer position information obtained by the position recognition component.

2. The adaptive precision control tunnel waterproof membrane laying trolley according to claim 1, characterized in that: The cross-section adjustment mechanism includes a top telescopic beam located at the top of the portal frame and lateral telescopic beams located on both sides of the portal frame. The top telescopic beam and the lateral telescopic beam are respectively connected to a hydraulic drive component. The middle part of the portal frame is provided with a channel for tunnel ventilation pipes to pass through.

3. The adaptive precision control tunnel waterproof membrane laying trolley according to claim 2, characterized in that: The walking support mechanism includes a walking base, hydraulic outriggers, and a drive assembly. The hydraulic outriggers are mounted on the walking base, the drive assembly is used to drive the trolley body to move, and the hydraulic outriggers are used to support the trolley body.

4. The adaptive precision control tunnel waterproof membrane laying trolley according to claim 3, characterized in that: The bottom of the hydraulic outrigger is equipped with an anti-slip pad, and the hydraulic outrigger is equipped with a pressure sensor. The control mechanism adjusts the extension and retraction of the corresponding hydraulic outrigger according to the force state of the outrigger detected by the pressure sensor.

5. The adaptive precision control tunnel waterproof membrane laying trolley according to claim 4, characterized in that: The unwinding assembly includes an anti-dewinding device, an unwinding motor, and a braking assembly; the tension detection assembly includes a tension sensor; and the tension adjustment assembly includes a servo motor, an adjustment roller, and a guide roller.

6. The adaptive precision control tunnel waterproof membrane laying trolley according to claim 5, characterized in that: The control mechanism controls the unwinding motor, braking assembly, and servo motor to adjust the unwinding tension of the waterproof membrane based on the tension signal output by the tension sensor.

7. The adaptive precision control tunnel waterproof membrane laying trolley according to claim 6, characterized in that: The laying arm is a multi-degree-of-freedom laying arm, which is driven by a double-rod hydraulic cylinder and has rotational and telescopic degrees of freedom. The smoothing assembly includes a hydraulic pressing rod, an arc-shaped pressure roller, and a spring smoothing device. The hydraulic pressing rod is used to drive the arc-shaped pressure roller to press the waterproof membrane and roll it along the laying direction. The spring smoothing device is used to compensate and smooth the waterproof membrane.

8. The adaptive precision control tunnel waterproof membrane laying trolley according to claim 7, characterized in that: The arc-shaped pressure roller is adapted to the curvature of the tunnel's initial support surface, and the surface of the arc-shaped pressure roller is covered with an elastic rubber layer.

9. The adaptive precision control tunnel waterproof membrane laying trolley according to claim 8, characterized in that: The location recognition component includes a camera and a laser positioning sensor. The hot melt bonding component includes a welding robotic arm and an electromagnetic hot melt welding gun mounted on the welding robotic arm. The welding robotic arm cooperates with the laying arm so that after the laying arm delivers the waterproof membrane to the area where the hot melt gasket is located, the welding robotic arm drives the electromagnetic hot melt welding gun to move to the corresponding hot melt gasket position for bonding.

10. The adaptive precision control tunnel waterproof membrane laying trolley according to claim 9, characterized in that: It also includes a fastening detection component, a safety protection mechanism, and a data transmission module; the fastening detection component includes an ultrasonic detection sensor, which is used to detect the strength of the fastening part after fastening is completed and to feed the detection result back to the control mechanism; the control mechanism includes a PLC controller and a touch screen operation terminal, which is used for parameter setting, operation status display, and fault alarm; the safety protection mechanism includes an edge protection railing, a fall protection device, a collision warning component, and an electrical safety protection module.

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