A tunnel lining concrete repair robot

Abstract

This invention provides a tunnel lining concrete repair robot. A drive wheel is located below the base, and a hinge seat is located above the base. One end of a first folding arm is hinged to the hinge seat, and a support member is correspondingly hinged to the upper end of a second folding arm. A rotary sealing joint is located in the middle of the support member, and a third drive member is located between the support member and the second folding arm. A drilling rig is fixed on the support member, and multiple buffer support mechanisms are evenly distributed outside the drilling rig. Each buffer support mechanism includes a support column and a buffer rod, enabling the robot to move autonomously, accurately position itself, automatically drill, and perform integrated grouting. This eliminates the need for operators to enter the tunnel, effectively reducing manual labor intensity and operational risks, achieving automated repair of tunnel lining voids, and significantly reducing reliance on manual labor.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel repair, specifically relating to a robot for repairing tunnel lining concrete. Background Technology

[0002] With the continuous development of tunnel construction technology, 3D printing technology has been applied in tunnel lining concrete construction due to its advantages of high construction efficiency, good molding accuracy, and high material utilization. However, during the 3D printing construction of tunnels, due to the influence of various factors such as the characteristics of printing materials, construction process parameters, and deformation of the surrounding rock, hollow areas are prone to occur in the tunnel lining concrete. This hollow defect will cause gaps between the lining concrete and the surrounding rock, reducing the load-bearing capacity and integrity of the lining structure. In the long term, it may also lead to safety hazards such as cracking and detachment of the lining. At present, the main method for repairing hollow areas in tunnel linings is manual drilling and grouting. Construction personnel need to enter the tunnel, use simple tools to drill holes, and then inject grout into the hollow areas through grouting equipment to achieve filling and repair. However, this manual repair method has many drawbacks: firstly, the tunnel interior space is narrow and the environment is complex, the manual work is arduous and inefficient, and there are high safety risks.

[0003] Therefore, there is a need to provide an improved technical solution that addresses the shortcomings of the existing technology. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art described above. This invention provides a robot for repairing tunnel lining concrete.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A tunnel lining concrete repair robot, comprising: A base is provided, with a drive wheel at the bottom and a hinge seat at the top. One end of a first folding arm is hinged to the hinge seat, and a first driving member is provided between the first folding arm and the hinge seat. The other end of the first folding arm is correspondingly hinged to a second folding arm, and a second driving member is provided between the first folding arm and the second folding arm. A support member is hinged to the upper end of the second folding arm. A rotary sealing joint is provided in the middle of the support member. A grouting pipe extends from the base along the first folding arm and the second folding arm and connects to the lower end of the rotary sealing joint. A third driving member is provided between the support member and the second folding arm. The drilling rig is fixed on the support member. The drill rod of the drilling rig has a hollow structure, and a drill bit is connected to the front end of the drill rod. The drill bit is provided with a grouting hole corresponding to the drill rod. The lower end of the drill rod passes through the drilling rig and is connected to the upper end of the rotary sealing joint. Multiple buffer support mechanisms are evenly distributed outside the drilling rig. Each buffer support mechanism includes a support column and a buffer rod. The support column is parallel to the drill rod, and the buffer rod is hinged to the outside of the support column. A return spring is provided between the buffer rod and the support column to drive the buffer rod to have a tendency to rotate in front of the drilling rig.

[0006] Preferably, the main body of the support column is an L-shaped structure with an inclined bend between its first end and the second end. The outer side of the inclined bend is provided with a first mounting groove corresponding to the buffer rod, and the buffer rod is hinged in the mounting groove. The outer side of the first end of the support column is provided with a second mounting groove that communicates with the first mounting groove, and the return spring is correspondingly mounted in the second mounting groove.

[0007] Preferably, the support column is made of bent steel plate, and a touch sensor is provided at the end of the first end.

[0008] Preferably, in the normal state, the end of the buffer rod furthest from the support column is located in front of the drill bit of the drilling rig, and a support member corresponding to the inner wall of the tunnel is hinged to the upper end of the buffer rod.

[0009] Preferably, a support base corresponding to the hinge seat is provided above the base. The support base is provided with multiple sliding sleeves around its circumference. The sliding sleeves are inclined outward and point towards the bottom surface of the tunnel. A telescopic rod is provided inside the sliding sleeve. The end of the telescopic rod is provided with a support plate corresponding to the bottom surface of the tunnel, so that it can abut against the bottom surface of the tunnel after being extended by the telescopic rod.

[0010] Preferably, a rotary drive mechanism is provided between the upper end of the first folding arm and the lower end of the second folding arm, and between the upper end of the second folding arm and the support member; The rotary drive mechanism includes two bends that are hinged to each other. The middle part of each bend is hinged to an arc-shaped connecting rod. The lower arc-shaped connecting rod is hinged to the lower part of the upper arc-shaped connecting rod. The end of the upper arc-shaped connecting rod is provided with a hinge point for the drive component to connect.

[0011] Preferably, the two bends of the same rotary drive mechanism are respectively connected to the corresponding first folding arm, second folding arm or support member, and the hinge pins of the two bends are hollow tubes; The two ends of the hollow tube are connected to the corresponding grouting pipes via rotary sealing joints.

[0012] Preferably, the two bends of the same rotary drive mechanism are inclined in the same direction, the arc-shaped connecting rod extends to the side of the bend, and arc-shaped connecting rods are respectively provided on both sides of the same bend.

[0013] Preferably, the lower end of the grouting pipe extends to the grouting pump, and a control center is provided on the base. The control center is connected to the drive wheel, drilling rig, grouting pump, first drive component, second drive component and third drive component.

[0014] Beneficial Effects: This invention achieves autonomous movement, precise positioning, automatic drilling, and integrated grouting of the robot by centrally controlling the drive wheels, folding arms, drilling rig, and grouting pump. This eliminates the need for operators to enter the tunnel, effectively reducing labor intensity and operational risks, and enabling automated repair of tunnel lining voids, significantly reducing reliance on manual labor. By installing multiple buffer support mechanisms on the outside of the drilling rig, these mechanisms provide stable support against the tunnel wall during drilling, effectively absorbing the rotational force of the drilling rig and preventing the force from being transmitted to the first and second folding arms. This reduces the structural strength requirements of the repair robot's folding arms, thereby reducing the robot's size and improving the ease of movement and repair within the tunnel. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. Wherein: Figure 1 This is a simplified structural diagram of the repair robot provided in a specific embodiment of the present invention; Figure 2 This is an assembly diagram of the rotary drive mechanism in a specific embodiment of the present invention; Figure 3 This is a schematic diagram of the drilling rig assembly in a specific embodiment of the present invention.

[0016] In the diagram: 1. Base; 2. Drive wheel; 3. Support seat; 4. First folding arm; 5. Grouting pipe; 6. First drive component; 7. Second drive component; 8. Elbow; 9. Arc-shaped connecting rod; 10. Second folding arm; 11. Support component; 12. Drilling rig; 13. Support column; 14. Buffer rod; 15. Return spring; 16. Touch sensor; 17. Hollow tube; 18. Drill rod; 19. Drill bit; 20. Rubber sleeve; 21. Telescopic rod. Detailed Implementation

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0018] In the description of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "connected" and "linked" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0019] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0020] like Figure 1-3 As shown, a tunnel lining concrete repair robot includes a base 1, a support 11, and a drilling rig 12. The base 1 is made of high-strength steel and has an outer shell. Four rectangular drive wheels 2 are provided below the base 1. The drive wheels 2 are equipped with hub motors or each connected to a stepper motor, which enables the robot to move flexibly inside the tunnel. A support seat 3 is welded on the top of the base 1. The support seat 3 is a square or stool-shaped frame structure. The top of the support seat 3 is provided with a hinge seat, which is fixedly connected to the support seat 3 by bolts.

[0021] Both the first folding arm 4 and the second folding arm 10 are made of aluminum alloy, which is lightweight and high-strength, effectively reducing the overall weight of the equipment. The lower end of the first folding arm 4 is hinged to the hinge seat via a hinge shaft. A first driving component 6 is provided between the first folding arm 4 and the hinge seat. The first driving component 6 is a hydraulic cylinder, with one end hinged to the hinge seat and the other end hinged to the lower middle part of the first folding arm 4. The extension and retraction of the hydraulic cylinder can drive the first folding arm 4 to rotate around the hinge seat, with an adjustable angle range of 0-90°. The other end of the first folding arm 4 is hinged to the lower end of the second folding arm 10 via a rotary drive mechanism. A second driving component 7 is provided between the first folding arm 4 and the second folding arm 10. The second driving component 7 is also a hydraulic cylinder, with one end hinged to the upper middle part of the first folding arm 4 and the other end hinged to the end of the arc-shaped connecting rod 9 of the rotary drive mechanism. The extension and retraction of the hydraulic cylinder drives the rotary drive mechanism to move, thereby causing the second folding arm 10 to rotate relative to the first folding arm 4, with an adjustable angle range of 0-180°.

[0022] The support member 11 is hinged to the upper end of the second folding arm 10. A third driving member, which is a hydraulic cylinder, is provided between the support member 11 and the second folding arm 10 to enable omnidirectional drilling operations of the drilling rig 12. The grouting pipe 5 is made of high-pressure rubber, which has good flexibility and pressure resistance. The grouting pipe 5 extends from the base 1 along the outer wall of the first folding arm 4 and the second folding arm 10, and is fixed by multiple connecting clamps. Specifically, the grouting pipe 5 is provided with connecting clamps, which are fixed to the outer wall of the first folding arm 4 and the second folding arm 10 by connecting columns. The main body of the drilling rig 12 is a through-shaft linear stepper motor. Its spindle and drill rod 18 are integrally formed hollow structures, which are referred to as drill rod 18 below. The upper end of the drill rod 18 is connected to the drill bit 19, and the other end is connected to the grouting pipe 5 through a rotary sealing joint, so as to achieve rotary sealing. During the drilling process of the drilling rig 12, the grouting pipe 5 will not interfere with the spindle.

[0023] The drilling rig 12 is fixed on the support 11. The drill rod 18 of the drilling rig 12 is integrally formed with the spindle and is a hollow steel pipe with a diameter of 20-50mm. The front end of the drill rod 18 is connected to the drill bit 19 by a thread. The drill bit 19 is made of hard alloy and has multiple grouting holes on its surface. The grouting holes are evenly distributed on the side of the drill bit 19 to ensure that the grout can be evenly injected into the void area. After one end of the drill rod 18 passes through the spindle of the drilling rig 12, it is connected to the upper end of the rotary sealing joint on the support 11 by a thread. The rotary sealing joint is concentrically distributed with the support 11 and is connected to the side of the support 11 corresponding to the elbow 8 of the support 11, thereby making way for the rotary sealing joint and the grouting pipe 5. This ensures that the drill rod 18 will not interfere with the movement of the grouting pipe 5 during rotation. The rotary sealing joint is a conventional sealing joint for connecting pipes. Under the premise of satisfying the connection of the grouting pipe 5, the two can rotate relative to each other and seal. No further restrictions are imposed here.

[0024] There are four buffer support mechanisms evenly distributed around the outside of the drilling rig 12 to ensure the stability of the support.

[0025] The support column 13 of the buffer support mechanism is an L-shaped structure made of bent steel plate with a thickness of 8-12mm. The first and second ends of the support column 13 are connected by an inclined bend, with an angle of 135° between the bend and the first and second ends. A first mounting groove is provided on the outer side of the inclined bend. The buffer rod 14 is hinged to the first mounting groove via a hinge shaft. The buffer rod 14 is made of high-strength alloy steel, and its length is adapted to the length of the drill rod 18, typically 50-200cm. A second mounting groove, connecting to the first mounting groove, is provided on the outer side of the first end of the support column 13. A return spring 15 is mounted in the second mounting groove. The return spring 15 is a contraction spring with a contraction force; one end of the return spring 15 is fixed to the bottom of the second mounting groove, and the other end abuts against the inner side of the buffer rod 14, driving the buffer rod 14 to rotate forward of the drilling rig 12. In its normal state, the end of the buffer rod 14 furthest from the support column 13 is located in front of the drill bit 19 of the drilling rig 12. A support member corresponding to the inner wall of the tunnel is hinged to the upper end of the buffer rod 14, so that it can be supported on the inner wall of the tunnel. The friction force generated by the pushing force of the folding arm can be used to make the rotational torque of the drilling rig 12 bear the load on the inner wall of the tunnel and the buffer rod 14, so as not to generate torque on the folding arm and avoid damage to the folding arm.

[0026] The support column 13 is made of bent steel plate. A touch sensor 16, a pressure sensor, is installed at the first end. When the buffer rod 14 contacts the tunnel wall and reaches a preset pressure, it indicates that the drill rod 18 has drilled to the specified depth. At this point, the touch sensor 16 sends a signal to the control center, which then controls the drilling rig 12 to start drilling operations. A support member is hinged to the upper end of the buffer rod 14 via a hinge shaft, increasing the contact area with the tunnel wall and preventing damage to the tunnel lining surface. The support member has bent plates on both radial sides of the drilling rig 12, allowing it to slide radially from the tunnel wall under continuous pressure. This angle change allows the drill rod 18 to move, ensuring continuous drilling.

[0027] Furthermore, a touch sensor is installed at the end of the buffer rod 14 to detect whether it is in contact with the inner wall of the tunnel. The drilling rig 12 is started after the buffer rod 14 applies a certain pressure.

[0028] In an optional embodiment, the support base 3 is provided with four sliding sleeves circumferentially. The four sliding sleeves are rectangularly distributed and tilted outward at an angle of 30-45°. The sliding sleeves are fixedly connected to the base 1 by reinforcing ribs to improve the stability of the sliding sleeves. A telescopic rod 21 is provided inside the sliding sleeve. The telescopic rod 21 is a hydraulic telescopic rod 21. A support plate is welded to the end of the telescopic rod 21. The support plate is a circular steel plate with anti-slip texture on the surface. After the hydraulic telescopic rod 21 is extended, the support plate abuts against the bottom of the tunnel, further fixing the base 1 and preventing the robot from moving during operation.

[0029] In an optional embodiment, a rotary drive mechanism is provided between the upper end of the first folding arm 4 and the lower end of the second folding arm 10, and between the upper end of the second folding arm 10 and the support member 11.

[0030] The rotary drive mechanism includes two hinged elbows 8, made of cast steel, which are welded or bolted to the corresponding first folding arm 4, second folding arm 10, or support member 11. The two elbows 8 of the same rotary drive mechanism are inclined in the same direction at an angle of 30-45°. Each elbow 8 has an arc-shaped connecting rod 9 hinged to its middle section via a hinge shaft. The arc-shaped connecting rod 9 is made of high-strength alloy steel and extends towards the inclined side of the elbow 8. Arc-shaped connecting rods 9 are provided on both sides of the same elbow 8 to ensure uniform force distribution. The lower arc-shaped connecting rod 9 is hinged to the lower part of the upper arc-shaped connecting rod 9. The end of the upper arc-shaped connecting rod 9 has a hinge point for connection to the second drive member 7 or the third drive member.

[0031] In an optional embodiment, arc-shaped connecting rods 9 are provided on both sides of the same bend 8 to ensure force balance.

[0032] The two elbows 8 of the same rotary drive mechanism are respectively connected to the corresponding first folding arm 4, second folding arm 10 or support member 11. The hinge axis of the two elbows 8 is a hollow tube 17. The two ends of the hollow tube 17 are respectively connected to the corresponding grouting pipe 5 through a rotary sealing joint. The rotary sealing joint adopts a mechanical sealing structure to ensure the sealing of the grouting pipe 5 during rotation and to ensure the sealing of the grouting process.

[0033] The two sections of the grouting pipe 5 corresponding to the rotary drive mechanism are located on both sides of the rotary drive mechanism. The two sections are guided by the hollow tube 17, so that the two adjacent grouting pipe sections 5 will not interfere with each other during the folding process.

[0034] The lower end of the grouting pipe 5 is connected to a grouting pump. The grouting pump is a high-pressure grouting pump with an adjustable grouting pressure range of 1.0-5.0 MPa. The grouting volume and pressure can be adjusted according to the size and depth of the void area. A control center is located on the base 1, which uses a PLC controller. The control center is connected via wiring to the drive motor of the drive wheel 2, the drilling rig 12, the grouting pump, the first drive component 6, the second drive component 7, the third drive component, and the touch sensor 16, achieving automated control of the entire equipment. Operators can send commands to the control center via a remote control terminal (such as a tablet or laptop) to control the robot's movement, the angle adjustment of the folding arm, drilling operations, and grouting operations. Simultaneously, they can receive real-time operational status information to ensure the controllability of the operation process.

[0035] The working process of the tunnel lining concrete repair robot in this embodiment is as follows: 1. Equipment movement: The operator sends a movement command to the control center through the remote control terminal. The control center controls the drive wheel 2 to start, moving the robot to the area below the hollow area of ​​the tunnel lining. Then, the telescopic rod 21 is extended so that the support plate touches the bottom of the tunnel and fixes the base 1.

[0036] 2. Position adjustment: The control center controls the first drive unit 6 and the second drive unit 7 to rotate the first folding arm 4 and the second folding arm 10, adjusting the height and horizontal position of the drill rig 12 so that the drill bit 19 is aligned with the hollow area; at the same time, it controls the third drive unit to rotate the rotating seal, adjusting the drilling angle of the drill rig 12 to ensure that the drill bit 19 is perpendicular to the tunnel lining surface.

[0037] 3. Support Positioning: Control the drilling rig 12 to move forward, so that the support member of the buffer support mechanism abuts against the inner wall of the tunnel. The return spring 15 is compressed. When the touch sensor 16 detects contact with the inside of the tunnel, it sends a signal to the control center to control the drilling rig 12 to start. The folding arm continuously applies pressure to the inner wall of the tunnel as the drilling progresses. The buffer support mechanism unfolds circumferentially, so that the drill rod 18 drills into the tunnel and forms a stable support through the buffer support mechanism. The buffer support mechanism absorbs the rotational force of the drilling rig 12 and prevents the rotational force from being transmitted to the folding arm.

[0038] 4. Drilling operation: The control center controls the drilling rig 12 to continuously drill into the tunnel lining until the touch sensor 16 on the support column 13 touches the tunnel wall, sends a control signal to the control center, and the drilling rig 12 stops.

[0039] 5. Grouting operation: After drilling is completed, the control center controls the grouting pump to start. The grout is injected into the hollow area through the grouting pipe 5, the rotary seal, the hollow drill rod 18 and the grouting hole of the drill bit 19. The grouting pressure and grouting volume are adjusted in real time during the grouting process.

[0040] 6. Work completed: After grouting is completed, drill bit 19 is withdrawn, then the buffer support mechanism is reset and telescopic rod 21 is retracted, driving the robot to move to the next hollow area. The above work process is repeated until the repair work of the hollow area in the entire tunnel lining is completed.

[0041] In an optional embodiment, the outer diameter of the drill bit 19 is larger than that of the drill rod 18. A rubber sleeve 20 is fitted on the lower part of the outside of the drill rod 18. The side wall of the drill rod 18 is provided with a corresponding communication port for the rubber sleeve 20. The rubber sleeve 20 is located in front of the support column 13. The two sections are fixed to the outer wall of the drill rod 18 by sealing. In this way, the rubber sleeve 20 expands and seals the drill hole by grouting, thereby ensuring the grouting effect.

[0042] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention shall be within the scope of protection of the pending claims of the present invention.

Claims

1. A tunnel lining concrete repair robot, characterized in that, include: A base is provided, with a drive wheel at the bottom and a hinge seat at the top. One end of a first folding arm is hinged to the hinge seat, and a first driving member is provided between the first folding arm and the hinge seat. The other end of the first folding arm is correspondingly hinged to a second folding arm, and a second driving member is provided between the first folding arm and the second folding arm. A support member is hinged to the upper end of the second folding arm. A rotary sealing joint is provided in the middle of the support member. A grouting pipe extends from the base along the first folding arm and the second folding arm and connects to the lower end of the rotary sealing joint. A third driving member is provided between the support member and the second folding arm. The drilling rig is fixed on the support member. The drill rod of the drilling rig has a hollow structure, and a drill bit is connected to the front end of the drill rod. The drill bit is provided with a grouting hole corresponding to the drill rod. The lower end of the drill rod passes through the drilling rig and is connected to the upper end of the rotary sealing joint. Multiple buffer support mechanisms are evenly distributed outside the drilling rig. Each buffer support mechanism includes a support column and a buffer rod. The support column is parallel to the drill rod, and the buffer rod is hinged to the outside of the support column. A return spring is provided between the buffer rod and the support column to drive the buffer rod to have a tendency to rotate in front of the drilling rig.

2. The tunnel lining concrete repair robot according to claim 1, characterized in that, The main body of the support column is an L-shaped structure with an inclined bend between its first and second ends. The outer side of the inclined bend is provided with a first mounting groove corresponding to the buffer rod. The buffer rod is hinged in the mounting groove. The outer side of the first end of the support column is provided with a second mounting groove that connects to the first mounting groove. The return spring is correspondingly mounted in the second mounting groove.

3. The tunnel lining concrete repair robot according to claim 2, characterized in that, The support column is made of bent steel plate, and a touch sensor is provided at the first end.

4. The tunnel lining concrete repair robot according to claim 1, characterized in that, In its normal state, the end of the buffer rod furthest from the support column is located in front of the drill bit of the drilling rig, and a support member corresponding to the inner wall of the tunnel is hinged to the upper end of the buffer rod.

5. The tunnel lining concrete repair robot according to claim 1, characterized in that, The base is provided with a support seat corresponding to the hinge seat. The support seat is provided with multiple sliding sleeves around its circumference. The sliding sleeves are inclined outward and point towards the bottom of the tunnel. The sliding sleeves are provided with telescopic rods. The end of the telescopic rod is provided with a support plate corresponding to the bottom of the tunnel, so that it can abut against the bottom of the tunnel after the telescopic rod is extended.

6. The tunnel lining concrete repair robot according to claim 1, characterized in that, A rotary drive mechanism is provided between the upper end of the first folding arm and the lower end of the second folding arm, and between the upper end of the second folding arm and the support member; The rotary drive mechanism includes two bends that are hinged to each other. The middle part of each bend is hinged to an arc-shaped connecting rod. The lower arc-shaped connecting rod is hinged to the lower part of the upper arc-shaped connecting rod. The end of the upper arc-shaped connecting rod is provided with a hinge point for the drive component to connect.

7. The tunnel lining concrete repair robot according to claim 6, characterized in that, The two elbows of the same rotary drive mechanism are respectively connected to the corresponding first folding arm, second folding arm or support component, and the hinge pins of the two elbows are hollow tubes; The two ends of the hollow tube are connected to the corresponding grouting pipes via rotary sealing joints.

8. The tunnel lining concrete repair robot according to claim 6, characterized in that, The two bends of the same rotary drive mechanism are inclined in the same direction, and the arc-shaped connecting rod extends to the side of the bend that is inclined. Arc-shaped connecting rods are provided on both sides of the same bend.

9. The tunnel lining concrete repair robot according to claim 1, characterized in that, The lower end of the grouting pipe extends to the grouting pump. A control center is provided on the base, and the control center is connected to the drive wheel, drilling rig, grouting pump, first drive component, second drive component and third drive component.

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