Tunnel repairing system, trolley and heading machine

Abstract

The utility model discloses a tunnel repairing system, a trolley and a heading machine, the tunnel repairing system comprises a detection module, a breaking module and a repairing module which are arranged in sequence, and the detection module, the breaking module and the repairing module all have the degree of freedom of axial stretching and the degree of freedom of circumferential rotation; the trolley comprises the tunnel repairing system. The heading machine comprises the trolley. The detection module can detect the inner wall of a tunnel, the breaking module can break the surface layer and the edge of an area needing to be repaired according to the detection result of the detection module, and the repairing module can automatically repair the area broken by the breaking module. According to the technical scheme, the tunnel can be monitored in a full range, detection data of each position can be recorded in real time, the data are analyzed by the processor in a unified mode, human intervention is not needed, hole wall clearing and guniting repairing can be automatically completed when a fault area is found, the detection efficiency and the detection quality can be guaranteed, and the influence of human factors on a detection result is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel repair, in particular to a tunnel repair system, a trolley and a tunnel boring machine. Background Art

[0002] According to the "Regulations on Nondestructive Testing of Railway Tunnel Lining Quality" (TB 10223-2004), nondestructive testing technologies such as geological radar, ultrasonic method, and rebound method are widely used in the quality acceptance of tunnel construction and defect detection during operation. They can be used to detect lining thickness, steel arch distribution, back cavities or looseness, insufficient strength, and internal defects of water-containing linings.

[0003] When using manual labor to inspect the quality of tunnel linings, it is not only affected by the working status and experience level of personnel, but also the quality of data collection cannot be guaranteed. The workload is large, the efficiency is low, and the stability is poor. Only point measurements can be carried out in key areas, and large-scale batch inspections of the entire space of the tunnel lining cannot be achieved. In addition, there is a risk of collision and falling of personnel and equipment. Although the tunnel lining inspection vehicle equipped with geological radar equipment has effectively improved the efficiency and automation of lining quality inspection, it is equipped with a two-dimensional geological radar and can only inspect a limited number of measurement lines along the longitudinal mileage direction of the tunnel, making it difficult to achieve full coverage and precise inspection of the lining, and there is a risk of missed inspections. In addition, the self-inspection of lining quality during the tunnel construction process is perfunctory, and there is a problem of insufficient or even no self-inspection by the construction unit, which brings huge late-stage hidden dangers. Moreover, there is no way to repair the problem in time after it is detected, and quickly solve the safety hazards.

[0004] In recent years, with the development of science and technology, research on related detection and repair devices has gradually emerged. For example, the Chinese invention patent application with the application publication date of 2023-11-03 and the application publication number of CN116792121A discloses an integrated equipment for tunnel lining maintenance and inspection. Through an operating platform set on a mechanical arm, relevant detection devices are set on the operating platform, and relevant operations are completed through manual control. The actual implementation is very difficult. The operating platform is supported and controlled by the mechanical arm, which is easy to collide with the wall hole and cause safety accidents. Therefore, it is necessary to design a tunnel detection and repair intelligent trolley.

[0005] Although the Chinese invention patent application with the application publication date of 2018-11-06 and the application publication number of CN108757037A discloses a tunnel detection and repair integrated vehicle and a new and old tunnel detection and repair method, the tunnel detection and repair integrated vehicle includes a vehicle body, a tunnel damage detection system, a centrifugal casting repair system, a mechanical arm local repair system, a material pumping system, a cart moving system and a control system; the new and old tunnel detection and repair method includes step 1: detecting the tunnel; step 2: analyzing data; step 3: local repair; step 4: centrifugal casting; step 5: detecting the tunnel again. Although the above technical solution integrates the movable integrated comprehensive equipment for detection and repair, realizes the comprehensive repair and local repair of the tunnel just after excavation, improves the repair efficiency, and ensures the construction safety, it can only detect and repair the inner wall surface of the tunnel, but cannot detect the lining thickness, steel arch distribution, back cavities or looseness, insufficient strength, internal defects of water-containing lining, etc., and cannot perform corresponding repair work.

[0006] It should be particularly noted that the above technical information is only intended to deepen the understanding of the overall background technology of the present utility model, and should not be regarded as admitting or implying in any form that the above technical information constitutes the prior art already known to those skilled in the art. Utility Model Content

[0007] In view of the deficiencies in the above-mentioned background technology, the utility model proposes a tunnel repair system, a trolley and a tunnel boring machine, which solve the technical problems that the existing detection and repair methods of tunnels are low in efficiency and cannot ensure quality.

[0008] The technical solution of this application is:

[0009] A tunnel repair system includes a detection module, a demolition module and a repair module which are arranged in sequence, wherein the detection module, the demolition module and the repair module all have the freedom of axial extension and contraction and the freedom of circumferential rotation. In the tunnel repair system provided by the present technical solution, the detection module can detect the inner wall of the tunnel, the demolition module can perform surface and edge demolition on the area to be repaired according to the detection result of the detection module, and the repair module can automatically repair the area after the demolition module demolishes it. That is, the present technical solution can monitor the entire tunnel and record the detection data of each location in real time. The data is uniformly analyzed by the processor without human intervention. For the faulty area, the wall removal and grouting repair can be automatically completed, which can ensure the detection efficiency and quality and avoid the influence of human factors on the detection results.

[0010] Preferably, at least two of the detection module, the breaking module and the repair module share the same axial telescopic mechanism and / or the same circumferential rotation mechanism. Based on the above technical solution, the present technical solution provides a preferred tunnel repair system, that is, the detection module, the breaking module and the repair module can share the same axial telescopic mechanism, or two of them can share the same axial telescopic mechanism; or the three can share both the same axial telescopic mechanism and the same circumferential rotation mechanism; or two of them can share the same axial telescopic mechanism, and the other two can share the same circumferential rotation mechanism; and so on.

[0011] Preferably, the detection module, the breaking module and the repair module respectively adopt independent axial telescopic mechanisms and independent circumferential rotation mechanisms. Based on the above technical solution, this technical solution provides a preferred tunnel repair system, in which the detection module, the breaking module and the repair module all have their own axial telescopic mechanisms and circumferential rotation mechanisms.

[0012] Preferably, the detection module comprises a first axial telescopic mechanism for driving the first rotating mechanism to axially telescope, and the rotating part of the first rotating mechanism is provided with a first position sensor and is connected with a detection sensor via a first mechanical arm.

[0013] Preferably, the breaking module includes a second axial telescopic mechanism that drives the second rotating mechanism to axially extend and retract, and the rotating part of the second rotating mechanism is connected to the breaking actuator, the scanning radar and the second position sensor through the second mechanical arm.

[0014] Preferably, the breaking actuator is a cutting head and / or a breaking hammer and / or a water jet mechanism and / or a wind jet mechanism.

[0015] Preferably, the repair module includes a third axial telescopic mechanism that drives the third rotating mechanism to axially extend and retract, the third axial telescopic mechanism is provided with a third position sensor, the rotating part of the third rotating mechanism is provided with a third position sensor and is connected to a spraying assembly through a third robotic arm.

[0016] Preferably, at least one of the first axial telescopic mechanism, the second axial telescopic mechanism, and the third axial telescopic mechanism is a hydraulic cylinder push-pull mechanism, an electric cylinder push-pull mechanism, a gear rack meshing push-pull mechanism, a chain push-pull mechanism, or a belt push-pull mechanism, and at least one of the first rotating mechanism, the second rotating mechanism, and the third rotating mechanism is a gear ring meshing mechanism.

[0017] A trolley comprises a trolley body with a traveling assembly, and the tunnel repair system is arranged on the trolley body.

[0018] A tunneling machine, wherein the rear part of the shotcrete bridge is connected to the trolley.

[0019] Compared with the prior art, the tunnel repair system or trolley or tunnel boring machine with detection and repair functions provided by the utility model solves the problems that the existing tunnel detection methods are greatly affected by human factors, are inefficient, and cannot be repaired in time. Therefore, the utility model can effectively ensure the detection efficiency and reliability of the tunnel lining quality, thereby improving the overall reliability of the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is the axonometric view of the trolley;

[0022] Figure 2 for Figure 1 Face Figure 1 ;

[0023] Figure 3 for Figure 1 Face Figure 2 ;

[0024] Figure 4 for Figure 3 The enlarged view of point A in the middle;

[0025] Figure 5 for Figure 1 Left view of .

[0026] Description of Figure Numbers:

[0027] Trolley body 1;

[0028] Detection module 2:

[0029] Detection motion mechanism 21: first axial telescopic mechanism 211, first rotary mechanism 212, first mechanical arm 213;

[0030] A first position sensor 22;

[0031] Detection sensor 23;

[0032] Breaking module 3:

[0033] Breaking the motion mechanism 31: a second axial telescopic mechanism 311, a second rotary mechanism 312, and a second mechanical arm 313;

[0034] A second position sensor 32;

[0035] Demolition actuator 33: using cutting head, breaker, water jet, wind jet and other new demolition methods to demolish the hole wall in the defective area;

[0036] Scanning radar 34: After the cave wall is removed, a laser radar is used to scan and detect the size of the gap area;

[0037] Repair module 4:

[0038] Shotcrete motion mechanism 41: a third axial telescopic mechanism 411, a third rotary mechanism 412, and a third mechanical arm 413;

[0039] A third position sensor 42;

[0040] Shotcrete assembly 43;

[0041] Lifting assembly 5;

[0042] Trolley escalator 6;

[0043] Walking component 7. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the core concept of the utility model and the following embodiments, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0045] The present application provides these embodiments to make the present application thorough and complete, and to fully express the scope of the present application to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary, and not as limiting.

[0046] It should be noted that, in the description of this application, unless otherwise specified, the meaning of "several" is greater than or equal to two; the terms "upper", "lower", "left", "right", "inner", "outer", "axial", "radial" and the like indicate positions or positional relationships only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on this application. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0047] In addition, the words "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" does not mean vertical in the strict sense, but is within the tolerance range. "Parallel" does not mean parallel in the strict sense, but is within the tolerance range. "Include" or "comprising" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements.

[0048] It should also be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0049] All terms used in this application have the same meaning as those understood by those of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0050] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0051] A tunnel repair system, such as Figure 1 and Figure 2 As shown, it includes a detection module 2, a breaking module 3 and a repair module 4 which are arranged in sequence, and the detection module 2, the breaking module 3 and the repair module 4 all have the freedom of axial extension and contraction and the freedom of circumferential rotation.

[0052] In the tunnel repair system provided by this embodiment, the detection module 2 can detect the inner wall of the tunnel, the demolition module 3 can demolition the surface and edge of the area to be repaired according to the detection result of the detection module 2, and the repair module 4 can automatically repair the area demolished by the demolition module 3. That is, this technical solution can monitor the entire tunnel and record the detection data of each place in real time. The data is analyzed uniformly by the processor without human intervention. For the faulty area, the wall removal and spraying repair can be automatically completed, which can ensure the detection efficiency and quality and avoid the influence of human factors on the detection results.

[0053] On the basis of the above-mentioned embodiment, this embodiment provides a preferred tunnel repair system, wherein at least two modules among the detection module 2, the breaking module 3 and the repair module 4 share the same axial telescopic mechanism and / or the same circumferential rotation mechanism. That is, the detection module 2, the breaking module 3 and the repair module 4 can share the same axial telescopic mechanism, or two of them can share the same axial telescopic mechanism; or the three can share the same axial telescopic mechanism and the same circumferential rotation mechanism; or the two can share the same axial telescopic mechanism and the same circumferential rotation mechanism; or two of them can share the same axial telescopic mechanism, and the other two can share the same circumferential rotation mechanism; and so on.

[0054] On the basis of the above embodiment, this embodiment provides another preferred tunnel repair system, wherein the detection module 2, the breaking module 3 and the repair module 4 respectively adopt independent axial telescopic mechanisms and independent circumferential rotation mechanisms. That is, the detection module 2, the breaking module 3 and the repair module 4 all have their own axial telescopic mechanisms and circumferential rotation mechanisms, and neither the axial telescopic mechanisms nor the circumferential rotation mechanisms are shared among them.

[0055] Based on the above embodiments, this embodiment provides a preferred tunnel repair system, such as Figures 3 to 5 As shown, the detection module 2 includes a first axial telescopic mechanism 211 for driving a first rotating mechanism 212 to axially telescope. The rotating part of the first rotating mechanism 212 is provided with a first position sensor 22 and is connected to a detection sensor 23 via a first mechanical arm 213 .

[0056] The first axial telescopic mechanism 211 telescopes under the control module, thereby driving the first rotary mechanism 212 to move along the axial direction of the tunnel; under the control module, the rotary part in the first rotary mechanism 212 can move relative to the fixed part, and then the rotary part drives the detection sensor 23 to move circumferentially relative to the inner wall of the tunnel, and performs a comprehensive scan and detection of the inner circumference of the tunnel. At the same time, the first position sensor 22 performs real-time detection of the detection position, and the position information and detection scanning information are transmitted to the control module, and the control module controls the demolition module 3 to perform the next step of processing on the corresponding area. The detection sensor 23 can be a geological radar or an ultrasonic detector.

[0057] Based on the above embodiments, this embodiment provides a preferred tunnel repair system, wherein the breaking module 3 includes a second axial telescopic mechanism 311 that drives the second rotating mechanism 312 to axially extend and retract, and the rotating part of the second rotating mechanism 312 is connected to a breaking actuator 33, a scanning radar 34 and a second position sensor 32 through a second mechanical arm 313.

[0058] The second axial telescopic mechanism 311 telescopes under the action of the control module, thereby driving the second rotating mechanism 312 to move along the axial direction of the tunnel; under the action of the control module, the rotating part in the second rotating mechanism 312 can move relative to the fixed part, and then the rotating part drives the breaking actuator 33, the scanning radar 34 and the second position sensor 32 to move circumferentially relative to the inner wall of the tunnel. At the same time, the second position sensor 32 detects the breaking position in real time and matches it with the position information detected by the detection module 2. The breaking actuator 33 breaks the parts that need to be broken in the tunnel to expose the parts that do not meet the quality standards. Then the scanning radar 34 accurately scans and models the gap after breaking and transmits it to the control module. The control module controls the repair module 4 to repair the gap and its internal area.

[0059] On the basis of the above embodiments, this embodiment provides a preferred tunnel repair system, wherein the demolition actuator 33 is a cutting head and / or a breaker hammer and / or a water jet mechanism and / or a wind jet mechanism.

[0060] Based on the above embodiments, this embodiment provides a preferred tunnel repair system, wherein the repair module 4 includes a third axial telescopic mechanism 411 that drives the third rotating mechanism 412 to axially extend and retract, the third axial telescopic mechanism 311 is provided with a third position sensor 42, the rotating part of the third rotating mechanism 312 is provided with a third position sensor 42 and is connected to a spraying assembly 43 through a third mechanical arm 413.

[0061] Based on the above embodiments, this embodiment provides a preferred tunnel repair system, wherein at least one of the first axial telescopic mechanism 211, the second axial telescopic mechanism 311, and the third axial telescopic mechanism 411 is a hydraulic cylinder push-pull mechanism or an electric cylinder push-pull mechanism or a gear rack meshing push-pull mechanism or a chain push-pull mechanism or a belt push-pull mechanism, and at least one of the first rotating mechanism 212, the second rotating mechanism 312, and the third rotating mechanism 412 is a gear ring meshing mechanism.

[0062] A trolley comprises a trolley body 1 with a traveling assembly 7, and the tunnel repair system is arranged on the trolley body 1.

[0063] Preferably, the trolley mainly includes the following structures:

[0064] Trolley body 1;

[0065] Detection module 2:

[0066] Detection motion mechanism 21: first axial telescopic mechanism 211, first rotary mechanism 212, first mechanical arm 213;

[0067] First position sensor 22: records the real-time position of the detection data;

[0068] Detection sensor 23: performs scanning detection;

[0069] Data processing center: analyze defect location, area size, etc., and evaluate whether repair is needed;

[0070] Breaking module 3:

[0071] Breaking the motion mechanism 31: a second axial telescopic mechanism 311, a second rotary mechanism 312, and a second mechanical arm 313;

[0072] A second position sensor 32;

[0073] Demolition actuator 33: using cutting head, breaker, water jet, wind jet and other new demolition methods to demolish the hole wall in the defective area;

[0074] Scanning radar 34: After the cave wall is removed, a laser radar is used to scan and detect the size of the gap area;

[0075] Repair module 4:

[0076] Shotcrete motion mechanism 41: a third axial telescopic mechanism 411, a third rotary mechanism 412, and a third mechanical arm 413;

[0077] A third position sensor 42;

[0078] Shotcrete assembly 43: according to the detection data, the shotcrete amount is calculated, and the shotcrete assembly completes the shotcrete repair operation;

[0079] The three module motion mechanisms can be shared or set up separately; forward and backward movement can be achieved by cylinder push and pull, or rack and pinion meshing; the recommended form of gear and ring meshing is the slewing mechanism; the data processing center is not shown in the accompanying figure.

[0080] Lifting component 5: responsible for material lifting;

[0081] Trolley escalator 6: Up and down passage for personnel and materials;

[0082] Traveling component 7: responsible for the travel of the trolley.

[0083] As described above, by installing the detection sensors and position sensors in the detection motion mechanism, the tunnel can be quickly inspected in full range and a position detection database can be established. When the data processing center analyzes the detection data and finds an abnormality, it can accurately lock the defect location and area size, thereby improving the efficiency, accuracy and reliability of the detection. When the data analysis decision requires repair of the defect location, the repair module can automatically reach the designated location to complete the repair operation.

[0084] The working principle of the trolley is:

[0085] St01: The traveling assembly 7 drives the trolley body 1 to travel to the inspection area of ​​the tunnel to be inspected.

[0086] St02: The detection sensor 23 on the first mechanical arm 213 of the detection module 2 realizes full-range detection of the detection area by detecting the detection motion mechanism 21 (at least including rotation and circumferential movement). The first position sensor 22 arranged on the motion mechanism can record the real-time coordinates of the detection position in real time.

[0087] St03: The inspection data and coordinate information during the inspection process are transmitted to the data processing center to establish an inspection database and conduct data analysis, including analysis of defect location, area size, and assessment of whether repair is needed.

[0088] St04: If it is determined that an area needs to be repaired, the data analysis results are passed to the demolition module 3, including the size and coordinate information of the area to be demolished.

[0089] St05: The breaking actuator 33 in the breaking module 3 breaks the structure to be processed (mechanical breaking method, or jet rock breaking, etc. can be used).

[0090] St06: After the breach is completed, the gap position is accurately scanned and modeled by scanning radar 34, etc.

[0091] St07: Based on the detection data, the shotcrete amount is calculated, and the shotcrete assembly 43 completes the shotcrete repair work.

[0092] St08: After the repair is completed, the trolley moves to the next working position for operation.

[0093] In this way, high-quality inspection of the entire tunnel can be automatically completed, and the inspection data can be recorded in real time to establish a tunnel inspection database. When a defect is found, the tunnel wall can be automatically cleared and sprayed for repair based on the inspection results without human intervention.

[0094] A tunneling machine, wherein the rear part of the shotcrete bridge is connected to the trolley.

[0095] The parts not described in detail in the present invention are all conventional technical means known to those skilled in the art.

[0096] The above content shows and describes the basic principle, main features and beneficial effects of the utility model. The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A tunnel repair system, characterized in that: It comprises a detection module (2), a breaking module (3) and a repair module (4) which are arranged in sequence, wherein the detection module (2), the breaking module (3) and the repair module (4) all have the degree of freedom of axial extension and contraction and the degree of freedom of circumferential rotation.

2. The tunnel repair system according to claim 1, characterized in that: At least two of the detection module (2), the breaking module (3) and the repair module (4) share the same axial telescopic mechanism and / or the same circumferential rotation mechanism.

3. The tunnel repair system according to claim 1, characterized in that: The detection module (2), the breaking module (3) and the repair module (4) respectively adopt an independent axial telescopic mechanism and an independent circumferential rotation mechanism.

4. The tunnel repair system according to any one of claims 1 to 3, characterized in that: The detection module (2) comprises a first axial telescopic mechanism (211) for driving a first rotary mechanism (212) to axially telescope, the rotary part of the first rotary mechanism (212) being provided with a first position sensor (22) and being connected to a detection sensor (23) via a first mechanical arm (213).

5. The tunnel repair system according to claim 4, characterized in that: The breaking module (3) comprises a second axial telescopic mechanism (311) for driving a second rotating mechanism (312) to axially telescope, and the rotating part of the second rotating mechanism (312) is connected to a breaking actuator (33), a scanning radar (34) and a second position sensor (32) via a second mechanical arm (313).

6. The tunnel repair system according to claim 5, characterized in that: The breaking actuator (33) is a cutting head and / or a breaking hammer and / or a water jet mechanism and / or a wind jet mechanism.

7. The tunnel repair system according to any one of claims 5-6, characterized in that: The repair module (4) comprises a third axial telescopic mechanism (411) for driving a third rotating mechanism (412) to axially telescope, the third axial telescopic mechanism (411) being provided with a third position sensor (42), and the rotating part of the third rotating mechanism (412) being provided with a third position sensor (42) and being connected to a spraying assembly (43) via a third mechanical arm (413).

8. The tunnel repair system according to claim 7, characterized in that: At least one of the first axial telescopic mechanism (211), the second axial telescopic mechanism (311), and the third axial telescopic mechanism (411) is a hydraulic cylinder push-pull mechanism, an electric cylinder push-pull mechanism, a gear rack meshing push-pull mechanism, a chain push-pull mechanism, or a belt push-pull mechanism, and at least one of the first rotary mechanism (212), the second rotary mechanism (312), and the third rotary mechanism (412) is a gear ring meshing mechanism.

9. A trolley, comprising a trolley body (1) with a traveling assembly (7), characterized in that: The trolley body (1) is provided with a tunnel repair system as claimed in any one of claims 1 to 8.

10. A roadheader, characterized in that: The rear part of the shotcrete bridge is connected to the trolley described in claim 9.

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