Abstract In order to solve the problems of high labor intensity, low construction efficiency and low degree of auto? mation in terms of manual grooving operation during water seepage treatment in existing railway tunnels, this paper develops an intelligent grooving robot system based on the design concept of informationization and intelligence and in combination with the construction process of tunnel defect remediation. The system uses railway flat cars as the mobile carrier and has the functions of tunnel section scanning, model reconstruction, automatic planning of robot motion trajectory, flexibly cutting groove with shape under constant force control, real-time monitoring of system status and automatic dust removal and temperature reduction, etc. It can adapt to the wet and leaky environment in tunnels and has been successfully verified through application in the second subsection of the JLDH-1 lot of JiaozuoLiuzhou Railway electrication renovation project. The results show that the system can realize the informationization and intelligence of grooving operation in railway tunnels, improve the construction efficiency and reduce the labor intensity of workers.
Abstract：
In order to solve the problems of high labor intensity, low construction efficiency and low degree of auto? mation in terms of manual grooving operation during water seepage treatment in existing railway tunnels, this paper develops an intelligent grooving robot system based on the design concept of informationization and intelligence and in combination with the construction process of tunnel defect remediation. The system uses railway flat cars as the mobile carrier and has the functions of tunnel section scanning, model reconstruction, automatic planning of robot motion trajectory, flexibly cutting groove with shape under constant force control, real-time monitoring of system status and automatic dust removal and temperature reduction, etc. It can adapt to the wet and leaky environment in tunnels and has been successfully verified through application in the second subsection of the JLDH-1 lot of JiaozuoLiuzhou Railway electrication renovation project. The results show that the system can realize the informationization and intelligence of grooving operation in railway tunnels, improve the construction efficiency and reduce the labor intensity of workers.
SHI Yun1 YANG Lingwu2 HU Minghua1 LEI Gang1 TANG Hao2
.Research, Development and Application of an Intelligent Grooving Robot System for Defect Remediation in Existing Railway Tunnels[J] MODERN TUNNELLING TECHNOLOGY, 2021,V58(5): 221-226
2021, Vol. 58 