CN101200063A - Manipulator of automatic positioning and rapid grasping pipe piece - Google Patents
Manipulator of automatic positioning and rapid grasping pipe piece Download PDFInfo
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- CN101200063A CN101200063A CNA2007101591348A CN200710159134A CN101200063A CN 101200063 A CN101200063 A CN 101200063A CN A2007101591348 A CNA2007101591348 A CN A2007101591348A CN 200710159134 A CN200710159134 A CN 200710159134A CN 101200063 A CN101200063 A CN 101200063A
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Abstract
Disclosed is a self-positioning manipulator for fast grasping segments used in tunnel engineering construction machine industry, which is composed of a rotating ring, a driving device, a cantilever beam, a lifting frame, four rolling wheels, a grasping platform, grasping oil cylinders and a grasping head. The axial direction of the tunnel is set as an X axis; the radial horizontal direction of the tunnel is set as a Y axis; the radial vertical direction of the tunnel is set as a Z axis. The axial lines of the rotating ring and a fixed ring coincide with the X axis; the driving device is fixed on the fixed ring; a hydraulic motor of the driving device drives a small gear through a reduction gear box so as to drive a big gear ring and the rotating ring connected with the big gear ring to rotate around the X axis, so that the lifting frame connected with the rotating ring is driven to move. The cantilever beam is fixed along and in parallel with the axial direction of a shield machine in the inner side of the shield machine; the outside of the shield machine are provided respectively with channel shaped railway for four rolling wheels rolling; the four rolling wheels are fixed respectively at the two sides of the inner wall of the fixed ring; the cylinder bodies of two translational oil cylinders are fixed on the cantilever beam; piston rods of the oil cylinders are fixed and hinged with the fixed ring. The device has the function to install the segments in omni direction, the segments can reach any preset installing position with more flexible grasping head and four movements, and the assembling efficiency of the segments is increased effectively.
Description
Technical field:
The present invention relates to a kind of manipulator of automatic positioning and rapid grasping pipe piece of tunnel construction machinery, particularly the shield machine segment assembling machine.
Background technology:
Pipe sheet assembling equipment is one of important composition parts of constructing tunnel usefulness shield excavation machine, after shield machine is pushed ahead a segment distance, pipe sheet assembling equipment commences work without delay, the section of jurisdiction in time is assembled into tunnel-liner, and the performance of pipe sheet assembling equipment directly has influence on the progress of tunnel Forming Quality and engineering construction.Though prior art can realize the requirement of the section of jurisdiction anglec of rotation and position, but because its rotatable platform that is connected with the section of jurisdiction only can realize two motions: around tunnel radial level power to reach around the tunnel vertical force radially to rotation, remaining motion all is to realize by the oil cylinder and the drive unit of big stroke, obviously, the motion of its rotatable platform is also dumb, promptly after the section of jurisdiction rotates to predetermined angular for there being limitation aspect the attitude adjustment of section of jurisdiction, have certain influence for the Forming Quality in tunnel.Therefore developing a kind of manipulator of automatic positioning and rapid grasping pipe piece is the new problem of being badly in need of solution.
Summary of the invention:
The purpose of this invention is to provide a kind of improvement the deficiencies in the prior art, has comprehensive section of jurisdiction installation function, realize that the section of jurisdiction arrives arbitrarily predetermined installation site, it is flexible to grasp first watch, realize four kinds of motions, effectively improve pipe sheet assembling efficient, the attitude adjustment of section of jurisdiction is easier, make pipe sheet assembling efficient higher, the more guaranteed manipulator of automatic positioning and rapid grasping pipe piece of tunnel forming quality.
The object of the present invention is achieved like this: manipulator of automatic positioning and rapid grasping pipe piece, whole device is made up of rotating ring, Tong Dinghuan, drive unit, cantilever beam, channel suspending rail, two translation oil cylinders, two leads, four fairleads, two lift cylinders, hoisting frame, four rollers, extracting platform, gripper cylinder, deflection oil cylinder, three dump rams, backstay, oscillating bearing, extracting head, the axis direction in tunnel is made as X-axis, tunnel radial level direction is a Y-axis, and tunnel radially vertical direction is the Z axle; Rotating ring overlaps with X-axis with the axis of retainer ring, drive unit is fixed on the retainer ring, its hydraulic motor rotates around X-axis thereby the drive bull gear reaches the rotating ring that connects with bull gear through the reduction box driving pinion, rotates thereby drive with the joining hoisting frame of rotating ring; Cantilever beam is along the housing inboard that axially and abreast is fixed on shield machine of shield machine, be respectively equipped with the channel suspending rail that rolls for four rollers in the outside of cantilever beam, four rollers are individually fixed in the both sides inwall of retainer ring, the cylinder body of two translation oil cylinders is fixed on the cantilever beam, its piston rod and retainer ring hinged securement, four rollers that drive on the retainer ring when two translation oil cylinders are flexible roll in channel suspending rail, and promptly total moves along X-axis; Four fairlead secured in parallel are in the both sides of rotating ring, the upper end of the cylinder body of two lift cylinders and two leads is connected and fixed, the tailpiece of the piston rod of two lift cylinders and rotating ring are hinged with fixed, two lift cylinders drive two leads when flexible and slide along four fairleads, two lead lower ends and hoisting frame are fixedly connected, and move along the Z axle thereby drive the extracting platform; Grasping platform is Y shape support, hoisting frame is hinged with three summits grasping platform respectively by three dump rams, flexible can the drive of three dump rams grasped platform around Y-axis and X-axis swing, deflection oil cylinder one end and hoisting frame are hinged, the other end is hinged with the extracting platform, the flexible extracting platform that can drive of deflection oil cylinder rotates around the Z axle, gripper cylinder is positioned at and grasps the platform center, play connection, promote and the promptly effect of section of jurisdiction, backstay is fixed on the hoisting frame, cooperate with the oscillating bearing on grasping platform, the displacement of platform in the XZ plane grasped in restriction.
Main points of the present invention are its structure and operation principle.Its operation principle is, the pinion of drive unit drives the bull gear that is fixed on the rotating ring, thereby the driven rotary ring rotates in retainer ring, grasping lifting, translation and some adjusting fine motions of head is finished by the hydraulic cylinder that some sizes and stroke do not wait respectively, all motions of assembling machine are hydraulic-driven, utilize Digiplex to realize the assembly unit of section of jurisdiction.
Manipulator of automatic positioning and rapid grasping pipe piece compared with prior art, has comprehensive section of jurisdiction installation function, realize that the section of jurisdiction arrives arbitrarily predetermined installation site, it is flexible to grasp first watch, realizes four kinds of motions, effectively improves pipe sheet assembling efficient, the attitude adjustment of section of jurisdiction is easier, make pipe sheet assembling efficient higher, advantage such as the tunnel forming quality is more guaranteed will be widely used in the tunnel construction machinery industry.
Description of drawings:
The present invention is described in detail below in conjunction with drawings and Examples.
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the big left view of Fig. 1.
Fig. 3 is the structural representation of section of jurisdiction of the present invention bridge.
Fig. 4 is the structural representation at extracting platform of the present invention position.
The specific embodiment:
With reference to accompanying drawing, manipulator of automatic positioning and rapid grasping pipe piece, whole device by rotating ring 1, retainer ring 2, drive unit 3, cantilever beam 4, channel suspending rail 5, two translation oil cylinders 6, two leads 7, four fairleads 8, two lift cylinders 9, hoisting frame 10, four rollers 11, grasp platform 12, gripper cylinder 13, deflection oil cylinder 14, three dump rams 15, backstay 16, oscillating bearing 17, grasp 18 and form, the axis direction in tunnel is made as X-axis, tunnel radial level direction is a Y-axis, and tunnel radially vertical direction is the Z axle; Rotating ring 1 overlaps with X-axis with the axis of retainer ring 2, drive unit 3 is fixed on the retainer ring 2, its hydraulic motor is through reduction box driving pinion, thereby drives bull gear and the rotating ring that connects with bull gear 1 rotate around X-axis, thus drive and rotating ring 1 joining hoisting frame 10 rotations; Cantilever beam 4 is along the housing inboard that axially and abreast is fixed on shield machine of shield machine, be respectively equipped with the channel suspending rail 5 that rolls for four rollers 11 in the outside of cantilever beam 4, four rollers 11 are individually fixed in the both sides inwall of retainer ring 2, the cylinder body of two translation oil cylinders 6 is fixed on the cantilever beam 4, its piston rod and retainer ring 2 hinged securement, four rollers 11 that drive on the retainer ring 2 when two translation oil cylinders 6 stretch roll in channel suspending rail 5, and promptly total moves along X-axis; Four fairleads 8 are parallel with the both sides due to rotating ring 1, the upper end of the cylinder body of two lift cylinders 9 and two leads 7 is connected and fixed, the tailpiece of the piston rod of two lift cylinders 9 and rotating ring 1 hinged securement, two lift cylinders 9 drive two leads 7 and slide along four fairleads 8 when stretching, two leads, 7 lower ends and hoisting frame 10 are fixedly connected, and move along the Z axle thereby drive extracting platform 12; Grasping platform 12 is Y shape support, hoisting frame 10 is hinged with three summits grasping platform 12 respectively by three dump rams 15, flexible can the drive of three dump rams 15 grasped platform 12 around Y-axis and X-axis swing, deflection oil cylinder 14 1 ends and hoisting frame 10 are hinged, the other end is hinged with extracting platform 12, the flexible extracting platform 12 that can drive of deflection oil cylinder 14 rotates around the Z axle, gripper cylinder 13 is positioned at and grasps platform 12 centers, play connection, promote and the promptly effect of section of jurisdiction, backstay 16 is with fixing on the hoisting frame 10, cooperate with the oscillating bearing 17 on grasping platform 12, the displacement of platform 12 in the XZ plane grasped in restriction.
Hoisting frame 10 can realize around X-axis rotation, along the displacement of X-axis and Z axle, these three big displacements are used for locating fast the section of jurisdiction, grasp 18 and can realize four kinds of motions: around the rotation of X-axis, Y-axis, Z axle and along the translation of Z axle, after these four less displacements are used for section of jurisdiction arrival predetermined angular, attitude adjustment before in place, thus the installation that guarantees the section of jurisdiction is not only fast but also easy.
Claims (1)
1. manipulator of automatic positioning and rapid grasping pipe piece, whole device is made up of rotating ring, retainer ring, drive unit, cantilever beam, channel suspending rail, two translation oil cylinders, two leads, four fairleads, two lift cylinders, hoisting frame, four rollers, extracting platform, gripper cylinder, deflection oil cylinder, three dump rams, backstay, oscillating bearing, extracting head, it is characterized in that: the axis direction in tunnel is sent out be X-axis, tunnel radial level direction is a Y-axis, and tunnel radially vertical direction is the Z axle; Rotating ring overlaps with X-axis with the axis of retainer ring, drive unit is fixed on on the fixed ring, its hydraulic motor rotates around X-axis thereby the drive bull gear reaches the rotating ring that connects with bull gear through the reduction box driving pinion, rotates thereby drive with the joining hoisting frame of rotating ring; Cantilever beam is along the housing inboard that axially and abreast is fixed on shield machine of shield machine, be respectively equipped with the channel suspending rail that rolls for four rollers in the outside of cantilever beam, four rollers are individually fixed in the both sides inwall of retainer ring, the cylinder body of two translation oil cylinders is fixed on the cantilever beam, its piston rod and retainer ring hinged securement, four rollers that drive on the retainer ring when two translation oil cylinders are flexible roll in channel suspending rail, and promptly total moves along X-axis; Four fairlead secured in parallel are in the both sides of rotating ring, the upper end of the cylinder body of two lift cylinders and two leads is connected and fixed, the tailpiece of the piston rod of two lift cylinders and rotating ring hinged securement, two lift cylinders drive two leads when flexible and slide along four fairleads, two lead lower ends connect with fixed with hoisting frame, move along the Z axle thereby drive the extracting platform; Grasping platform is Y shape support, hoisting frame by three dump rams respectively with three summits grasping platform mutually dumpling connect, flexible can the drive of three dump rams grasped platform around Y-axis and X-axis swing, deflection oil cylinder one end and hoisting frame are hinged, the other end is hinged with the extracting platform, the flexible extracting platform that can drive of deflection oil cylinder rotates around the Z axle, gripper cylinder is positioned at and grasps the platform center, play connection, promote and the promptly effect of section of jurisdiction, backstay is with fixing on the hoisting frame, cooperate with the oscillating bearing on grasping platform, the displacement of platform in the XZ plane grasped in restriction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710159134A CN100575006C (en) | 2007-12-24 | 2007-12-24 | Manipulator of automatic positioning and rapid grasping pipe piece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710159134A CN100575006C (en) | 2007-12-24 | 2007-12-24 | Manipulator of automatic positioning and rapid grasping pipe piece |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101200063A true CN101200063A (en) | 2008-06-18 |
| CN100575006C CN100575006C (en) | 2009-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200710159134A Expired - Fee Related CN100575006C (en) | 2007-12-24 | 2007-12-24 | Manipulator of automatic positioning and rapid grasping pipe piece |
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| Country | Link |
|---|---|
| CN (1) | CN100575006C (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101967988A (en) * | 2010-08-23 | 2011-02-09 | 重庆城建控股(集团)有限责任公司 | Quickly-installed manipulator of attached type tunnel arch |
| CN101705828B (en) * | 2009-10-21 | 2011-08-31 | 上海隧道工程股份有限公司 | Shield pipe sheet assembling machine |
| CN101705830B (en) * | 2009-10-21 | 2012-04-18 | 上海隧道工程股份有限公司 | Vacuum cup six-degree-of-freedom shield tunnel segment erector |
| CN101737062B (en) * | 2009-11-27 | 2012-05-09 | 沈阳重型机械集团有限责任公司 | Segment assembly robot for miniature shield machine |
| CN101696634B (en) * | 2009-11-09 | 2012-06-13 | 上海交通大学 | Six-degree-of-freedom shield segment assembling machine |
| CN103195445A (en) * | 2013-04-15 | 2013-07-10 | 辽宁北方重工机器制造有限公司 | Self-positioning quick segment erector |
| CN103527206A (en) * | 2013-10-31 | 2014-01-22 | 北方重工集团有限公司 | Steel arch and mesh mounting mechanical arm of tunnel heading machine |
| CN103697021A (en) * | 2013-12-13 | 2014-04-02 | 浙江三一装备有限公司 | Positioning mounting control system for steam generator |
| CN104533464A (en) * | 2014-12-17 | 2015-04-22 | 中国神华能源股份有限公司 | Device and method for positioning and installing portal steel ring |
| CN105443136A (en) * | 2015-12-30 | 2016-03-30 | 中船重型装备有限公司 | Segment erector device of shield tunneling machine |
| CN106017541A (en) * | 2016-07-29 | 2016-10-12 | 中铁第四勘察设计院集团有限公司 | Online monitoring device and method of subway contact net support looseness |
| CN106194219A (en) * | 2016-07-19 | 2016-12-07 | 中铁工程装备集团有限公司 | One is applied to large section shape of a hoof shield pipe sheet assembling machine snatch device |
| CN107449383A (en) * | 2017-09-22 | 2017-12-08 | 中国铁建重工集团有限公司 | A kind of section of jurisdiction automatic identification grabbing device and method |
| CN107965334A (en) * | 2017-12-01 | 2018-04-27 | 辽宁三三工业有限公司 | A kind of shield machine assembling machine section of jurisdiction grasping mechanism |
| CN108035749A (en) * | 2017-12-25 | 2018-05-15 | 辽宁三三工业有限公司 | A kind of shield machine segment grip axes locking device |
| CN108060929A (en) * | 2018-01-22 | 2018-05-22 | 中铁工程装备集团有限公司 | A kind of roller type tunnel double-lining pipe sheet assembling equipment and lining methods |
| CN108832547A (en) * | 2018-02-12 | 2018-11-16 | 国家电网公司 | The auxiliary machine tool connected for pipeline in gas-insulated metal closed power transmission line |
| CN108979647A (en) * | 2018-08-14 | 2018-12-11 | 厦门厦工中铁重型机械有限公司 | A kind of exit passageway suitable between middle shield and equipment bridge, control device and its control method |
| CN109013245A (en) * | 2018-09-20 | 2018-12-18 | 陈梓豪 | A kind of double door coordinated type sewing machine baking vanish system of processing |
| CN109113770A (en) * | 2018-10-15 | 2019-01-01 | 中铁工程装备集团有限公司 | A kind of duct piece assembling machine |
| CN109227080A (en) * | 2018-09-30 | 2019-01-18 | 成都南方电子仪表有限公司 | A kind of multifunction manipulator and revolving platform |
| CN109262216A (en) * | 2018-09-30 | 2019-01-25 | 成都南方电子仪表有限公司 | A kind of C axis swing mechanism |
| CN109441494A (en) * | 2018-11-02 | 2019-03-08 | 中铁工程装备集团有限公司 | Excavating load double track tunnel gantry type pipe sheet assembling device and method |
| CN109848956A (en) * | 2019-04-04 | 2019-06-07 | 浙江大学 | A kind of open type TBM steel arch-shelf automatic assembling apparatus for work and its method |
-
2007
- 2007-12-24 CN CN200710159134A patent/CN100575006C/en not_active Expired - Fee Related
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101705828B (en) * | 2009-10-21 | 2011-08-31 | 上海隧道工程股份有限公司 | Shield pipe sheet assembling machine |
| CN101705830B (en) * | 2009-10-21 | 2012-04-18 | 上海隧道工程股份有限公司 | Vacuum cup six-degree-of-freedom shield tunnel segment erector |
| CN101696634B (en) * | 2009-11-09 | 2012-06-13 | 上海交通大学 | Six-degree-of-freedom shield segment assembling machine |
| CN101737062B (en) * | 2009-11-27 | 2012-05-09 | 沈阳重型机械集团有限责任公司 | Segment assembly robot for miniature shield machine |
| CN101967988A (en) * | 2010-08-23 | 2011-02-09 | 重庆城建控股(集团)有限责任公司 | Quickly-installed manipulator of attached type tunnel arch |
| CN103195445A (en) * | 2013-04-15 | 2013-07-10 | 辽宁北方重工机器制造有限公司 | Self-positioning quick segment erector |
| CN103527206A (en) * | 2013-10-31 | 2014-01-22 | 北方重工集团有限公司 | Steel arch and mesh mounting mechanical arm of tunnel heading machine |
| CN103527206B (en) * | 2013-10-31 | 2015-10-28 | 北方重工集团有限公司 | Tunnel machine steel arch-shelf and mesh sheet installation manipulator |
| CN103697021B (en) * | 2013-12-13 | 2016-01-20 | 浙江三一装备有限公司 | Steam generator location and installation control system |
| CN103697021A (en) * | 2013-12-13 | 2014-04-02 | 浙江三一装备有限公司 | Positioning mounting control system for steam generator |
| CN104533464A (en) * | 2014-12-17 | 2015-04-22 | 中国神华能源股份有限公司 | Device and method for positioning and installing portal steel ring |
| CN105443136A (en) * | 2015-12-30 | 2016-03-30 | 中船重型装备有限公司 | Segment erector device of shield tunneling machine |
| CN106194219A (en) * | 2016-07-19 | 2016-12-07 | 中铁工程装备集团有限公司 | One is applied to large section shape of a hoof shield pipe sheet assembling machine snatch device |
| CN106017541A (en) * | 2016-07-29 | 2016-10-12 | 中铁第四勘察设计院集团有限公司 | Online monitoring device and method of subway contact net support looseness |
| CN107449383A (en) * | 2017-09-22 | 2017-12-08 | 中国铁建重工集团有限公司 | A kind of section of jurisdiction automatic identification grabbing device and method |
| CN107449383B (en) * | 2017-09-22 | 2023-08-01 | 中国铁建重工集团股份有限公司 | Automatic segment recognition and grabbing device and method |
| CN107965334A (en) * | 2017-12-01 | 2018-04-27 | 辽宁三三工业有限公司 | A kind of shield machine assembling machine section of jurisdiction grasping mechanism |
| CN107965334B (en) * | 2017-12-01 | 2024-03-19 | 辽宁三三工业有限公司 | Pipe sheet grabbing mechanism of shield tunneling machine splicing machine |
| CN108035749A (en) * | 2017-12-25 | 2018-05-15 | 辽宁三三工业有限公司 | A kind of shield machine segment grip axes locking device |
| CN108035749B (en) * | 2017-12-25 | 2024-02-02 | 辽宁三三工业有限公司 | Locking device for grabbing shaft of pipe sheet of shield tunneling machine |
| CN108060929A (en) * | 2018-01-22 | 2018-05-22 | 中铁工程装备集团有限公司 | A kind of roller type tunnel double-lining pipe sheet assembling equipment and lining methods |
| CN108060929B (en) * | 2018-01-22 | 2024-03-15 | 中铁工程装备集团有限公司 | Roller type tunnel two-liner pipe piece assembling equipment and lining method |
| CN108832547A (en) * | 2018-02-12 | 2018-11-16 | 国家电网公司 | The auxiliary machine tool connected for pipeline in gas-insulated metal closed power transmission line |
| CN108832547B (en) * | 2018-02-12 | 2019-11-22 | 国家电网公司 | The auxiliary machine tool connected for pipeline in gas-insulated metal closed power transmission line |
| CN108979647A (en) * | 2018-08-14 | 2018-12-11 | 厦门厦工中铁重型机械有限公司 | A kind of exit passageway suitable between middle shield and equipment bridge, control device and its control method |
| CN108979647B (en) * | 2018-08-14 | 2023-09-15 | 厦门厦工中铁重型机械有限公司 | Safety channel suitable for use between middle shield and equipment bridge, control device and control method thereof |
| CN109013245A (en) * | 2018-09-20 | 2018-12-18 | 陈梓豪 | A kind of double door coordinated type sewing machine baking vanish system of processing |
| CN109227080A (en) * | 2018-09-30 | 2019-01-18 | 成都南方电子仪表有限公司 | A kind of multifunction manipulator and revolving platform |
| CN109262216A (en) * | 2018-09-30 | 2019-01-25 | 成都南方电子仪表有限公司 | A kind of C axis swing mechanism |
| CN109113770A (en) * | 2018-10-15 | 2019-01-01 | 中铁工程装备集团有限公司 | A kind of duct piece assembling machine |
| CN109441494A (en) * | 2018-11-02 | 2019-03-08 | 中铁工程装备集团有限公司 | Excavating load double track tunnel gantry type pipe sheet assembling device and method |
| CN109441494B (en) * | 2018-11-02 | 2024-05-14 | 中铁工程装备集团有限公司 | Double-line tunnel portal type segment assembling equipment and method by excavation method |
| CN109848956A (en) * | 2019-04-04 | 2019-06-07 | 浙江大学 | A kind of open type TBM steel arch-shelf automatic assembling apparatus for work and its method |
| CN109848956B (en) * | 2019-04-04 | 2023-12-08 | 浙江大学 | Automatic assembling operation device and method for open TBM steel arch |
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| CN100575006C (en) | 2009-12-30 |
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