CN108278121A - A kind of intelligence steel arch-shelf assembling machine people - Google Patents
A kind of intelligence steel arch-shelf assembling machine people Download PDFInfo
- Publication number
- CN108278121A CN108278121A CN201810251055.8A CN201810251055A CN108278121A CN 108278121 A CN108278121 A CN 108278121A CN 201810251055 A CN201810251055 A CN 201810251055A CN 108278121 A CN108278121 A CN 108278121A
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- Prior art keywords
- assembled
- tbm
- plate
- assembled circuit
- gear
- Prior art date
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 30
- 239000010959 steel Substances 0.000 title claims abstract description 30
- 230000032258 transport Effects 0.000 claims abstract description 61
- 238000009434 installation Methods 0.000 claims abstract description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 238000004140 cleaning Methods 0.000 claims abstract description 13
- 238000005096 rolling process Methods 0.000 claims description 25
- 238000013016 damping Methods 0.000 claims description 12
- 239000011435 rock Substances 0.000 abstract description 6
- 239000002893 slag Substances 0.000 description 10
- 239000003818 cinder Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000007363 ring formation reaction Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000004567 concrete Substances 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000011378 shotcrete Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
- E21D9/126—Loading devices or installations
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention discloses a kind of intelligent steel arch-shelf assembling machine people, including transportation system, assembling system, installation system and cleaning dregs system, cleaning dregs system to be mounted on hard rock mole（Abbreviation TBM）The lower face of girder；The transportation system includes travelling bogie and conveying track, conveying track is fixed on the upper surface of TBM girders, travelling bogie back and forth movement on conveying track transports assembled ring plate in the assembled circuit of assembling system, assembled circuit is mounted on the support base in support ring, and assembled circuit rotates on support base, support ring is mounted on the side of TBM girders；The mechanical arm of installation system is matched with the assembled ring plate on assembled circuit, and assembled ring plate is fitted together；And mechanical arm is rolled by pedestal and is mounted on attachment rail, attachment rail is fixed on the side of TBM girders and parallel with assembled circuit.Intelligent installation of the invention, liberates manpower, promotes installation quality and stability, and technical maturity is high, and single or multiple mechanical arms cooperate with high-efficient homework.
Description
Technical field
The invention belongs to technical field of tunnel construction, and in particular to a kind of intelligence steel arch-shelf assembling machine people.
Background technology
Major diameter hard rock mole (TBM) be integrate driving, slag tap, the tunnel piercing of the functions such as supporting it is large complicated
Complete set of equipments is the constructing tunnels equipment such as state-owned railroads, highway, water conservancy, urban construction and national defense construction.
In TBM tunneling constructions, needs to carry out preliminary bracing, improve the stability of country rock, prevent slump.Preliminary bracing one
As use steel arch, cooperation bar-mat reinforcement, anchor pole, reinforcing bar row, gunite concrete carry out strengthening supporting.Steel arch-shelf installation system is complete disconnected
The important component of face rock ripper, main function be development machine is excavated the exposed country rock to be formed carry out it is timely and effective
Supporting, it is ensured that operating personnel and equipment safety, cooperation secondary lining finally obtain good tunnel forming quality.
Traditional steel arch-shelf installation system completes transport and the connection cyclization of steel arch-shelf by manpower, and support efficiency is low, makees
Industry bad environments are the do mechanization operation systems of human assistance.
Steel arch-shelf on open type TBM is assembled by the multistage steel arch piece of section steel manufacture；Steel arch-shelf installation process packet
It includes and arch is transported to assembled position in time, then assembly is cyclic and is installed to corresponding position, realizes installation.The general cloth of transportation system
It sets above girder, assembling system is typically located at girder front top shield in the following, to be propped up in time under the protection of top shield
Vertical steel arch-shelf.Transport, rotary assembling, top and lateral stretching, the bottom opening of completing arch material is needed to be tensioned closing etc. and move
Make.Currently, the realization of each of the above action has been required to manually participate in：
1, the transport of trolley needs human assistance to transport；
2, arch is transported to assembled ring, needs artificial fixation；
3, before installation site installs arch, need manually first to clean out the debris of assembled position；
4, tentatively after cyclization, it is transported to installation site, needs human assistance stretching in Dong Bi, and completes bottom envelope under human assistance
Mouth action.
Under unfavorable geological condition, need a large amount of arch assembled, splicing speed tends not to the pick for meeting rock tunnel(ling) machine
Into rate request, not in time, support efficiency is low or unstable quality, seriously affects for supporting caused by manually-operated mechanical work
The drivage efficiency of TBM tunnels quality, driving safety.Therefore, rational steel arch-shelf installation system design is to improve TBM initial stage branch
An important factor for protecting efficiency.
Invention content
The present invention for the above-mentioned prior art described in the assembled artificial low technical problem of support efficiency of steel arch-shelf, to
A kind of a kind of intelligent steel arch-shelf assembling machine people of offer is provided.
In order to solve the above technical problems, the technical solution adopted in the present invention is as follows：
A kind of intelligence steel arch-shelf assembling machine people, including transportation system, assembling system, installation system and cleaning dregs system, scarfing cinder
System is mounted on the lower face of TBM girders；The transportation system includes travelling bogie and conveying track, and conveying track is fixed on
Assembled ring plate is transported the assembled ring of assembling system by the upper surface of TBM girders, travelling bogie back and forth movement on conveying track
In road, assembled circuit is mounted on the support base in support ring, and assembled circuit rotates on support base, and support ring is mounted on
The side of TBM girders；The mechanical arm of installation system is matched with the assembled ring plate on assembled circuit, and assembled ring plate is assembled in one
It rises；And mechanical arm by pedestal roll be mounted on attachment rail on, attachment rail be fixed on the side of TBM girders and with assembled ring
Road is parallel.
The transportation system, including the first transport vehicle, the second transport vehicle, the first conveying track and the second conveying track, the
Two transport vehicles are mounted on the second conveying track and are moved back and forth on the second conveying track, and the second conveying track is mounted on TBM
The upper surface of girder is equipped with the first conveying track on the TBM girders between the second conveying track, and the first transport vehicle is first
It is moved back and forth on conveying track and removes the assembled ring plate on the second transport vehicle；It is vertically-mounted on first transport vehicle to have liquid
The piston rod part of cylinder pressure I, hydraulic cylinder I is provided with transport plates, and transport plates are for transporting assembled ring plate.
For several assembled ring plates of second transport vehicle transport at the first transport vehicle, the first transport vehicle is less than the in normal state
The piston rod of two transport vehicles, the hydraulic cylinder I on the first transport vehicle drives transport plates to move up the assembly on the second transport vehicle
Ring plate is removed, and is removed rear first transport vehicle and is moved at the assembled circuit of assembling system, since transport plates are higher than on assembled circuit
Lower loading plate, assembled ring plate can be placed on the loading plate of assembled circuit so the first transport vehicle moves on.
The assembling system, including assembled circuit, loading plate, support base, support ring, clamp assembly, ejection assembly and rolling
Dynamic component；Assembled circuit is mounted on by rolling assembly on support base, and support base is fixedly connected with support ring, and support ring passes through top
Go out component and is fixed on TBM girders side；And ejection assembly is corresponding with the assembled ring plate in assembled circuit ejects assembled ring plate
Onto tunnel wall；Interval is equipped with several loading plates on assembled circuit, and folder is equipped on the assembled circuit between loading plate
Tight component, clamp assembly clamp the assembled ring plate in assembled circuit.
The ejection assembly includes two groups of ejection actuators, and every group of ejection actuator includes a vertical actuator and water
Flat actuator, two groups of ejection actuators are symmetricly set on TBM girders both sides, and the shell of each ejection actuator is fixed on TBM
Girder side, the extensible member for ejecting actuator are corresponding with assembled ring plate；And in the shell of every group of vertical actuator and horizontal drive
It is respectively and fixedly provided with a support ring between the shell of moving part, the top of each support ring is respectively provided with there are one support base, on support base
Rolling assembly is installed.
Each ejection actuator is slidably mounted on by a sliding block in a track of TBM girders side, and
One end of each sliding block is connect with the extensible member of an ejection actuator, and each actuator that ejects is fixed on TBM girders side simultaneously
Corresponding sliding block is pulled to be moved in track groove.This mode enables assembling system to be moved on TBM girders, realizes multidigit
The assembly set.
It is mounted on dampening assembly, the dampening assembly, including damper, damping wheel and damping in the lower end of support ring
One end of bar, decoupling rod is hinged on the lower end of support ring, and the other end and damping wheel of decoupling rod are hinged, damping wheel and assembled circuit
Side be in rolling contact, one end of damper is hinged in support ring, and the other end is hinged on decoupling rod.
The rolling assembly, including driving motor I, master gear II, from gear II and mounting plate is rolled, it is solid to roll mounting plate
It being scheduled on support base, driving motor I is mounted on rolling mounting plate side and the output shaft of driving motor I is connect with master gear II,
Master gear II is engaged with from gear II, is meshed from gear II with the gear teeth of assembled circuit lateral surface, and assembled circuit rotation is driven.
And wheel edge is all had from gear II and damping wheel, assembled circuit can be limited in wheel prevents assembled circuit from falling along interior.
The clamp assembly includes clamping cylinder, clamp jaw group and clamping seats, and clamping seats are fixed on assembled circuit, is clamped
Cylinder is mounted on clamping seats and the piston rod of clamping cylinder is connect with clamp jaw group, the clamp jaw group, including two clamping jaws
With a link block, two clamping jaws are hinged on link block, and each clamping jaw include two sections it is hinged divide clamping jaw,
Two points of clamping jaw junctions are hinged on by axis pin in clamping seats.
The installation system, includes the attachment rail and mechanical arm of semi-circular shape, and attachment rail is symmetrically fixed on TBM girders
Two side ends are mounted on mechanical arm on each attachment rail, and the mechanical arm includes pedestal, and pedestal, which is ridden, is located at attachment rail
On, and pinch wheels are mounted on the side plate of pedestal, the side of pinch wheels and attachment rail is in rolling contact；Pedestal is positioned at two
Position between side plate is equipped with gear, and gear is meshed with the tooth on attachment rail, and gear is meshed with driving gear, main
Moving gear is mounted on the inside of side plate and the output axis connection with driving motor III, driving motor III are fixed on a side plate；
Mechanical arm reaches the connection splicing ring plate of the interval between two carrying board groups, and each splicing ring plate is stitched together.
The cleaning dregs system, including mini-excavator, mini-excavator are fixedly mounted on the lower end of TBM girders.Excavator
To carrying out digging slag at pipeline, dig in the dreg collecting slot in rear shovel to mechanical arm, mechanical arm is moved to top on scarfing cinder track will
Slag is discharged on the second travelling bogie, and the second travelling bogie transports slag.
Intelligent installation of the invention, liberates manpower, promotes installation quality and stability, and system authority technical maturity is high,
Single or multiple mechanical arms cooperate with high-efficient homework.Ring plate to be assembled is transported in assembled circuit by transportation system, it is assembled
Circuit is rotated under the action of rolling assembly, so that multiple assembled ring plates is all placed in assembled circuit, then mechanical arm
It is extend into assembled circuit by the interval between carrying board group and is contacted with assembled ring plate, mechanical arm action drives assembled ring plate
Assembly is carried out, the ejection extensible member of ejection assembly will carry out supporting in the ejection to Tunnel wall of assembled ring after the completion of assembly, and
And and the dregs in tunnel is cleared up by cleaning dregs system, the trolley of transportation system is transported after cleaning by mechanical arm
It is upper to transport tunnel in turn.For the stabilization of assembled ring plate in assembled circuit, it is also equipped with clamp assembly on assembled circuit, clamps
Component clamps assembled ring plate, prevents assembled ring plate in rotation process from being slided in assembled circuit.The entire mistake of assembly of steel arch-shelf
Journey, artificial participation is seldom, realizes that steel arch-shelf assembling machine people is turned into industry comprehensively, effectively solves that safe efficient, high quality is timely
Supporting problem improves TBM construction safeties and efficiency.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is schematic structural view of the invention.
Fig. 2 is sectional view along A-A in Fig. 1.
Fig. 3 is B-B direction sectional view in Fig. 1.
Fig. 4 is conveying circuit model schematic of the present invention.
Fig. 5 is the transhipment schematic diagram of work progress of the present invention.
Fig. 6 is the feeding schematic diagram of work progress of the present invention.
Fig. 7 is the assembled schematic diagram of work progress of the present invention.
Fig. 8 is the scarfing cinder schematic diagram of work progress of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of not making the creative labor
Embodiment shall fall within the protection scope of the present invention.
As shown in Figs. 1-3, a kind of intelligent steel arch-shelf assembling machine people, including transportation system 1, assembling system 2, installation system
System 3 and cleaning dregs system 4, cleaning dregs system 4 are mounted on the lower face of TBM girders；The transportation system 1 includes travelling bogie and transport
Track, conveying track are fixed on the upper surface of TBM girders, and travelling bogie back and forth movement on conveying track transports assembled ring plate
Into the assembled circuit 2-1 of assembling system 2, assembled circuit 2-1 is mounted on and is fixed on the support base 2-3 on support ring 2-4, and
Assembled circuit 2-1 can be rotated on supporting rod 2-3, and support ring 2-4 is mounted on the side of TBM girders；The mechanical arm of installation system 3
6 match with the assembled ring plate on assembled circuit 2-1, and assembled ring plate is fitted together；And mechanical arm 6 is rolled by pedestal 6-1
Dynamic to be mounted on attachment rail 3-1, attachment rail 3-1 is fixed on the side of TBM girders and parallel with assembled circuit 2-1.
Specifically, the transportation system 1, including the first transport vehicle 1-1, the second transport vehicle 1-2, the first conveying track 1-3
It is mounted on the second conveying track 1-4 and past on the second conveying track 1-4 with the second conveying track 1-4, the second transport vehicle 1-2
Movement is returned, the second conveying track 1-4 is mounted on the upper surface of TBM girders, on the TBM girders between the second conveying track 1-4
First conveying track 1-3, the first transport vehicle 1-1 is installed to move back and forth on the first conveying track 1-3 and by the second transport vehicle
Assembled ring plate on 1-2 is removed；It is vertically-mounted on the first transport vehicle 1-1 to have I 1-1-1 of hydraulic cylinder, I 1-1-1's of hydraulic cylinder
Piston rod part is provided with transport plates 1-1-2, and transport plates 1-1-2 is for transporting assembled ring plate.
The assembling system 2, including assembled circuit 2-1, loading plate 2-2, support base 2-3, support ring 2-4, clamp assembly,
Ejection assembly 2-6 and rolling assembly 2-7；Assembled circuit 2-1 is mounted on by rolling assembly 2-7 on support base 2-3, support base 2-
3 are fixedly connected with support ring 2-4, and support ring 2-4 is fixed on TBM girders side by ejection assembly 2-6；And ejection assembly 2-6
It is corresponding with the assembled ring plate in assembled circuit 2-1 to eject assembled ring plate onto tunnel wall；Peace is spaced on assembled circuit 2-1
Equipped with several loading plate 2-2, clamp assembly is installed on the assembled circuit 2-1 between loading plate 2-2, clamp assembly will be assembled
Assembled ring plate in circuit 2-1 clamps.
The ejection assembly 2-6 includes two groups of ejection actuator 2-6-1, and every group of ejection actuator includes a vertical drive
Moving part and horizontal drive part, two groups of ejection actuator 2-6-1 are symmetricly set on TBM girders both sides, and each ejection actuator 2-
The shell of 6-1 is fixed on TBM girders side, and the extensible member of ejection actuator 2-6-1 is corresponding with assembled ring plate；And it is erected at every group
It is respectively and fixedly provided with a support ring 2-4, the top of each support ring 2-4 between the shell and the shell of horizontal drive part of straight actuator
Rolling assembly is installed on support base 2-3 there are one being respectively provided with, support base 2-3.
Preferably, to enable assembling system to be moved on TBM girders, multipoint assembly, each top are realized
Go out actuator to be slidably mounted in a track of TBM girders side by a sliding block, and one end and one of each sliding block
The extensible member connection of a ejection actuator, each actuator that ejects are fixed on TBM girders side and pull corresponding sliding block in-orbit
It is moved in road slot.
In the present embodiment, the ejection actuator uses hydraulic cylinder.
The lower end of support ring 2-4 be mounted on dampening assembly 2-8, the dampening assembly 2-8, including damper 2-8-1,
Damping wheel 2-8-2 and decoupling rod 2-8-3, one end of decoupling rod 2-8-3 are hinged on the lower end of support ring 2-4, decoupling rod 2-8-3's
The other end is hinged with damping wheel 2-8-2, and damping wheel 2-8-2 and the side of assembled circuit 2-1 are in rolling contact, damper 2-8-1's
One end is hinged on support ring 2-4, and the other end is hinged on decoupling rod 2-8-3.
The rolling assembly 2-7, including driving motor I, master gear II, from II 2-7-1 of gear and roll mounting plate 2-7-
2, it rolls mounting plate 2-7-2 and is fixed on support base 2-3, driving motor I, which is mounted on, rolls the sides mounting plate 2-7-2 and driving electricity
The output shaft of machine I is connect with master gear II, and master gear II is engaged with from II 2-7-1 of gear, from II 2-7-1 of gear and assembled circuit
The gear teeth of 2-1 lateral surfaces are meshed, and drive assembled circuit 2-1 rotations；Wheel edge is carried from gear II and damping wheel, by assembled ring
Road fast pulley is in.
The clamp assembly includes clamping cylinder, clamp jaw group and clamping seats, and clamping seats are fixed on installation circuit 2-1, folder
Tight cylinder is mounted on clamping seats and the piston rod of clamping cylinder is connect with clamp jaw group, the clamp jaw group, including two clamping jaws with
One link block, two clamping jaws are hinged on link block, and each clamping jaw include two sections it is hinged divide clamping jaw, two
It is a that clamping jaw junction is divided to be hinged in clamping seats by axis pin.
The installation system 3, includes the attachment rail 3-1 and mechanical arm 6 of semi-circular shape, and attachment rail 3-1 is symmetrically fixed
In TBM girder two side ends, mechanical arm 6 is mounted on each attachment rail 3-1, the mechanical arm 6 includes pedestal 6-1, bottom
Seat 6-1 rides and is located on attachment rail 3-1, and is mounted on pinch wheels 6-4 on the side plate 6-3 of pedestal 6-1, pinch wheels 6-4 with
The side of attachment rail 3-1 is in rolling contact；Pedestal 6-1 is equipped with gear 6-2, gear in the position between both side plate 6-3
6-2 is meshed with the tooth 3-2 on attachment rail 3-1, and gear 6-2 is meshed with driving gear, and driving gear is mounted on side plate
The inside of 6-3 and output axis connection with driving motor III, driving motor III are fixed on a side plate 6-3；Mechanical arm 6 reaches
Interval connection splicing ring plate between two carrying board groups, and each splicing ring plate is stitched together.
The cleaning dregs system, including mini-excavator, mini-excavator are fixedly mounted on the lower end of TBM girders.Excavator
To carrying out digging slag at pipeline, dig in the dreg collecting slot in rear shovel to mechanical arm, mechanical arm is moved to top on scarfing cinder track will
Slag is discharged on the second travelling bogie, and the second travelling bogie transports slag.
The course of work：Second several assembled ring plates of transport vehicle 1-2 transports are at the first transport vehicle 1-1, the first transport vehicle 1-1
The piston rod for being less than I 1-1-1 of hydraulic cylinder on the second transport vehicle 1-2, the first transport vehicle 1-1 in normal state drives transport plates
1-1-2, which is moved up, removes the assembled ring plate on the second transport vehicle 1-2, completes material transfer process, as shown in Figure 4；
After removing assembled ring plate, the first transport vehicle 1-1 is moved at the assembled circuit 2-1 of assembling system 2, due to transport plates 1-2
The second loading plate that can be higher than on assembled circuit 2-1, so the first transport vehicle 1-1, which is moved on, to be placed into spelling by assembled ring plate
On the loading plate for filling circuit 2-1, feeding process is completed, as shown in Figure 5.
After placing assembled ring plate on assembled circuit 2-1, the driving motor I of rolling assembly drives master gear II to rotate, main tooth
Wheel II drives from II 2-7-1 of gear and rotates, from II 2-7-1 of gear and the assembly sides circuit 2-1 gear teeth meshing, because of rolling assembly
Position is fixed, so assembly circuit 2-1 is rolled on the mounting plate of rolling assembly in rolling groove, makes to be not loaded into assembled ring plate
Assembled circuit against the first travelling bogie 1-1, recycle successively, until assembled ring plate is encased on assembled circuit, then machine
Tool arm 6 reaches the interior assembly contacted with assembled ring plate and two assembled ring plates are realized in movement on attachment rail 3-1 of assembled circuit, according to
Secondary repetition completes installation and assembled process, as shown in Figure 6 until all assembled ring plates are spliced cyclization.
Simultaneously with assembled process, assembled position is carried out cleaning debris by cleaning dregs system, excavator to carrying out digging slag in tunnel,
Realize scarfing cinder process, as shown in Figure 7.
After the completion of assembled and scarfing cinder, ejection assembly can will carry out supporting in the ejection to tunnel inner wall of assembled ring body.It installs
Cheng Hou, excavator shovel debris into the dreg collecting slot on mechanical arm, and mechanical arm is moved to top on scarfing cinder track and is discharged to slag
On second travelling bogie, the second travelling bogie transports slag, completes dregs and transports process, as shown in Figure 8.
Described above is only presently preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (10)
1. a kind of intelligence steel arch-shelf assembling machine people, it is characterised in that：Including transportation system（1）, assembling system（2）, installation
System（3）And cleaning dregs system（4）, cleaning dregs system（4）Mounted on the lower face of TBM girders；The transportation system（1）Including transport
Trolley and conveying track, conveying track are fixed on the upper surface of TBM girders, and travelling bogie back and forth movement on conveying track will spell
Dress ring plate transports assembling system（2）Assembled circuit（2-1）It is interior, assembled circuit（2-1）Support base in support ring
On, and assembled circuit（2-1）In support base（2-3）Upper rotation, support ring（2-4）Mounted on the side of TBM girders；Installation system
（3）Mechanical arm（6）With assembled circuit（2-1）On assembled ring plate match, assembled ring plate is fitted together；And mechanical arm
（6）Pass through pedestal（6-1）It rolls and is mounted on attachment rail（3-1）On, attachment rail（3-1）It is fixed on the side of TBM girders simultaneously
With assembled circuit（2-1）It is parallel.
2. intelligence steel arch-shelf assembling machine people according to claim 1, it is characterised in that：The transportation system（1）, packet
Include the first transport vehicle（1-1）, the second transport vehicle（1-2）, the first conveying track（1-3）With the second conveying track（1-4）, the second fortune
Defeated vehicle（1-2）Mounted on the second conveying track（1-4）Above and in the second conveying track（1-4）Upper round-trip, the second transport rail
Road（1-4）Mounted on the upper surface of TBM girders, in the second conveying track（1-4）Between TBM girders on the first transport is installed
Track（1-3）, the first transport vehicle（1-1）In the first conveying track（1-3）Upper round-trip and by the second transport vehicle（1-2）On
Assembled ring plate is removed；First transport vehicle（1-1）It is above vertically-mounted to have hydraulic cylinder I（1-1-1）, hydraulic cylinder I（1-1-1）Work
It is provided with transport plates at the top of stopper rod（1-1-2）, transport plates（1-1-2）For transporting assembled ring plate.
3. intelligence steel arch-shelf assembling machine people according to claim 1, it is characterised in that：The assembling system（2）, packet
Include assembled circuit（2-1）, loading plate（2-2）, support base（2-3）, support ring（2-4）, clamp assembly, ejection assembly（2-6）With
Rolling assembly（2-7）；Assembled circuit（2-1）Pass through rolling assembly（2-7）Mounted on support base（2-3）On, support base（2-3）With
Support ring（2-4）It is fixedly connected, support ring（2-4）Pass through ejection assembly（2-6）It is fixed on TBM girders side；And ejection assembly
（2-6）With assembled circuit（2-1）Interior assembled ring plate is corresponding will be in the ejection to tunnel wall of assembled ring plate；In assembled circuit（2-
1）Upper interval is equipped with several loading plates（2-2）, in loading plate（2-2）Between assembled circuit（2-1）On clamping group is installed
Part, clamp assembly is by assembled circuit（2-1）Interior assembled ring plate clamps.
4. intelligence steel arch-shelf assembling machine people according to claim 3, it is characterised in that：The ejection assembly（2-6）
Including two groups of ejection actuators（2-6-1）, every group of ejection actuator include a vertical actuator and horizontal drive part, two groups
Eject actuator（2-6-1）TBM girders both sides are symmetricly set on, and each eject actuator（2-6-1）Shell be fixed on TBM
Girder side ejects actuator（2-6-1）Extensible member it is corresponding with assembled ring plate；And in the shell of every group of vertical actuator and
A support ring is respectively and fixedly provided between the shell of horizontal drive part（2-4）, each support ring（2-4）Top be respectively provided with there are one
Support base（2-3）, support base（2-3）On rolling assembly is installed.
5. intelligence steel arch-shelf assembling machine people according to claim 4, it is characterised in that：Each ejection actuator
It is slidably mounted in a track of TBM girders side by a sliding block, and one end of each sliding block is driven with an ejection
The extensible member of moving part connects, and each actuator that ejects is fixed on TBM girders side and corresponding sliding block is pulled to be moved in track groove
It is dynamic.
6. intelligence steel arch-shelf assembling machine people according to claim 3 or 4, it is characterised in that：In support ring（2-4）'s
Lower end is mounted on dampening assembly（2-8）, the dampening assembly（2-8）, including damper（2-8-1）, damping wheel（2-8-2）With
Decoupling rod（2-8-3）, decoupling rod（2-8-3）One end be hinged on support ring（2-4）Lower end, decoupling rod（2-8-3）It is another
End and damping wheel（2-8-2）It is hinged, damping wheel（2-8-2）With assembled circuit（2-1）Side be in rolling contact, damper（2-8-
1）One end be hinged on support ring（2-4）On, the other end is hinged on decoupling rod（2-8-3）On.
7. intelligence steel arch-shelf assembling machine people according to claim 3 or 4, it is characterised in that：The rolling assembly（2-
7）, including driving motor I, master gear II, from gear II（2-7-1）With rolling mounting plate（2-7-2）, roll mounting plate（2-7-
2）It is fixed on support base（2-3）On, driving motor I, which is mounted on, rolls mounting plate（2-7-2）The output shaft of side and driving motor I
Connect with master gear II, master gear II with from gear II（2-7-1）Engagement, from gear II（2-7-1）With assembled circuit（2-1）Outside
The gear teeth of side are meshed, and drive assembled circuit（2-1）Rotation.
8. intelligence steel arch-shelf assembling machine people according to claim 3, it is characterised in that：The carrying board group（2-2）
Including the first loading plate（2-2-1）With the second loading plate（2-2-2）, the first loading plate（2-2-1）With the second loading plate（2-2-2）
It is oppositely arranged, for holding assembled ring plate.
9. intelligence steel arch-shelf assembling machine people according to claim 3, it is characterised in that：The clamp assembly includes folder
Tight cylinder, clamp jaw group and clamping seats, clamping seats are fixed on assembled circuit（2-1）On, clamping cylinder be mounted on clamping seats on and
The piston rod of clamping cylinder is connect with clamp jaw group, the clamp jaw group, including two clamping jaws and a link block, two clamping jaws
It is hinged on link block, and each clamping jaw includes two sections and hinged clamping jaw, two points of clamping jaw junctions divided to pass through
Axis pin is hinged in clamping seats.
10. intelligence steel arch-shelf assembling machine people according to claim 1, it is characterised in that：The installation system（3）,
Attachment rail including semi-circular shape（3-1）And mechanical arm（6）, attachment rail（3-1）TBM girder two side ends symmetrically are fixed on,
In each attachment rail（3-1）On be mounted on mechanical arm（6）, the mechanical arm（6）Including pedestal（6-1）, pedestal（6-1）It rides
It is located at attachment rail（3-1）On, and in pedestal（6-1）Side plate（6-3）On be mounted on pinch wheels（6-4）, pinch wheels（6-4）
With attachment rail（3-1）Side be in rolling contact；Pedestal（6-1）Positioned at both side plate（6-3）Between position gear is installed
（6-2）, gear（6-2）With attachment rail（3-1）On tooth（3-2）It is meshed, and gear（6-2）It is meshed with driving gear,
Driving gear is mounted on side plate（6-3）Inside and output axis connection with driving motor III, driving motor III be fixed on one
Side plate（6-3）On；Mechanical arm（6）The interval connection splicing ring plate between two carrying board groups is reached, and each splicing ring plate is spelled
It is connected together.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810251055.8A CN108278121B (en) | 2018-03-26 | 2018-03-26 | Intelligent steel arch assembling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810251055.8A CN108278121B (en) | 2018-03-26 | 2018-03-26 | Intelligent steel arch assembling robot |
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| CN108278121A true CN108278121A (en) | 2018-07-13 |
| CN108278121B CN108278121B (en) | 2023-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810251055.8A Active CN108278121B (en) | 2018-03-26 | 2018-03-26 | Intelligent steel arch assembling robot |
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| CN109667596A (en) * | 2019-01-30 | 2019-04-23 | 中铁工程装备集团有限公司 | Multi-mode tunnel bottom robot for sweeping residue suitable for TBM |
| CN109882210A (en) * | 2019-04-23 | 2019-06-14 | 中铁工程装备集团有限公司 | A kind of novel steel arch-shelf assembling machine and its assembling method |
| CN110230508A (en) * | 2019-07-16 | 2019-09-13 | 中建铁投轨道交通建设有限公司 | A kind of combination tool formula inner support steel loop for tunnel |
| CN110284907A (en) * | 2019-07-08 | 2019-09-27 | 中国铁建重工集团股份有限公司 | A kind of steel arch-shelf splicing apparatus |
| CN110593916A (en) * | 2019-10-10 | 2019-12-20 | 中国铁建重工集团股份有限公司 | Arch adjusting device and arch adjusting method |
| CN110700865A (en) * | 2019-11-25 | 2020-01-17 | 盾构及掘进技术国家重点实验室 | Steel arch support system based on TBM intelligent robot and control method |
| CN110821529A (en) * | 2019-11-25 | 2020-02-21 | 盾构及掘进技术国家重点实验室 | Steel arch support process based on TBM intelligent robot |
| CN110985019A (en) * | 2019-12-31 | 2020-04-10 | 中铁工程装备集团有限公司 | Tunnel profile modeling intelligence slewer |
| CN113997289A (en) * | 2021-11-01 | 2022-02-01 | 苏州大学 | Mechanical arm for corrugated steel assembly and corrugated steel assembly method |
| CN114407057A (en) * | 2022-01-20 | 2022-04-29 | 湖州学院 | Be used for industrial robot chuck and robot |
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| CN109667596A (en) * | 2019-01-30 | 2019-04-23 | 中铁工程装备集团有限公司 | Multi-mode tunnel bottom robot for sweeping residue suitable for TBM |
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| CN110284907A (en) * | 2019-07-08 | 2019-09-27 | 中国铁建重工集团股份有限公司 | A kind of steel arch-shelf splicing apparatus |
| CN110230508A (en) * | 2019-07-16 | 2019-09-13 | 中建铁投轨道交通建设有限公司 | A kind of combination tool formula inner support steel loop for tunnel |
| CN110593916A (en) * | 2019-10-10 | 2019-12-20 | 中国铁建重工集团股份有限公司 | Arch adjusting device and arch adjusting method |
| CN110821529A (en) * | 2019-11-25 | 2020-02-21 | 盾构及掘进技术国家重点实验室 | Steel arch support process based on TBM intelligent robot |
| CN110700865A (en) * | 2019-11-25 | 2020-01-17 | 盾构及掘进技术国家重点实验室 | Steel arch support system based on TBM intelligent robot and control method |
| CN110985019A (en) * | 2019-12-31 | 2020-04-10 | 中铁工程装备集团有限公司 | Tunnel profile modeling intelligence slewer |
| CN110985019B (en) * | 2019-12-31 | 2021-07-23 | 中铁工程装备集团有限公司 | Tunnel profile modeling intelligence slewer |
| CN113997289A (en) * | 2021-11-01 | 2022-02-01 | 苏州大学 | Mechanical arm for corrugated steel assembly and corrugated steel assembly method |
| CN114407057A (en) * | 2022-01-20 | 2022-04-29 | 湖州学院 | Be used for industrial robot chuck and robot |
| CN114407057B (en) * | 2022-01-20 | 2023-09-05 | 湖州学院 | Be used for industrial robot chuck and robot |
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