CN108278121B - Intelligent steel arch assembling robot - Google Patents
Intelligent steel arch assembling robot Download PDFInfo
- Publication number
- CN108278121B CN108278121B CN201810251055.8A CN201810251055A CN108278121B CN 108278121 B CN108278121 B CN 108278121B CN 201810251055 A CN201810251055 A CN 201810251055A CN 108278121 B CN108278121 B CN 108278121B
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- tbm
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 33
- 239000010959 steel Substances 0.000 title claims abstract description 33
- 238000005096 rolling process Methods 0.000 claims abstract description 36
- 239000002893 slag Substances 0.000 claims abstract description 34
- 238000013016 damping Methods 0.000 claims description 29
- 210000000078 claw Anatomy 0.000 claims description 9
- 238000009434 installation Methods 0.000 abstract description 14
- 230000005641 tunneling Effects 0.000 abstract description 11
- 239000011435 rock Substances 0.000 abstract description 5
- 230000032258 transport Effects 0.000 description 47
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 12
- 238000010276 construction Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention discloses an intelligent steel arch assembling robot which comprises a conveying system, an assembling system, a mounting system and a slag removing system, wherein the slag removing system is arranged on the lower end face of a main beam of a hard rock tunneling machine (TBM for short); the conveying system comprises a conveying trolley and a conveying rail, the conveying rail is fixed on the upper end face of the TBM girder, the conveying trolley moves back and forth on the conveying rail to convey the assembly ring piece into an assembly ring of the assembly system, the assembly ring is arranged on a supporting seat on a supporting ring, the assembly ring rotates on the supporting seat, and the supporting ring is arranged at the side end of the TBM girder; the mechanical arm of the mounting system is matched with the assembly ring piece on the assembly ring way, and the assembly ring piece is assembled together; and the mechanical arm is installed on an installation track in a rolling way through a base, and the installation track is fixed at the side end of the TBM girder and is parallel to the assembly loop. The intelligent mechanical arm is intelligently installed, the manpower is liberated, the installation quality and stability are improved, the technical maturity is high, and a single or a plurality of mechanical arms work cooperatively and efficiently.
Description
Technical Field
The invention belongs to the technical field of tunnel construction, and particularly relates to an intelligent steel arch assembly robot.
Background
The large-diameter hard rock tunneling machine (TBM) is a large-scale complex complete equipment for tunneling tunnel integrating tunneling, slag discharging, supporting and other functions, and is tunnel construction equipment for national railway, highway, water conservancy, urban construction, national defense construction and the like.
In TBM tunneling construction, primary support is needed, stability of surrounding rock is improved, and collapse is prevented. The primary support is generally made of steel arches, and is matched with a reinforcing mesh, anchor rods and reinforcing bar rows, and concrete is sprayed to strengthen the support. The steel arch installing system is an important component of the full face rock tunneling machine, and has the main effects of timely and effectively supporting exposed surrounding rock formed by excavation of the tunneling machine, ensuring safety of operators and equipment and finally obtaining good tunnel forming quality by matching with secondary lining.
The traditional steel arch installing system is characterized in that the steel arch is transported and connected into a ring by manpower, the supporting efficiency is low, the operation environment is bad, and the steel arch installing system is a manual auxiliary mechanized operation system.
The steel arch on the open TBM is formed by assembling a plurality of sections of steel arch sheets made of section steel; the steel arch frame installation process comprises the steps of conveying the arch frame and the steel arch frame to an assembling position in time, assembling into a ring, and installing the ring to the corresponding position to realize installation. The transportation system is generally arranged above the main beam, and the assembly system is generally arranged below the top shield at the front part of the main beam so as to timely support the steel arch frame under the protection of the top shield. The actions of conveying, rotating and assembling, top and side tightening, bottom opening tensioning and closing and the like of arch frame materials are required to be completed. Currently, the implementation of each action needs to be manually participated in:
1, the transportation of the trolley needs manual auxiliary transportation;
2, conveying the arch centering to the assembling ring, and needing manual fixing;
3, before the arch frame is installed at the installation position, manually cleaning slag stones at the assembly position;
and 4, after preliminary looping, conveying the steel pipe to an installation position, and supporting the steel pipe on the wall of the hole with manual assistance, and completing bottom sealing action with the manual assistance.
Under bad geological conditions, a large number of arches are required to be assembled, the assembly speed often cannot meet the tunneling speed requirement of the tunnel boring machine, the support caused by the mechanical operation of manual operation is not timely, the support efficiency is low or the quality is unstable, the tunneling efficiency of the TBM is seriously affected, the tunneling quality is high, and the tunneling safety is ensured. Therefore, reasonable steel arch mounting system design is an important factor in improving TBM primary support efficiency.
Disclosure of Invention
The invention aims at the technical problem that the efficiency of the manual support for assembling the steel arch is low in the prior art, and therefore provides an intelligent steel arch assembling robot.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an intelligent steel arch assembling robot comprises a conveying system, an assembling system, a mounting system and a slag removing system, wherein the slag removing system is mounted on the lower end face of a TBM main beam; the conveying system comprises a conveying trolley and a conveying rail, the conveying rail is fixed on the upper end face of the TBM girder, the conveying trolley moves back and forth on the conveying rail to convey the assembly ring piece into an assembly ring of the assembly system, the assembly ring is arranged on a supporting seat on a supporting ring, the assembly ring rotates on the supporting seat, and the supporting ring is arranged at the side end of the TBM girder; the mechanical arm of the mounting system is matched with the assembly ring piece on the assembly ring way, and the assembly ring piece is assembled together; and the mechanical arm is installed on an installation track in a rolling way through a base, and the installation track is fixed at the side end of the TBM girder and is parallel to the assembly loop.
The transport system comprises a first transport vehicle, a second transport vehicle, a first transport rail and a second transport rail, wherein the second transport vehicle is arranged on the second transport rail and moves back and forth on the second transport rail, the second transport rail is arranged on the upper end face of the TBM girder, the first transport rail is arranged on the TBM girder between the second transport rails, and the first transport vehicle moves back and forth on the first transport rail and takes down the assembled ring sheets on the second transport vehicle; the hydraulic cylinder I is vertically installed on the first transport vehicle, a transfer plate is arranged at the top of a piston rod of the hydraulic cylinder I and used for transferring and assembling ring plates.
The second transport vechicle transportation is a plurality of to assemble ring piece to first transport vechicle department, and first transport vechicle is less than the second transport vechicle under normal condition, and the piston rod of pneumatic cylinder I on the first transport vechicle drives to transfer the ring piece of assembling on the second transport vechicle and takes off, and first transport vechicle removes to the assembly circuit department of assembling the system after taking off, because transfer the board to be higher than the lower loading board of assembling on the circuit, so first transport vechicle keeps on advancing can place to assemble the ring piece and assemble on the loading board of circuit.
The assembly system comprises an assembly loop, a bearing plate, a supporting seat, a supporting ring, a clamping assembly, an ejection assembly and a rolling assembly; the assembly ring is arranged on the supporting seat through the rolling assembly, the supporting seat is fixedly connected with the supporting ring, and the supporting ring is fixed at the side end of the TBM girder through the ejection assembly; the ejection assembly is corresponding to the splicing ring piece in the splicing ring way to eject the splicing ring piece to the tunnel wall; a plurality of bearing plates are arranged on the assembly ring at intervals, clamping assemblies are arranged on the assembly ring between the bearing plates, and the clamping assemblies clamp assembly ring plates in the assembly ring.
The ejection assembly comprises two groups of ejection driving pieces, each group of ejection driving piece comprises a vertical driving piece and a horizontal driving piece, the two groups of ejection driving pieces are symmetrically arranged on two sides of the TBM girder, a shell of each ejection driving piece is fixed at the side end of the TBM girder, and a telescopic piece of each ejection driving piece corresponds to the spliced ring piece; and a supporting ring is fixed between the shell of each group of vertical driving piece and the shell of the horizontal driving piece, a supporting seat is arranged on the upper part of each supporting ring, and a rolling assembly is arranged on the supporting seat.
Each ejection driving piece is slidably mounted in a track at the side end of the TBM main beam through a sliding block, one end of each sliding block is connected with a telescopic piece of each ejection driving piece, and each ejection driving piece is fixed at the side end of the TBM main beam and pulls the corresponding sliding block to move in the track groove. The mode enables the splicing system to move on the TBM girder, and multi-position splicing is achieved.
The damping assembly is arranged at the lower end of the supporting ring, the damping assembly comprises a damper, damping wheels and a damping rod, one end of the damping rod is hinged to the lower end of the supporting ring, the other end of the damping rod is hinged to the damping wheels, the damping wheels are in rolling contact with the side ends of the assembled ring, one end of the damper is hinged to the supporting ring, and the other end of the damper is hinged to the damping rod.
The rolling assembly comprises a driving motor I, a main gear II, a driven gear II and a rolling mounting plate, wherein the rolling mounting plate is fixed on a supporting seat, the driving motor I is arranged at the side end of the rolling mounting plate, an output shaft of the driving motor I is connected with the main gear II, the main gear II is meshed with the driven gear II, and the driven gear II is meshed with gear teeth on the outer side face of an assembly loop to drive the assembly loop to rotate. And from gear II and shock attenuation wheel all have a round edge, can restrict the assembly ring way in a round edge and prevent to assemble the ring way and drop.
The clamping assembly comprises a clamping cylinder, a clamping claw set and a clamping seat, the clamping seat is fixed on an assembly loop, a piston rod of the clamping cylinder is installed on the clamping seat and connected with the clamping claw set, the clamping claw set comprises two clamping jaws and a connecting block, the two clamping jaws are all hinged to the connecting block, each clamping jaw comprises two sections of sub-clamping jaws hinged together, and the joint of the two sub-clamping jaws is hinged to the clamping seat through a pin shaft.
The mounting system comprises semicircular mounting rails and mechanical arms, wherein the mounting rails are symmetrically fixed at two side ends of the TBM girder, the mechanical arms are mounted on each mounting rail, each mechanical arm comprises a base, the bases are arranged on the mounting rails in a riding mode, clamping wheels are mounted on side plates of the bases, and the clamping wheels are in rolling contact with the side ends of the mounting rails; the base is provided with a gear at a position between the two side plates, the gear is meshed with teeth on the mounting rail, the gear is meshed with a driving gear, the driving gear is arranged on the inner side of the side plates and is connected with an output shaft of a driving motor III, and the driving motor III is fixed on one side plate; the mechanical arm extends to the interval between the two bearing plate groups to be connected with the splicing ring pieces, and the splicing ring pieces are spliced together.
The slag removal system comprises a small excavator, and the small excavator is fixedly arranged at the lower end of the TBM main beam. The excavator digs the slag at the pipeline, the digged shovel is put into a slag collecting groove on the mechanical arm, the mechanical arm moves to the top on the slag removing track to discharge the slag onto the second transportation trolley, and the second transportation trolley conveys the slag out.
The intelligent installation of the invention releases manpower, improves the installation quality and stability, has high technical maturity of a system mechanism and realizes the cooperative and efficient operation of a single or a plurality of mechanical arms. The ring piece to be assembled is conveyed into the assembly ring channel through the conveying system, the assembly ring channel rotates under the action of the rolling assembly, a plurality of assembly ring pieces are placed into the assembly ring channel, then the mechanical arm stretches into the assembly ring channel through the interval between the bearing plate groups and contacts with the assembly ring piece, the mechanical arm acts to drive the assembly ring piece to be assembled, the ejection telescopic part of the ejection assembly ejects the assembly ring onto the tunnel wall to support after the assembly is completed, moreover, dregs in the tunnel are cleaned through the dreg removal system, and the cleaned dregs are conveyed onto the trolley of the conveying system through the mechanical arm to be conveyed out of the tunnel. In order to stabilize the assembled ring piece in the assembled ring, a clamping assembly is further arranged on the assembled ring, and clamps the assembled ring piece to prevent the assembled ring piece from sliding in the assembled ring in the rotating process. The whole steel arch assembling process has little manual participation, comprehensively realizes the roboticized operation of steel arch assembling, effectively solves the problems of safety, high efficiency and high quality of timely support, and improves the construction safety and efficiency of TBM.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a cross-sectional view taken along A-A in fig. 1.
Fig. 3 is a sectional view taken along the direction B-B in fig. 1.
Fig. 4 is a schematic diagram of a conveyor line model of the present invention.
Fig. 5 is a schematic illustration of the transfer of the construction process of the present invention.
FIG. 6 is a schematic feed diagram of the work process of the present invention.
Fig. 7 is a schematic view of the assembly of the construction process of the present invention.
Fig. 8 is a schematic illustration of slag removal during construction of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-3, an intelligent steel arch assembling robot comprises a conveying system 1, an assembling system 2, a mounting system 3 and a slag removing system 4, wherein the slag removing system 4 is mounted on the lower end face of a TBM main beam; the conveying system 1 comprises a conveying trolley and a conveying rail, wherein the conveying rail is fixed on the upper end face of the TBM girder, the conveying trolley moves back and forth on the conveying rail to convey the assembled ring piece into an assembled ring channel 2-1 of the assembled system 2, the assembled ring channel 2-1 is arranged on a supporting seat 2-3 fixed on a supporting ring 2-4, the assembled ring channel 2-1 can rotate on the supporting rod 2-3, and the supporting ring 2-4 is arranged at the side end of the TBM girder; the mechanical arm 6 of the mounting system 3 is matched with the assembling ring piece on the assembling ring 2-1 to assemble the assembling ring piece together; and the mechanical arm 6 is installed on the installation track 3-1 in a rolling way through the base 6-1, and the installation track 3-1 is fixed at the side end of the TBM girder and is parallel to the assembly loop 2-1.
Specifically, the transport system 1 comprises a first transport vehicle 1-1, a second transport vehicle 1-2, a first transport rail 1-3 and a second transport rail 1-4, wherein the second transport vehicle 1-2 is arranged on the second transport rail 1-4 and moves back and forth on the second transport rail 1-4, the second transport rail 1-4 is arranged on the upper end surface of a TBM main beam, the first transport rail 1-3 is arranged on the TBM main beam between the second transport rails 1-4, and the first transport vehicle 1-1 moves back and forth on the first transport rail 1-3 and takes down the assembled ring piece on the second transport vehicle 1-2; the first transport vehicle 1-1 is vertically provided with a hydraulic cylinder I1-1-1, the top of a piston rod of the hydraulic cylinder I1-1-1 is provided with a transfer plate 1-1-2, and the transfer plate 1-1-2 is used for transferring and assembling ring sheets.
The assembly system 2 comprises an assembly loop 2-1, a bearing plate 2-2, a supporting seat 2-3, a supporting ring 2-4, a clamping assembly, an ejection assembly 2-6 and a rolling assembly 2-7; the assembly ring road 2-1 is arranged on the supporting seat 2-3 through the rolling component 2-7, the supporting seat 2-3 is fixedly connected with the supporting ring 2-4, and the supporting ring 2-4 is fixed at the side end of the TBM girder through the ejection component 2-6; the ejection assembly 2-6 is corresponding to the splicing ring piece in the splicing ring 2-1 to eject the splicing ring piece to the tunnel wall; a plurality of bearing plates 2-2 are arranged on the assembly ring 2-1 at intervals, clamping components are arranged on the assembly ring 2-1 between the bearing plates 2-2, and the clamping components clamp assembly ring plates in the assembly ring 2-1.
The ejection assembly 2-6 comprises two groups of ejection driving pieces 2-6-1, each group of ejection driving piece comprises a vertical driving piece and a horizontal driving piece, the two groups of ejection driving pieces 2-6-1 are symmetrically arranged on two sides of the TBM girder, a shell of each ejection driving piece 2-6-1 is fixed at the side end of the TBM girder, and a telescopic piece of each ejection driving piece 2-6-1 corresponds to an assembly ring piece; and a supporting ring 2-4 is fixed between the shell of each group of vertical driving piece and the shell of the horizontal driving piece, a supporting seat 2-3 is arranged on the upper part of each supporting ring 2-4, and a rolling assembly is arranged on the supporting seat 2-3.
Preferably, in order to enable the assembling system to move on the TBM girder and realize multi-position assembling, each ejection driving piece is slidably mounted in a track at the side end of the TBM girder through a sliding block, one end of each sliding block is connected with a telescopic piece of the ejection driving piece, and each ejection driving piece is fixed at the side end of the TBM girder and pulls the corresponding sliding block to move in the track groove.
In this embodiment, the ejector driver uses a hydraulic cylinder.
The lower ends of the supporting rings 2-4 are respectively provided with a damping component 2-8, each damping component 2-8 comprises a damper 2-8-1, a damping wheel 2-8-2 and a damping rod 2-8-3, one end of each damping rod 2-8-3 is hinged to the lower end of each supporting ring 2-4, the other end of each damping rod 2-8-3 is hinged to each damping wheel 2-8-2, each damping wheel 2-8-2 is in rolling contact with the side end of the assembled ring 2-1, one end of each damper 2-8-1 is hinged to the corresponding supporting ring 2-4, and the other end of each damper 2-8-1 is hinged to each damping rod 2-8-3.
The rolling assembly 2-7 comprises a driving motor I, a main gear II, a driven gear II 2-7-1 and a rolling mounting plate 2-7-2, wherein the rolling mounting plate 2-7-2 is fixed on a supporting seat 2-3, the driving motor I is arranged at the side end of the rolling mounting plate 2-7-2, an output shaft of the driving motor I is connected with the main gear II, the main gear II is meshed with the driven gear II 2-7-1, and the driven gear II 2-7-1 is meshed with gear teeth on the outer side face of the splicing loop 2-1 to drive the splicing loop 2-1 to rotate; the secondary gear II and the damping wheel are provided with wheel edges, and the secondary gear II and the damping wheel are assembled in the fixed wheel edges of the ring road.
The clamping assembly comprises a clamping cylinder, a clamping claw set and a clamping seat, the clamping seat is fixed on an installation loop 2-1, a piston rod of the clamping cylinder is installed on the clamping seat and is connected with the clamping claw set, the clamping claw set comprises two clamping jaws and a connecting block, the two clamping jaws are all hinged to the connecting block, each clamping jaw comprises two sections of sub-clamping jaws hinged together, and the joint of the two sub-clamping jaws is hinged to the clamping seat through a pin shaft.
The mounting system 3 comprises semicircular mounting rails 3-1 and mechanical arms 6, the mounting rails 3-1 are symmetrically fixed at two side ends of a TBM girder, the mechanical arms 6 are mounted on each mounting rail 3-1, each mechanical arm 6 comprises a base 6-1, the bases 6-1 are ridden on the mounting rails 3-1, clamping wheels 6-4 are mounted on side plates 6-3 of the bases 6-1, and the clamping wheels 6-4 are in rolling contact with the side ends of the mounting rails 3-1; the base 6-1 is provided with a gear 6-2 at a position between the two side plates 6-3, the gear 6-2 is meshed with the teeth 3-2 on the mounting rail 3-1, the gear 6-2 is meshed with a driving gear, the driving gear is arranged on the inner side of the side plate 6-3 and is connected with an output shaft of a driving motor III, and the driving motor III is fixed on one side plate 6-3; the mechanical arm 6 extends to the interval between the two bearing plate groups to connect the splice ring pieces, and splice the splice ring pieces together.
The slag removal system comprises a small excavator, and the small excavator is fixedly arranged at the lower end of the TBM main beam. The excavator digs the slag at the pipeline, the digged shovel is put into a slag collecting groove on the mechanical arm, the mechanical arm moves to the top on the slag removing track to discharge the slag onto the second transportation trolley, and the second transportation trolley conveys the slag out.
The working process comprises the following steps: the second transport vehicle 1-2 transports a plurality of assembled ring sheets to the first transport vehicle 1-1, the first transport vehicle 1-1 is lower than the second transport vehicle 1-2 in a normal state, a piston rod of a hydraulic cylinder I1-1-1 on the first transport vehicle 1-1 drives a transfer plate 1-1-2 to move upwards to take down the assembled ring sheets on the second transport vehicle 1-2, and a material transfer process is completed, as shown in fig. 4;
after the assembled ring piece is taken down, the first transport vehicle 1-1 moves to the assembled ring 2-1 of the assembling system 2, and the transfer plate 1-2 can be higher than the second bearing plate on the assembled ring 2-1, so that the first transport vehicle 1-1 can continuously move forward to place the assembled ring piece on the bearing plate of the assembled ring 2-1, and the feeding process is completed, as shown in fig. 5.
After the assembly ring piece is placed on the assembly ring 2-1, a driving motor I of the rolling assembly drives a main gear II to rotate, the main gear II drives a driven gear II 2-7-1 to rotate, the driven gear II 2-7-1 is meshed with a gear tooth at the side end of the assembly ring 2-1, and because the position of the rolling assembly is fixed, the assembly ring 2-1 rolls in a rolling groove on a mounting plate of the rolling assembly, the assembly ring piece which is not assembled in the assembly ring piece is sequentially circulated against the first transportation trolley 1-1 until the assembly ring piece is assembled in the assembly ring piece, then a mechanical arm 6 stretches into the assembly ring piece to be contacted with the assembly ring piece and moves on a mounting rail 3-1 to realize the assembly of the two assembly ring pieces, and the assembly steps are sequentially repeated until all the assembly ring pieces are assembled into a ring, and the assembly process is completed, as shown in fig. 6.
Simultaneously with the assembly process, the slag removal system cleans slag stones at the assembly position, and the excavator digs slag in the tunnel to realize a slag removal process, as shown in fig. 7.
After assembling and slag removal are completed, the assembled ring body is ejected to the inner wall of the tunnel by the ejection assembly to support. After the installation is completed, the shovel shovels the slag stones into a slag collecting groove on the mechanical arm, the mechanical arm moves to the top on the slag removing track to discharge the slag onto the second transportation trolley, the second transportation trolley conveys the slag out, and a slag soil transferring process is completed, as shown in fig. 8.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (9)
1. An intelligent steel arch assembly robot which is characterized in that: the device comprises a transportation system (1), an assembling system (2), a mounting system (3) and a slag removal system (4), wherein the slag removal system (4) is mounted on the lower end face of a TBM main beam; the conveying system (1) comprises a conveying trolley and a conveying rail, the conveying rail is fixed on the upper end face of the TBM main beam, the conveying trolley moves back and forth on the conveying rail to convey the assembled ring piece into an assembled ring channel (2-1) of the assembled system (2), the assembled ring channel (2-1) is arranged on a supporting seat on a supporting ring, the assembled ring channel (2-1) rotates on the supporting seat (2-3), and the supporting ring (2-4) is arranged at the side end of the TBM main beam; the mechanical arm (6) of the mounting system (3) is matched with the assembly ring piece on the assembly ring (2-1) to assemble the assembly ring piece together; the mechanical arm (6) is arranged on the mounting rail (3-1) in a rolling way through the base (6-1), and the mounting rail (3-1) is fixed at the side end of the TBM girder and is parallel to the splicing loop (2-1);
the transport system (1) comprises a first transport vehicle (1-1), a second transport vehicle (1-2), a first transport rail (1-3) and a second transport rail (1-4), wherein the second transport vehicle (1-2) is arranged on the second transport rail (1-4) and moves back and forth on the second transport rail (1-4), the second transport rail (1-4) is arranged on the upper end face of a TBM main beam, the first transport rail (1-3) is arranged on the TBM main beam between the second transport rails (1-4), the first transport vehicle (1-1) moves back and forth on the first transport rail (1-3) and takes down an assembled ring piece on the second transport vehicle (1-2); the first transport vehicle (1-1) is vertically provided with a hydraulic cylinder I (1-1-1), the top of a piston rod of the hydraulic cylinder I (1-1-1) is provided with a transfer plate (1-1-2), and the transfer plate (1-1-2) is used for transferring and assembling ring sheets;
the supporting ring (2-4) is fixed at the side end of the TBM girder through the ejection assembly (2-6); the ejection assembly (2-6) is corresponding to the assembly ring piece in the assembly ring channel (2-1) to eject the assembly ring piece to the tunnel wall, and a plurality of bearing plate groups (2-2) are arranged on the assembly ring channel (2-1) at intervals; the lower ends of the supporting rings (2-4) are respectively provided with a damping component (2-8);
the mounting system (3) comprises semicircular mounting rails (3-1) and mechanical arms (6), wherein the mounting rails (3-1) are symmetrically fixed at two side ends of the TBM girder, and the mechanical arms (6) are mounted on each mounting rail (3-1); the mechanical arm (6) can extend to the interval between the two bearing plate groups to connect the splicing ring pieces, and splice the splicing ring pieces together.
2. The intelligent steel arch assembling robot of claim 1, wherein: the assembly system (2) comprises an assembly loop (2-1), a bearing plate group (2-2), a supporting seat (2-3), a supporting ring (2-4), a clamping assembly, an ejection assembly (2-6) and a rolling assembly (2-7); the assembly ring (2-1) is arranged on the supporting seat (2-3) through the rolling assembly (2-7), the supporting seat (2-3) is fixedly connected with the supporting ring (2-4), a plurality of bearing plate groups (2-2) are arranged on the assembly ring (2-1) at intervals, the clamping assembly is arranged on the assembly ring (2-1) between the bearing plate groups (2-2), and the assembly ring sheets in the assembly ring (2-1) are clamped by the clamping assembly.
3. The intelligent steel arch assembling robot of claim 2, wherein: the ejection assembly (2-6) comprises two groups of ejection driving pieces (2-6-1), each group of ejection driving pieces comprises a vertical driving piece and a horizontal driving piece, the two groups of ejection driving pieces (2-6-1) are symmetrically arranged on two sides of the TBM girder, a shell of each ejection driving piece (2-6-1) is fixed at the side end of the TBM girder, and a telescopic piece of each ejection driving piece (2-6-1) corresponds to an assembling ring piece; and a supporting ring (2-4) is fixed between the shell of each group of vertical driving piece and the shell of each group of horizontal driving piece, a supporting seat (2-3) is arranged on the upper part of each supporting ring (2-4), and a rolling assembly is arranged on each supporting seat (2-3).
4. An intelligent steel arch assembling robot according to claim 3, wherein: each ejection driving piece is slidably mounted in a track at the side end of the TBM main beam through a sliding block, one end of each sliding block is connected with a telescopic piece of each ejection driving piece, and each ejection driving piece is fixed at the side end of the TBM main beam and pulls the corresponding sliding block to move in the track groove.
5. An intelligent steel arch assembling robot according to claim 1 or 3 or 4, wherein: the damping component (2-8) comprises a damper (2-8-1), a damping wheel (2-8-2) and a damping rod (2-8-3), one end of the damping rod (2-8-3) is hinged to the lower end of the supporting ring (2-4), the other end of the damping rod (2-8-3) is hinged to the damping wheel (2-8-2), the damping wheel (2-8-2) is in rolling contact with the side end of the assembly loop (2-1), one end of the damper (2-8-1) is hinged to the supporting ring (2-4), and the other end of the damper is hinged to the damping rod (2-8-3).
6. An intelligent steel arch assembling robot according to claim 3 or 4, wherein: the rolling assembly (2-7) comprises a driving motor I, a main gear II, a driven gear II (2-7-1) and a rolling mounting plate (2-7-2), wherein the rolling mounting plate (2-7-2) is fixed on a supporting seat (2-3), the driving motor I is arranged at the side end of the rolling mounting plate (2-7-2) and an output shaft of the driving motor I is connected with the main gear II, the main gear II is meshed with the driven gear II (2-7-1), and the driven gear II (2-7-1) is meshed with gear teeth on the outer side face of the splicing loop (2-1) to drive the splicing loop (2-1) to rotate.
7. An intelligent steel arch assembling robot according to claim 2 or 3, wherein: the bearing plate group (2-2) comprises a first bearing plate (2-2-1) and a second bearing plate (2-2-2), and the first bearing plate (2-2-1) and the second bearing plate (2-2-2) are oppositely arranged and used for containing and assembling ring sheets.
8. The intelligent steel arch assembly robot of claim 7, wherein: the clamping assembly comprises a clamping cylinder, a clamping claw set and a clamping seat, the clamping seat is fixed on an assembled loop (2-1), a piston rod of the clamping cylinder is installed on the clamping seat and connected with the clamping claw set, the clamping claw set comprises two clamping jaws and a connecting block, the two clamping jaws are all hinged to the connecting block, each clamping jaw comprises two sections of sub-clamping jaws hinged together, and the joint of the two sub-clamping jaws is hinged to the clamping seat through a pin shaft.
9. The intelligent steel arch assembling robot of claim 1, wherein: the mechanical arm (6) comprises a base (6-1), the base (6-1) is ridden on the mounting rail (3-1), clamping wheels (6-4) are arranged on side plates (6-3) of the base (6-1), and the clamping wheels (6-4) are in rolling contact with the side ends of the mounting rail (3-1); the base (6-1) is provided with a gear (6-2) at a position between the two side plates (6-3), the gear (6-2) is meshed with the teeth (3-2) on the mounting rail (3-1), the gear (6-2) is meshed with a driving gear, the driving gear is arranged on the inner side of the side plate (6-3) and connected with an output shaft of a driving motor III, and the driving motor III is fixed on one side plate (6-3).
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| CN201810251055.8A CN108278121B (en) | 2018-03-26 | 2018-03-26 | Intelligent steel arch assembling robot |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109667596B (en) * | 2019-01-30 | 2024-06-21 | 中铁工程装备集团有限公司 | Multi-mode tunnel bottom slag removal robot suitable for TBM |
| CN109882210B (en) * | 2019-04-23 | 2024-03-22 | 中铁工程装备集团有限公司 | Novel steel arch frame assembling machine and assembling method thereof |
| CN110284907B (en) * | 2019-07-08 | 2021-03-23 | 中国铁建重工集团股份有限公司 | Steel bow member 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 |
| CN110593916B (en) * | 2019-10-10 | 2021-02-05 | 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 |
| 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 |
| CN114407057B (en) * | 2022-01-20 | 2023-09-05 | 湖州学院 | Be used for industrial robot chuck and robot |
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