CN109848956A - A kind of open type TBM steel arch-shelf automatic assembling apparatus for work and its method - Google Patents

A kind of open type TBM steel arch-shelf automatic assembling apparatus for work and its method Download PDF

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Publication number
CN109848956A
CN109848956A CN201910272709.XA CN201910272709A CN109848956A CN 109848956 A CN109848956 A CN 109848956A CN 201910272709 A CN201910272709 A CN 201910272709A CN 109848956 A CN109848956 A CN 109848956A
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China
Prior art keywords
steel arch
shelf
ring
walking
arm
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CN201910272709.XA
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Chinese (zh)
Inventor
龚国芳
陈玉羲
沈晓俊
刘婧珂
周星海
杨华勇
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN201910272709.XA priority Critical patent/CN109848956A/en
Publication of CN109848956A publication Critical patent/CN109848956A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a kind of open type TBM steel arch-shelf automatic assembling apparatus for work and its methods, it include: girder, walking ring, walking oil cylinder, rotating ring, driving wheel, steel arch-shelf fixture and steel arch-shelf assembly manipulator, walking ring is connected by slide rail with girder, walking oil cylinder both ends are hingedly connected to girder and walking ring, walking ring can be driven to translate in the horizontal direction, rotating ring is fixed on girder by ring flange, the drive wheel being arranged symmetrically by two, steel arch-shelf fixture is circumferentially welded in rotating ring side, the assembled mechanical hand of steel arch-shelf includes telescopic arm, attitude-adjusting system and steel arch-shelf fixture, walking ring side is fixed in by ring flange.The device can be adjusted steel arch-shelf pose, realize the high efficiency automatic assembling of steel arch-shelf.

Description

A kind of open type TBM steel arch-shelf automatic assembling apparatus for work and its method
Technical field
The present invention relates to steel arch-shelf consolidation service devices, make more particularly, to a kind of open type TBM steel arch-shelf automatic assembling Industry device.
Background technique
Open type TBM (Tunnel Boring Machine), also known as open tunnel boring machine are a kind of for hard The large tunnel construction machinery of rock stratum driving, using the hobboing cutter extrusion shearing broken rock on rotary head, and passes through dipper teeth Rock ballast is transported to outside hole with belt feeder, driving, supporting and concurrent job of slagging tap, has many advantages, such as that driving speed is fast, is conducive to environmental protection, The constructing tunnel under the complex geological condition that tradition drilling and blasting method is difficult to realize can be achieved.
Steel arch-shelf assembly and supporting operation are the committed steps in constructing tunnel, need to lead to after the driving of TBM one ring of completion It crosses steel arch-shelf and carries out timely and effectively supporting, good guaranteeing role is played to the safety and quality that ensure tunneling.Steel arch The main task of frame assembly is the steel arch-shelf of single Pin to be placed into specific position, and carry out by bolt and remaining steel arch-shelf Effective connection.
Currently, steel arch-shelf assembly relies primarily on manual work, that there are the degree of automation is low, labor workload is big, the time is long, The problems such as unstable quality, be not suitable with TBM efficiently, safe construction requirement, restrict TBM construction efficiency, safety and quality raising.
Summary of the invention
It is an object of the invention to propose a kind of open type TBM steel arch-shelf automatic assembling apparatus for work, oil cylinder both ends of walking It is hingedly connected to girder and walking ring, driving walking ring translates in the horizontal direction, the driving wheel that rotating ring is arranged symmetrically by two Driving, telescopic arm can realize extending and retracting for steel arch-shelf assembly manipulator along perpendicular to tunnel axis direction, to control steel The spatial position of arch assembly manipulator;Attitude-adjusting system includes the parallel institution and yaw angle tune driven by light hydraulic cylinder Hydraulic cylinder is saved, the spatial attitude of steel arch-shelf assembly manipulator is controlled.
The technical solution adopted by the present invention is that:
A kind of open type TBM steel arch-shelf automatic assembling apparatus for work, it is characterised in that: including girder, horizontally-sliding guide, Walking oil cylinder, walking ring, rotation ring support, rotating ring, driving wheel, supporting guide wheel, steel arch-shelf fixture, telescopic arm, posture tune Engagement positions, steel arch-shelf assembly arm end;Wherein, walking ring is cooperated by sliding block and the horizontally-sliding guide of girder side, Walking oil cylinder is hingedly connected to main beam pivot connector and walking ring articulated joint, and rotation ring support is fixed by rotating ring ring flange On girder, the pedestal of driving wheel and supporting guide wheel is uniformly welded in rotating ring cantilever tip, tooth and driving on rotating ring Tooth on wheel is meshed, and is connected on rotation ring support by supporting guide wheel, and steel arch-shelf fixture is circumferentially welded in rotation Change side, steel arch-shelf assembly manipulator are fastened on the side of walking ring by the telescopic arm ring flange being welded on telescopic arm.
The rotating ring by two driving wheels symmetrically arranged on the left and the right and four support guide wheel drives circumferentially and Connection, side is equipped with the steel arch-shelf fixture being evenly arranged, for clamping and fixing the pose of steel arch-shelf.
The steel arch-shelf assembly manipulator is fixed on the side of walking ring, including telescopic arm, appearance by telescopic arm ring flange State adjusts device and steel arch-shelf assembly arm end three parts.
The telescopic arm include sleeve, extension bar, sleeve articulated joint, stroke sensor, telescopic hydraulic oil cylinder, clip, Extension rod, extension bar articulated joint, telescopic hydraulic oil cylinder can drive extension bar to extend and retract along sleeve.
The device for adjusting posture includes pedestal articulated joint, light hydraulic cylinder, flexural pivot, yaw angle adjusting hydraulic cylinder, floats Moving platform, base bearing, light hydraulic cylinder and yaw angle, which adjust hydraulic cylinder, can realize three rotational freedoms in floating platform space Adjusting.
The invention has the advantages that: walking ring, rotating ring and telescopic arm control steel arch-shelf assembly manipulator respectively Front and rear, left and right and up and down motion, be mounted on steel arch-shelf assembly manipulator on telescopic arm then can yaw angle to steel arch-shelf, Pitch angle, roll angle are finely adjusted, using steel arch-shelf pose independent control mode, when saving the movement of steel arch-shelf assembly positioning Between, substitution manual operation completes the assembled work of a large amount of steel arch-shelfs, effectively increases steel arch-shelf assembly efficiency.
Detailed description of the invention
Fig. 1 is the isometric view of main structure of the invention.
Fig. 2 is the main view of main structure of the invention.
Fig. 3 is the left view of main structure of the invention.
Fig. 4 is the top view of main structure of the invention.
Fig. 5 is the isometric view of steel arch-shelf assembly manipulator in the present invention.
Fig. 6 is the main view of steel arch-shelf assembly manipulator in the present invention.
Fig. 7 is the left view of steel arch-shelf assembly manipulator in the present invention.
Fig. 8 is the top view of steel arch-shelf assembly manipulator in the present invention.
In Fig. 1-8: 1, girder, 2, horizontally-sliding guide, 3, walking oil cylinder, 4, walking ring, 5, rotation ring support, 6, rotation Ring, 7, driving wheel, 8, supporting guide wheel, 9, steel arch-shelf fixture, 10, steel arch-shelf, 11, telescopic arm, 12, device for adjusting posture, 13, Steel arch-shelf assembly arm end, 14, steel arch-shelf assembly manipulator, 31, main beam pivot connector, 32, walking ring articulated joint, 41, sliding block, 42, walking ring flange disk, 51, rotating ring ring flange, 52, pedestal, 111, telescopic arm ring flange, 112, sleeve, 113, extension bar, 114, sleeve articulated joint, 115, stroke sensor, 116, telescopic hydraulic oil cylinder, 117, clip, 118, extension Bar, 119, extension bar articulated joint, 121, pedestal articulated joint, 122, light hydraulic cylinder, 123, flexural pivot, 124, yaw angle adjusting liquid Cylinder pressure, 125, floating platform, 126, base bearing, 131, floating platform articulated joint, 132, mechanical clamp hand, 133, steel arch support Platform, 134, robot drives hydraulic cylinder, 135, connecting rod, 136, abutment sleeve, 137, arm end rotating platform, 138, side Plate.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the present invention includes girder 1, horizontally-sliding guide 2, walking oil cylinder 3, walking ring 4, rotation ring support 5, rotating ring 6, driving wheel 7, supporting guide wheel 8, steel arch-shelf fixture 9, telescopic arm 11, device for adjusting posture 12, steel arch-shelf are assembled Arm end 13;Wherein, walking ring 4 is cooperated by sliding block 41 and the horizontally-sliding guide 2 of 1 side of girder, is walked 3 liang of oil cylinder End is hingedly connected to main beam pivot connector 31 and walking ring articulated joint 32, and rotation ring support 5 is solid by rotating ring ring flange 51 It is scheduled on girder 1, the rotating ring pedestal 52 of driving wheel 7 and supporting guide wheel 8 is uniformly welded on rotation ring support 5, rotating ring 6 On tooth be meshed with the tooth on driving wheel 7, and by supporting guide wheel 8 be connected in rotation ring support 5 on, steel arch-shelf fixture 9 Circumferentially it is welded in 6 side of rotating ring, steel arch-shelf assembly manipulator 14 passes through the telescopic arm flange that is welded on telescopic arm 11 Disk 111 is fastened on the side of walking ring 4.
As shown in Fig. 2, the rotating ring is led by two driving wheels 7 symmetrically arranged on the left and the right and four supports circumferentially It drives and connects to wheel 8, side is equipped with the steel arch-shelf fixture 9 being evenly arranged, for clamping and fixing the pose of steel arch-shelf 10.
As shown in Figure 1 and Figure 5, the steel arch-shelf assembly manipulator 14 is fixed on the side of walking ring by telescopic arm ring flange Face, including 13 three parts of telescopic arm 11, device for adjusting posture 12 and steel arch-shelf assembly arm end.
As shown in fig. 6, the telescopic arm 11 includes sleeve 112, extension bar 113, sleeve articulated joint 114, stroke sensing Device 115, telescopic hydraulic oil cylinder 116, clip 117, extension rod 118, extension bar articulated joint 119, telescopic hydraulic oil cylinder, which can drive, to be stretched Rod is extended and retracted along sleeve.
As shown in Figure 6 and Figure 8, the device for adjusting posture includes device for adjusting posture pedestal 121, pedestal articulated joint 122, light hydraulic cylinder 123, flexural pivot 124, yaw angle adjust hydraulic cylinder 125, floating platform 126, base bearing 127, light hydraulic Cylinder and yaw angle, which adjust hydraulic cylinder, can realize the adjusting of three rotational freedoms in floating platform space.
Working principle of the present invention is as follows:
After all parts are connected according to mounting means shown in Fig. 1-8, it is with the device course of work in practice of construction Example is described in detail.Steel arch-shelf is placed in after steel arch support platform 133, is articulated with arm end rotating platform 137 On 134 piston rod of robot drives hydraulic cylinder stretch out, drive mechanical clamp hand 132 to clamp steel arch-shelf by connecting rod 135, preset pressure It tries hard to keep and demonstrate,proves steel arch-shelf and be reliably fixed, walking 3 one end of oil cylinder is articulated with main beam pivot connector 31, and it is hinged that the other end is articulated with walking ring Connector 32 drives walking ring 4 to slide along horizontally-sliding guide 2 with respect to girder 1, when walking ring 4 reaches designated position, driving wheel 7 drive rotating rings 6 rotate specific angle, guarantee that steel arch-shelf fixture 9 reaches specified position, the walking of the cooperation of telescopic arm 11 at this time First Pin steel arch-shelf 10 is placed on steel arch-shelf fixture 9 and is fixedly clamped by oil cylinder 3, and rotating ring 6 is along 8 inverse time of supporting guide wheel Needle rotates by a certain angle, while 4 return of ring of walking picks up next Pin steel arch-shelf, after being fixedly clamped feeding to rotating ring 6 assembly Position, the first extension elongation of the rotation angle of control rotating ring 6 and telescopic arm 11, rotating ring 6 and telescopic arm 11 are installed respectively Encoder and stroke sensor 115 control the spatial position of steel arch-shelf in assembled region, usually used to be bolted steel arch-shelf The ring flange of end face or using welding by the way of, connect two Pin steel arch-shelfs, it is therefore desirable to steel arch-shelf assembly manipulator 14 tune The pose of whole 2nd Pin steel arch-shelf, it is ensured that two Pin steel arch-shelf end faces are docked within the scope of acceptable error, device for adjusting posture 12 On light hydraulic cylinder 123 and yaw angle adjust built-in magnetostrictive displacement sensor be installed on hydraulic cylinder 125, can be with Light hydraulic cylinder 123 is measured respectively and yaw angle adjusts the collapsing length of hydraulic cylinder 125, to calculate arm end rotation The attitude angle and posture of platform 137 are displaced, and after two Pin steel arch-shelfs are reliably connected, steel arch-shelf fixture 9 clamps the 2nd Pin steel arch-shelf Fixed, rotating ring 6 rotates by a certain angle counterclockwise, and it is assembled to start next Pin steel arch-shelf at this time, until steel arch-shelf is assembled cyclic.

Claims (7)

1. a kind of open type TBM steel arch-shelf automatic assembling apparatus for work, it is characterised in that: including girder (1), horizontally-sliding guide (2), it walks oil cylinder (3), walking ring (4), rotation ring support (5), rotating ring (6), driving wheel (7), supporting guide wheel (8), steel Arch fixture (9) and steel arch-shelf assembly manipulator (14);Wherein, walking ring (4) passes through the water of sliding block (41) and girder (1) side Flat slide rail (2) cooperation, walking oil cylinder (3) are hingedly connected to main beam pivot connector (31) and walking ring articulated joint (32), Rotation ring support (5) is fixed on girder (1) by rotating ring ring flange (51), the bottom of driving wheel (7) and supporting guide wheel (8) Seat (52) is uniformly welded in rotation ring support (5) top, and the tooth on rotating ring (6) is meshed with the tooth on driving wheel (7), and leads to It crosses supporting guide wheel (8) to be connected in rotation ring support (5), steel arch-shelf fixture (9) is circumferentially welded in rotating ring (6) side Face, steel arch-shelf assembly manipulator (14) are fastened on walking ring by the telescopic arm ring flange (111) being welded on telescopic arm (11) (4) side.
2. open type TBM steel arch-shelf automatic assembling apparatus for work according to claim 1, it is characterised in that: the rotation Ring (6) is by two driving wheels (7) symmetrically arranged on the left and the right and four supporting guide wheels (8) circumferentially drive and connection, side Face is equipped with the steel arch-shelf fixture (9) being evenly arranged, for clamping and fixing the pose of steel arch-shelf (10).
3. open type TBM steel arch-shelf automatic assembling apparatus for work according to claim 1, it is characterised in that: the steel arch Frame assembly manipulator (14) includes telescopic arm (11), device for adjusting posture (12) and steel arch-shelf assembly arm end (13) three Point, telescopic arm (11) is fixed on the side of walking ring (4) by telescopic arm ring flange (111), and device for adjusting posture (12) passes through Device for adjusting posture pedestal (121) is welded on telescopic arm extension bar (113), and steel arch-shelf assembly arm end (13) passes through inclined Boat angle adjusts hydraulic cylinder (125) and base bearing (127) is fixed on the floating platform (126) of device for adjusting posture (12).
4. open type TBM steel arch-shelf automatic assembling apparatus for work according to claim 3, it is characterised in that: described flexible Arm (11) includes sleeve (112), extension bar (113), sleeve articulated joint (114), stroke sensor (115), telescopic hydraulic oil Cylinder (116), clip (117), extension rod (118), extension bar articulated joint (119), telescopic hydraulic oil cylinder (116) one end are articulated with set Cylinder articulated joint (114), the other end is articulated with extension bar articulated joint (119), stroke sensor (115) by clip (117) and Extension rod (118) is fixed on telescopic hydraulic oil cylinder (116), and telescopic hydraulic oil cylinder (116) drives extension bar (113) along sleeve (112) it extends and retracts, stroke sensor (115) can measure extension bar (113) collapsing length.
5. according to open type TBM steel arch-shelf automatic assembling apparatus for work according to claim 3, it is characterised in that: described Device for adjusting posture (12) include device for adjusting posture pedestal (121), pedestal articulated joint (122), light hydraulic cylinder (123), Flexural pivot (124), yaw angle adjust hydraulic cylinder (125), floating platform (126), base bearing (127), light hydraulic cylinder (123) one end It is connected by pedestal articulated joint (122) with device for adjusting posture pedestal (121), the other end is by flexural pivot (124) and floats flat Platform (126) is connected, and yaw angle adjusts hydraulic cylinder (125) both ends and is hingedly connected to floating platform (126) and arm end rotation Platform (137), light hydraulic cylinder (123) and yaw angle adjust hydraulic cylinder (125) can realize floating platform (126) in space respectively The adjusting of interior pitch angle, roll angle and yaw angle.
6. open type TBM steel arch-shelf automatic assembling apparatus for work according to claim 3, it is characterised in that: the steel Arch assembly arm end (13) includes rotating platform articulated joint (131), mechanical clamp hand (132), steel arch support platform (133), robot drives hydraulic cylinder (134), connecting rod (135), abutment sleeve (136), arm end rotating platform (137), Side plate (138), robot drives hydraulic cylinder (134) one end are rotated by rotating platform articulated joint (131) and arm end Platform (137) is connected, and the other end is fixed on connecting rod (135) by abutment sleeve (136), and mechanical clamp hand (132) can be driven steel Arch (10) is clamped on steel arch support platform (133), and side plate (138), which plays, reinforces steel arch-shelf assembly arm end (13) effect.
7. a kind of steel arch-shelf automatic assembling method of apparatus for work described in claim 1, it is characterised in that:
Steel arch-shelf is placed in after steel arch support platform (133), the machinery being articulated on arm end rotating platform (137) Hand-drive hydraulic cylinder (134) piston rod stretches out, and drives mechanical clamp hand (132) to clamp steel arch-shelf, preset pressure by connecting rod (135) Guarantee that steel arch-shelf is reliably fixed, walking oil cylinder (3) one end is articulated with main beam pivot connector (31), and the other end is articulated with walking ring hinge Connector (32) drives walking ring (4) to slide along horizontally-sliding guide (2) with respect to girder (1), refers to when walking ring (4) reaches Positioning is set, and driving wheel (7) drives rotating ring (6) to rotate specific angle, guarantees steel arch-shelf fixture 9) specified position is reached, this When telescopic arm (11) cooperate walking oil cylinder (3) the first Pin steel arch-shelf (10) is placed on steel arch-shelf fixture (9) and is fixedly clamped, Rotating ring (6) rotates by a certain angle counterclockwise along supporting guide wheel (8), while ring of walking (4) return picks up next Pin steel arch Frame, feeding controls the rotation angle and telescopic arm of rotating ring (6) to the assembled position of rotating ring (6) first after being fixedly clamped (11) extension elongation, rotating ring (6) and telescopic arm (11) install encoder and stroke sensor (115) respectively, control steel arch The spatial position of frame is in assembled region;
Steel arch-shelf assembly manipulator (14) adjusts the pose of the 2nd Pin steel arch-shelf, it is ensured that two Pin steel arch-shelf end faces are docked at acceptable In error range, light hydraulic cylinder (122) and yaw angle on device for adjusting posture (12) are adjusted to be equipped on hydraulic cylinder (124) Built-in magnetostrictive displacement sensor, measures light hydraulic cylinder (122) respectively and yaw angle adjusts stretching for hydraulic cylinder (124) Contracting length, to calculate the attitude angle and posture displacement of arm end rotating platform (137), two Pin steel arch-shelfs are reliably connected Afterwards, the 2nd Pin steel arch-shelf is fixedly clamped by steel arch-shelf fixture (9), and rotating ring (6) rotates by a certain angle counterclockwise, under starting at this time One Pin steel arch-shelf is assembled, until the assembled cyclization of steel arch-shelf.
CN201910272709.XA 2019-04-04 2019-04-04 A kind of open type TBM steel arch-shelf automatic assembling apparatus for work and its method Pending CN109848956A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110568448A (en) * 2019-07-29 2019-12-13 浙江大学 Device and method for identifying accumulated slag at bottom of tunnel of hard rock tunnel boring machine
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
CN112983491A (en) * 2021-01-19 2021-06-18 中南大学 Novel automatic assembling device and method for TBM steel arch frame
CN112983491B (en) * 2021-01-19 2022-05-10 中南大学 Novel TBM steel arch frame automatic assembling device and operation method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110568448A (en) * 2019-07-29 2019-12-13 浙江大学 Device and method for identifying accumulated slag at bottom of tunnel of hard rock tunnel boring machine
CN110568448B (en) * 2019-07-29 2021-04-27 浙江大学 Device and method for identifying accumulated slag at bottom of tunnel of hard rock tunnel boring machine
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
CN112983491A (en) * 2021-01-19 2021-06-18 中南大学 Novel automatic assembling device and method for TBM steel arch frame
CN112983491B (en) * 2021-01-19 2022-05-10 中南大学 Novel TBM steel arch frame automatic assembling device and operation method

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