CN109848956B - Automatic assembling operation device and method for open TBM steel arch - Google Patents
Automatic assembling operation device and method for open TBM steel arch Download PDFInfo
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- CN109848956B CN109848956B CN201910272709.XA CN201910272709A CN109848956B CN 109848956 B CN109848956 B CN 109848956B CN 201910272709 A CN201910272709 A CN 201910272709A CN 109848956 B CN109848956 B CN 109848956B
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- steel arch
- hydraulic cylinder
- ring
- rotating ring
- manipulator
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 112
- 239000010959 steel Substances 0.000 title claims abstract description 112
- 238000000034 method Methods 0.000 title claims abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000003014 reinforcing effect Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 description 6
- 230000005641 tunneling Effects 0.000 description 4
- 239000011435 rock Substances 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
The invention discloses an automatic assembling operation device and method for an open TBM steel arch, comprising the following steps: the walking ring is connected with the main beam through a sliding guide rail, two ends of the walking ring are hinged to the main beam and the walking ring respectively, the walking ring can be driven to translate along the horizontal direction, the rotating ring is fixed on the main beam through a flange plate and driven by two symmetrically arranged driving wheels, the steel arch clamps are circumferentially arranged and welded on the side face of the rotating ring, and the steel arch assembling manipulator comprises a telescopic arm, an attitude adjusting mechanism and the steel arch clamps and is fixedly connected on the side face of the walking ring through the flange plate. The device can adjust the pose of the steel arch, and realizes the high-efficiency automatic assembly of the steel arch.
Description
Technical Field
The invention relates to a steel arch assembly operation device, in particular to an automatic assembly operation device for an open TBM steel arch.
Background
The open type TBM (Tunnel Boring Machine), also called as an open type tunnel boring machine, is a large tunnel construction machine for tunneling hard rock stratum, and utilizes a hob on a rotary cutter head to extrude, shear and break rock, and carries stone slag out of a hole through a bucket tooth and a belt conveyor, and the tunneling, supporting and slag discharging parallel operation has the advantages of high tunneling speed, environmental protection and the like, and can realize tunnel construction under complex geological conditions which are difficult to realize by a traditional drilling and blasting method.
The steel arch frame assembly and supporting operation is a key step in tunnel construction, and the TBM needs to be effectively supported in time through the steel arch frame after completing one-ring tunneling, so that the safety and the quality of the excavated tunnel are guaranteed. The main task of the steel arch assembly is to place the steel arch of a single truss to a specific position and effectively connect the steel arch with the rest of the steel arches through bolts.
At present, steel arch frame assembly mainly depends on manual operation, and the problems of low automation degree, large manual work load, long time, unstable quality and the like exist, so that the steel arch frame assembly is not suitable for the high-efficiency and safe construction requirements of TBM, and the improvement of TBM construction efficiency, safety and quality is restricted.
Disclosure of Invention
The invention aims to provide an automatic assembling operation device for an open TBM steel arch, wherein two ends of a traveling cylinder are respectively hinged to a main beam and a traveling ring, the traveling ring is driven to translate along the horizontal direction, a rotating ring is driven by two symmetrically arranged driving wheels, and a telescopic arm can realize the extension and retraction of a steel arch assembling manipulator along the direction vertical to the axis of a tunnel, so that the spatial position of the steel arch assembling manipulator is controlled; the gesture adjusting mechanism comprises a parallel mechanism driven by a light hydraulic cylinder and a yaw angle adjusting hydraulic cylinder, and controls the spatial gesture of the steel arch assembly manipulator.
The technical scheme adopted by the invention is as follows:
an automatic operation device of assembling of open-type TBM steel bow member, its characterized in that: the device comprises a main beam, a horizontal sliding guide rail, a walking oil cylinder, a walking ring, a rotating ring bracket, a rotating ring, a driving wheel, a supporting guide wheel, a steel arch clamp, a telescopic arm, a posture adjusting device and a tail end of a steel arch assembling manipulator; the walking ring is matched with a horizontal sliding guide rail on the side face of the main beam through a sliding block, the walking oil cylinder is hinged to a hinged joint of the main beam and a hinged joint of the walking ring respectively, the rotating ring support is fixed on the main beam through a rotating ring flange plate, the driving wheel and a base for supporting the guide wheel are uniformly distributed and welded on the outer circle of the rotating ring support, teeth on the rotating ring are meshed with teeth on the driving wheel, the rotating ring is installed on the rotating ring support through the supporting guide wheel, the steel arch clamp is circumferentially arranged and welded on the side face of the rotating ring, and the steel arch assembling manipulator is fastened on the side face of the walking ring through a telescopic arm flange plate welded on the telescopic arm.
The rotating ring is driven and connected by two driving wheels which are symmetrically arranged left and right and four supporting guide wheels which are circumferentially arranged, and steel arch clamps which are uniformly arranged are arranged on the side surfaces of the rotating ring and are used for clamping and fixing the pose of the steel arch.
The steel arch assembling manipulator is fixed on the side face of the walking ring through a telescopic arm flange plate and comprises a telescopic arm, an attitude adjusting device and a tail end three parts of the steel arch assembling manipulator.
The telescopic boom comprises a sleeve, an extension rod, a sleeve hinge joint, a travel sensor, a telescopic hydraulic cylinder, a clamp, an extension rod and an extension rod hinge joint, wherein the telescopic hydraulic cylinder can drive the extension rod to extend and retract along the sleeve.
The attitude adjusting device comprises a base hinged joint, a light hydraulic cylinder, a spherical hinge, a yaw angle adjusting hydraulic cylinder, a floating platform and a main bearing, wherein the light hydraulic cylinder and the yaw angle adjusting hydraulic cylinder can realize adjustment of three rotational degrees of freedom in a space of the floating platform.
The invention has the beneficial effects that: the walking ring, the rotating ring and the telescopic arm respectively control the front and back, left and right and up and down movements of the steel arch assembly manipulator, the steel arch assembly manipulator arranged on the telescopic arm can finely adjust the yaw angle, the pitch angle and the rolling angle of the steel arch, the steel arch pose independent control mode is adopted, the movement time of the steel arch assembly positioning is saved, the assembly work of a large number of steel arches is completed instead of manual operation, and the steel arch assembly efficiency is effectively improved.
Drawings
Figure 1 is an isometric view of a body structure of the present invention.
Fig. 2 is a front view of the main structure of the present invention.
Fig. 3 is a left side view of the body structure of the present invention.
Fig. 4 is a top view of the body structure of the present invention.
Figure 5 is an isometric view of a steel arch assembly robot in accordance with the present invention.
Fig. 6 is a front view of the steel arch assembly robot of the present invention.
Fig. 7 is a left side view of the steel arch assembly robot of the present invention.
Fig. 8 is a top view of a steel arch assembly robot in accordance with the present invention.
In fig. 1-8: 1. girder, 2, horizontal sliding guide rail, 3, walking cylinder, 4, walking ring, 5, rotating ring bracket, 6, rotating ring, 7, driving wheel, 8, supporting guide wheel, 9, steel arch clamp, 10, steel arch, 11, telescopic arm, 12, attitude adjusting device, 13, steel arch assembling manipulator end, 14, steel arch assembling manipulator, 31, girder articulated joint, 32, walking ring articulated joint, 41, slider, 42, walking ring flange, 51, rotating ring flange, 52, base, 111, telescopic arm flange, 112, sleeve, 113, extension rod, 114, sleeve articulated joint, 115, travel sensor, 116, telescopic hydraulic cylinder, 117, clamp, 118, extension rod, 119, extension rod articulated joint, 121, base articulated joint, 122, light hydraulic cylinder, 123, spherical hinge, 124, yaw angle adjusting hydraulic cylinder, 125, floating platform, 126, main bearing, 131, floating platform articulated joint, 132, manipulator, 133, steel arch supporting platform, 134, manipulator drive 135, 136, positioning sleeve, 137, manipulator end, side plate.
Detailed Description
The invention is described in detail below with reference to the drawings and examples.
As shown in fig. 1, the invention comprises a main beam 1, a horizontal sliding guide rail 2, a walking oil cylinder 3, a walking ring 4, a rotating ring bracket 5, a rotating ring 6, a driving wheel 7, a supporting guide wheel 8, a steel arch clamp 9, a telescopic arm 11, a posture adjusting device 12 and a steel arch assembling manipulator tail end 13; the walking ring 4 is matched with the horizontal sliding guide rail 2 on the side surface of the main beam 1 through a sliding block 41, two ends of the walking oil cylinder 3 are respectively hinged to the main beam hinge joint 31 and the walking ring hinge joint 32, the rotating ring support 5 is fixed on the main beam 1 through a rotating ring flange plate 51, the driving wheel 7 and a rotating ring base 52 for supporting the guide wheel 8 are uniformly welded on the rotating ring support 5, teeth on the rotating ring 6 are meshed with teeth on the driving wheel 7, the rotating ring 6 is installed on the rotating ring support 5 through the supporting guide wheel 8, the steel arch clamp 9 is circumferentially arranged and welded on the side surface of the rotating ring 6, and the steel arch assembling manipulator 14 is fastened on the side surface of the walking ring 4 through a telescopic arm flange plate 111 welded on the telescopic arm 11.
As shown in fig. 2, the rotating ring is driven and connected by two driving wheels 7 which are symmetrically arranged left and right and four supporting guide wheels 8 which are circumferentially arranged, and steel arch clamps 9 which are uniformly arranged are arranged on the side surfaces of the rotating ring and are used for clamping and fixing the pose of a steel arch 10.
As shown in fig. 1 and 5, the steel arch assembling manipulator 14 is fixed on the side surface of the walking ring through a telescopic arm flange plate, and comprises three parts, namely a telescopic arm 11, an attitude adjusting device 12 and a steel arch assembling manipulator tail end 13.
As shown in fig. 6, the telescopic arm 11 includes a sleeve 112, an extension rod 113, a sleeve hinge joint 114, a stroke sensor 115, a telescopic hydraulic cylinder 116, a clamp 117, an extension rod 118, and an extension rod hinge joint 119, and the telescopic hydraulic cylinder can drive the extension rod to extend and retract along the sleeve.
As shown in fig. 6 and 8, the posture adjustment device comprises a posture adjustment device base, a base hinged joint 121, a light hydraulic cylinder 122, a spherical hinge 123, a yaw angle adjustment hydraulic cylinder 124, a floating platform 125 and a main bearing 126, wherein the light hydraulic cylinder and the yaw angle adjustment hydraulic cylinder can realize adjustment of three rotational degrees of freedom in the space of the floating platform.
The working principle of the invention is as follows:
after the components are connected in the manner shown in fig. 1-8, the operation of the device in actual construction will be described in detail. After the steel arch is placed on the steel arch supporting platform 133, a piston rod of a manipulator driving hydraulic cylinder 134 hinged on a manipulator tail end rotating platform 137 extends out, a manipulator 132 is driven by a connecting rod 135 to clamp the steel arch, the preset pressure ensures that the steel arch is reliably fixed, one end of a traveling cylinder 3 is hinged on a girder hinged joint 31, the other end of the traveling cylinder is hinged on a traveling ring hinged joint 32, the traveling ring 4 is driven to slide along a horizontal movable guide rail 2 relative to the girder 1, when the traveling ring 4 reaches a designated position, a driving wheel 7 drives a rotating ring 6 to rotate by a specific angle to ensure that a steel arch clamp 9 reaches the designated position, at the moment, a telescopic arm 11 is matched with the traveling cylinder 3 to place a first steel arch 10 on the steel arch clamp 9 and clamp and fix the first steel arch, the rotating ring 6 rotates anticlockwise by a certain angle along a supporting guide wheel 8, and meanwhile the traveling ring 4 returns to pick up the next steel arch, after clamping and fixing, feeding the steel arches to the assembling position of the rotary ring 6, firstly controlling the rotation angle of the rotary ring 6 and the extension length of the telescopic arm 11, respectively installing an encoder and a travel sensor 115 on the rotary ring 6 and the telescopic arm 11, controlling the space position of the steel arches in the assembling area, and usually using bolts to connect flanges on the end faces of the steel arches or adopting a welding mode to connect the two steel arches, thus needing the steel arch assembling manipulator 14 to adjust the pose of the second steel arch, ensuring that the end faces of the two steel arches are butted in an acceptable error range, installing built-in magnetostrictive displacement sensors on a light hydraulic cylinder 122 and a yaw angle adjusting hydraulic cylinder 124 on the pose adjusting device 12, respectively measuring the extension lengths of the light hydraulic cylinder 122 and the yaw angle adjusting hydraulic cylinder 124, further calculating the pose angle and the pose displacement of a rotating platform 137 at the tail end of the manipulator, after the two steel arches are reliably connected, the second steel arch is clamped and fixed by the steel arch clamp 9, the rotating ring 6 rotates anticlockwise by a certain angle, and the next steel arch is assembled until the steel arches are assembled into a ring.
Claims (5)
1. An automatic operation device of assembling of open-type TBM steel bow member, its characterized in that: the steel arch assembling mechanical arm comprises a main beam (1), a horizontal sliding guide rail (2), a walking oil cylinder (3), a walking ring (4), a rotating ring bracket (5), a rotating ring (6), a driving wheel (7), a supporting guide wheel (8), a steel arch clamp (9) and a steel arch assembling mechanical arm (14); the walking ring (4) is matched with a horizontal sliding guide rail (2) on the side surface of the main beam (1) through a sliding block (41), the walking oil cylinder (3) is hinged to a main beam hinge joint (31) and a walking ring hinge joint (32) respectively, the rotating ring support (5) is fixed on the main beam (1) through a rotating ring flange plate (51), the driving wheel (7) and a base (52) for supporting the guide wheel (8) are uniformly welded on the outer circle of the rotating ring support (5), teeth on the rotating ring (6) are meshed with teeth on the driving wheel (7), the rotating ring (6) is installed on the rotating ring support (5) through the supporting guide wheel (8), the steel arch clamp (9) is circumferentially arranged and welded on the side surface of the rotating ring (6), and the steel arch assembling manipulator (14) is fastened on the side surface of the walking ring (4) through a telescopic arm flange plate (111) welded on the telescopic arm (11).
The rotating ring (6) is driven and connected by two driving wheels (7) which are symmetrically arranged left and right and four supporting guide wheels (8) which are circumferentially arranged, and steel arch clamps (9) which are uniformly arranged are arranged on the side surfaces of the rotating ring and are used for clamping and fixing the pose of the steel arch (10);
the steel arch assembling manipulator (14) comprises a telescopic arm (11), an attitude adjusting device (12) and a steel arch assembling manipulator tail end (13), wherein the telescopic arm (11) is fixed on the side face of a traveling ring (4) through a telescopic arm flange plate (111), the attitude adjusting device (12) is welded on a telescopic arm extending rod (113) through an attitude adjusting device base, and the steel arch assembling manipulator tail end (13) is fixed on a floating platform (125) of the attitude adjusting device (12) through a yaw angle adjusting hydraulic cylinder (124) and a main bearing (126).
2. An open TBM steel arch automatic assembly working apparatus as recited in claim 1, wherein: the telescopic boom (11) comprises a sleeve (112), an extension rod (113), a sleeve hinge joint (114), a travel sensor (115), a telescopic hydraulic cylinder (116), a clamp (117), an extension rod (118) and an extension rod hinge joint (119), one end of the telescopic hydraulic cylinder (116) is hinged to the sleeve hinge joint (114), the other end of the telescopic hydraulic cylinder is hinged to the extension rod hinge joint (119), the travel sensor (115) is fixed on the telescopic hydraulic cylinder (116) through the clamp (117) and the extension rod (118), the telescopic hydraulic cylinder (116) drives the extension rod (113) to extend and retract along the sleeve (112), and the travel sensor (115) can measure the telescopic length of the extension rod (113).
3. An open TBM steel arch automatic assembly working apparatus as recited in claim 1, wherein: the attitude adjusting device (12) comprises an attitude adjusting device base, a base articulated joint (121), a light hydraulic cylinder (122), a spherical hinge (123), a yaw angle adjusting hydraulic cylinder (124), a floating platform (125) and a main bearing (126), one end of the light hydraulic cylinder (122) is connected with the attitude adjusting device base through the base articulated joint (121), the other end of the light hydraulic cylinder is connected with the floating platform (125) through the spherical hinge (123), two ends of the yaw angle adjusting hydraulic cylinder (124) are respectively articulated with the floating platform (125) and a manipulator tail end rotating platform (137), and the light hydraulic cylinder (122) and the yaw angle adjusting hydraulic cylinder (124) can respectively realize the adjustment of the pitch angle, the rolling angle and the yaw angle of the floating platform (125) in space.
4. An open TBM steel arch automatic assembly work apparatus as recited in claim 3, wherein: the steel arch assembly manipulator tail end (13) comprises a rotary platform hinge joint (131), a manipulator clamping hand (132), a steel arch supporting platform (133), a manipulator driving hydraulic cylinder (134), a connecting rod (135), a positioning sleeve (136), a manipulator tail end rotary platform (137) and a side plate (138), one end of the manipulator driving hydraulic cylinder (134) is connected with the manipulator tail end rotary platform (137) through the rotary platform hinge joint (131), the other end of the manipulator driving hydraulic cylinder is fixed on the connecting rod (135) through the positioning sleeve (136), the manipulator clamping hand (132) can be driven to clamp and fix the steel arch (10) on the steel arch supporting platform (133), and the side plate (138) plays a role in reinforcing the steel arch assembly manipulator tail end (13).
5. A method of automatically assembling a steel arch for an operating apparatus as recited in claim 4, wherein:
after the steel arch is placed on the steel arch supporting platform (133), a piston rod of a mechanical arm driving hydraulic cylinder (134) hinged on a mechanical arm tail end rotating platform (137) stretches out, a mechanical clamping arm (132) is driven by a connecting rod (135) to clamp the steel arch, the steel arch is guaranteed to be reliably fixed by preset pressure, one end of a traveling cylinder (3) is hinged on a main beam hinged joint (31), the other end of the traveling cylinder is hinged on a traveling ring hinged joint (32), a traveling ring (4) is driven to slide along a horizontal movable guide rail (2) relative to the main beam (1), when the traveling ring (4) reaches a designated position, a driving wheel (7) drives a rotating ring (6) to rotate by a specific angle, a telescopic boom (11) is matched with the traveling cylinder (3) to place a first steel arch (10) on the steel arch clamp (9) and clamp and fix the first steel arch, the rotating ring (6) anticlockwise rotates by a certain angle along a supporting guide wheel (8), meanwhile, the traveling ring (4) returns to a next steel arch, after clamping and fixed is fed to the rotating ring (6), the rotating ring (6) is controlled to rotate by a specific angle, the telescopic boom (6) and the telescopic boom (11) stretches out of a sensor, and the telescopic boom (11) is arranged in a splicing region, and the telescopic boom (115) is assembled in a splicing region;
the steel arch assembling manipulator (14) adjusts the pose of the second steel arch, the end faces of the two steel arches are guaranteed to be butted in an acceptable error range, built-in magnetostrictive displacement sensors are arranged on a light hydraulic cylinder (122) and a yaw angle adjusting hydraulic cylinder (124) on the pose adjusting device (12), the telescopic lengths of the light hydraulic cylinder (122) and the yaw angle adjusting hydraulic cylinder (124) are respectively measured, so that the pose angle and the pose displacement of a manipulator tail end rotating platform (137) are calculated, after the two steel arches are reliably connected, the steel arch clamp (9) clamps and fixes the second steel arch, the rotating ring (6) rotates anticlockwise for a certain angle, and assembling of the next steel arch is started until the steel arch is assembled into a ring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910272709.XA CN109848956B (en) | 2019-04-04 | 2019-04-04 | Automatic assembling operation device and method for open TBM steel arch |
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| CN201910272709.XA CN109848956B (en) | 2019-04-04 | 2019-04-04 | Automatic assembling operation device and method for open TBM steel arch |
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| CN109848956B true CN109848956B (en) | 2023-12-08 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112983491B (en) * | 2021-01-19 | 2022-05-10 | 中南大学 | Novel TBM steel arch frame automatic assembling device and operation method |
| CN113898386A (en) * | 2021-09-24 | 2022-01-07 | 中铁工程装备集团有限公司 | Tunneling machine assembling machine and TBM |
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