CN111188641A - Shield tunnel steel pipe sheet lining reinforcing mechanical arm - Google Patents
Shield tunnel steel pipe sheet lining reinforcing mechanical arm Download PDFInfo
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- CN111188641A CN111188641A CN202010076219.5A CN202010076219A CN111188641A CN 111188641 A CN111188641 A CN 111188641A CN 202010076219 A CN202010076219 A CN 202010076219A CN 111188641 A CN111188641 A CN 111188641A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 53
- 239000010959 steel Substances 0.000 title claims abstract description 53
- 230000003014 reinforcing effect Effects 0.000 title claims abstract description 29
- 239000002131 composite material Substances 0.000 claims abstract description 14
- 230000002457 bidirectional effect Effects 0.000 claims description 23
- 230000007704 transition Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 16
- 230000007246 mechanism Effects 0.000 description 14
- 239000004568 cement Substances 0.000 description 11
- 238000000034 method Methods 0.000 description 5
- 230000007306 turnover Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- 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
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- 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
- E21D11/14—Lining predominantly with metal
- E21D11/15—Plate linings; Laggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention discloses a shield tunnel steel pipe sheet lining reinforcing mechanical arm.A longitudinal moving device, a transverse moving device, a rotary moving device and a rotating platform are sequentially arranged on a base; the upper surface of the transverse moving device transverse moving push plate is provided with a mounting hole and is connected with a chassis of the rotary moving device through a bolt, a turntable is arranged above the chassis of the rotary moving device, and the turntable of the rotary moving device is connected with the turntable; one end of the outer cylinder sleeve of the telescopic arm is fixedly connected with an arm rear seat, an inner cylinder sleeve is arranged in the other end of the outer cylinder sleeve, the bottom end of the cylinder body of the composite oil cylinder is fixedly connected with the inner bottom of the arm rear seat, and the end head of the piston rod of the composite oil cylinder is connected with the shaft hole through a pin. The steel pipe sheet lining reinforcing device can ensure that the clamped steel pipe sheet lining moves in eight degrees of freedom, the whole machine is driven in a full hydraulic mode, the remote controller is used for controlling the steel pipe sheet lining reinforcing device, the structure is compact, multiple degrees of freedom of motion can be achieved in three dimensions of space, the steel pipe sheet lining reinforcing device is flexible and flexible to move, sensitive in reflection, and suitable for reinforcing construction of the steel pipe sheet lining under the arrangement modes of tunnels with various sizes and various pipeline facilities.
Description
Technical Field
The invention relates to tunnel construction equipment, which is used for the construction of a lining of a steel pipe sheet of a tunnel, in particular to a reinforcing mechanical arm for the lining of the steel pipe sheet of a shield tunnel.
Background
In recent years, with the development of economic society, many cities in China adopt a shield method to construct and open subway tunnels. Along with the operation for a period of time, the subway tunnel constructed by the shield method is found, and the annular shield cement segment structure of the subway tunnel constructed by the shield method is affected by the piling load on the ground, the excavation of peripheral foundation pits and the washing of underground water, particularly the settlement deformation and the like caused by the vibration generated when a train runs for a long time on the subway tunnel, so that various disease phenomena are generated. In order to ensure the safety of the subway tunnel structure, the construction is carried out by adopting a shield segment steel pipe sheet lining reinforcing method, so that the construction method becomes a universal tunnel reinforcing and renovating construction method. However, for subway tunnels, especially for operating subway tunnels, various traffic signal, electric service, fire fighting and civil air defense pipeline facilities are attached to the shield cement pipe sheets. When steel pipe piece inside lining processing construction needs to be carried out, the steel pipe piece needs to pass through various pipelines and other facilities attached to the inner wall of the shield cement pipe piece and the steel pipe piece inside lining under the condition that the steel pipe piece is not touched, and the steel pipe piece inside lining is firmly matched with the inner wall cambered surface of the shield cement pipe piece in all directions. Some construction equipment adopted in the prior construction is greatly limited by the operation space in the tunnel section; or in the process of grabbing and hoisting the steel pipe piece, the auxiliary pipeline and facilities for passing through the shield cement pipe piece are very inconvenient due to the self limitation of the structure; or the lining of the steel pipe piece can not perfectly fit with the inner wall of the shield cement pipe piece in all directions due to imperfect functions, so that subsequent anchoring and gluing construction are affected. The operation time is long, the efficiency is low, and the subway tunnel operation is influenced.
Chinese patent discloses a tunnel reinforcing robot (publication No. 103306690), in which a supporting mechanism is used to support the whole machine and is connected with a moving mechanism. The other end of the moving mechanism is connected with the rotary mechanism. The swing mechanism is connected with the movable arm mechanism. The other end of the movable arm mechanism is connected with the clamp body mechanism. The whole tunnel reinforcing robot mainly controls the actions of all mechanical parts through electricity, and the working power of all the mechanical parts is provided by an integral hydraulic system. In the actual construction of tunnel reinforcement, the parts to be reinforced of the shield tunnel are all the parts with diseases such as convergence, settlement, ellipse change and the like, and the visual reflection of the parts is that the section size of the shield tunnel is unexpectedly deviated from the original design value and the design theory of the lining size of the steel pipe sheet. The moving mechanism of the tunnel reinforcing robot can only move longitudinally along the direction of the steel rail and cannot move directly in the direction perpendicular to the steel rail surface, so that the steel pipe piece lining and the shield cement pipe piece are difficult to attach. The movable arm mechanism and the clamp body mechanism are fixedly connected, and when the steel pipe sheet lining clamped by the clamp body mechanism is attached to the shield cement pipe sheet, the movable arm mechanism cannot control the steel pipe sheet lining attaching gap clamped by the clamp body mechanism along the axial direction. Finally, the steel pipe sheet lining and the shield cement pipe sheet cannot be tightly attached to each other when being attached. The gap between the steel pipe sheet lining and the shield cement pipe sheet is too large, so that the subsequent work of anchoring, ring welding, splicing, gluing and the like of the steel pipe sheet lining is directly interfered, and the construction quality is seriously influenced.
Disclosure of Invention
Aiming at the problems in construction, the invention provides a reinforcing mechanical arm for a steel pipe sheet lining of a shield tunnel, which is used for realizing the quick installation of the steel pipe sheet lining of the subway shield tunnel, is suitable for the reinforcing construction of the steel pipe sheet lining under the arrangement modes of tunnels with various sizes and various pipeline facilities, realizes multiple degree-of-freedom actions under three dimensions of space after the steel pipe sheet is grabbed and pulled out, and ensures that the steel pipe sheet lining and the shield cement pipe sheet are tightly attached.
The present invention achieves the above object in the following technical means. The reinforcing mechanical arm for the lining of the steel pipe sheet of the shield tunnel comprises a base, wherein the base is fixedly connected with a track flat car through fixing pins on two side edges, and a longitudinal moving device, a transverse moving device, a rotary moving device and a rotating table are sequentially arranged on the base; the longitudinal moving device comprises a longitudinal moving seat in a rectangular frame structure, a first bidirectional oil cylinder is mounted in the frame of the longitudinal moving seat, two ends of a piston rod of the first bidirectional oil cylinder are fixedly connected with two end plates of the longitudinal moving seat respectively, longitudinal guide rails are mounted above two side edges of the longitudinal moving seat, a longitudinal moving push plate is mounted on the longitudinal guide rails, the lower part of the longitudinal moving push plate is connected with a support on a cylinder body of the first bidirectional oil cylinder through a bolt, and a mounting hole is formed in the upper part of the longitudinal moving push plate;
the transverse moving device comprises a transverse moving seat in a rectangular frame structure, a second bidirectional oil cylinder is installed in a frame of the transverse moving seat, two ends of a piston rod of the second bidirectional oil cylinder are fixedly connected with two end plates of the transverse moving seat respectively, a transverse moving slide rail is arranged above two side edges of the transverse moving seat, a flat pressing plate is installed above the outer side of the transverse moving slide rail, two side edges of a transverse moving push plate are installed between the transverse moving guide rail and the flat pressing plate, the lower part of the transverse moving push plate is connected with a support on a cylinder body of the second bidirectional oil cylinder through bolts, a bottom plate of the transverse moving device is connected with a longitudinal moving push plate of the longitudinal moving device through bolts, an installation hole is formed in the upper part of the transverse moving push plate and connected with a chassis of the rotary moving device through bolts, a rotary table;
a power control device is arranged on one side of the rotating table, the lower part of the inner side of the power control device is connected with the lower end of a cylinder body of the overturning oil cylinder, and the piston rod end of the overturning oil cylinder is connected with the outer side of the main arm; the outer side of the main arm is also connected with an arm side seat of the telescopic arm through an auxiliary arm oil cylinder; the other end of the rotating platform is fixedly provided with a main arm support, and the main arm support is connected with one end of a main arm; an arm rear seat is fixedly connected to one end of an outer cylinder sleeve of the telescopic arm, an inner cylinder sleeve is arranged in the other end of the outer cylinder sleeve, a flange seat is fixedly connected to the end of the inner cylinder sleeve, a shaft hole is formed in the end of the inner cylinder sleeve, composite oil cylinders are arranged in inner cavities of the outer cylinder sleeve and the inner cylinder sleeve, the bottom ends of cylinder bodies of the composite oil cylinders are fixedly connected with the inner bottom of the arm rear seat, and the ends of piston rods of the composite oil cylinders are connected with the shaft hole through; the flange seat is connected with a flange at one end of the rotary oil cylinder through a bolt, a flange at the other end of the rotary oil cylinder is connected with the chuck through a transition connecting seat, and a swing angle oil cylinder is connected between the chuck and the rotary oil cylinder; the other end of the main arm is connected with the arm rear seat through a pin shaft.
Further, one end of the chuck is provided with two shaft holes, one of the shaft holes is connected with the transition joint base through a shaft pin, the other shaft hole is connected with the swing angle oil cylinder through the shaft pin, the other end of the chuck is provided with a pin shaft, and the middle of the chuck is provided with an installation through hole.
Further, the power control device comprises an electric appliance driving system, a hydraulic driving system and a remote controller.
Further, the electric appliance driving system comprises a driving motor, and the driving motor is connected with the hydraulic pump through a speed reducer.
Furthermore, a manipulator wireless receiver is installed in the power control device and is in signal connection with the remote controller.
Further, the type of the remote controller is Shanghai technical landscape CPU UN 200.
The reinforcing mechanical arm for the lining of the steel pipe sheet of the shield tunnel can ensure that the clamped lining of the steel pipe sheet moves in eight degrees of freedom, the whole machine is driven in a full hydraulic mode, the remote controller is used for controlling the reinforcing mechanical arm, the structure is compact, multiple degrees of freedom of motion can be realized in three dimensions of space, the mechanical arm is flexible and sensitive in reflection, the lining of the steel pipe sheet of the subway shield tunnel is quickly installed, and the reinforcing mechanical arm is suitable for reinforcing the lining of the steel pipe sheet under various size tunnels and various pipeline facility arrangement modes.
Drawings
FIG. 1 is a schematic structural view of a reinforcing mechanical arm for a shield tunnel steel pipe sheet lining of the invention;
FIG. 2 is a top view of the mounting structure of the base 8, the longitudinal moving device 9, the lateral moving device 11 and the rotating moving device 10;
fig. 3 is a schematic perspective view of the longitudinal moving device 9 of the present invention;
fig. 4 is a schematic perspective view of the lateral shifting device 11 according to the present invention;
FIG. 5 is a schematic view showing a connection structure of the sub-boom 1 and the telescopic boom 14 according to the present invention;
FIG. 6 is a cross-sectional view of the telescoping arm 14 of the present invention;
fig. 7 is a schematic view of the power unit 5 according to the present invention.
In the figure: 1. the auxiliary arm comprises an auxiliary arm body, a clamping head, a transition connecting seat, a swing angle oil cylinder, a rotary oil cylinder, a telescopic inner pipe, a telescopic outer pipe, an auxiliary supporting seat and a mounting seat, wherein the auxiliary arm body comprises 101, a clamping head, 102, a transition connecting seat, 103, a swing angle oil cylinder, 104, a rotary oil cylinder, 105, a telescopic inner pipe; 2. the hydraulic control system comprises an auxiliary arm oil cylinder, a main arm, a turnover oil cylinder, a power device, a motor, a hydraulic multi-way valve, a hydraulic pump, a hydraulic control box and a hydraulic control box, wherein the auxiliary arm oil cylinder is 3, the main arm is 4, the turnover oil cylinder is 5, the power device is 501, the motor is 502, the hydraulic multi-way valve is 503; 6. the device comprises a main support, 7 a rotating table, 8 a base, 9 a longitudinal moving device, 91 a longitudinal guide rail, 92 a longitudinal moving push plate, 93 a first bidirectional oil cylinder and 94 a longitudinal moving seat; 10. the device comprises a rotary moving device, 11, a transverse moving device, 111, a transverse sliding rail, 112, a transverse push plate, 113, a second bidirectional oil cylinder, 114, a transverse moving seat and 115, a flat press plate; 12. the device comprises a fixed pin, 13 pins, 14 telescopic arms, 141 outer cylinder sleeves, 142 inner cylinder sleeves, 143 arm rear seats, 144 arm side seats and 145 flange seats.
Detailed Description
The invention is further illustrated by the following figures and examples. Referring to fig. 1 to 7, the reinforcing mechanical arm for the lining of the steel pipe sheet of the shield tunnel comprises a base 8, wherein the base 8 is fixedly connected with a track flat car through fixing pins 12 on two side edges, and a longitudinal moving device 9, a transverse moving device 11, a rotary moving device 10 and a rotating table 7 are sequentially arranged on the base 8; the longitudinal moving device 9 comprises a longitudinal moving seat 94 in a rectangular frame structure, a first bidirectional oil cylinder 93 is mounted in the frame of the longitudinal moving seat 94, two ends of a piston rod of the first bidirectional oil cylinder 93 are respectively fixedly connected with two end plates of the longitudinal moving seat 94, longitudinal guide rails 91 are mounted above two side edges of the longitudinal moving seat 94, a longitudinal moving push plate 92 is mounted on the longitudinal guide rails 91, the lower part of the longitudinal moving push plate 92 is connected with a support on a cylinder body of the first bidirectional oil cylinder 93 through bolts, and mounting holes are formed in the upper part of the longitudinal moving push plate 92;
the transverse moving device 11 comprises a transverse moving seat 114 in a rectangular frame structure, a second bidirectional oil cylinder 113 is installed in the frame of the transverse moving seat 114, two ends of a piston rod of the second bidirectional oil cylinder 113 are fixedly connected with two end plates of the transverse moving seat 114 respectively, a transverse moving slide rail 111 is arranged above two side edges of the transverse moving seat 114, a flat pressing plate 115 is installed above the outer side of the transverse moving slide rail 111, two side edges of a transverse moving push plate 112 are installed between the transverse moving guide rail 111 and the flat pressing plate 115, the lower part of the transverse moving push plate 112 is connected with a support on a cylinder body of the second bidirectional oil cylinder 113 through bolts, a bottom plate of the transverse moving device 11 is connected with a longitudinal moving push plate 92 of the longitudinal moving device 9 through bolts, mounting holes are formed in the transverse moving push plate 112 and connected with a chassis of the rotary moving device 10 through bolts, a rotary table is installed above the chassis of the rotary;
a power control device 5 is arranged on one side of the rotating platform 7, and the power control device 5 comprises an electric appliance driving system, a hydraulic driving system and a remote controller; the electric appliance driving system comprises a driving motor 501, and the driving motor 501 is connected with a hydraulic pump 502 through a speed reducer 503. And a manipulator wireless receiver is also installed in the power control device 5 and is in signal connection with the remote controller. The lower part of the inner side of the power control device 5 is connected with the lower end of the cylinder body of the turnover oil cylinder 4, and the piston rod end of the turnover oil cylinder 4 is connected with the outer side of the main arm 3; the outer side of the main arm 3 is also connected with an arm side seat 144 of the telescopic arm 14 through the auxiliary arm oil cylinder 2; the other end of the rotating platform 7 is fixedly provided with a main arm support 6, and the main arm support 6 is connected with one end of the main arm 3; one end of an outer sleeve 141 of the telescopic arm 14 is fixedly connected with an arm rear seat 143, an inner sleeve 142 is arranged in the other end of the outer sleeve 141 of the telescopic arm 14, the end of the inner sleeve 142 is fixedly connected with a flange seat 145, an axle hole 146 is formed in the end of the inner sleeve 142, a composite oil cylinder 147 is arranged in the inner cavities of the outer sleeve 141 and the inner sleeve 142, the bottom end of the cylinder body of the composite oil cylinder 147 is fixedly connected with the inner bottom of the arm rear seat 143, and the end of a piston rod of the composite oil cylinder 147 is connected; the flange seat 145 is connected with a flange at one end of the rotary oil cylinder 104 through a bolt, a flange at the other end of the rotary oil cylinder 104 is connected with the chuck 101 through the transition joint 102, one end of the chuck 101 is provided with two shaft holes, one of the shaft holes is connected with the transition joint 102 through a shaft pin 1013, the other shaft hole is connected with the swing angle oil cylinder 103 through a shaft pin 1013, the other end of the chuck 101 is provided with a pin 1011, and the middle is provided with an installation through hole 1012. A swing angle oil cylinder 103 is connected between the chuck 101 and the rotary oil cylinder 104; the other end of the main arm 3 is connected to the arm rear base 143 by a pin 13.
Example (b): the mechanical arm for lining the steel pipe sheet of the tunnel mainly comprises a base 8, a rotating table 7, a power device 5, a main arm 3, an auxiliary arm 1 and a chuck 101 (shown in figure 1). Wherein the base 8 is welded by square steel pipes to form a framework, and two ends of the longitudinal moving seat 94 which is welded by high-strength steel plates to form a frame-shaped structure are welded between the frameworks of the square steel pipes in the base 8, so that the longitudinal moving seat 94 and the base 8 are fixedly connected. A first double-head double-directional oil cylinder 93 (shown in fig. 3) is fixed at the middle position of the longitudinal moving seat 94 at the two ends of the longitudinal moving device 9 through bolts, a longitudinal moving push plate 92 is mounted on the cylinder barrel of the first double-directional oil cylinder 93 through bolts, and the longitudinal moving push plate 92 can be pushed to longitudinally move along the longitudinal guide rail 91 on the longitudinal moving seat 94 frame. The longitudinal movement push plate 92 is provided with a transverse movement device 11 through a bolt.
The two ends of the parallel traverse guide rail 111 of the traverse device 11 are welded with traverse seats 114 (as shown in fig. 4) by high-strength steel plates, and a second bidirectional cylinder 113 with double heads is fixed at the middle position of the traverse seat 114 through bolts. A support is fixedly arranged on a cylinder barrel of the second bidirectional oil cylinder 113, a transverse push plate 112 is mounted on the support through a bolt, and the second bidirectional oil cylinder 113 can push the transverse push plate 112 to transversely move along the transverse guide rail 111. The bottom of the traverse seat 114 is connected to the longitudinal moving push plate 92 of the longitudinal moving device 9 through bolts according to an angle of 90 degrees between the traverse guide rail 111 and the longitudinal moving guide rail 91, so that the transverse moving device 11 and the longitudinal moving device 9 are arranged in a cross shape (as shown in fig. 2).
The rotary moving device 10 is mounted on the transverse push plate 112 through bolts. The rotary moving device 10 is connected to the rotary table 7 by bolts.
The main support 6 is fixedly connected to the front end of the rotating platform 7 through a bolt, and the main arm 3 is connected with the main support 6 through a rotating pin shaft. The piston rod end of the overturning oil cylinder 4 is connected to the outer side of the main arm 3, and the cylinder end of the overturning oil cylinder 4 is fixed on the rotating platform 7. Under the support and the push of the overturning oil cylinder 4, the main arm 3 can rotate around the axis of a rotating pin shaft in the main support 6. The outer side of the main boom 3 is also connected to a boom side seat 144 of the telescopic boom 14 via the sub boom cylinder 2.
The arm rear base 143 of the telescopic arm 14 is connected to the main arm 3 by a pin 13, and is pushed by the sub-arm cylinder 2 mounted on the arm side base 144 to be rotatable around the axis of the pin 13. The outer sleeve 141 of the telescopic arm 14 has one end fixed with the connecting arm rear seat 143 and the other end sleeved with the inner sleeve 142, the end of the inner sleeve 142 is fixedly connected with the flange seat 145, and the flange seat 154 is connected with the rotary cylinder 104 of the auxiliary arm 1 through a bolt. The end of the inner cylinder sleeve 142 is provided with a shaft hole 146, and the inner cavities of the outer cylinder sleeve 141 and the inner cylinder sleeve 142 are provided with a composite oil cylinder 147. The bottom end of the cylinder body of the composite oil cylinder 147 is fixedly connected with the bottom in the arm rear seat 143, the end of the piston rod of the composite oil cylinder 147 is connected with the shaft hole 146 through a pin column, the outer wall of the inner sleeve 142 can be pushed to move along the inner wall of the outer sleeve 141, the outer sleeve 141 plays a role in protecting and supporting the inner sleeve, and finally the steel pipe sheet lining clamped by the auxiliary arm 1 is driven to move along the axial direction of the telescopic arm 14.
The flange seat 145 of the telescopic boom 14 is connected to a flange at one end of a swivel cylinder 104 included in the sub boom 1 by a bolt (as shown in fig. 5 and 6), the other end of the swivel cylinder 104 is connected to a transition seat 102 by a flange, and the transition seat 102 is connected to the chuck 101 by a pin 1013. When the rotary cylinder 104 rotates, the chuck 101 is driven to rotate. The other shaft hole of the chuck 101 is connected with the piston rod end of the swing angle oil cylinder 103, and the oil cylinder end of the swing angle oil cylinder 103 is connected with the cylinder barrel support outside the rotary oil cylinder 104. When the swing angle cylinder 103 extends and contracts, the chuck 101 can be pushed to rotate around the pin 1013, so that the swing angle of the chuck relative to the telescopic arm 14 is changed. The middle of the clamping head 101 is provided with a mounting through hole 1012 for mounting a steel pipe sheet lining.
The power assembly 5 is composed of a motor 501, a coupler 502, a hydraulic pump 503, a hydraulic tank 504 and the like (as shown in fig. 7), and is externally covered with a protective casing and then installed at the end of the mounting base 7 far away from the mechanical arm through bolts. Wherein, the power system hydraulic pump 503 is connected to the end face of the coupling 502 and the flange of the motor 501 through bolts and nuts.
The invention relates to a reinforcing mechanical arm for a shield tunnel steel pipe sheet lining, which is arranged on a track flat transport vehicle and is transported to a construction site during construction; the cable is connected with the driving motor 501, and the starting test device can operate after the device operates stably.
And operating a remote controller (the type is: Shanghai technical landscape CPU: UN 200) to control the rotating platform 7 to start rotating, and when the rotating platform rotates to the position where the duct piece is placed and the main arm 3 and the chuck 101 are opposite to form a line, operating the remote controller to control the overturning oil cylinder 4 and the auxiliary arm oil cylinder 2 to extend out, so that the main arm 3 and the telescopic arm 14 are in an unfolded state, and finally, the movable chuck 101 is connected with the duct piece. The mounted and connected duct pieces are controlled to retract to be in a retraction state by operating a remote controller to control the overturning oil cylinder 4 and the auxiliary arm oil cylinder 2, and then the remote controller is operated to control the rotating platform 7 to rotate to be in a near-vertical state of the tunnel wall; the remote controller is operated according to different positions of the duct piece to control the overturning oil cylinder 4 and the auxiliary arm oil cylinder 2 to be unfolded, when the duct piece is close to the tunnel wall, the swing angle oil cylinder 103 is operated to realize the attaching angle of the duct piece and the tunnel, the rotary oil cylinder 104 is operated to control the side seam control of the duct piece to be installed and the installed duct piece, and the remote controller is operated to control the longitudinal moving device 9 and the transverse moving device 11 and realize position compensation.
The application of the rotary oil cylinder 104 can realize the stable and accurate positioning of the duct piece, and has the characteristic of compact large-torque radial structure, the longitudinal moving device 9 and the transverse moving device 11 are in a vertical cross arrangement, so that the different axial movements of an X axis and a Y axis can be realized, the requirement on the position placement of the duct piece before installation is greatly reduced, the X-direction movement or the Y-direction movement can be compensated even if the position deviation is realized, and the range of adapting to a tunnel is larger. The design of 14 structures of telescopic arm can realize that the section of jurisdiction requires narrow and small space when the primary positioning to and the rapid compensation when the accurate positioning.
Claims (6)
1. The reinforcing mechanical arm for the lining of the steel pipe sheet of the shield tunnel comprises a base, wherein the base is fixedly connected with a track flat car through fixing pins on two side edges; the longitudinal moving device comprises a longitudinal moving seat in a rectangular frame structure, a first bidirectional oil cylinder is mounted in the frame of the longitudinal moving seat, two ends of a piston rod of the first bidirectional oil cylinder are fixedly connected with two end plates of the longitudinal moving seat respectively, longitudinal guide rails are mounted above two side edges of the longitudinal moving seat, a longitudinal moving push plate is mounted on the longitudinal guide rails, the lower part of the longitudinal moving push plate is connected with a support on a cylinder body of the first bidirectional oil cylinder through a bolt, and a mounting hole is formed in the upper part of the longitudinal moving push plate;
the transverse moving device comprises a transverse moving seat in a rectangular frame structure, a second bidirectional oil cylinder is installed in a frame of the transverse moving seat, two ends of a piston rod of the second bidirectional oil cylinder are fixedly connected with two end plates of the transverse moving seat respectively, a transverse moving slide rail is arranged above two side edges of the transverse moving seat, a flat pressing plate is installed above the outer side of the transverse moving slide rail, two side edges of a transverse moving push plate are installed between the transverse moving guide rail and the flat pressing plate, the lower part of the transverse moving push plate is connected with a support on a cylinder body of the second bidirectional oil cylinder through bolts, a bottom plate of the transverse moving device is connected with a longitudinal moving push plate of the longitudinal moving device through bolts, an installation hole is formed in the upper part of the transverse moving push plate and connected with a chassis of the rotary moving device through bolts, a rotary table;
a power control device is arranged on one side of the rotating table, the lower part of the inner side of the power control device is connected with the lower end of a cylinder body of the overturning oil cylinder, and the piston rod end of the overturning oil cylinder is connected with the outer side of the main arm; the outer side of the main arm is also connected with an arm side seat of the telescopic arm through an auxiliary arm oil cylinder; the other end of the rotating platform is fixedly provided with a main arm support, and the main arm support is connected with one end of a main arm; an arm rear seat is fixedly connected to one end of an outer cylinder sleeve of the telescopic arm, an inner cylinder sleeve is arranged in the other end of the outer cylinder sleeve, a flange seat is fixedly connected to the end of the inner cylinder sleeve, a shaft hole is formed in the end of the inner cylinder sleeve, composite oil cylinders are arranged in inner cavities of the outer cylinder sleeve and the inner cylinder sleeve, the bottom ends of cylinder bodies of the composite oil cylinders are fixedly connected with the inner bottom of the arm rear seat, and the ends of piston rods of the composite oil cylinders are connected with the shaft hole through; the flange seat is connected with a flange at one end of the rotary oil cylinder through a bolt, a flange at the other end of the rotary oil cylinder is connected with the chuck through a transition connecting seat, and a swing angle oil cylinder is connected between the chuck and the rotary oil cylinder; the other end of the main arm is connected with the arm rear seat through a pin shaft.
2. The reinforcing mechanical arm for the lining of the steel pipe sheet of the shield tunnel according to claim 1, wherein one end of the chuck is provided with two shaft holes, one of the shaft holes is connected with the transition joint seat through a shaft pin, the other shaft hole is connected with the swing angle oil cylinder through a shaft pin, the other end of the chuck is provided with a pin shaft, and a mounting through hole is arranged in the middle of the other shaft hole.
3. The reinforcing mechanical arm for the lining of the steel pipe sheet of the shield tunnel according to claim 1, wherein the power control device comprises an electric drive system, a hydraulic drive system and a remote controller.
4. The reinforcing mechanical arm for the lining of the steel pipe sheet of the shield tunnel according to claim 3, wherein the electric drive system comprises a drive motor, and the drive motor is connected with a hydraulic pump through a speed reducer.
5. The reinforcing mechanical arm for the lining of the steel pipe sheet of the shield tunnel according to claim 1, wherein a manipulator wireless receiver is installed in the power control device, and the manipulator wireless receiver is in signal connection with a remote controller.
6. The reinforcing mechanical arm for the lining of the steel pipe sheet of the shield tunnel according to claim 3, wherein the type of the remote controller is Shanghai technical landscape CPU: UN 200.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010076219.5A CN111188641A (en) | 2020-01-23 | 2020-01-23 | Shield tunnel steel pipe sheet lining reinforcing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010076219.5A CN111188641A (en) | 2020-01-23 | 2020-01-23 | Shield tunnel steel pipe sheet lining reinforcing mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN111188641A true CN111188641A (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010076219.5A Pending CN111188641A (en) | 2020-01-23 | 2020-01-23 | Shield tunnel steel pipe sheet lining reinforcing mechanical arm |
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| CN (1) | CN111188641A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112360516A (en) * | 2020-10-23 | 2021-02-12 | 山东建筑大学 | Automatically-retractable steel pipe sheet and assembling method |
| CN112593974A (en) * | 2020-12-03 | 2021-04-02 | 重庆文理学院 | Tunnel segment installation device and installation method thereof |
| CN112593958A (en) * | 2020-12-03 | 2021-04-02 | 重庆文理学院 | Reinforced rotary equipment for tunnel TBM construction and use method |
| CN112593956A (en) * | 2020-12-03 | 2021-04-02 | 重庆文理学院 | Reinforcing equipment for tunnel TBM construction and using method |
| CN112664226A (en) * | 2020-12-22 | 2021-04-16 | 湖北省大唐安盛建筑工程有限公司 | Top plate installation process |
| CN113090291A (en) * | 2021-04-09 | 2021-07-09 | 中铁工程服务有限公司 | Shield subway tunnel segment repair and reinforcement complete equipment |
| CN113090293A (en) * | 2021-04-09 | 2021-07-09 | 中铁工程服务有限公司 | Shield subway tunnel segment repairing and reinforcing mechanical arm equipment |
| CN113756827A (en) * | 2021-09-13 | 2021-12-07 | 广东水电二局股份有限公司 | Bearing wheel device and TBM air-assisted stepping method based on bearing wheel device |
| CN114750128A (en) * | 2022-06-16 | 2022-07-15 | 中铁工程服务有限公司 | Robot and duct piece assembling system |
| WO2022253243A1 (en) * | 2021-05-31 | 2022-12-08 | 中铁工程服务有限公司 | Complete device for repairing and reinforcing shield tunnel segments, and repair and reinforcement process |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112360516A (en) * | 2020-10-23 | 2021-02-12 | 山东建筑大学 | Automatically-retractable steel pipe sheet and assembling method |
| CN112360516B (en) * | 2020-10-23 | 2021-07-27 | 山东建筑大学 | Automatically-retractable steel pipe sheet and assembling method |
| CN112593974A (en) * | 2020-12-03 | 2021-04-02 | 重庆文理学院 | Tunnel segment installation device and installation method thereof |
| CN112593958A (en) * | 2020-12-03 | 2021-04-02 | 重庆文理学院 | Reinforced rotary equipment for tunnel TBM construction and use method |
| CN112593956A (en) * | 2020-12-03 | 2021-04-02 | 重庆文理学院 | Reinforcing equipment for tunnel TBM construction and using method |
| CN112664226A (en) * | 2020-12-22 | 2021-04-16 | 湖北省大唐安盛建筑工程有限公司 | Top plate installation process |
| CN113090293A (en) * | 2021-04-09 | 2021-07-09 | 中铁工程服务有限公司 | Shield subway tunnel segment repairing and reinforcing mechanical arm equipment |
| CN113090291A (en) * | 2021-04-09 | 2021-07-09 | 中铁工程服务有限公司 | Shield subway tunnel segment repair and reinforcement complete equipment |
| WO2022253243A1 (en) * | 2021-05-31 | 2022-12-08 | 中铁工程服务有限公司 | Complete device for repairing and reinforcing shield tunnel segments, and repair and reinforcement process |
| CN113756827A (en) * | 2021-09-13 | 2021-12-07 | 广东水电二局股份有限公司 | Bearing wheel device and TBM air-assisted stepping method based on bearing wheel device |
| CN113756827B (en) * | 2021-09-13 | 2023-08-11 | 广东水电二局股份有限公司 | Bearing wheel device and TBM air-pushing stepping method based on bearing wheel device |
| CN114750128A (en) * | 2022-06-16 | 2022-07-15 | 中铁工程服务有限公司 | Robot and duct piece assembling system |
| CN114750128B (en) * | 2022-06-16 | 2022-09-09 | 中铁工程服务有限公司 | Robot and duct piece assembling system |
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