CN111706369A - Skid gripping device and control method thereof - Google Patents
Skid gripping device and control method thereof Download PDFInfo
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- CN111706369A CN111706369A CN202010644948.6A CN202010644948A CN111706369A CN 111706369 A CN111706369 A CN 111706369A CN 202010644948 A CN202010644948 A CN 202010644948A CN 111706369 A CN111706369 A CN 111706369A
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- skid
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 43
- 210000000078 claw Anatomy 0.000 claims description 24
- 230000001681 protective effect Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 15
- 230000009194 climbing Effects 0.000 abstract 1
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001960 triggered effect Effects 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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- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
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- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention discloses a skid grabbing device and a control method thereof, and solves the technical problem that automatic grabbing of a skid above a duct piece cannot be realized in the prior art. The invention comprises an axial walking unit arranged in a segment unloading area, wherein a grabbing unit for grabbing a skid is arranged on the axial walking unit. The axial walking unit can be at the regional seesaw of section of jurisdiction uninstallation, and the axial walking unit can drive when the seesaw and snatch the unit synchronous motion, and then snatch the unit and can grab the skid in section of jurisdiction uninstallation region, under the drive of axial walking unit, carry the skid to specific position, take off the skid from grabbing the unit by the operating personnel who stands in the trailer both sides, operating personnel need not the artificial emergence of climbing to the section of jurisdiction, has avoided the incident. The invention can move to the upper part of the duct piece by utilizing the time of the duct piece hoist for transporting the duct piece forwards, and finishes the grabbing of the skid, thereby not influencing the normal transportation efficiency of the duct piece.
Description
Technical Field
The invention belongs to the technical field of conveying and assembling of pipe sheets in tunnels, and particularly relates to a skid grabbing device and a control method thereof.
Background
When the shield tunneling machine is used for tunnel construction, duct pieces to be assembled need to be conveyed to a rear matching duct piece unloading area of the shield tunneling machine through a marshalling train (Rolling stock) or a multifunctional transport vehicle (MSV). Marshalling trains or multi-function transport vehicles typically transport two or three stacks of duct pieces to meet the number of duct pieces in a ring; and skids are arranged among the piled segments for protecting the segments. After the pipe piece is hung and taken by the pipe piece crane in the unloading area of the back matched pipe piece, the skid is left on the next pipe piece, so that the pipe piece crane cannot normally grab the next pipe piece, and therefore an operator is required to take the skid left over on the pipe piece.
The prior method for taking the skid in China is that an operator stands on a pipe piece and takes down the skid; in some foreign projects, there are also situations where an operator stands on a marshalling train or a multi-functional transport vehicle to pick up skids; if an unloader is provided, the skid is generally knocked down from the segment into the tunnel, and the operator enters the tunnel again to pick up the skid. From the perspective of safe construction, the above skid taking modes are easy to cause accidents, which leads to the occurrence of casualties. In particular, in the equipment from the export to the european region, the relevant regulations and standards prohibit personnel from standing on the pipe piece or from going down into the tunnel to take the skid, and therefore, the invention of a device capable of automatically gripping the skid is urgently needed.
Disclosure of Invention
Aiming at the defects in the background art, the invention provides a skid grabbing device and a control method thereof, and solves the technical problem that automatic grabbing of a skid above a duct piece cannot be realized in the prior art.
The technical scheme of the invention is realized as follows: the utility model provides a skid grabbing device, is provided with the unit of snatching that is used for snatching the skid including setting up the axial walking unit in section of jurisdiction uninstallation region on the axial walking unit. The axial walking unit can move front and back in the segment unloading area, the axial walking unit can drive the grabbing unit to move synchronously when moving front and back, the grabbing unit can grab the skid in the segment unloading area, the skid is conveyed to a specific position under the drive of the axial walking unit, and the skid is taken down from the grabbing unit by an operator standing in a safe operation area on two sides of the trailer. The operating personnel need not the manual work and climbs to the pipe piece, just can realize the light of lumber skid snatchs, has avoided the emergence of incident.
Furthermore, the axial walking unit comprises a walking track arranged at the top of the trailer, a walking mechanism is arranged on the walking track, and the grabbing unit is arranged on the walking mechanism.
Furthermore, the grabbing unit comprises an electric crane connected with the travelling mechanism, and a lifting rope of the electric crane is connected with an electric mechanical claw for grabbing the skid. When the skid on the duct piece needs to be grabbed, the electric mechanical claw is lowered to the corresponding height through the lifting rope, and then the electric mechanical claw is controlled to automatically open and tightly grab the skid in a wired or wireless mode; the gripping power and the opening degree of the electric mechanical claw can be adjusted according to the use requirement so as to adapt to the overall dimension of the skid.
Furthermore, the lifting rope is connected with a balance beam, the electric mechanical claw is connected with the lifting rope through two ends of the balance beam, and the stability of the lifting and hoisting skid is guaranteed through the balance beam.
Furthermore, the grabbing unit comprises a telescopic cylinder connected with the travelling mechanism, and the telescopic cylinder is connected with an electric mechanical claw for grabbing the skid.
Furthermore, the telescopic cylinder is connected with a balance beam, and the electric mechanical claw is connected with the telescopic cylinder through two ends of the balance beam.
Furthermore, the walking tracks are arranged on two sides of the segment crane beam, and the structural arrangement of the existing trailer is not influenced.
Furthermore, anti-collision limiting blocks are arranged at two ends of the walking track.
Furthermore, the axial movement action of the travelling mechanism is electrically interlocked with the axial movement action of the segment crane in the segment unloading area, so that the axial movement of the travelling mechanism and the axial movement of the segment crane are prevented from interfering or colliding accidentally.
Furthermore, protective doors are arranged on the protective nets on two sides of the traveling section of the axial traveling unit, and the axial moving action of the segment crane, the axial moving action of the traveling mechanism and the opening and closing actions of the protective doors are electrically interlocked. When an operator opens the protective door to fetch the skid on the electric mechanical claw, the electric interlock can ensure the safety of the operator.
When the duct piece crane lifts a duct piece at the rear, the travelling mechanism is always positioned at the rear of the duct piece crane, so that the accident that the axial movement of the travelling mechanism interferes with or collides with the axial movement of the duct piece crane is prevented. The walking mechanism can utilize the segment crane to continue to transport the segment forwards, moves to the upper part of the segment, finishes grabbing of the skid and does not influence the normal transfer efficiency of the segment. When the protective door is opened, the segment crane and the travelling mechanism stop moving. When the protective door is closed, the segment crane and the travelling mechanism can normally operate. In case operating personnel opens the guard gate, section of jurisdiction loop wheel machine and running gear will immediately stop motion, snatch the unit and can continue work, prevent to cause the influence to personnel's safety.
Furthermore, when the segment crane moves backwards to hoist the segment, the travelling mechanism is positioned at the rearmost end of the travelling track and cannot move forwards; after the segment crane moves to the front end of the walking track, the walking mechanism starts to walk, and mutual noninterference between segment hoisting and skid taking is fully guaranteed.
The automatic picking device can automatically pick the skid in the segment unloading area, an operator does not need to manually climb onto the segment, the picking unit can easily pick the skid, and the axial walking unit can convey the picking unit to the designated area; meanwhile, the segment crane moving in the segment unloading area does not interfere with the axial walking unit and the grabbing unit or interfere with each other, so that safety accidents are avoided, and normal lifting of the segments is not influenced. The invention is beneficial to reducing the operation risk, and the skid is grabbed by a mechanical mode, thereby improving the humanization degree of equipment operation. The invention solves the problem of picking the skid in the tunnel, is efficient and safe, can be used with marshalling or a multifunctional transport vehicle and can also be used with an unloader, and can greatly improve the automation and humanization degree of equipment. The invention can move to the upper part of the duct piece by utilizing the time of the duct piece hoist for transporting the duct piece forwards, and finishes the grabbing of the skid, thereby not influencing the normal transportation efficiency of the duct piece. When the pipe piece crane is not used, the pipe piece crane runs to the tail end of the walking track, and the normal walking space of the pipe piece crane is prevented from being blocked.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view taken along plane A-A of FIG. 1;
FIG. 3 is a top view of FIG. 1;
in the figure: 1-protective door, 2-segment crane, 3-segment quick unloading device, 4-unloaded segment, 5-skid, 6-walking track, 7-walking mechanism, 8-electric mechanical claw, 81-electric crane, 82-lifting rope, 83-balance beam, 9-trailer, 10-towing cable, 11-anti-collision block and 12-segment crane beam.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Specifically, as shown in fig. 1 and 3, the axial traveling unit includes a traveling rail 6 disposed at the top of the trailer, and two ends of the traveling rail 6 are provided with anti-collision limiting blocks 11. The walking track 6 is arranged between the two segment crane beams 12, so that the structural arrangement of the existing trailer is not influenced, and the fore-and-aft movement of the segment crane 2 is not influenced. The walking mechanism 7 is arranged on the walking track 6 and comprises a driving motor and a walking wheel driven by the driving motor, the walking wheel is in rolling fit with the walking track 6, and the driving motor is connected with the control unit through a towing cable 10 matched with the walking track 6. The controller can be used for carrying out wired or wireless control on the control unit, and further controlling the forward and reverse rotation and the rotating speed of the driving motor.
The grabbing units are arranged on the travelling mechanism 7, and the travelling mechanism 7 drives the grabbing units to move synchronously when moving back and forth until the grabbing units are moved to the corresponding positions of the skid. As shown in fig. 2, the grasping unit includes an electric hoist 81 connected to the traveling mechanism 7, and an electric gripper 8 for grasping the skid is connected to a lifting rope 82 of the electric hoist 81. When the skid on the duct piece 4 needs to be grabbed, the lifting rope 82 lowers the electric mechanical claw 8 to the corresponding height, and then the electric mechanical claw 8 is controlled to automatically open and tightly grab the skid in a wired or wireless mode; the gripping force and the opening degree of the electric mechanical claw 8 can be adjusted according to the use requirement so as to adapt to the external dimension of the skid 5.
Further, the lifting rope 82 is connected with a balance beam 83, the electric mechanical claw 8 is connected with the lifting rope 82 through two ends of the balance beam 83, and the balance beam 83 is arranged to guarantee stability when the skid is grabbed and lifted.
Furthermore, the axial movement action of the travelling mechanism is electrically interlocked with the axial movement action of the segment crane 2 in the segment unloading area, so that the axial movement of the travelling mechanism and the axial movement of the segment crane are prevented from interfering or colliding accidentally.
Furthermore, a protective door 1 is arranged in a traveling section of the axial traveling unit, and the axial moving action of the segment crane 2, the axial moving action of the traveling mechanism and the opening and closing action of the protective door 1 are electrically interlocked. When an operator takes the skid on the electric mechanical claw 8 through the protective door 1, the electric interlocking can stop the segment crane 2 and the walking mechanism, and simultaneously, the acousto-optic alarm system is triggered to ensure the safety of the operator.
The working process of the invention is as follows:
after the duct piece is transported to the position of the duct piece quick unloading device 3 of the trailer 9, the duct piece crane 2 grabs the duct piece 4 and then walks a distance to the front of the trailer 9, and after the duct piece crane 2 passes the duct piece on the left side, an operator starts the invention in a manual or remote control mode. Firstly, the walking mechanism is controlled to move to the position of the duct piece 4 along the walking track 6, then the electric crane 81 is controlled to reduce the electric mechanical claw 8 to the position of the skid 5, the claw of the electric mechanical claw 8 grabs the first skid and conveys the first skid to the protective door 1 of the operation area of an operator.
Then, the operator opens the operation area protection door 1. Because the protection door 1, the segment crane 2 and the travelling mechanism are mutually and electrically interlocked, the segment crane 2 and the travelling mechanism stop horizontal axial movement. The operator controls the electric mechanical claw 8 to quickly loosen and takes out the skid 5. The operator closes the operation area protective door and can grab the next skid. With this circulation, can snatch other paddings in proper order, solve operating personnel and taken the problem of paddings difficulty and operation safety.
Embodiment 2, a skid grabbing device, the unit of snatching includes the telescoping cylinder that links to each other with running gear 7, and the telescoping cylinder is connected with the electromechanical claw 8 of snatching the skid. The telescopic cylinder is connected with a balance beam 83, and the electric mechanical claw 8 is connected with the telescopic cylinder through two ends of the balance beam 83.
The other structure of this embodiment is the same as embodiment 1.
In the embodiment 3, when the segment crane 2 lifts the segment 1 behind the segment crane, the travelling mechanism is always located behind the segment crane, so that the accident that the axial movement of the travelling mechanism interferes with or collides with the axial movement of the segment crane is prevented. The walking mechanism can utilize the segment crane 2 to continue to transport the segment forwards, moves to the upper part of the segment, finishes grabbing of the skid and does not influence the normal transfer efficiency of the segment. When the protective door 1 is opened, the segment crane 2 and the travelling mechanism stop moving. When the protective door 1 is closed, the segment crane 2 and the travelling mechanism can normally operate. In case operating personnel opens guard gate 1, section of jurisdiction loop wheel machine 2 and running gear will immediately stop motion, snatch the unit and can continue work, prevent to cause the influence to personnel's safety.
Further, when the segment crane 2 moves backwards to hoist the segment 1 each time, the travelling mechanism is positioned at the rearmost end of the travelling track 6 and cannot move forwards; when the segment crane 2 moves to the front end of the walking track 6, the walking mechanism starts to walk, and mutual noninterference between segment hoisting and skid taking is fully guaranteed.
The structure of this embodiment is the same as embodiment 1 or 2.
Nothing in this specification is intended to be exhaustive of all conventional and well known techniques.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (12)
1. The utility model provides a skid grabbing device which characterized in that: the device comprises an axial walking unit arranged in a segment unloading area, wherein a grabbing unit used for grabbing a skid is arranged on the axial walking unit.
2. The skid gripping apparatus of claim 1, wherein: the axial walking unit comprises a walking track (6) arranged at the top of the trailer, a walking mechanism (7) is arranged on the walking track (6), and the grabbing unit is arranged on the walking mechanism (7).
3. The skid gripping apparatus of claim 2, wherein: the grabbing unit comprises an electric crane (81) connected with the traveling mechanism (7), and a lifting rope (82) of the electric crane (81) is connected with an electric mechanical claw (8) for grabbing the skid.
4. The skid gripping apparatus of claim 3, wherein: the lifting rope (82) is connected with a balance beam (83), and the electric mechanical claw (8) is connected with the lifting rope (82) through two ends of the balance beam (83).
5. The skid gripping apparatus of claim 2, wherein: the grabbing unit comprises a telescopic cylinder connected with the traveling mechanism (7), and the telescopic cylinder is connected with an electric mechanical claw (8) for grabbing the skid.
6. The skid gripping apparatus of claim 5, wherein: the telescopic cylinder is connected with a balance beam (83), and the electric mechanical claw (8) is connected with the telescopic cylinder through two ends of the balance beam (83).
7. The skid gripping apparatus as set forth in any one of claims 2-6, wherein: the walking track (6) is arranged between the two segment crane beams (12).
8. The skid gripping apparatus of claim 7, wherein: and anti-collision limiting blocks (11) are arranged at two ends of the walking track (6).
9. The skid gripping apparatus of claim 8, wherein: the axial movement action of the travelling mechanism is electrically interlocked with the axial movement action of the segment crane (2) in the segment unloading area.
10. The skid gripping apparatus of claim 9, wherein: and protective doors (1) are arranged on the protective nets on two sides of the traveling section of the axial traveling unit, and the axial moving action of the segment crane (2), the axial moving action of the traveling mechanism and the opening and closing actions of the protective doors (1) are electrically interlocked.
11. A method of controlling a skid-gripping apparatus as set forth in claim 10, wherein: when the duct piece crane (2) lifts a duct piece (4) behind, the travelling mechanism is always positioned behind the duct piece crane; when the protective door (1) is opened, the segment crane (2) and the travelling mechanism stop moving.
12. The method of controlling a skid-gripping apparatus according to claim 11, wherein: when the segment crane (2) moves backwards to hoist the segment (4) each time, the travelling mechanism is positioned at the rearmost end of the travelling track (6) and cannot move forwards; when the segment crane (2) moves to the front end of the walking track (6), the walking mechanism starts to walk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010644948.6A CN111706369A (en) | 2020-07-07 | 2020-07-07 | Skid gripping device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010644948.6A CN111706369A (en) | 2020-07-07 | 2020-07-07 | Skid gripping device and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN111706369A true CN111706369A (en) | 2020-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010644948.6A Pending CN111706369A (en) | 2020-07-07 | 2020-07-07 | Skid gripping device and control method thereof |
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| Country | Link |
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| CN (1) | CN111706369A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112761686A (en) * | 2021-01-30 | 2021-05-07 | 中交第二航务工程局有限公司 | Novel duct piece transportation protection device and transportation method for shield construction |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10131694A (en) * | 1996-11-05 | 1998-05-19 | Mitsui Eng & Shipbuild Co Ltd | Shield tunneling method automating system |
| JPH11182199A (en) * | 1997-12-18 | 1999-07-06 | Ohbayashi Corp | Underground working facility in rear of shield machine |
| CN212479274U (en) * | 2020-07-07 | 2021-02-05 | 中铁工程装备集团有限公司 | Skid grabbing device |
-
2020
- 2020-07-07 CN CN202010644948.6A patent/CN111706369A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10131694A (en) * | 1996-11-05 | 1998-05-19 | Mitsui Eng & Shipbuild Co Ltd | Shield tunneling method automating system |
| JPH11182199A (en) * | 1997-12-18 | 1999-07-06 | Ohbayashi Corp | Underground working facility in rear of shield machine |
| CN212479274U (en) * | 2020-07-07 | 2021-02-05 | 中铁工程装备集团有限公司 | Skid grabbing device |
Non-Patent Citations (1)
| Title |
|---|
| 中国机械工程学会焊接学会电阻焊（Ⅲ）专业委员会: "电阻焊理论与实践", 31 January 1994, 机械工业出版社, pages: 482 - 483 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112761686A (en) * | 2021-01-30 | 2021-05-07 | 中交第二航务工程局有限公司 | Novel duct piece transportation protection device and transportation method for shield construction |
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