CN113441858A - Automatic sealing and mounting operation device and operation method for TBM steel arch frame - Google Patents
Automatic sealing and mounting operation device and operation method for TBM steel arch frame Download PDFInfo
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- CN113441858A CN113441858A CN202110777482.1A CN202110777482A CN113441858A CN 113441858 A CN113441858 A CN 113441858A CN 202110777482 A CN202110777482 A CN 202110777482A CN 113441858 A CN113441858 A CN 113441858A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 115
- 239000010959 steel Substances 0.000 title claims abstract description 115
- 238000007789 sealing Methods 0.000 title claims abstract description 96
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000003466 welding Methods 0.000 claims abstract description 36
- 238000009434 installation Methods 0.000 claims abstract description 14
- 239000011435 rock Substances 0.000 claims description 14
- 238000010276 construction Methods 0.000 abstract description 11
- 239000000463 material Substances 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
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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
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
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- Optics & Photonics (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- Architecture (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention provides a TBM steel arch automatic sealing installation operation device and an operation method, which comprises a slide rail rack, a moving mechanism, a swing beam, a telescopic arm, a grabbing mechanism, a tensioning oil cylinder and a welding manipulator, wherein the slide rail rack is arranged below a TBM main beam, the moving mechanism is arranged on the slide rail rack, the swing mechanism is arranged below the moving mechanism, the swing beam is arranged below the swing mechanism, the telescopic arm is respectively arranged at two sides of the swing beam, the grabbing mechanism is arranged below the telescopic arm, the tensioning oil cylinder is respectively hinged with the swing beam tensioning joint and an outer arm tensioning joint, the welding manipulator is arranged below the swing beam, complex sealing procedures such as manual secondary tensioning of a steel arch split ring, steel plate cutting, steel plate welding and the like are omitted, the automatic sealing installation operation of the steel arch is realized, the steel arch assembling efficiency is greatly improved, and the labor intensity of constructors is reduced, the construction safety is improved.
Description
Technical Field
The invention relates to the technical field of tunnel steel arch seal installation, in particular to an automatic seal installation operation device for a TBM (tunnel boring machine) steel arch and also provides an automatic seal installation operation method for the TBM steel arch.
Background
TBM (Tunnel Boring machine) is a large-scale device used for excavating hard rock tunnels, and has the functions of excavating, deslagging, supporting and the like. The construction of the TBM inevitably causes the deformation, damage and even collapse of the surrounding rock, and when the surrounding rock is poor in quality and the rock mass is seriously crushed, the steel arch frame is required to provide timely and effective support to control the deformation of the surrounding rock, so that the damage of the surrounding rock is prevented.
At present, the installation of steel arches is mainly carried out in a mode of manually matching with a steel arch installer, a plurality of steel arches are connected and assembled to form an open annular whole, and the whole is tightly supported to a rock wall; and then, sealing the steel arch, dragging and aligning two sides of the bottom of the steel arch ring by a worker manually, performing secondary tightening on the steel arch by using a jack to ensure that the steel arch is attached to a rock wall, welding a steel plate at a gap at the bottom of the steel arch ring, and finally forming the ring. The operation space of constructors is narrow, strong vibration, much dust, dark and damp are caused, the working environment is very severe, and the constructors often need to stand in slurry to complete operation; the steel arch frame is very heavy and difficult to grasp and drag, and the sealing process needs a plurality of people to finish pose adjustment and secondary tightening operation of the steel arch frame together, so that the construction efficiency is seriously influenced, the support is easy to be untimely or the quality is unstable, and finally the collapse accident is caused.
The steel arch frame sealing mainly depends on manual operation, the automation degree is low, the workload of constructors is large, the quality, the efficiency and the safety of construction cannot be guaranteed, and the steel arch frame sealing is not suitable for the high-efficiency and safe construction requirements of TBM.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic sealing installation operation device and an operation method for a TBM steel arch frame, which aim to solve the problems in the background art.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic sealing and mounting operation device for a TBM steel arch comprises a slide rail frame fixed on a main beam of the TBM, a moving mechanism movably fixed on the slide rail frame, a swing mechanism fixed on the moving mechanism and provided with a swing beam, two telescopic arms arranged on the swing beam, two grabbing mechanisms, two tensioning oil cylinders and a welding manipulator,
the welding manipulator is characterized in that the two telescopic arms are respectively hinged and fixed at two ends of the rotary beam, the end part of each telescopic arm is provided with a grabbing mechanism, the rotary beam is provided with two rotary beam tensioning joints, the telescopic arms are provided with outer arm tensioning joints, the two tensioning oil cylinders are respectively hinged to the corresponding rotary beam tensioning joints and the outer arm tensioning joints, and one end of the welding manipulator is fixed on the rotary beam. Preferably, the two tightening oil cylinders are of a cross structure, and the two telescopic arms are pushed to expand outwards when the tightening oil cylinders extend.
As an optional scheme, an inner slide rail is arranged at the bottom of the slide rail rack, the moving mechanism comprises a moving frame, a frame moving joint, a moving oil cylinder and a rack moving joint, slide blocks matched with the inner slide rail of the slide rail rack are arranged on two sides of the moving frame, and two ends of the moving oil cylinder are respectively hinged to the frame moving joint fixed on the moving frame and the rack moving joint fixed on the slide rail rack.
Furthermore, in order to conveniently realize rotation adjustment, the rotation mechanism comprises a rotation shaft and a rotation driving device, the rotation shaft is arranged below the movable frame, and the rotation driving device is respectively connected with the rotation shaft and the rotation beam.
Further, flexible arm includes outer arm, flexible hydro-cylinder and inner boom, outer arm articulates the setting and is in the both ends of gyration roof beam, the inner boom slides and is fixed in the outer arm, be provided with outer arm expansion joint on the outer arm, inner boom and the connecting seat fixed connection who takes connecting seat expansion joint, flexible hydro-cylinder articulates respectively in outer arm expansion joint and connecting seat expansion joint.
Further, the grabbing mechanism comprises a connecting seat, a fine adjustment oil cylinder, a connecting beam and a mechanical clamping hand, the connecting seat is arranged below the inner arm, the connecting beam is connected with the connecting seat in a hinged mode, a connecting seat fine adjustment joint is arranged on the connecting seat, a connecting beam fine adjustment joint is arranged on the connecting beam, two ends of the fine adjustment oil cylinder are respectively hinged to the connecting seat fine adjustment joint and the connecting beam fine adjustment joint, and two ends of the connecting beam are respectively provided with the mechanical clamping hand;
the mechanical tong includes guide arm, connecting rod, supporting seat, centre gripping hydro-cylinder and jack catch, the supporting seat sets up in the both ends of tie-beam, the mobilizable setting on the supporting seat of guide arm, the jack catch is provided with the fulcrum that articulates on the supporting seat including acting end and exposed core between acting end and the exposed core, the both ends of connecting rod articulate respectively in the guide arm with the end that acts of jack catch, be provided with the guide arm centre gripping on the guide arm and connect, be provided with the supporting seat centre gripping on the supporting seat and connect, the centre gripping hydro-cylinder articulates respectively in guide arm centre gripping joint and supporting seat centre gripping joint, the flexible of centre gripping hydro-cylinder can drive the guide arm with thereby the relative movement of supporting seat drives the jack catch is around fulcrum turned angle.
Further, the welding manipulator includes one-level arm, second grade arm, tertiary arm, level four arm and welder, one-level arm sets up in the walking beam below, the second grade arm articulates in one-level arm tip, tertiary arm articulates in second grade arm tip, level four arm articulates in tertiary arm tip, welder articulates in level four arm tip.
Further, still include the steel bow member sealing, the steel bow member sealing includes short sealing, U shaped steel and long sealing, the short sealing with long sealing is the I-steel, and the terminal surface is provided with the steel sheet of having opened two through-holes, carries out fixed connection with the steel bow member of steel bow member split ring breach department both sides respectively, U shaped steel set up in the short sealing with the inboard of long sealing.
The operation method of the automatic sealing and mounting operation device for the TBM steel arch comprises the following steps:
step A, a steel arch is braced to a rock wall through bracing equipment on a TBM (tunnel boring machine), the steel arch is in a form of a steel arch split ring, the end surfaces of a short sealing piece and a long sealing piece are fixedly connected with the steel arch split ring, and U-shaped steel and the short sealing piece are welded and fixed through a welding manipulator;
b, the movable oil cylinder drives the movable frame to be close to the steel arch frame sealing piece, and then the rotary driving device drives the rotary beam to enable the telescopic arms on the two sides of the rotary beam to be aligned with the steel arch frame sealing piece;
c, a clamping oil cylinder drives a clamping jaw on a mechanical clamping hand to open, a telescopic oil cylinder drives an inner arm to extend out, so that the mechanical clamping hand is close to the steel arch frame sealing piece, then an oil cylinder driving connecting beam is finely adjusted, and the angle of a grabbing mechanism is adjusted to be attached to the grabbing position of the steel arch frame sealing piece;
d, the clamping oil cylinder drives a clamping jaw on a mechanical clamping hand to tighten up, the steel arch frame sealing piece is tightly held, and then the tightening oil cylinder drives a telescopic arm to expand towards two sides, so that the steel arch frame sealing piece is tightly attached to a rock wall;
and E, welding and fixing the gap between the U-shaped steel and the long sealing piece by using a welding manipulator to realize sealing and ring forming.
Compared with the prior art, the automatic sealing installation operation device and the operation method for the TBM steel arch frame provided by the invention have the advantages that the complicated sealing procedures such as manual secondary tightening of a steel arch frame split ring, steel plate cutting, steel plate welding and the like are omitted, the automatic sealing installation operation of the steel arch frame is realized, the assembling efficiency of the steel arch frame is greatly improved, the labor intensity of constructors is reduced, and the construction safety is improved; by arranging the moving mechanism, the swing mechanism and the telescopic arm, the control of the front-back, up-down and left-right movement of the steel arch frame in the automatic sealing installation process is realized, and meanwhile, the angle of the grabbing mechanism can be adjusted by utilizing the fine adjustment oil cylinder, so that the structure is simple, the operation is convenient, and the sealing installation effect is good; by arranging the steel arch frame sealing piece, the sealing connection of the steel arch frame is more convenient and faster.
Drawings
FIG. 1 is a front view of the body construction of the present invention;
FIG. 2 is a side view of the body construction of the present invention;
FIG. 3 is a schematic view of the structure of the moving mechanism part in the present invention;
FIG. 4 is a schematic view of the construction of the swivel joint mechanism part in the present invention;
FIG. 5 is a schematic view of the construction of a telescopic arm portion in the present invention;
FIG. 6 is a schematic view of the construction of the grasping mechanism portion in the present invention;
FIG. 7 is a schematic view of the mechanical gripper portion of the present invention;
FIG. 8 is a schematic structural view of a welding robot portion of the present invention;
fig. 9 is a schematic structural view of a steel arch closure portion of the present invention.
In FIGS. 1-9: 1. a slide rail frame, 2, a moving mechanism, 3, a rotating mechanism, 4, a rotating beam, 5, a telescopic arm, 6, a grabbing mechanism, 7, a tensioning cylinder, 8, a welding manipulator, 9, a steel arch frame sealing piece, 21, a moving frame, 22, a frame moving joint, 23, a moving cylinder, 24, a frame moving joint, 31, a rotating shaft, 32, a rotating driving device, 51, an outer arm, 52, a telescopic cylinder, 53, an inner arm, 61, a connecting seat, 62, a fine adjustment cylinder, 63, a connecting beam, 64, a mechanical clamping hand, 71, a rotating beam tensioning joint, 72, an outer arm tensioning joint, 81, a primary arm, 82, a secondary arm, 83, a tertiary arm, 84, a quaternary arm, 85, a welding gun, 91, a short sealing piece, 92, U-shaped steel, 93, a long sealing piece, 521, an outer arm telescopic joint, 522, a connecting seat telescopic joint, 621, a fine adjustment joint, 622, a connecting beam fine adjustment joint, 641. guide rod, 642, connecting rod, 643, supporting seat, 644, clamping cylinder, 645, claw, 646, guide rod clamping joint, 647 and supporting seat clamping joint.
Detailed Description
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
As shown in fig. 1 and fig. 2, an automatic sealing installation operation device for a TBM steel arch comprises a slide rail frame 1 fixed on a TBM main beam, a moving mechanism 2 movably fixed on the slide rail frame 1, a swing mechanism 3 fixed on the moving mechanism 2 and provided with a swing beam 4, two telescopic arms 5 arranged on the swing beam 4, two grabbing mechanisms 6, two tightening cylinders 7 and a welding manipulator 8,
two telescopic boom 5 articulates respectively and is fixed in the both ends of gyration roof beam 4, telescopic boom 5's tip is provided with snatchs mechanism 6, be provided with two gyration roof beam on the gyration roof beam 4 and prop tight joint 71, be provided with outer arm on the telescopic boom 5 and prop tight joint 72, two prop tight hydro-cylinder 7 and articulate respectively in corresponding gyration roof beam and prop tight joint 71 and outer arm and prop tight joint 72, 8 one end of welding machines hand is fixed in on the gyration roof beam 4. Preferably, the two stretching cylinders 7 are of a cross structure, and when the stretching cylinders 7 extend, the two telescopic arms 5 are pushed to expand outwards.
The welding robot comprises a sliding rail rack 1, a moving mechanism 2, a slewing mechanism 3, a slewing beam 4, telescopic arms 5, grabbing mechanisms 6, a tensioning oil cylinder 7, an outer arm tensioning joint 72, a driving tensioning oil cylinder 7 and a welding manipulator 8, wherein the sliding rail rack 1 is arranged below a TBM main beam, the moving mechanism 2 is arranged on the sliding rail rack 1, the slewing mechanism 3 is arranged below the moving mechanism 2, the slewing beam 4 is arranged below the slewing mechanism 3, the telescopic arms 5 are respectively arranged on two sides of the slewing beam 4, the grabbing mechanisms 6 are arranged below the telescopic arms 5, the tensioning oil cylinder 7 is respectively hinged to the slewing beam tensioning joint 71 and the outer arm tensioning joint 72, the driving tensioning oil cylinder 7 can realize the swinging of the telescopic arms 5, and the welding manipulator 8 is arranged below the slewing beam 4.
As shown in fig. 3, in this embodiment, inner slide rails are respectively disposed on two sides of the bottom of the slide rail frame 1, the moving mechanism 2 includes a moving frame 21, a frame moving joint 22, a moving cylinder 23 and a frame moving joint 24, sliding blocks matched with the inner slide rails of the slide rail frame 1 are disposed on two sides of the moving frame 21, the moving cylinder 23 is respectively hinged to the frame moving joint 22 and the frame moving joint 24, and the moving cylinder 23 is disposed to drive the moving frame 21 to move back and forth, and then corresponding cylinder control components, such as a hydraulic valve, an oil pump and a control switch, are used to realize automatic control of the moving frame 21 to move back and forth.
As shown in fig. 4, in the present embodiment, the revolving mechanism 3 includes a revolving shaft 31 and a revolving driving device 32, the revolving shaft 31 is disposed below the moving frame 21, the revolving driving device 32 is respectively connected to the revolving shaft 31 and the revolving beam 4, and the automatic control of the rotation of the revolving beam 8 can be realized by controlling the start and stop of the revolving driving device 32.
As shown in fig. 5, in the present embodiment, the telescopic boom 5 includes an outer boom 51, a telescopic cylinder 52 and an inner boom 53, the outer boom 51 is disposed at both sides of the revolving beam 4, the inner boom 53 is embedded in the outer boom 51, the telescopic cylinder 52 is respectively hinged to an outer boom telescopic joint 521 and a connecting seat telescopic joint 522, and the driving of the telescopic cylinder 52 can realize the extension and retraction of the inner boom along the outer boom.
As shown in fig. 6, in the present embodiment, the grabbing mechanism 6 includes a connecting seat 61, a fine adjustment cylinder 62, a connecting beam 63 and a mechanical gripper 64, the connecting seat 61 is disposed below the inner arm 53, the connecting beam 63 is connected to the connecting seat 61 in a hinged manner, the fine adjustment cylinder 62 is respectively hinged to a connecting seat fine adjustment joint 621 and a connecting beam fine adjustment joint 622, the fine adjustment cylinder 62 is driven to rotate the connecting beam 63, so as to adjust the position of the mechanical gripper 64 relative to the steel arch sealing piece 9, the mechanical gripper 64 is respectively disposed on two sides of the connecting beam 63,
as shown in fig. 7, the mechanical gripper 64 includes a guide rod 641, a connecting rod 642, a support 643, a clamping cylinder 644 and a jaw 645, the support 643 is disposed on both sides of the connecting beam 63, the guide rod 641 is movably disposed on the support 643, the linear movement of the guide rod 641 is ensured by the cooperation of a limiting rod structure on the guide rod 641 and a limiting hole structure on the support 643, the jaw 645 is hinged on the support 643, the connecting rod 642 is hinged on the guide rod 641 and the jaw 645 respectively to form a structure of an offset curved edge slider, the clamping cylinder 644 is hinged on the guide rod clamping joint 646 and the support seat clamping joint 647 respectively, and the jaw 645 can be opened and closed by driving the clamping cylinder 644.
As shown in fig. 8, in this embodiment, the welding robot 8 includes a first-stage arm 81, a second-stage arm 82, a third-stage arm 83, a fourth-stage arm 84, and a welding gun 85, the first-stage arm 81 is disposed below the swing beam 4 and can move and rotate synchronously with the swing beam 4, the second-stage arm 82 is hinged to the first-stage arm 81, the third-stage arm 83 is hinged to the second-stage arm 82, the fourth-stage arm 84 is hinged to the third-stage arm 83, and the welding gun 85 is hinged to the fourth-stage arm 84.
As shown in fig. 9, in this embodiment, the steel arch frame sealing member 9 further includes a short sealing member 91, a U-shaped steel 92 and a long sealing member 93, where the short sealing member 91 and the long sealing member 93 are both i-shaped steel, and a steel plate with two through holes is provided on an end surface thereof, and is respectively and fixedly connected to the steel arches on two sides of the gap of the split ring of the steel arch frame, the U-shaped steel 92 is provided on inner sides of the short sealing member 91 and the long sealing member 93, and two through grooves are provided on two sides of the U-shaped steel 92 for welding and fixing the U-shaped steel 92 and the short sealing member 91 and the long sealing member 93, before the sealing operation is performed, the U-shaped steel 92 and the short sealing member 91 may be welded and fixed, and after the steel arch frame sealing member 9 is braced, the U-shaped steel 92 and the long sealing member 93 are welded and fixed.
The invention also provides an automatic sealing and mounting operation method of the TBM steel arch, which comprises the following steps:
step A, a spliced steel arch is braced to a rock wall by a bracing device on a TBM in a form of a steel arch split ring, the end surfaces of a short sealing piece 91 and a long sealing piece 93 are fixedly connected with the steel arch split ring, and a U-shaped steel 92 and the short sealing piece 91 are welded and fixed by a welding manipulator 8;
step B, the moving oil cylinder 23 drives the moving frame 21 to be close to the steel arch frame sealing piece 9, and then the rotary driving device 32 drives the rotary beam 4 to enable the telescopic arms 5 on the two sides of the rotary beam 4 to be aligned with the steel arch frame sealing piece 9;
step C, the clamping oil cylinder 644 drives a clamping jaw 645 on the mechanical clamping hand 64 to open, the telescopic oil cylinder 52 drives the inner arm 53 to extend out, so that the mechanical clamping hand 64 is close to the steel arch frame sealing piece 9, then the fine adjustment oil cylinder 62 drives the connecting beam 63, and the angle of the grabbing mechanism 6 is adjusted to be attached to the grabbing position of the steel arch frame sealing piece 9;
step D, the clamping oil cylinder 644 drives the clamping jaws 645 on the mechanical clamping hands 64 to tighten up, the steel arch frame sealing piece 9 is tightly grasped, and then the tightening oil cylinder 7 drives the telescopic arms 5 to expand towards two sides, so that the steel arch frame sealing piece 9 is tightly attached to the rock wall;
and E, automatically welding and fixing the gap between the U-shaped steel 92 and the long sealing piece 93 by the welding manipulator 8 through laser recognition to realize sealing and ring forming.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. An automatic sealing and mounting operation device for a TBM steel arch frame is characterized by comprising a sliding rail rack (1) fixed on a TBM main beam, a moving mechanism (2) movably fixed on the sliding rail rack (1), a slewing mechanism (3) with a slewing beam (4) and fixed on the moving mechanism (2), two telescopic arms (5) arranged on the slewing beam (4), two grabbing mechanisms (6), two tensioning oil cylinders (7) and a welding manipulator (8);
two flexible arm (5) articulate respectively and are fixed in the both ends of gyration roof beam (4), the tip of flexible arm (5) is provided with snatchs mechanism (6), be provided with two gyration roof beams on gyration roof beam (4) and prop tight joint (71), be provided with outer arm on flexible arm (5) and prop tight joint (72), two prop tight hydro-cylinder (7) and articulate respectively in corresponding gyration roof beam and prop tight joint (71) and outer arm and prop tight joint (72), welding machines hand (8) one end is fixed in on gyration roof beam (4).
2. The automatic sealing and mounting operation device for the TBM steel arch according to claim 1, wherein an inner sliding rail is arranged at the bottom of the sliding rail rack (1), the moving mechanism (2) comprises a moving frame (21), a frame moving joint (22), a moving oil cylinder (23) and a rack moving joint (24), sliding blocks matched with the inner sliding rail of the sliding rail rack (1) are arranged on two sides of the moving frame (21), and two ends of the moving oil cylinder (23) are hinged to the frame moving joint (22) fixed on the moving frame (21) and the rack moving joint (24) fixed on the sliding rail rack (1) respectively.
3. The automatic seal installation operation device for the TBM steel arch according to claim 1, wherein the rotation mechanism (3) comprises a rotation shaft (31) and a rotation driving device (32), the rotation shaft (31) is arranged below the movable frame (21), and the rotation driving device (32) is respectively connected with the rotation shaft (31) and the rotation beam (4).
4. The automatic sealing and mounting operation device for the TBM steel arch according to claim 1, wherein the telescopic arm (5) comprises an outer arm (51), a telescopic oil cylinder (52) and an inner arm (53), the outer arm (51) is hinged to two ends of the slewing beam (4), the inner arm (53) is fixed in the outer arm (51) in a sliding mode, an outer arm telescopic joint (521) is arranged on the outer arm (51), the inner arm (53) is fixedly connected with a connecting seat (61) with a connecting seat telescopic joint (522), and the telescopic oil cylinder (52) is hinged to the outer arm telescopic joint (521) and the connecting seat telescopic joint (522) respectively.
5. The automatic sealing and mounting operation device for the TBM steel arch according to claim 1, wherein the grabbing mechanism (6) comprises a connecting seat (61), a fine tuning cylinder (62), a connecting beam (63) and a mechanical clamping hand (64), the connecting seat (61) is arranged below the inner arm (53), the connecting beam (63) is connected with the connecting seat (61) in a hinged manner, a connecting seat fine tuning joint (621) is arranged on the connecting seat (61), a connecting beam fine tuning joint (622) is arranged on the connecting beam (63), two ends of the fine tuning cylinder (62) are respectively hinged to the connecting seat fine tuning joint (621) and the connecting beam fine tuning joint (622), and two ends of the connecting beam (63) are respectively provided with the mechanical clamping hand (64);
the mechanical gripper (64) comprises a guide rod (641), a connecting rod (642), a supporting seat (643), a clamping oil cylinder (644) and a clamping jaw (645), the supporting seat (643) is arranged at two ends of a connecting beam (63), the guide rod (641) is movably arranged on the supporting seat (643), the clamping jaw (645) comprises an actuating end and a clamping end, a fulcrum hinged on the supporting seat (643) is arranged between the actuating end and the clamping end, two ends of the connecting rod (642) are respectively hinged on the guide rod (641) and the actuating end of the clamping jaw (645), a guide rod clamping joint (646) is arranged on the guide rod (641), a supporting seat clamping joint (647) is arranged on the supporting seat (643), the clamping oil cylinder (644) is respectively hinged on the guide rod clamping joint (646) and the supporting seat clamping joint (647), and the clamping oil cylinder (644) can drive the guide rod (641) and the supporting seat (643) to move relatively so as to drive the clamping jaw (645) to move relatively (645) Rotating the angle around the fulcrum.
6. The TBM steel arch automatic sealing and installing operation device is characterized in that the welding manipulator (8) comprises a first-stage arm (81), a second-stage arm (82), a third-stage arm (83), a fourth-stage arm (84) and a welding gun (85), wherein the first-stage arm (81) is arranged below the revolving beam (4), the second-stage arm (82) is hinged to the end of the first-stage arm (81), the third-stage arm (83) is hinged to the end of the second-stage arm (82), the fourth-stage arm (84) is hinged to the end of the third-stage arm (83), and the welding gun (85) is hinged to the end of the fourth-stage arm (84).
7. The TBM steel arch automatic sealing installation operation device is characterized by further comprising a steel arch sealing piece (9), wherein the steel arch sealing piece (9) comprises a short sealing piece (91), a U-shaped steel (92) and a long sealing piece (93), the short sealing piece (91) and the long sealing piece (93) are made of I-shaped steel, the end face of the short sealing piece (91) and the end face of the long sealing piece (93) are provided with steel plates with two through holes, the steel plates are fixedly connected with the steel arches on two sides of the gap of the steel arch opening respectively, and the U-shaped steel (92) is arranged on the inner sides of the short sealing piece (91) and the long sealing piece (93).
8. An operation method for applying the automatic sealing installation operation device for the TBM steel arch frame as claimed in any one of claims 1 to 7, is characterized by comprising the following steps:
a, a steel arch is tightly supported to a rock wall through a tightening device on a TBM (tunnel boring machine), the steel arch is in a steel arch split ring form, the end faces of a short sealing piece (91) and a long sealing piece (93) are fixedly connected with the steel arch split ring, and a welding manipulator (8) is used for welding and fixing U-shaped steel (92) and the short sealing piece (91);
step B, the movable oil cylinder (23) drives the movable frame (21) to be close to the steel arch frame sealing piece (9), and then the rotary driving device (32) drives the rotary beam (4) to enable the telescopic arms (5) on the two sides of the rotary beam (4) to be aligned to the steel arch frame sealing piece (9);
step C, a clamping oil cylinder (644) drives a clamping jaw (645) on a mechanical clamping hand (64) to open, a telescopic oil cylinder (52) drives an inner arm (53) to extend out, so that the mechanical clamping hand (64) is close to the steel arch frame sealing piece (9), then a fine adjustment oil cylinder (62) drives a connecting beam (63), and the angle of the grabbing mechanism (6) is adjusted to be attached to the grabbing position of the steel arch frame sealing piece (9);
d, the clamping oil cylinder (644) drives a clamping jaw (645) on the mechanical clamping hand (64) to tighten up, the steel arch frame sealing piece (9) is tightly grabbed, and then the tightening oil cylinder (7) drives the telescopic arm (5) to expand towards two sides, so that the steel arch frame sealing piece (9) is attached to the rock wall;
and E, welding and fixing the gap between the U-shaped steel (92) and the long sealing piece (93) by the welding manipulator (8) to realize sealing and ring forming.
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| CN113441858B (en) | 2022-10-11 |
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