CN208364126U - A kind of development machine steel arch-shelf installation system - Google Patents
A kind of development machine steel arch-shelf installation system Download PDFInfo
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- CN208364126U CN208364126U CN201821066645.5U CN201821066645U CN208364126U CN 208364126 U CN208364126 U CN 208364126U CN 201821066645 U CN201821066645 U CN 201821066645U CN 208364126 U CN208364126 U CN 208364126U
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Abstract
The utility model discloses a kind of development machine steel arch-shelf installation systems, comprising: for receiving steel arch-shelf and steel arch-shelf being delivered to the transport device of default transferring position；For making the end to end splicing apparatus to form C-shaped ring of several steel arch-shelfs；For grabbing steel arch-shelf from transport device and steel arch-shelf being placed on to the grabbing device on splicing apparatus；For grabbing C-shaped ring and being transported to stretching position and make the tightening device of its stretching；For by the closed ending seal ring mechanism of the opening of the C-shaped ring after stretching；The control device being connected with transport device, splicing apparatus, grabbing device, tightening device and ending seal ring mechanism.The development machine steel arch-shelf installation system is realized the automatic transportation of steel arch-shelf by control device, automatically grabs, automatic Mosaic, moves stretching and sealing into support works such as closed loops, mechanization degree is high, avoid manual handling and installation steel arch-shelf, reduce labor intensity, it improves efficiency, and avoids manually installed error.
Description
Technical field
The utility model relates to tunnel construction machinery technical fields, pacify more specifically to a kind of development machine steel arch-shelf
Dress system.
Background technique
Complete-section tunnel boring machine (TBM) is mechanical as the special engineering of tunnel piercing, collection driving, supporting and slags tap etc. more
Function is integrated, and suitable for the driving of ground consisting of hard rock, is obtained in the Tunnel Engineering such as subway, railway, highway, municipal administration, water power wide
General application.
In unfavorable geology construction, steel arch-shelf is for one of most important support unit of tunnel excavation structural plane, peace
Dress speed, installation quality etc. have an important influence the stability in tunnel and the safety of construction personnel.Currently, TBM is severe
When geology is constructed, need to install steel arch-shelf after excavating sequences to carry out preliminary bracing to country rock.In the prior art, each
After wheel excavates, usually requires operating personnel and complete the positioning of steel arch-shelf and the installation of arch springing in the position close to excavation face
It is fixed.This installation steps are as follows: steel arch-shelf is divided into several segments, processing factory completes segmental machining outside tunnel；Then, by each section
By every Pin steel arch-shelf manually being tied up in hole, steel arch-shelf is hoisted to by handling machinery and deposits in the transport to hole such as wooden handcart
Mechanism is stored up, then steel arch-shelf is delivered to by installation site by simple mounting platform and other handling auxiliary devices, is then manually removed
Fortune and setting up steel arch-shelf docks it in the sky, and it is manually installed and tighten bolt.During the entire assembly of steel arch-shelf, tunnel
Road is substantially only capable of keeping stablizing by the active force inside country rock, and since operating personnel is close to tunnel excavation face, this
It is installation mechanization degree that is extremely hazardous, and being segmented manually installed steel arch-shelf in the prior art in the poor tunnel of stability
It is lower, need to complete the installation of steel arch-shelf, high labor cost by a large amount of labour, and installation effectiveness is low, influences the duration,
The occupancy constructing tunnel activity duration is longer, undoubtedly also increases the risk of manually installed arch, and there is also ask for erection quality
Topic.
It is mesh in conclusion how to provide a kind of mechanization, the higher development machine steel arch-shelf installation system of the degree of automation
Preceding those skilled in the art's urgent problem to be solved.
Utility model content
In view of this, the purpose of the utility model is to provide a kind of development machine steel arch-shelf installation system, the development machine steel arch
The mechanization of frame installation system, the degree of automation are higher, avoid manual handling and installation steel arch-shelf, reduce labor intensity, mention
High installation effectiveness.
To achieve the goals above, the utility model provides the following technical solutions:
A kind of development machine steel arch-shelf installation system, comprising:
For receiving steel arch-shelf and the steel arch-shelf being delivered to the transport device of default transferring position；
For making the end to end splicing apparatus to form C-shaped ring of several described steel arch-shelfs；
For grabbing the steel arch-shelf from the transport device and the steel arch-shelf being placed on the splicing apparatus
Grabbing device；
For grabbing the C-shaped ring and being transported to stretching position and make the tightening device of its stretching；
For by the closed ending seal ring mechanism of the opening of the C-shaped ring after stretching；
With the transport device, the splicing apparatus, the grabbing device, the tightening device and the ending seal ring
The connected control device of mechanism.
Preferably, the transport device includes:
For receiving and conveying the travelling bogie of the steel arch-shelf, the travelling bogie is equipped with for limiting the steel arch
The position-limit mechanism of the placement position of frame；
Conveying track for being oriented to the travelling bogie；
The Stroke Displacement Transducer of the default transferring position, the stroke position whether are reached for detecting the steel arch-shelf
Displacement sensor is connected with the control device, and the control device is connected with the driving device of the travelling bogie.
Preferably, the splicing apparatus includes:
Assembled ring for the steel arch-shelf to be arranged and keeps adjacent steel arch-shelf head and the tail opposite；
For driving the assembled ring gradually to rotate the device of rotation driving of predetermined angle；
Automatic Link Establishment for being fixedly connected with adjacent steel arch-shelf head and the tail；
For detecting whether the steel arch-shelf positions on the assembled ring and for detecting whether the steel arch-shelf is the
The tactile or vision inspection apparatus of one piece of steel arch-shelf, the tactile or vision inspection apparatus are connected with the control device, described
Control device is connected with the device of rotation driving and the Automatic Link Establishment respectively.
Preferably, the splicing apparatus further include:
It is anti-whether pretightning force when for the positioning of steel arch-shelf described in real-time monitoring reaches the default preload pressure for pre-tightening force value
Device is presented, the preload pressure feedback device is connected with the control device.
Preferably, the splicing apparatus further include:
Whether the corner for detecting the device of rotation driving reaches the angle of revolution measurement sensor of default corner；
Whether the torque for detecting the device of rotation driving meets the rotary torque sensor of predetermined torque requirement, institute
It states angle of revolution measurement sensor and the rotary torque sensor is connected with the control device.
Preferably, the assembly is equipped with the positioning claw of the peripheral part for positioning the steel arch-shelf and for positioning
State the limited block of the end of steel arch-shelf.
Preferably, the grabbing device includes:
Crawl arm for grabbing the crawl hand of the steel arch-shelf and for the crawl hand to be arranged；
It is connected with the crawl arm, for driving the crawl arm in the default transferring position and the splicing apparatus
The linear drive apparatus moved between feeding position；
The propulsion stroke that the default transferring position or the feeding position whether are reached for detecting the crawl arm passes
Sensor, the propulsion stroke sensor are connected with the control device, and the control device is connected with the linear drive apparatus；
It is connected with the crawl arm, the retractable driving device for driving the crawl arm flexible；
The lifting stroke sensor for whether extending out to crawl position for detecting the crawl hand, the lifting stroke sensing
Device is connected with the control device, and the control device is connected with the retractable driving device；
Whether the crawl pressure for detecting the crawl hand reaches the pressure sensor of preset pressure value, and the pressure passes
Sensor is connected with the control device.
Preferably, the crawl hand is connected with the micro-adjusting mechanism of the pose for adjusting the crawl hand, described in auxiliary
Steel arch-shelf positions on the splicing apparatus, and the micro-adjusting mechanism is connected with the control device.
Preferably, the tightening device includes several stretching arms for C-shaped ring described in stretching, the stretching arm setting
On stretching ring, the stretching ring is connected with the stretching driving device for driving the stretching ring to open or retract, the support
Tight ring is movably set in the girder for carrying, and the stretching ring is connected with the linear drive apparatus；The stretching
Device further includes the stretching force snesor for whether reaching default clamping force for detecting the clamping force of the stretching arm, the stretching
Force snesor is connected with the control device, and the control device is connected with the stretching driving device；
The crawl arm is connected by the stretching ring with the linear drive apparatus；
The propulsion stroke sensor is also used to detect whether the stretching ring reaches the stretching position.
Preferably, the ending seal ring mechanism includes:
For clamping the clamping part of the C-shaped ring；
For sending connector to the feeding device of the opening；
Automatic sealing package loop device for the connector to be connect with the open end of the C-shaped ring；
Whether the chucking power for detecting the clamping part reaches the contact force sensor of contact force preset value, the contact
Force snesor is connected with the control device, the control device respectively with the feeding device and the automatic sealing package loop device phase
Even.
Development machine steel arch-shelf installation system provided by the utility model, by control device, successively control transport is filled respectively
It sets, the movement of grabbing device, splicing apparatus, tightening device and the seal ring mechanism that finishes up, above-mentioned each component cooperating is made to complete steel
The installation supporting of arch.In use, steel arch-shelf is placed on transport device, control device controls transport device movement, makes to transport
Steel arch-shelf is delivered to default transferring position by defeated device；Then, control device control grabbing device movement, makes grabbing device by steel
Arch is transferred on splicing apparatus from transport device；Control device controls splicing apparatus movement, by several steel arch-shelfs head and the tail
Connect to form C-shaped ring；Control device controls tightening device movement, makes tightening device that C-shaped ring is delivered to stretching position and by C
Shape central shoring is tightly on the wall of hole；Finally, control device control ending seal ring mechanism action, the opening of the C-shaped ring after stretching is sealed
It closes.So far the support work of a ring steel arch-shelf is completed.That is, development machine steel arch-shelf installation system provided by the present application is using mechanical
The mode of automatic control realizes the automatic transportation of steel arch-shelf, automatically grabs, automatic Mosaic, moves stretching and sealing into closed loop etc.
Whole support works, mechanization degree is high, avoids manual handling and installation steel arch-shelf, reduces labor intensity, improve installation
Efficiency securely and reliably, and avoids manually installed error.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is the embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to the attached drawing of offer.
Fig. 1 is the structural schematic diagram of development machine steel arch-shelf installation system specific embodiment provided by the utility model；
Fig. 2 is the side view of development machine steel arch-shelf installation system shown in Fig. 1；
Fig. 3 is the main view of development machine steel arch-shelf installation system shown in Fig. 1；
Fig. 4 is the control flow chart of development machine steel arch-shelf installation system shown in Fig. 1.
Appended drawing reference of the Fig. 1 into Fig. 3 is as follows:
11 it is travelling bogie, 12 be conveying track, 13 be position-limit mechanism, 21 be assembled ring, 22 is device of rotation driving, 23
It is positioning claw for Automatic Link Establishment, 24,25 be limited block, 31 be crawl arm, 32 be crawl hand, 33 is micro-adjusting mechanism, 34
It is stretching arm for connection ring, 41,42 be stretching ring, 43 be linear drive apparatus, 5 be ending seal ring mechanism, 61 be girder, 62 is
Sliding rail, 63 be supporting leg, 7 be steel arch-shelf.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is only the utility model a part of the embodiment, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
The core of the utility model is to provide a kind of development machine steel arch-shelf installation system, the development machine steel arch-shelf installation system
Mechanization degree it is higher, avoid manual handling and installation steel arch-shelf, reduce labor intensity, improve installation effectiveness.
Fig. 1-Fig. 4 is please referred to, Fig. 1 is development machine steel arch-shelf installation system specific embodiment provided by the utility model
Structural schematic diagram；Fig. 2 is the side view of development machine steel arch-shelf installation system shown in Fig. 1；Fig. 3 is development machine steel arch-shelf shown in Fig. 1
The main view of installation system；Fig. 4 is the control flow chart of development machine steel arch-shelf installation system shown in Fig. 1.
The application provides a kind of development machine steel arch-shelf installation system, comprising:
For receiving steel arch-shelf 7 and steel arch-shelf 7 being delivered to the transport device of default transferring position；
For making the end to end splicing apparatus to form C-shaped ring of several steel arch-shelfs 7；
For grabbing steel arch-shelf 7 from transport device and steel arch-shelf 7 being placed on to the grabbing device on splicing apparatus；
For grabbing C-shaped ring and being transported to stretching position and make the tightening device of its stretching；
For by the closed ending seal ring mechanism 5 of the opening of the C-shaped ring after stretching；
The control being connected with transport device, splicing apparatus, grabbing device, tightening device and ending seal ring mechanism 5 fills
It sets.
It should be noted that development machine steel arch-shelf installation system provided by the present application mainly realizes that steel arch-shelf 7 is assembled from people
Work operates the transformation that controls to mechanical automation, and effectively to solve, manually installed inefficient, error is larger and 7 supporting of steel arch-shelf
The problems such as difficult.For this purpose, development machine steel arch-shelf installation system provided by the present application mainly includes transport device, grabbing device, spelling
Connection device, tightening device and ending seal ring mechanism 5, above each device are connected with control device, are collection automatic transportations, automatic
Crawl, automatic Mosaic automatically move stretching and automatic sealing into closed loop in the automatic assembling system of one.
It is understood that transport device mainly plays a part of to transport steel arch-shelf 7, steel arch-shelf 7 is conveyed from initial position
To default transferring position, the default transferring position in the application refers to that grabbing device removes the position of steel arch-shelf 7 from transport device
It sets.Default transferring position can be at splicing apparatus, away from splicing apparatus certain distance, when default transferring position is separate
When splicing apparatus, after grabbing device removes steel arch-shelf 7 from conveying device, need to move a certain distance again until its facilitate by
Steel arch-shelf 7 is transferred on splicing apparatus.
Grabbing device like the common manipulator of machinery field, it can be achieved that the movement of six degree of freedom, with realize steel arch-shelf 7 from
Accurate transfer of the transport device to splicing apparatus, correct position of the auxiliary guarantee steel arch-shelf 7 on splicing apparatus.
Several steel arch-shelfs 7 are end to end on splicing apparatus, to form C-shaped ring, it should be noted that in the application
C-shaped ring refers to unclosed cyclic structure, and the open end of C-shaped ring can offset, as long as not connected, does not influence subsequent C-shaped ring support
It is radially expanded when tight.Namely, it is preferable that after several steel arch-shelfs 7 splice on splicing apparatus, the adjacent steel of two of them
The opposite both ends of arch 7 offset and are not connected with, and the head and the tail opposite end of other adjacent steel arch-shelfs 7 is all connected with.
On the other hand on the one hand tightening device plays the role of transporting C-shaped ring to stretching position supports when C-shaped ring reaches
Behind tight position, tightening device can make C-shaped ring radially expand stretching hole wall.
After C-shaped ring stretching, unclosed end will be strutted, and the opening with certain intervals distance be formed, in order to guarantee C-shaped ring
Clamping force, the application by ending seal ring mechanism 5 by this strut interval sealing.
In order to realize the automatic dynamic of transport device, grabbing device, splicing apparatus, tightening device and ending seal ring mechanism 5
Make, achieve the purpose that automatic control, transport device, grabbing device, splicing apparatus, tightening device and ending seal ring mechanism 5 are equal
Realize that the control device of corresponding actions is connected with for controlling above-mentioned each device.
Problem is fixed and supported in view of above-mentioned each device, as a preferred embodiment, development machine steel arch-shelf installation
System further includes for transport device, grabbing device, splicing apparatus, tightening device and the girder for the seal ring mechanism 5 that finishes up to be arranged
61, girder 61 is connected with the supporting leg 63 being used to support.
It should be noted that transport device, grabbing device, splicing apparatus, tightening device and ending seal ring mechanism 5 are straight
It connects or is indirectly arranged on girder 61, and keep corresponding positional relationship on girder 61.Girder 61 plays the role of carrying,
And girder is connected with supporting leg 63, keeps its stable position by supporting leg 63.Preferably, the quantity of supporting leg 63 is two
It is a.
In conclusion development machine steel arch-shelf installation system provided by the present application, transport dress is controlled by control device respectively
It sets, the movement of splicing apparatus, grabbing device, tightening device and the seal ring mechanism 5 that finishes up, above-mentioned each device cooperating is made to complete steel
The installation supporting of arch 7.In use, steel arch-shelf 7 is placed on transport device, steel arch-shelf 7 is transported extremely using transport device
Default transferring position, and at this location, grabbing device grabs steel arch-shelf 7 from transport device, and then grabbing device is by steel arch
Frame 7 is placed on splicing apparatus, several steel arch-shelfs 7 are spliced into C-shaped ring on splicing apparatus, then use tightening device by C-shaped
Ring is delivered to stretching position and by C-shaped ring stretching, finally, being sealed the opening of the C-shaped ring after stretching by ending seal ring mechanism 5
It closes, so far completes the support work of steel arch-shelf 7.That is, development machine steel arch-shelf installation system provided by the present application passes through control dress
It sets and realizes the automatic transportation of steel arch-shelf 7 by the way of machine automatization control, automatically grab, automatic Mosaic, automatically move stretching
And automatic sealing, at whole support works such as closed loop, mechanization degree is high, avoids manual handling and installation steel arch-shelf 7, reduces
Labor intensity, improves installation effectiveness, securely and reliably, and avoids manually installed error.
In view of the simple and convenient property of the specific implementation of the specific structure and automatic transportation of transport device, in above-mentioned reality
It applies on the basis of example, transport device includes:
For receiving and conveying the travelling bogie 11 of steel arch-shelf 7, travelling bogie 11 is equipped with the pendulum for limiting steel arch-shelf 7
Put the position-limit mechanism 13 of position；
Conveying track 12 for being oriented to travelling bogie 11；
Whether reach the Stroke Displacement Transducer of default transferring position for detecting steel arch-shelf 7, Stroke Displacement Transducer with
Control device is connected, and control device is connected with the driving device of travelling bogie 11.
In use, steel arch-shelf 7 is placed on travelling bogie 11, travelling bogie 11 is moved along the track that conveying track 12 limits
It is dynamic, achieve the purpose that receiving and transports steel arch-shelf 7.
It is understood that the present embodiment limits position of the steel arch-shelf 7 on travelling bogie 11 by position-limit mechanism 13,
Making steel arch-shelf 7, holding position is constant during transportation.
Stroke Displacement Transducer is for being detected and being positioned to the position of steel arch-shelf 7, when Stroke Displacement Transducer detects
When reaching default transferring position to steel arch-shelf 7, the information of steel arch-shelf 7 in place is sent to control device by Stroke Displacement Transducer,
Control device sends control instruction to the driving device of travelling bogie 11, and control travelling bogie 11 is braked.
In view of the simple and convenient property of the specific implementation of the specific structure and automatic transportation of splicing apparatus, in above-mentioned reality
It applies on the basis of example, splicing apparatus includes:
Assembled ring 21 for steel arch-shelf 7 to be arranged and keeps adjacent 7 head and the tail of steel arch-shelf opposite；
For driving assembled ring 21 gradually to rotate the device of rotation driving 22 of predetermined angle；
Automatic Link Establishment 23 for being fixedly connected with adjacent 7 head and the tail of steel arch-shelf；
For detecting whether steel arch-shelf 7 positions on assembled ring 21 and for detecting whether steel arch-shelf 7 is first piece of steel arch
The tactile or vision inspection apparatus of frame, tactile or vision inspection apparatus are connected with control device, and control device drives with rotation respectively
Dynamic device 22 is connected with Automatic Link Establishment.
It is understood that the present embodiment drives splicing ring 21 gradually to rotate predetermined angle by device of rotation driving 22,
Realize that different steel arch-shelfs 7 are successively placed on the predeterminated position of assembled ring 21, assembled ring 21 makes the adjacent steel arch placed
The head and the tail of frame 7 are opposite, in order to the connection of adjacent steel arch-shelf 7.The arc length of the just corresponding steel arch-shelf 7 of predetermined angle, to protect
Card steel arch-shelf 7 is placed on splicing apparatus from a feeding position always.Automatic Link Establishment 23 preferably corresponds to splicing dress
The fixation position set, the fixation position correspond to the interconnecting piece of two neighboring steel arch-shelf 7, so that adjacent steel arch-shelf 7 is solid at this always
Positioning is set completion and is fixedly connected.
Without limitation to the specific structure of Automatic Link Establishment 23, Automatic Link Establishment 23 can be to be beaten the present embodiment automatically
Bolt device is also possible to automatic soldering device or other automatic connection structures that identical function may be implemented.
Tactile or vision inspection apparatus are for detecting whether steel arch-shelf 7 positions on assembled ring 21, when tactile or vision are examined
It surveys device and detects steel arch-shelf 7 when positioning on assembled ring 21, tactile or vision inspection apparatus are by the location information of steel arch-shelf 7
It is sent to control device.Meanwhile tactile or vision inspection apparatus are used to detect whether steel arch-shelf 7 is first piece of steel arch-shelf, and will
The corresponding informance detected is sent to control device.When steel arch-shelf 7 has positioned and the positioning steel arch-shelf is first piece of steel arch-shelf,
Control device controls device of rotation driving 22 and starts, and assembled ring 21 is made to rotate predetermined angle；When steel arch-shelf 7 has positioned and the positioning
When steel arch-shelf is not first piece of steel arch-shelf, control device controls Automatic Link Establishment 23 and starts, and adjacent steel arch-shelf 7 is solid from beginning to end
Fixed connection.After adjacent 7 head and the tail of steel arch-shelf are fixedly connected, control device controls device of rotation driving 22 and starts, and makes assembled ring
21 rotation predetermined angles, prepare the assembly of next steel arch-shelf 7.
It is understood that the interconnecting piece of adjacent steel arch-shelf 7 is perfectly aligned, when steel arch-shelf 7 positions in order to connect automatically
Adjacent 7 head and the tail of steel arch-shelf are fixedly connected by connection device 23.Therefore, as a preferred embodiment, the tactile in the present embodiment or
Whether vision inspection apparatus is aligned mainly for detection of the interconnecting piece of two steel arch-shelfs 7 mutually spliced, when a certain steel arch-shelf 7 and phase
When the interconnecting piece alignment of adjacent steel arch-shelf 7, then it represents that the steel arch-shelf 7 has positioned.
It is understood that steel arch-shelf 7 is in assembly in order to avoid steel arch-shelf 7 is fallen off due to loosening during rotation
With certain pretightning force, on the basis of above-described embodiment, splicing apparatus when being positioned on ring 21 further include:
Whether pretightning force when positioning for real-time monitoring steel arch-shelf 7 reaches the default preload pressure feedback dress for pre-tightening force value
It sets, preload pressure feedback device is connected with control device.
That is, the present embodiment assists tactile or vision inspection apparatus to judge steel arch using preload pressure feedback device
Completely in place whether frame 7, it is to be understood that tactile or vision inspection apparatus mainly judge that steel arch-shelf 7 is from location information
It is no in place；Mainly in place whether pretightning force suffered after the positioning of steel arch-shelf 7 judge it to preload pressure feedback device.To protect
Demonstrate,prove the more reliable stable work of splicing apparatus.
Pretightning force when preload pressure feedback device monitors that steel arch-shelf 7 positions reaches default and pre-tightens force value, presses in advance
Device for force feedback sends this information to control device, and control device is sent according to the information and tactile or vision inspection apparatus
Location information control instruction occurs to device of rotation driving 22 or Automatic Link Establishment 23.
In order to guarantee stationarity and accuracy when the rotation of assembled ring 21, on the basis of above-described embodiment, splicing dress
It sets further include:
Whether the corner for detecting device of rotation driving 22 reaches the angle of revolution measurement sensor of default corner；
Whether the torque for detecting device of rotation driving 22 meets the rotary torque sensor of predetermined torque requirement, revolution
Angle measuring sensor and rotary torque sensor are connected with control device.
It is understood that when angle of revolution measurement sensor detects that the corner of device of rotation driving 22 reaches default and turns
When angle, then device of rotation driving 22 is controlled by control device and braked in time, assembled ring 21 is accurately positioned to the angular position.
When rotary torque sensor detects that the torque of device of rotation driving 22 is unsatisfactory for predetermined torque requirement, then pass through
Control device adjusts the torque of device of rotation driving 22, makes the torque of device of rotation driving 22 in the range of predetermined torque requirement
It is interior, so that assembled ring 21 slowly and steadily rotates.
In view of orientation problem of the steel arch-shelf 7 on assembled ring 21, on the basis of above-described embodiment, assembled ring 21 is set
There are the positioning claw 24 of the peripheral part for positioning steel arch-shelf 7 and the limited block 25 of the end for positioning steel arch-shelf 7.
When steel arch-shelf 7 is placed on assembled ring 21 by grabbing device, limited block 25 is used to limit the both ends of steel arch-shelf 7
Position is stuck in steel arch-shelf 7 just between two limited blocks 25；Meanwhile steel arch-shelf 7 is just placed in positioning claw by grabbing device
In 24, positioning claw 24 firmly grasps steel arch-shelf 7, is maintained at steel arch-shelf 7 on assembled ring 21.
In view of the simple and convenient property of the specific implementation of the specific structure and automatic transportation of grabbing device, at above-mentioned
It anticipates on the basis of an embodiment, grabbing device includes:
Crawl arm 31 for grabbing the crawl hand 32 of steel arch-shelf 7 and for crawl hand 32 to be arranged；
It is connected with crawl arm 31, for driving crawl arm 31 default between transferring position and the feeding position of splicing apparatus
Mobile linear drive apparatus 43；
The propulsion stroke sensor of default transferring position or feeding position whether is reached for detecting crawl arm 31, promotes row
Journey sensor is connected with control device, and control device is connected with linear drive apparatus 43；
It is connected with crawl arm 31, the retractable driving device for driving crawl arm 31 flexible；
The lifting stroke sensor for whether extending out to crawl position for detecting crawl hand 32, lifting stroke sensor and control
Device processed is connected, and control device is connected with retractable driving device；
Whether the crawl pressure for detecting crawl hand 32 reaches the pressure sensor of preset pressure value, pressure sensor and
Control device is connected.
It is understood that linear drive apparatus 43 drives first when grabbing device grabs steel arch-shelf 7 from transport device
Dynamic grabbing device is moved to default transferring position, and when promoting stroke sensor to detect, crawl arm 31 reaches default transferring position
When, promote stroke sensor that the information that crawl arm 31 reaches default transferring position is sent to control device, control device control
Linear drive apparatus 43 is braked, meanwhile, control device sends control instruction to retractable driving device, and crawl arm 31 is made to drive crawl
Hand 32 stretches out, and when lifting stroke sensor detects that crawl hand 32 extend out to crawl position, lifting stroke sensor will be grabbed
The information of hand 32 in place is sent to control device, and control device controls retractable driving device braking, meanwhile, control device control is grabbed
It takes hand 32 to act, makes to grab the crawl steel arch-shelf 7 of hand 32, when pressure sensor detects that the crawl pressure of crawl hand 32 reaches default
When pressure value, pressure sensor sends this information to control device, and control device controls crawl arm by retractable driving device
31 hold up steel arch-shelf 7, and when lifting stroke sensor detects that steel arch-shelf 7 completely disengages transport device, control device passes through
Linear drive apparatus 43 controls the feeding position that crawl arm 31 is moved to splicing apparatus, for the steel arch-shelf 7 is placed into splicing dress
It sets and prepares.
In view of steel arch-shelf 7 on splicing apparatus the problem of being accurately positioned, on the basis of above-described embodiment, hand is grabbed
32 are connected with the micro-adjusting mechanism 33 of the pose for adjusting crawl hand 32, to assist steel arch-shelf 7 to position on splicing apparatus, fine tuning
Mechanism 33 is connected with control device.
That is, the present embodiment finely tunes the pose of crawl hand 32 by micro-adjusting mechanism 33, make to grab the auxiliary steel of hand 32
Arch 7 positions on splicing apparatus.
In view of the specific structure of micro-adjusting mechanism 33, fine tuning structure includes the link mechanism with crawl 32 globular hinge of hand,
Link mechanism is connected with several short distance oil cylinders, several short distance oil cylinders are connected with control device.When work, filled by control
The stroke for controlling each short distance oil cylinder is set, so that link mechanism be driven constantly to convert self-position, and then crawl hand 32 is driven to rotate,
To achieve the purpose that fine tuning crawl 32 pose of hand.
Preferably, the crawl position for grabbing hand 32 is at the interconnecting piece of steel arch-shelf 7, so that micro-adjusting mechanism 33 is main right
The interconnecting piece of steel arch-shelf 7 is adjusted.
In view of the simple and convenient property of the specific implementation of the specific structure and automatic transportation of tightening device, in above-mentioned reality
It applies on the basis of example, tightening device includes several stretching arms for C-shaped ring described in stretching, and stretching arm is arranged in stretching ring
On, stretching ring 42 is movably set in the girder 61 for carrying, and stretching ring 42 is connected with linear drive apparatus 43；
Crawl arm 31 is connected by stretching ring with linear drive apparatus 43；
Stroke sensor is promoted to be also used to detect whether stretching ring reaches stretching position.
In view of C-shaped ring it is generally necessary to several 41 stretchings of stretching arm, in order to facilitate the fixation of several stretching arms and same
Step transport, several stretching arms 41 are fixed using stretching ring 42 and carried to the present embodiment, and passes through the mobile reality of stretching ring 42
Existing transport of the stretching arm 41 to C-shaped ring.
Preferably, girder 61 is equipped with sliding rail 62, and stretching ring 42 is slidably connected by sliding block with sliding rail 62, to drive in straight line
Under the action of dynamic device 43, the movement of stretching ring 42 is realized.
In view of the stationarity problem that stretching ring 42 moves, as a preferred embodiment, in the opposite two sides of girder 61 point
It She Zhi two parallel sliding rails 62, it is clear that sliding rail 62 is parallel to the axis of girder 61, so that stretching ring 42 is along girder 61
Axis direction is mobile.The sliding block that setting is slidably connected with corresponding sliding rail 62 on the position of the corresponding sliding rail 62 of stretching ring 42, straight line
Driving device 43 is connected with any one or at least two sliding blocks.Preferably, linear drive apparatus 43 is hydraulic cylinder, and hydraulic cylinder is living
The telescopic direction of plug cylinder is consistent with the length direction of sliding rail 62.
Stroke sensor is promoted to be also used to detect whether stretching ring reaches stretching position.When propulsion stroke sensor detects
When stretching ring reaches stretching position, the information for promoting stroke sensor will test is sent to control device, control device control
Linear drive apparatus 43 processed is braked.
It should be noted that tightening device further includes the stretching driving device for driving stretching arm flexible, stretching driving
Device is connected with control device.When control device, which controls stretching ring by linear drive apparatus 43, to stop to stretching position, control
Device control stretching driving device starting processed makes stretching arm stretching hole wall to drive stretching arm to stretch out.
In view of the support fixation problem of crawl arm 31, crawl arm 31 is connected with stretching ring 42, and linear drive apparatus 43 is logical
It is mobile to cross stretching ring driving crawl arm 31.One end of sliding rail 62 is located at default transferring position, and the other end is located at splicing apparatus, supports
Tight position is located between default transferring position and splicing apparatus.
That is, crawl arm 31 is fixed on stretching ring 42 by the present embodiment, and pass through the mobile drive of stretching ring 42
Steel arch-shelf 7 is moved to from splicing apparatus by crawl arm 31 from default transferring position.The length of sliding rail 62 defines stretching ring 42
Moving range, in default transferring position, stretching ring 42 connects with transport device, to facilitate crawl arm 31 to grab steel arch-shelf 7；?
When at splicing apparatus, stretching ring 42 connects with splicing apparatus, so that steel arch-shelf 7 is transferred on splicing apparatus by crawl arm 31.For
Transport device is avoided to cause to interfere to the stretching of C-shaped ring, stretching position is located between default transferring position and splicing apparatus.
As a preferred embodiment, crawl arm 31 is connected by connection ring 34 with stretching ring 42,31 company of being fixed on of crawl arm
The upper end of ring 34 is connect, connection ring 34 is connected with stretching ring 42.In default transferring position, crawl arm 31 is extended, and drives and grab
The crawl hand 32 of 31 end of arm is taken to grab steel arch-shelf 7 upwards, crawl arm 31 continues to rise until steel arch-shelf 7 completely disengages transport dress
It sets, then under the drive of stretching ring 42,31 integral translation of stretching ring 42, connection ring 34 and crawl arm, until reaching splicing dress
Set place.
In a specific embodiment, in order to facilitate the setting of Automatic Link Establishment 23, connection ring 34, which is equipped with, be can be rotated
Swivel becket, Automatic Link Establishment 23 be arranged on the swivel becket.That is, Automatic Link Establishment 23 can be with connection ring 34 1
Movement is played, is made at the overall movement to splicing apparatus of connection ring 34 when stretching ring 42 drives, Automatic Link Establishment 23 is moved to and steel
The corresponding position of the interconnecting piece of arch 7, and the interconnecting piece of steel arch-shelf 7 can be accurately gone to by swivel becket, by adjacent steel arch-shelf 7
It is fixedly connected.
In view of the specific structure of head and the tail seal ring mechanism, in a specific embodiment,
Ending seal ring mechanism 5 include:
For clamping the clamping part of C-shaped ring；
For sending connector to the feeding device of opening；
Automatic sealing package loop device for connector to be connect with the open end of the C-shaped ring；
Whether the chucking power for detecting clamping part reaches the contact force sensor of contact force preset value, contact force sensor
It is connected with control device, control device is connected with feeding device and automatic sealing package loop device respectively.
Preferably, the corresponding position of stretching ring 42 is arranged in ending seal ring mechanism 5, makes different C-shaped rings in stretching
It seals the corresponding position of ring 42.
Without limitation to the specific structure of automatic sealing package loop device, automatic sealing package loop device can be to wear bolt simultaneously automatically by the application
Bolt device is tightened, it is detachable to realize that the bolt connection of the open end of connector and C-shaped ring is bolted, facilitates subsequent C-shaped ring
Dismounting.Certainly, automatic sealing package loop device can also be automatic soldering device, it is preferable that connector is that can wrap C-shaped ring
The structural member of opening, after connector wraps up the opening, using being located at the welding gun at connector both ends for connector and C-shaped ring
Weld seal ring in open end.
Clamping part is for clamping C-shaped ring, in order to the operation of automatic sealing package loop device.
Feeding device includes for the feeding groove of stacking connector and for nethermost connector to be pushed to opening
Pusher cylinder, control device is connected with the pusher cylinder, connects when contact force sensor detects that the chucking power of clamping part reaches
When touch preset value, control device controls pusher cylinder movement, makes pusher cylinder that feeding groove the lowermost connector is pushed to C
The opening of shape ring, after connector is pushed in place, control device control automatic sealing package loop device movement, make connector with it is described
The open end of C-shaped ring connects.
Referring to FIG. 4, being the control stream of development machine steel arch-shelf installation system specific embodiment provided by the utility model
Cheng Tu.Development machine steel arch-shelf installation system automatic transportation, automatically grab, automatic assembling, automatic tensioning and automatic sealing cyclization
Rate-determining steps it is as follows:
Step S1: the automatic transportation of steel arch-shelf: steel arch-shelf 7 is placed on transport device, control device control transport dress
Movement is set, realizes the transport of steel arch-shelf, when Stroke Displacement Transducer detects that steel arch-shelf 7 reaches default transferring position, control
Device controls transport device braking.
Step S2: steel arch-shelf automatically grabs: after transport device braking, control device control linear drive apparatus 43 is opened
It is dynamic, make linear drive apparatus 43 drive crawl arm 31 mobile to default transferring position, when propulsion stroke sensor senses crawl
When arm 31 is moved to the underface of default transferring position, control device controls linear drive apparatus 43 and brakes, and controls flexible drive
Dynamic device starting, stretches out crawl arm 31, when lifting stroke sensor detects that crawl hand 32 reaches crawl position, control dress
It sets driving crawl hand 32 to act, crawl hand 32 grabs steel arch-shelf 7, when the pressure sensor on crawl hand 32 detects crawl hand 32
Crawl pressure when reaching preset pressure value, control device control retractable driving device continues to start, and makes on crawl arm 31 continues
It rises, steel arch-shelf 7 is removed from transport device.Control device control linear drive apparatus 43 is again started up, and fills linear drives
Setting 43 driving crawl arms 31 drives steel arch-shelf to be moved at splicing apparatus.
Step S3: the automatic assembling of steel arch-shelf: steel arch-shelf is placed on splicing under the action of micro-adjusting mechanism by crawl hand 32
On device, the positioning claw and limited block of splicing apparatus position steel arch-shelf, when vision/touch sensor detects steel arch
When frame has positioned, meanwhile, when preload pressure feedback device monitors that pretightning force when steel arch-shelf positioning reaches default preload force value,
And vision/touch sensor detect the positioning steel arch-shelf be first piece of steel arch-shelf when, control device control device of rotation driving
22 rotate default angle, when rotary torque sensor detects that the torque of device of rotation driving 22 is unsatisfactory for predetermined torque requirement
When, then the torque of device of rotation driving 22 is adjusted by control device, the torque of device of rotation driving 22 in predetermined torque
In the range of asking, so that assembled ring 21 slowly and steadily rotates.When angle of revolution, measurement sensor detects device of rotation driving
When 22 corner reaches default corner, then device of rotation driving 22 is controlled by control device and braked in time.When assembled ring rotates
After in place, continue that next piece of steel arch-shelf is installed.When vision/touch sensor detects that the positioning steel arch-shelf is not first piece of steel arch
When frame, control device controls Automatic Link Establishment movement, adjacent steel arch-shelf is fixedly connected, adjacent steel arch-shelf is fixedly connected with completion
Afterwards, control device control automatic grabbing device movement.Continue that fixed next piece of steel arch-shelf is installed by the above control process, if until
A dry steel arch-shelf 7 is spliced into C-shaped ring on splicing apparatus.
Step S4: the automatic tensioning of steel arch-shelf: after several steel arch-shelfs 7 are spliced into C-shaped ring on splicing apparatus, control
Device controls linear drive apparatus 43 and acts, and tightening device is made to drive C-shaped ring mobile, when propulsion stroke sensor detects stretching
When device is moved to stretching position, control device controls stretching arm 41 and stretches out, by C-shaped ring stretching, when stretching force snesor is examined
Clamping force is measured to stop stretching out up to when presetting stretching force value, control device controls stretching arm 41.
Step S5: the automatic sealing cyclization of steel arch-shelf: after C-shaped ring stretching, control device control ending seal ring mechanism 5
Clamping part clamps C-shaped ring, when contact force sensor detects that the contact force of clamping part reaches preset value, control device control
Connector, is delivered to the opening of C-shaped ring by feeding device movement, and then, control device controls the movement of automatic sealing package loop device, will
The opening of C-shaped ring after stretching is closed, and so far completes the support work of a ring steel arch-shelf, and enter the steel arch-shelf branch of next ring
Shield.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Development machine steel arch-shelf installation system provided by the utility model is described in detail above.It is used herein
Specific case is expounded the principles of the present invention and embodiment, and the explanation of above example is only intended to help
Understand the method and its core concept of the utility model.It should be pointed out that for those skilled in the art,
Under the premise of not departing from the utility model principle, several improvements and modifications can be made to this utility model, these improve and
Modification is also fallen into the protection scope of the utility model claims.
Claims (10)
1. a kind of development machine steel arch-shelf installation system characterized by comprising
For receiving steel arch-shelf (7) and the steel arch-shelf (7) being delivered to the transport device of default transferring position；
For making several end to end splicing apparatus to form C-shaped ring of steel arch-shelf (7)；
For grabbing the steel arch-shelf (7) from the transport device and the steel arch-shelf (7) being placed on the splicing apparatus
On grabbing device；
For grabbing the C-shaped ring and being transported to stretching position and make the tightening device of its stretching；
For by the closed ending seal ring mechanism (5) of the opening of the C-shaped ring after stretching；
With the transport device, the splicing apparatus, the grabbing device, the tightening device and the ending seal ring mechanism
(5) connected control device.
2. development machine steel arch-shelf installation system according to claim 1, which is characterized in that the transport device includes:
For receiving and conveying the travelling bogie (11) of the steel arch-shelf (7), the travelling bogie (11) is equipped with for limiting
The position-limit mechanism (13) of the placement position of the steel arch-shelf (7)；
Conveying track (12) for being oriented to the travelling bogie (11)；
The Stroke Displacement Transducer of the default transferring position, the stroke position whether are reached for detecting the steel arch-shelf (7)
Displacement sensor is connected with the control device, and the control device is connected with the driving device of the travelling bogie (11).
3. development machine steel arch-shelf installation system according to claim 1, which is characterized in that the splicing apparatus includes:
Assembled ring (21) for the steel arch-shelf (7) to be arranged and keeps the adjacent steel arch-shelf (7) opposite from beginning to end；
For driving the assembled ring (21) gradually to rotate the device of rotation driving (22) of predetermined angle；
Automatic Link Establishment (23) for the adjacent steel arch-shelf (7) to be fixedly connected from beginning to end；
It is for detecting the steel arch-shelf (7) and whether being positioned on the assembled ring (21) and be used to detect the steel arch-shelf (7)
No is the tactile or vision inspection apparatus of first piece of steel arch-shelf, the tactile or vision inspection apparatus and the control device phase
Even, the control device is connected with the device of rotation driving (22) and the Automatic Link Establishment (23) respectively.
4. development machine steel arch-shelf installation system according to claim 3, which is characterized in that the splicing apparatus further include:
Whether pretightning force when for steel arch-shelf described in real-time monitoring (7) positioning reaches the default preload pressure feedback for pre-tightening force value
Device, the preload pressure feedback device are connected with the control device.
5. development machine steel arch-shelf installation system according to claim 3, which is characterized in that the splicing apparatus further include:
Whether the corner for detecting the device of rotation driving (22) reaches the angle of revolution measurement sensor of default corner；
Whether the torque for detecting the device of rotation driving (22) meets the rotary torque sensor of predetermined torque requirement, institute
It states angle of revolution measurement sensor and the rotary torque sensor is connected with the control device.
6. development machine steel arch-shelf installation system according to claim 3, which is characterized in that the assembly ring (21), which is equipped with, to be used
In the positioning claw (24) for the peripheral part for positioning the steel arch-shelf (7) and the limit of the end for positioning the steel arch-shelf (7)
Block (25).
7. development machine steel arch-shelf installation system according to claim 1-6, which is characterized in that the grabbing device
Include:
Crawl arm (31) for grabbing the crawl hand (32) of the steel arch-shelf (7) and for crawl hand (32) to be arranged；
It is connected with the crawl arm (31), for driving the crawl arm (31) to fill in the default transferring position and the splicing
The linear drive apparatus (43) moved between the feeding position set；
The propulsion stroke that the default transferring position or the feeding position whether are reached for detecting the crawl arm (31) passes
Sensor, the propulsion stroke sensor are connected with the control device, the control device and the linear drive apparatus (43)
It is connected；
It is connected with the crawl arm (31), the retractable driving device for driving the crawl arm (31) flexible；
The lifting stroke sensor for whether extending out to crawl position for detecting crawl hand (32), the lifting stroke sensing
Device is connected with the control device, and the control device is connected with the retractable driving device；
Whether the crawl pressure for detecting crawl hand (32) reaches the pressure sensor of preset pressure value, and the pressure passes
Sensor is connected with the control device.
8. development machine steel arch-shelf installation system according to claim 7, which is characterized in that the crawl hand (32) be used for
The micro-adjusting mechanism (33) for adjusting the pose of crawl hand (32) is connected, to assist the steel arch-shelf (7) in the splicing apparatus
Upper positioning, the micro-adjusting mechanism (33) are connected with the control device.
9. development machine steel arch-shelf installation system according to claim 7, which is characterized in that the tightening device includes being used for
Several stretching arms (41) of C-shaped ring described in stretching, the stretching arm (41) are arranged on stretching ring (42), the stretching ring
(42) it is connected with the stretching driving device for driving the stretching ring (42) to open or retract, the stretching ring (42) is removable
Ground is set in the girder (61) for carrying, and the stretching ring (42) is connected with the linear drive apparatus (43)；The support
Tight device further includes the stretching force snesor for whether reaching default clamping force for detecting the clamping force of the stretching arm (41), institute
It states stretching force snesor to be connected with the control device, the control device is connected with the stretching driving device；
The crawl arm (31) is connected by the stretching ring (42) with the linear drive apparatus (43)；
The propulsion stroke sensor is also used to detect whether the stretching ring (42) reaches the stretching position.
10. development machine steel arch-shelf installation system according to claim 1, which is characterized in that the ending seal ring mechanism (5)
Include:
For clamping the clamping part of the C-shaped ring；
For sending connector to the feeding device of the opening；
Automatic sealing package loop device for the connector to be connect with the open end of the C-shaped ring；
Whether the chucking power for detecting the clamping part reaches the contact force sensor of contact force preset value, and the contact force passes
Sensor is connected with the control device, and the control device is connected with the feeding device and the automatic sealing package loop device respectively.
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| CN201821066645.5U CN208364126U (en) | 2018-07-05 | 2018-07-05 | A kind of development machine steel arch-shelf installation system |
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| CN201821066645.5U CN208364126U (en) | 2018-07-05 | 2018-07-05 | A kind of development machine steel arch-shelf installation system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108756927A (en) * | 2018-07-05 | 2018-11-06 | 中国铁建重工集团有限公司 | A kind of development machine steel arch-shelf installation system |
| CN109882210A (en) * | 2019-04-23 | 2019-06-14 | 中铁工程装备集团有限公司 | A kind of novel steel arch-shelf assembling machine and its assembling method |
| CN110593916A (en) * | 2019-10-10 | 2019-12-20 | 中国铁建重工集团股份有限公司 | Arch adjusting device and arch adjusting method |
| CN112045397A (en) * | 2020-09-07 | 2020-12-08 | 中铁工程装备集团有限公司 | Steel arch splicing device and working method thereof |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108756927A (en) * | 2018-07-05 | 2018-11-06 | 中国铁建重工集团有限公司 | A kind of development machine steel arch-shelf installation system |
| WO2020007003A1 (en) * | 2018-07-05 | 2020-01-09 | 中国铁建重工集团有限公司 | Tunnel boring machine steel arch installation system |
| CN108756927B (en) * | 2018-07-05 | 2024-01-19 | 中国铁建重工集团股份有限公司 | Steel arch installing system of heading machine |
| CN109882210A (en) * | 2019-04-23 | 2019-06-14 | 中铁工程装备集团有限公司 | A kind of novel steel arch-shelf assembling machine and its assembling method |
| CN109882210B (en) * | 2019-04-23 | 2024-03-22 | 中铁工程装备集团有限公司 | Novel steel arch frame assembling machine and assembling method thereof |
| CN110593916A (en) * | 2019-10-10 | 2019-12-20 | 中国铁建重工集团股份有限公司 | Arch adjusting device and arch adjusting method |
| CN112045397A (en) * | 2020-09-07 | 2020-12-08 | 中铁工程装备集团有限公司 | Steel arch splicing device and working method thereof |
| CN112045397B (en) * | 2020-09-07 | 2022-04-22 | 中铁工程装备集团有限公司 | Steel arch splicing device and working method thereof |
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Address after: 410100 No. 88 East 7 Line, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Patentee after: China Railway Construction Heavy Industry Group Co., Ltd. Address before: 410100 No. 88 East 7 Line, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Patentee before: China Railway Construction Heavy Industry Co.,Ltd. |