CN209855825U - Novel robot is assembled to intelligence steel bow member - Google Patents
Novel robot is assembled to intelligence steel bow member Download PDFInfo
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- CN209855825U CN209855825U CN201920557281.9U CN201920557281U CN209855825U CN 209855825 U CN209855825 U CN 209855825U CN 201920557281 U CN201920557281 U CN 201920557281U CN 209855825 U CN209855825 U CN 209855825U
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Abstract
The utility model discloses a novel robot is assembled to intelligence steel bow member, the technical problem of solution be by the artifical support lead to strut untimely or the quality is unstable cause TBM collapse's leading reason, seriously restrict TBM and popularize and apply comprehensively. The utility model comprises a frame, a rotating device and an assembling ring are arranged on the frame, the assembling ring is provided with an assembling gripper, the rotating device is provided with a bolt tightening and connecting sheet grabbing mechanism, and the assembling ring is provided with an assembling gripper; the assembling gripper comprises a large arm, a middle arm and a clamping gripper which are connected in series. The utility model directly upgrades the manual assembly mode of the steel arch frame into robot assembly, and does not need workers to be in a bad construction environment for a long time, thereby reducing the potential safety hazard; the assembly gripper adopts a large arm, a middle arm and a clamping gripper which are connected in series, so that the movement process is more flexible, and the working efficiency is high.
Description
Technical Field
The utility model relates to a tunnel construction field, concretely relates to novel robot is assembled to intelligence steel bow member.
Background
The method is characterized in that steel arches are required to be adopted to support the rear part of the TBM in time in the construction process of the TBM, the main support mode at present is manual support, the support process is to assemble one section of steel arch into a ring, the assembled steel arch is supported in a tunnel after the TBM is constructed, the steel arches are manually butted and screwed by manually screwing bolts in the assembling process, long-time field operation of workers is needed, and casualty accidents are easy to happen once collapse occurs, the potential safety hazard is large, and the manual support efficiency is low. Therefore, the main reason for collapse of the TBM is that untimely support or unstable quality caused by manual support, and the comprehensive popularization and application of the TBM are severely restricted. Aiming at solving the supporting problem in time with safety, high efficiency and high quality, the construction safety and efficiency of the TBM are improved, the steel arch assembly urgently needs to realize the transformation from manual operation to robotized operation, and the overall performance reaches the international leading level.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is that the support that leads to by artifical support untimely or the quality is unstable causes TBM collapse's leading cause, seriously restricts TBM and popularizes and applies comprehensively, provides a novel intelligence steel bow member and assembles robot.
In order to solve the technical problem, the utility model adopts the following technical scheme: a novel intelligent steel arch assembling robot comprises a rack, wherein an assembling ring is arranged on the rack, an assembling gripper is arranged on the assembling ring, and an assembling gripper is arranged on the assembling ring; the assembling gripper comprises a large arm, a middle arm and a clamping gripper which are connected in series; and a steel arch frame conveying system is also arranged below the rack.
The assembling ring comprises a support ring I, a slide rail is arranged on the rack, the support ring I is in sliding connection with the support through the slide rail, a rotating ring I is arranged on one side of the support ring I, a large gear ring is arranged on the inner side of the rotating ring I, one end of the oil cylinder is fixed on the rack, the other end of the oil cylinder is fixed on the support ring I, a motor is arranged on the support ring I, a small gear is arranged on an output shaft of the motor, and the small gear is meshed with the large.
Big arm one end be connected with rotatory ring I, the other end and well arm sliding connection, be equipped with the drive of No. I joint between big arm and the well arm, well arm is grabbed through the connecting seat and is connected.
The lower part of the connecting seat is connected with the middle arm in a sliding mode through a No. II sliding rail, a No. II joint drive is arranged on one side of the connecting seat, the upper part of the connecting seat is connected with the clamping claw in a hinged mode through a hinged seat, and a No. III joint drive and a No. V joint drive are arranged on the lower part of the clamping claw; the clamp grab include that the left side presss from both sides to grab and the right side presss from both sides to grab, press from both sides to grab and be equipped with the drive of No. IV joint number between grabbing with the right side.
The rack is provided with a rotating device, and the rotating device is provided with a bolt tightening and connecting sheet grabbing mechanism; the bolt tightening and connecting piece grabbing mechanism comprises a parallel platform II, the parallel platform II is connected with a rotating device through a mounting plate II, a tail end executing mechanism is arranged on the parallel platform II, and a bolt tightening barrel is arranged on the tail end executing mechanism.
The tail end executing mechanism comprises a frame body, grippers are arranged on two sides of the frame body and are hinged to the frame body, telescopic oil cylinders are arranged between the grippers on the two sides of the frame body, and bolt tightening cylinders are arranged on the grippers.
The rotating device comprises a support ring II and a rotating ring II, and the bolt tightening and connecting piece grabbing mechanism is arranged on the rotating ring II.
And the steel arch is matched with the assembling tongs and is also provided with a steel arch, the steel arch comprises a first section steel arch, a plurality of sections of middle section steel arches and a last section steel arch which are sequentially assembled into a ring, the first section steel arch and the middle section steel arch, adjacent middle section steel arches and middle section steel arches are connected by a lock catch, and the first section steel arch and the last section steel arch are connected by meshing.
The middle section steel arch frame is characterized in that two ends of the middle section steel arch frame are respectively a middle section locking end and a middle section connecting end, the middle section locking end comprises a connecting block and a locking block, the middle section connecting end comprises a connecting hole and a locking hole, the connecting hole is matched with the connecting block, and the locking hole is matched with the locking block; the connecting block is provided with a sliding chute, and a stop block is arranged in the sliding chute; an elastic structure is arranged between the stop block and the bottom surface of the sliding groove; the locking block is provided with a ratchet structure, the inner side of the locking hole is also provided with a ratchet block, and the ratchet on the ratchet block is meshed with the ratchet structure on the locking block. The connecting blocks and the locking blocks are respectively provided with two connecting blocks which are symmetrically arranged, the two locking blocks are symmetrically arranged, and an elastic structure is arranged between the stop blocks in the two connecting blocks.
The two ends of the first section steel arch are respectively a first section connecting end and a first section locking end, the first section connecting end is connected with the middle section locking end of the middle section steel arch, and the first section locking end is of a ratchet structure; the two ends of the tail section steel arch are respectively a tail section connecting end and a tail section locking end, the tail section locking end is connected with the middle section connecting end of the middle section steel arch, and the tail section connecting end is of a ratchet structure; the ratchet structure of the tail section connecting end is meshed and connected with the ratchet structure of the head section locking end.
An assembling method of a novel intelligent steel arch assembling robot comprises the following steps: firstly, conveying the steel arch to a grabbing range of an assembled gripper through a steel arch conveying system; secondly, controlling the assembling gripper to grab the first section of steel arch frame and then rotating the assembling ring to give way to the middle section of steel arch frame; the assembly hand grab is a serial mechanical arm, and the large arm is driven by a joint I to move with the middle arm; the No. II sliding rail is arranged on the middle arm through a mounting plate and driven by a No. II joint; the III joint drive and the V joint drive are used for controlling the direction of the hinged seat; the clamp claw is driven by a No. IV joint number to realize opening and closing; thirdly, after grabbing the middle section steel arch of the first block, connecting the first section steel arch with the first section steel arch; fourthly, sequentially grabbing the rest steel arches and connecting the adjacent steel arches; and fifthly, the first section of steel arch frame and the last section of steel arch frame are butted to complete the assembly of the steel arch frame ring.
After grabbing the middle section steel arch frame of the first block, adopting a bolt tightening and connecting piece grabbing mechanism to tighten and connect the first section steel arch frame and the middle section steel arch frame through bolts; sequentially grabbing the rest steel arch frames and adopting a bolt tightening and connecting sheet grabbing mechanism to tighten and connect the adjacent steel arch frames through bolts; and after the steel arch ring is tightly supported, the first section of steel arch and the last section of steel arch are butted and connected through bolt tightening, and then the assembly and the tightening of the steel arch ring are completed.
Step three to step five said snatch first interlude steel bow member after with first section steel bow member rather than being connected: the first section connecting end of the first section steel arch is matched with the middle section locking end of the first section steel arch, namely, the locking block is inserted into a locking hole of a previous ring, the connecting block is inserted into a connecting hole of the previous section steel arch and is prevented from loosening through the stop block, so that the pre-tightening state of the first section connecting end and the middle section locking end of the first section steel arch is achieved;
then, sequentially assembling a plurality of middle section steel arches according to the same process until the final section steel arch assembly is completed; forming a steel arch ring when all the steel arches are assembled, wherein the steel arch ring is in a pre-tightening state, and the steel arch ring needs to be tightly supported on the wall of the tunnel;
when the steel arch ring is tightly supported by the gripper of the assembling robot, at the moment, the first-section connecting end of the first-section steel arch is meshed with the middle-section locking end of the middle-section steel arch, the connecting end and the locking end between the adjacent middle-section steel arches, and the ratchet block and the locking block between the locking end of the middle-section steel arch and the last-section connecting end of the last-section steel arch to achieve a locking state;
and finally, locking the first section locking end of the first section steel arch frame with the tail ring connecting end through ratchet engagement, and assembling and supporting the steel arch frame to the hole wall to form a ring.
The utility model directly upgrades the manual assembly mode of the steel arch frame into robot assembly, and does not need workers to be in a bad construction environment for a long time, thereby reducing the potential safety hazard; the assembly gripper adopts the large arm, the middle arm and the clamping gripper which are connected in series, the movement process is more flexible, the working efficiency is high, and the robot is adopted to support in time after the TBM construction, so that the quality is improved, and the occurrence of collapse accidents is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the assembly ring of the present invention engaged with the frame;
fig. 3 is a schematic structural view of the assembled gripper of the present invention;
FIG. 4 is a schematic structural view of the bolt tightening and connecting piece grabbing mechanism of the present invention;
FIG. 5 is a schematic structural view of the combination of the splicing gripper, the bolt tightening and connecting piece grabbing mechanism and the steel arch frame;
FIG. 6 is a schematic structural diagram before the steel arch is grabbed;
FIG. 7 is a schematic structural view of the first section of the steel arch of the present invention;
fig. 8 is a schematic structural view of the middle section steel arch for grabbing of the present invention;
fig. 9 is a schematic view of the structure of the steel arch structure after the assembly of the utility model is completed;
fig. 10 is a schematic structural view of a middle locking end of the middle section steel arch of the present invention;
fig. 11 is a schematic view of a middle section connecting end structure of the middle section steel arch of the present invention;
FIG. 12 is a schematic structural view of the first steel arch of the present invention;
FIG. 13 is a schematic structural view of the end steel arch of the present invention;
FIG. 14 is a schematic structural view of the pre-tightening state of the connection between adjacent middle steel arches of the present invention;
FIG. 15 is a schematic structural view of the tight bracing state of the connection between adjacent middle steel arches of the present invention;
fig. 16 is a schematic structural view of the joint of the first-stage steel arch and the last-stage steel arch of the present invention. .
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without any creative effort belong to the protection scope of the present invention.
As shown in fig. 1 to 8, a novel intelligent steel arch assembling robot comprises a frame 1, wherein an assembling ring 2 is arranged on the frame 1, an assembling gripper 3 is arranged on the assembling ring 2, and an assembling gripper 3 is arranged on the assembling ring 2; the assembling gripper 3 comprises a large arm 301, a middle arm 302 and a clamping gripper 307 which are connected in series; and a steel arch frame conveying system 5 is also arranged below the machine frame 1. The utility model discloses frame 1 is fixed subaerial, assembles ring 2 and rotary device 4 and can remove and rotate in frame 1. Steel bow member conveying system 5 for autoloading systems such as delivery track or conveyer belt, prevent the travelling bogie on the delivery track, place the steel bow member and transport on the travelling bogie and supply it to grab to assembling 3 below of tongs.
The assembling ring 2 comprises a support ring I206 and an oil cylinder, a rotating ring I205 is arranged on one side of the support ring I206, a large gear ring 204 is arranged on the inner side of the rotating ring I205, one end of the oil cylinder is fixed on the frame 1, the other end of the oil cylinder is fixed on the support ring I206, a motor 202 is arranged on the support ring I206, a small gear 203 is arranged on an output shaft of the motor 202, and the small gear 203 is meshed with the large gear ring 204. A support bracket 2061 is arranged on the inner side of the support ring I206, and the support bracket 2061 slides on the frame 1. When the assembly ring 2 works, the support ring I206 and the rotating ring I205 are driven to move left and right on the rack through the extension of the oil cylinder 201, the rotating ring is driven to rotate through a small gear on the motor, and when the rotating ring rotates, the support ring I206 keeps static and plays a supporting role on the motor.
One end of the large arm 301 is connected with the rotating ring I205, the other end of the large arm 301 is connected with the middle arm 302 in a sliding mode, a No. I joint drive 303 is arranged between the large arm 301 and the middle arm 302, and the middle arm 302 is connected with the clamp claw 307 through a connecting seat 3011.
The lower part of the connecting seat 3011 is slidably connected with the middle arm 302 through a No. II sliding rail 304, a No. II joint driver 305 is arranged on one side of the connecting seat 3011, the upper part of the connecting seat 3011 is hinged with the clamp claw 307 through a hinging seat 309, and a No. III joint driver 306 and a No. V joint driver 1010 are arranged on the lower part of the clamp claw 307; the clamp claw 307 comprises a left clamp claw and a right clamp claw, and an IV joint number drive 308 is arranged between the left clamp claw and the right clamp claw. The No. II joint driver 305 is a hydraulic oil cylinder, a base of the hydraulic oil cylinder of the No. II joint driver 305 is fixed on the middle arm 302, and a piston rod is hinged with the connecting seat 3011; the hinge seat of the utility model can be a spherical hinge, a joint bearing or a hook hinge. The III joint driver 306 and the V joint driver 1010 are hydraulic oil cylinders, the bases of the hydraulic oil cylinders are fixed on the connecting seat 3011, and the piston rods are hinged with the clamp claw 307; the IV joint driver 308 is a hydraulic oil cylinder and is used for controlling the opening and closing of the clamping claw to realize the grabbing of the steel arch frame. The splicing gripper 3 of the utility model is a series mechanical arm, and the large arm 301 is driven by the I-joint 303 to move with the middle arm 302; the No. II sliding rail 304 is arranged on the middle arm 302 through a mounting plate and driven by a No. II joint driver 305; joint III drive 306 and joint V drive 1010 are used to control the orientation of articulation mount 309; the gripper 307 is opened and closed by a joint number IV drive 308. The steel arch frame 7 of the utility model is of an I-steel structure, comprising an upper transverse plate 77, a lower transverse plate 78 and a vertical plate 79, when the clamp 307 grabs the steel arch frame, the III joint drive 306 and the V joint drive 1010 respectively drive the rollers 3012 in the clamp 307 to open and extend to the lower part of the upper transverse plate 77 of the steel arch frame, at the moment, the III joint drive 306 and the V joint drive 1010 respectively drive the rollers to compress the steel arch frame, and the steel arch frame is clamped in the clamp 307; after the idler wheel compresses tightly the steel arch, the idler wheel can rotate, and when the bolt holes between the two steel arches are butted, the steel arch can slide on the inner side of the idler wheel, and the idler wheel can rotate. The utility model discloses assemble tongs 3 by two at least and snatch during every steel bow member installation, two assemble tongs 3 and grasp the bolt hole alignment on two adjacent steel bow members with steel bow member both ends respectively.
The machine frame 1 is provided with a rotating device 4, and the rotating device 4 is provided with a bolt tightening and connecting sheet grabbing mechanism 6; the bolt tightening and connecting piece grabbing mechanism 6 comprises a parallel platform II602, the parallel platform II602 is connected with the rotating device 4 through a mounting plate II601, an end executing mechanism 603 is arranged on the parallel platform II602, and a bolt tightening barrel 6034 is arranged on the end executing mechanism 603. The inner surface of the bolt tightening barrel 6034 is matched with the outer surface of the nut; when the novel steel arch frame is assembled, the bolt pairs of the steel arch frame are inserted into the bolt holes of the adjacent steel arch frames, and the bolts are screwed by the nuts of the bolt screwing cylinders 6034; if the utility model adopts the hexagon nut, the inner surface of the bolt tightening barrel 6034 is a regular hexagon matched with the hexagon nut, the hexagon nut is clamped in the bolt tightening barrel 6034, and the bolt tightening barrel 6034 is controlled to rotate by the motor, so that the automatic tightening of the bolt is realized; the motor is disposed on the hand grip 6032. Bolt tightening and connection piece snatchs mechanism 6 is except having the bolt tightening function, still has the connection piece and snatchs the function, assembles the completion from the steel bow member of taking the bolt and need prop tightly the back, has a breach between the last section steel bow member and the first section steel bow member after propping tightly, needs bolt tightening and connection piece to snatch mechanism 6 at this moment and snatch the connection piece with this breach matched with and mend this breach to make multistage steel bow member and connection piece closed cyclization under the state of propping.
The end executing mechanism 603 comprises a frame 6031, grippers 6032 are arranged on two sides of the frame 6031, the grippers 6032 are hinged to the frame 6031, telescopic oil cylinders 6033 are arranged between the grippers 6032 on two sides of the frame 6031, and bolt tightening cylinders 6034 are arranged on the grippers 6032. The utility model discloses when the bolt is screwed up and the connection piece snatchs mechanism 6 uses, be assembled tongs 3 at the steel bow member and snatch the back, screw up the bolt and the connection piece snatchs mechanism 6 and remove to the butt joint department of two steel bow members, make nut and bolt butt joint in the bolt tightening section of thick bamboo 6034 to grasp the steel bow member as supporting with tongs 6032, rotatory bolt tightening section of thick bamboo 6034 screws up the nut can.
The rotating device 4 comprises a support ring II406 and a rotating ring II405, and the bolt tightening and connecting piece grabbing mechanism 6 is arranged on the rotating ring II 405. The utility model discloses the control of the support ring II406 of rotary device 4 and rotatory ring II405 is removed and the rotation principle is the same with the control of the support ring I206 of assembling ring 2 and rotatory ring I205 with the rotation principle. Through the rotation of rotary ring II405 and rotary ring I205, realize assembling and the bolt tightening work to arbitrary position steel bow member.
The steel arch 7 is matched with the assembling tongs 3 and is further provided with a steel arch 7, as shown in figures 9-16, the steel arch 7 comprises a first section of steel arch 71, a plurality of sections of middle section steel arches 72 and a last section of steel arch 75 which are sequentially assembled into a ring, the first section of steel arch 71 and the middle section of steel arch 72, the adjacent middle section of steel arch 72, the middle section of steel arch 72 and the last section of steel arch 75 are connected through lock catches, and the first section of steel arch 71 and the last section of steel arch 75 are connected in a meshing manner.
Interlude steel bow member 72 both ends be interlude locking end and interlude link respectively, interlude locking end include connecting block 7202 and latch segment 7203, the interlude link include connecting hole 7204 and locking hole 7205, connecting hole 7204 cooperate with connecting block 7202, locking hole 7205 cooperatees with latch segment 7203.
The connecting block 7202 is provided with a sliding groove, and a stop block 7201 is arranged in the sliding groove.
An elastic structure is arranged between the stop dog 7201 and the bottom surface of the sliding groove. Connecting block 7202 and latch segment 7203 all link firmly on the steel bow member. The stopper 7201 can move in the slide groove. Elastic structure be spring etc, elastic structure's setting makes dog 7201 meet external force and can retract and leave, leaves external force and can stretch out.
Connecting block 7202 and latch segment 7203 be equipped with two respectively, two connecting block 7202 symmetry settings, two latch segments 7203 symmetry settings are equipped with elastic construction between the dog 7201 in two connecting blocks 7202. Elastic construction be spring etc. connect through elastic construction between the dog 7201 that two symmetries set up and make dog 7201 meet external force and can retract, leave external force and can stretch out.
The locking block 7203 is provided with a ratchet structure, the inner side of the locking hole 7205 is also provided with a ratchet block 7206, and the ratchet on the ratchet block 7206 is meshed with the ratchet structure on the locking block 7203. The utility model discloses connecting hole 7204 and locking hole 7205 on the adjacent middle section steel bow member, connecting hole 7204 and connecting block 7202 mutually support and lock through dog 7201, locking hole 7205 and latch segment 7203 cooperate and lock through the ratchet structure meshing on ratchet 7206 and latch segment 7203; the ratchet block 7206 is fixedly connected to the steel arch, and is in a cantilever structure, so that elastic deformation swinging in a certain range can be realized.
As shown in fig. 12, the two ends of the first steel arch 71 are respectively a first connecting end 7101 and a first locking end 7102, the first connecting end 7101 is connected with the middle locking end of the middle steel arch 72, and the first locking end 7102 is of a ratchet structure. The structure of first section link 7101 is the same as the structure of interlude link.
As shown in fig. 13, the two ends of the end steel arch 75 are an end connecting end 7502 and an end locking end 7501, respectively, the end locking end 7501 is connected with the middle connecting end of the middle steel arch 72, and the end connecting end 7502 is of a ratchet structure; the ratchet structure of the end section connecting end 7502 is meshed and connected with the ratchet structure of the first section locking end 7102. The structure of the end section locking end 7501 is the same as the structure of the middle section locking end.
An assembling method of a novel intelligent steel arch assembling robot comprises the following steps: firstly, the steel arch is conveyed to the grabbing range of the assembling grab 3 through a steel arch conveying system 5; secondly, controlling the assembling gripper 3 to grab the first section of steel arch frame and then rotating the assembling ring 2 to give way to the middle section of steel arch frame; the assembly gripper 3 is a serial mechanical arm, and the large arm 301 is driven by a joint I303 to move with the middle arm 302; the No. II sliding rail 304 is arranged on the middle arm 302 through a mounting plate and driven by a No. II joint driver 305; joint III drive 306 and joint V drive 1010 are used to control the orientation of articulation mount 309; the clamp claw 307 is driven by a No. IV joint number 308 to realize opening and closing; thirdly, after grabbing the middle section steel arch of the first block, connecting the first section steel arch with the first section steel arch; fourthly, sequentially grabbing the rest steel arches and connecting the adjacent steel arches; and fifthly, the first section of steel arch frame and the last section of steel arch frame are butted to complete the assembly of the steel arch frame ring.
After grabbing the middle section steel arch of the first block, adopting a bolt tightening and connecting sheet grabbing mechanism 6 to tighten and connect the first section steel arch and the middle section steel arch through bolts; sequentially grabbing the rest steel arch frames and adopting a bolt tightening and connecting sheet grabbing mechanism 6 to tightly connect the adjacent steel arch frames through bolts; and after the steel arch ring is tightly supported, the first section of steel arch and the last section of steel arch are butted and connected through bolt tightening, and then the assembly and the tightening of the steel arch ring are completed. The step is suitable for assembling the traditional steel arch frame with bolts into rings and supporting the traditional steel arch frame, and is realized by matching with bolt screwing and connecting sheet grabbing mechanisms 6. Bolt tightening and connection piece snatchs mechanism 6 is except having the bolt tightening function, still has the connection piece and snatchs the function, assembles the completion from the steel bow member of taking the bolt and need prop tightly the back, has a breach between the last section steel bow member and the first section steel bow member after propping tightly, needs bolt tightening and connection piece to snatch mechanism 6 at this moment and snatch the connection piece with this breach matched with and mend this breach to make multistage steel bow member and connection piece closed cyclization under the state of propping.
Step three to step five said snatch first interlude steel bow member after with first section steel bow member rather than being connected: firstly, a first section steel arch 71 is grabbed by the steel arch assembling robot, then a first section steel arch 72 is grabbed, a first section connecting end 7101 of the first section steel arch 71 is matched with a middle section locking end of the first section steel arch 72, namely, a locking block 7203 is inserted into a previous ring locking hole 7205, a connecting block 7202 is inserted into a connecting hole 7204 of the previous section steel arch and is prevented from loosening through a stop block 7201, so that the pre-tightening state of the first section connecting end 7101 and the middle section locking end of the first section steel arch 72 is achieved;
then, a plurality of middle section steel arch frames 72 are sequentially assembled according to the same process until the end section steel arch frame is assembled; forming a steel arch ring when all the steel arches are assembled, wherein the steel arch ring is in a pre-tightening state, and the steel arch ring needs to be tightly supported on the wall of the tunnel;
when the steel arch ring is tightly supported by the gripper of the assembly robot, at the moment, a first section connecting end 7101 of a first section steel arch is meshed with a middle section locking end of the middle section steel arch, a connecting end and a locking end between adjacent middle section steel arches, and a ratchet block 7206 and a locking block 7203 between the locking end of the middle section steel arch and a tail section connecting end of the tail section steel arch to achieve a locking state;
and finally, locking a first section locking end 7102 of the first section steel arch with a last ring connecting end 7502 through ratchet engagement, so that the steel arch is assembled and tightly supported to the wall of the hole to form a ring, as shown in fig. 9. The step is suitable for assembling and looping and supporting the novel steel arch without the bolts, the bolts are not needed to be screwed, the step is simpler, and the connection is more reliable. After the first section steel arch 71, the plurality of sections of middle section steel arches 72 and the tail section steel arch 75 used in the step are assembled, the joints of the first section steel arch 71 and the tail section steel arch 75 are partially overlapped, the steel arch is supported tightly, the complete type of a steel arch ring is ensured by reducing the overlapping length of the first section steel arch 71 and the tail section steel arch 75, additional connecting pieces do not need to be grabbed, and the operation process is simpler.
Claims (10)
1. The utility model provides a novel robot is assembled to intelligence steel bow member which characterized in that: the novel assembling machine comprises a rack (1), wherein an assembling ring (2) is arranged on the rack (1), an assembling gripper (3) is arranged on the assembling ring (2), and the assembling gripper (3) is arranged on the assembling ring (2); the assembling gripper (3) comprises a large arm (301), a middle arm (302) and a clamping gripper (307) which are connected in series; and a steel arch frame conveying system (5) is also arranged below the machine frame (1).
2. The novel intelligent steel arch assembling robot of claim 1, wherein: the assembling ring (2) comprises a support ring I (206) and an oil cylinder, a sliding rail (201) is arranged on the rack (1), the support ring I (206) is in sliding connection with the support (2061) through the sliding rail (201), a rotating ring I (205) is arranged on one side of the support ring I (206), a large gear ring (204) is arranged on the inner side of the rotating ring I (205), one end of the oil cylinder is fixed on the rack (1), the other end of the oil cylinder is fixed on the support ring I (206), a motor (202) is arranged on the support ring I (206), a small gear (203) is arranged on an output shaft of the motor (202), and the small gear (203) is meshed with the large gear ring (204.
3. The novel intelligent steel arch assembling robot of claim 1, wherein: one end of the large arm (301) is connected with the rotating ring I (205), the other end of the large arm is connected with the middle arm (302) in a sliding mode, a No. I joint drive (303) is arranged between the large arm (301) and the middle arm (302), and the middle arm (302) is connected with the clamp claw (307) through the connecting seat (3011).
4. The novel intelligent steel arch assembling robot of claim 3, wherein: the lower part of the connecting seat (3011) is connected with the middle arm (302) in a sliding mode through a No. II sliding rail (304), a No. II joint drive (305) is arranged on one side of the connecting seat (3011), the upper part of the connecting seat (3011) is hinged with the clamp claw (307) through a hinge seat (309), and a No. III joint drive (306) and a No. V joint drive (1010) are arranged on the lower part of the clamp claw (307); the clamp claw (307) comprises a left clamp claw and a right clamp claw, and an IV joint number drive (308) is arranged between the left clamp claw and the right clamp claw.
5. The novel intelligent steel arch assembling robot of claim 1, wherein: the machine frame (1) is provided with a rotating device (4), and the rotating device (4) is provided with a bolt tightening and connecting sheet grabbing mechanism (6); bolt tightening and connection piece snatch mechanism (6) including parallel platform II (602), parallel platform II (602) are connected with rotary device (4) through mounting panel II (601), be equipped with end actuating mechanism (603) on parallel platform II (602), end actuating mechanism (603) on be equipped with bolt tightening section of thick bamboo (6034).
6. The novel intelligent steel arch assembling robot of claim 5, wherein: terminal actuating mechanism (603) include framework (6031), framework (6031) both sides are equipped with tongs (6032), tongs (6032) and framework (6031) articulated connection are equipped with telescopic cylinder (6033) between tongs (6032) of framework (6031) both sides, bolt tightening barrel (6034) set up on tongs (6032).
7. The novel intelligent steel arch assembling robot of claim 5, wherein: the rotating device (4) comprises a support ring II (406) and a rotating ring II (405), and the bolt tightening and connecting piece grabbing mechanism (6) is arranged on the rotating ring II (405).
8. The novel intelligent steel arch assembling robot of claim 1, wherein: cooperate and still be equipped with steel bow member (7) with assembling tongs (3), steel bow member (7) including assembling first section steel bow member (71), a plurality of sections interlude steel bow member (72) and end steel bow member (75) of looping in proper order, between first section steel bow member (71) and interlude steel bow member (72), between adjacent interlude steel bow member (72), be the hasp between interlude steel bow member (72) and end steel bow member (75) and be connected, meshing is connected between first section steel bow member (71) and the end steel bow member (75).
9. The novel intelligent steel arch assembling robot of claim 8, wherein: the middle section steel arch frame comprises a middle section locking end and a middle section connecting end, wherein the two ends of the middle section steel arch frame (72) are respectively provided with the middle section locking end and the middle section connecting end, the middle section locking end comprises a connecting block (7202) and a locking block (7203), the middle section connecting end comprises a connecting hole (7204) and a locking hole (7205), the connecting hole (7204) is matched with the connecting block (7202), and the locking hole (7205) is matched with the locking block (7203); a sliding groove is arranged on the connecting block (7202), and a stop block (7201) is arranged in the sliding groove; an elastic structure is arranged between the stop block (7201) and the bottom surface of the sliding groove; the locking block (7203) is provided with a ratchet structure, the inner side of the locking hole (7205) is also provided with a ratchet block (7206), and the ratchet on the ratchet block (7206) is meshed with the ratchet structure on the locking block (7203); connecting block (7202) and latch segment (7203) be equipped with two respectively, two connecting block (7202) symmetry sets up, two latch segment (7203) symmetry sets up, is equipped with elastic construction between dog (7201) in two connecting block (7202).
10. The novel intelligent steel arch assembling robot of claim 9, wherein: the two ends of the first section steel arch frame (71) are respectively a first section connecting end (7101) and a first section locking end (7102), the first section connecting end (7101) is connected with a middle section locking end of the middle section steel arch frame (72), and the first section locking end (7102) is of a ratchet structure; the two ends of the tail section steel arch (75) are respectively a tail section connecting end (7502) and a tail section locking end (7501), the tail section locking end (7501) is connected with the middle section connecting end of the middle section steel arch (72), and the tail section connecting end (7502) is of a ratchet structure; the ratchet structure of the tail section connecting end (7502) is meshed and connected with the ratchet structure of the head section locking end (7102).
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| CN109882217A (en) * | 2019-04-23 | 2019-06-14 | 中铁工程装备集团有限公司 | A kind of novel intelligent steel arch-shelf assembling machine people and its assembling method |
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| CN109882217A (en) * | 2019-04-23 | 2019-06-14 | 中铁工程装备集团有限公司 | A kind of novel intelligent steel arch-shelf assembling machine people and its assembling method |
| CN109882217B (en) * | 2019-04-23 | 2024-03-26 | 中铁工程装备集团有限公司 | Novel intelligent steel arch assembling robot and assembling method thereof |
| CN111442942A (en) * | 2020-04-30 | 2020-07-24 | 中南大学 | Serial-type segment assembling robot test device and simulation assembling method |
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