CN213709627U - Door plate for sunken tube end sealing door and mounting device - Google Patents
Door plate for sunken tube end sealing door and mounting device Download PDFInfo
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- CN213709627U CN213709627U CN202021896821.5U CN202021896821U CN213709627U CN 213709627 U CN213709627 U CN 213709627U CN 202021896821 U CN202021896821 U CN 202021896821U CN 213709627 U CN213709627 U CN 213709627U
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Abstract
The utility model discloses a door plate and a mounting device for a sinking pipe end sealing door, which comprises a vehicle body and an mechanical arm arranged on the vehicle body; the front end of the mechanical arm is detachably connected with a door panel to be installed, the door panel is lifted and the angle of the door panel is adjusted through the joint extension movement of the mechanical arm, and then the door panel is sent to the installation position through the movement of the vehicle body. The installation device uses a flexible vehicle body as a carrier, can pass through an outfitting field, and can also run inside a tunnel formed by immersed tubes. The mechanical arm arranged on the door panel can pick up and rotate a single door panel of the end sealing door, so that the door panel is vertical and convenient to install or is flat and convenient to fold. Greatly improving the carrying efficiency and the posture adjustment efficiency of the door plate and integrally shortening the mounting/dismounting time of the end seal door. Especially, the installation device can be remotely controlled, so that when the door panel is installed/disassembled, constructors can be far away from the lower part of the door panel, and the door panel is prevented from falling to cause damage to the constructors.
Description
Technical Field
The utility model belongs to the technical field of immersed tube end seals door installation, especially, relate to a door plant and installation device for immersed tube end seals door.
Background
The immersed tube method is a construction method for building tunnel under water. The immersed tube tunnel is an underwater tunnel built by floating and transporting a plurality of prefabricated immersed tubes to the sea surface (river surface) site respectively and sinking and installing the immersed tubes in a dredged foundation trench one by one.
After the immersed tube is prefabricated, the end sealing door needs to be installed, the two ports of the immersed tube are sealed, the immersed tube is prevented from being gushed by water flow in the process of sinking, and the immersed tube at the two ends is butted underwater in a closed state. After the butt joint is completed, the end sealing door needs to be removed in the tunnel formed by the immersed tubes, and the two sections of immersed tubes are communicated.
The sinking pipe end sealing door adopts a block assembly mode and can be repeatedly used, and the weight of a door plate of each end sealing door reaches 8 tons. The outfitting field area of the prefabricated immersed tube and the space in the tunnel are narrow, so that the construction of large equipment is limited. When dismantling the end seal door at present, often only can rely on the manual work to demolish, not only inefficiency, the security is relatively poor moreover.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to, through an installation device for sinking pipe end seals door, install/dismantle sinking pipe end seals door, take place the danger that the door plant emptys when avoiding artifical installation/dismantlement to promote the door plant installation/dismantlement efficiency of end sealing door.
The utility model discloses a realize through following technical scheme:
a mounting device for a sinking pipe end sealing door comprises a vehicle body and a mechanical arm mounted on the vehicle body; the front end of the mechanical arm is detachably connected with a door panel to be installed, the door panel is lifted and the angle of the door panel is adjusted through the joint extension movement of the mechanical arm, and then the door panel is sent to the installation position through the movement of the vehicle body.
By the proposal, the utility model discloses at least, obtain following technological effect:
because the weight of the single door plate of the sunken tube end sealing door is extremely large, the sunken tube end sealing door is extremely difficult to carry in a narrow outfitting field inside a tunnel or in a narrow area. Therefore, the utility model discloses a mode that automobile body and arm combine, when the installation of carrying out the end and sealing the door, be connected arm AND gate board, the automobile body operation is together transported arm and door plant to the installation station to the extension motion adjustment door plant through the arm joint is erect the state, so that carry out artifical installation, with physical power and the time of practicing thrift artifical calibration door plant position consumption, promote the installation effectiveness of door plant, accomplish the installation back of door plant, separate arm AND gate board, accomplish the installation procedure. The utility model discloses an installation device can move in the inside action of tunnel that the immersed tube constitutes, when carrying out the dismantlement of end sealing, is connected arm and door plant once more, and after the tie point between door plant and the immersed tube was demolishd in the manual work, the automobile body operation leaves the installation station with the same transport of arm and door plant to the extension motion adjustment door plant through the arm joint is the tiling state, so that piles up the door plant and accomodate, saves the space in the tunnel, avoids influencing the construction.
This installation device can go in narrow tunnel or fitting-out area after picking up the door plant, and can change the gesture of door plant through the arm dexterously, optimizes the handling of door plant, promotes the installation/dismantlement efficiency of door plant.
Preferably, the mechanical arm comprises a main arm and an auxiliary arm; the front end of the main arm is hinged with the rear end of the auxiliary arm, and a mechanical arm joint is formed at the hinged position; the rear end of the main arm is hinged to the vehicle body; the front end of the auxiliary arm is connected with the door panel.
Preferably, the main arm comprises a main arm rod, a first telescopic cylinder body and a second telescopic cylinder body; two ends of the main arm rod are respectively hinged with the vehicle body and the auxiliary arm; the first telescopic cylinder body is hinged to the vehicle body, the telescopic end of the first telescopic cylinder body is hinged to the main arm rod, and the first telescopic cylinder body performs telescopic motion to adjust the pitch angle of the main arm rod; the second telescopic cylinder body is hinged to the main arm rod, the telescopic end of the second telescopic cylinder body is hinged to the auxiliary arm, and the auxiliary arm rotates around the hinged position of the auxiliary arm and the main arm through telescopic motion of the second telescopic cylinder body.
Preferably, the auxiliary arm comprises an auxiliary arm rod and a third telescopic cylinder body; one end of the auxiliary arm rod is hinged with the main arm rod; the other end is hinged with a door plate to be installed; the third telescopic cylinder body is hinged to the auxiliary arm rod, the telescopic end of the third telescopic cylinder body is hinged to the door panel to be installed, and the third telescopic cylinder body conducts telescopic motion to enable the door panel to be installed to rotate around the hinged position of the third telescopic cylinder body and the auxiliary arm rod.
Preferably, the secondary arm further comprises a flange plate; the flange plate is detachably connected with the door plate to be installed through bolts; the end part of the auxiliary arm rod and the telescopic end of the third telescopic cylinder body are hinged to the flange plate.
Preferably, the auxiliary arm further comprises a connecting rod assembly; the connecting rod assembly comprises a first connecting rod and a second connecting rod; one end of the first connecting rod is hinged to the flange plate, and the other end of the first connecting rod is hinged to the telescopic end of the third telescopic cylinder body; one end of the second connecting rod is hinged to the auxiliary arm rod, and the other end of the second connecting rod is hinged to the hinged position of the first connecting rod and the telescopic end of the third telescopic cylinder body; the first connecting rod, the second connecting rod, the flange plate and the auxiliary arm rod form a four-bar mechanism to enhance stability.
Preferably, the vehicle body comprises a chassis, a power mechanism and a travelling mechanism; the walking mechanism comprises four groups of wheels which are arranged at the bottom of the chassis and can independently steer; the power mechanism is used for driving four groups of wheels to move.
Preferably, the vehicle body further comprises a rotary supporting platform; the rotary supporting platform is rotatably arranged at the top of the chassis and is hinged with the mechanical arm; the rotary supporting platform drives the mechanical arm to rotate horizontally through the rotation of the rotary supporting platform in a horizontal plane.
Preferably, the device further comprises a control mechanism; the control mechanism comprises a control terminal, a remote control signal receiver and a remote controller; the control terminal is respectively in communication connection with the remote control signal receiver, the mechanical arm and the vehicle body; the remote controller is in communication connection with the signal receiver through a remote signal; the remote controller can be used for controlling the vehicle body to move and the joint of the mechanical arm to extend.
The utility model also provides a door plate of the immersed tube end sealing door, which is characterized in that the door plate comprises a plate body and a mounting plate fixed on the plate body; the mounting plate is used for being connected with the mechanical arm; the mechanical arm is the mechanical arm in the installation device for the immersed tube end sealing door in any one of the above schemes.
The utility model has the advantages that:
the installation device uses a flexible vehicle body as a carrier, can pass through an outfitting field, and can also run inside a tunnel formed by immersed tubes. The mechanical arm arranged on the door panel can pick up and rotate a single door panel of the end sealing door, so that the door panel is vertical and convenient to install or is flat and convenient to fold. Greatly improving the carrying efficiency and the posture adjustment efficiency of the door plate and integrally shortening the mounting/dismounting time of the end seal door. Especially, the installation device can be remotely controlled, so that when the door panel is installed/disassembled, constructors can be far away from the lower part of the door panel, and the door panel is prevented from falling to cause damage to the constructors.
Drawings
Fig. 1 is a schematic view of a state in which a door plate is tiled by the installation apparatus for a sink pipe end sealing door according to an embodiment of the present invention.
Fig. 2 is a schematic view illustrating a state in which a door plate is erected by the installation apparatus for a sink end sealing door according to an embodiment of the present invention.
Fig. 3 is a schematic side view of a mounting device for a sinking pipe end sealing door according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a partially enlarged structure of a connection between a mounting plate and a flange plate according to an embodiment of the present invention.
Legend:
1, a vehicle body; 2, a mechanical arm; 3, door panels;
11 a chassis; 12 power mechanism; 13 a traveling mechanism; 14 rotating the supporting platform; 15 a control mechanism;
21 a main arm; 22 auxiliary arms;
31 a plate body; 32 mounting plates;
211 a main arm lever; 212 a first telescopic cylinder; 213 second telescopic cylinder;
221 an auxiliary arm lever; 222 a third telescopic cylinder; 223 a flange plate; 224 a connecting rod assembly;
2241 a first link; 2242 second link.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
Example 1:
as shown in fig. 1 to 4, the present embodiment discloses a mounting device for a sinking pipe end sealing door, which includes a vehicle body 1 and a robot arm 2.
The vehicle body 1 comprises a chassis 11, a power mechanism 12 and a traveling mechanism 13; the traveling mechanism 13 is four groups of wheels which are arranged at four corners of the chassis 11 and can independently turn; the power mechanism 12 drives four groups of wheels by adopting a hydraulic motor reducer; the vehicle body 1 can perform the functions of straight running, oblique running, transverse running and the center rotation of the splayed steering engine.
The robot arm 2 includes a main arm 21 and an auxiliary arm 22; the main arm 21 and the auxiliary arm 22 are hinged to form a joint of the mechanical arm 2; the front end of the auxiliary arm 22 is connected with the door panel 3, and the purpose of erecting the door panel 3 or laying the door panel 3 flat can be realized by rotating around the mechanical joint.
The main arm 21 includes a main arm lever 211, a first telescopic cylinder 212, and a second telescopic cylinder 213; the sub-arm 22 includes a sub-arm rod 221, a flange plate 223, and a third telescopic cylinder 222; the main arm rod 211 and the auxiliary arm rod 221 are hinged with each other end to end, the tail end of the main arm rod 211 is installed on the chassis 11 of the vehicle body 1, and the front end of the auxiliary arm rod 221 is hinged on the flange plate 223, so that the flange plate 223, the auxiliary arm rod 221, the main arm rod 211 and the chassis 11 are connected to form a main structure for supporting the door panel 3.
The first telescopic cylinder 212 is supported between the main arm rod 211 and the chassis 11, and both ends of the first telescopic cylinder are respectively hinged with the main arm rod 211 and the base, the first telescopic cylinder 212 extends to lift the main arm rod 211 upwards, and the first telescopic cylinder 212 shortens to drop the main arm rod 211 downwards.
The second telescopic cylinder 213 is connected between the main arm rod 211 and the auxiliary arm rod 221, two ends of the second telescopic cylinder are respectively hinged with the auxiliary arm rod 221 and the main arm rod 211, and the second telescopic cylinder 213 extends to enable the auxiliary arm rod 221 to rotate around a mechanical joint in the positive direction, so that the angle between the main arm rod 211 and the auxiliary arm rod 221 is reduced; the second telescopic cylinder 213 is shortened to rotate the sub boom rod 221 in the reverse direction around the mechanical joint, and the angle between the main boom rod 211 and the sub boom rod 221 is increased. The second telescopic cylinder 213 is used to control the joint extension of the sub-arm 221.
The third telescopic cylinder 222 is connected between the sub-boom rod 221 and the flange plate 223, both ends of the third telescopic cylinder 222 are respectively hinged to the sub-boom rod 221 and the flange plate 223, the front ends of the third telescopic cylinder 222 and the sub-boom rod 221 are respectively hinged to both ends of the flange plate 223 to form a triangle, and the angle between the flange plate 223 and the sub-boom rod 221 is changed by extending or shortening the third telescopic cylinder 222, so as to adjust the pitch angle of the door panel 3 connected with the robot arm 2 through the flange plate 223.
The three telescopic cylinder bodies can adopt one of a telescopic cylinder, a hydraulic cylinder or a mechanical screw. Because the weight of the door panel 3 to be carried reaches 8 tons, the hydraulic cylinder is preferably selected from the three telescopic cylinder bodies in the embodiment, sufficient power can be provided for joint extension movement, the stability of the hydraulic cylinder is optimal, and the probability of danger caused by mechanical failure is reduced.
Example 2:
as shown in fig. 1 to 4, since the weight of the door panel 3 is extremely large, in order to avoid that the third telescopic cylinder 222 is bent due to a lateral pulling force generated on the third telescopic cylinder 222 by the influence of the weight of the door panel 3 in the process of turning over the door panel 3; on the basis of not changing the scheme of embodiment 1, a connecting rod assembly 224 is additionally arranged between the third telescopic cylinder 222 and the flange plate 223, so as to solve the problem that the third telescopic cylinder 222 is stressed laterally.
The link assembly 224 includes a first link 2241 and a second link 2242; the two ends of the first connecting rod 2241 are respectively hinged with the flange plate 223 and the third telescopic cylinder 222, so that when the flange plate 223 receives inclined pulling force, the first connecting rod 2241 can deflect along with the flange plate, and the lateral pulling force received by the third telescopic cylinder is relieved. The both ends of second connecting rod 2242 are articulated with first connecting rod 2241 and auxiliary arm pole 221 respectively, make flange board 223, first connecting rod 2241, second connecting rod 2242 and auxiliary arm pole 221 constitute tetragonal four-bar linkage, and second connecting rod 2242 is as the flip angle who ties first connecting rod 2241 and flange board 223 to avoid flange board 223 and first connecting rod 2241's flip angle too big, cause the damage to third telescopic cylinder body 222.
Example 3:
as shown in fig. 1 to 4, in order to further enhance the flexibility of the mounting device and enable the door panel 3 to be transported more efficiently in a narrow space, a rotary support platform is added on the vehicle body 1, and the robot arm 2 is mounted on the support platform, so that the robot arm 2 has an increased degree of freedom in rotation in the horizontal direction, without changing the solution of embodiment 1.
Example 4:
as shown in fig. 1 to 4, in order to prevent the door panel 3 having a large weight from falling down and causing injury to a constructor, the installation apparatus of embodiment 1 is modified to a remote control manner. The control mechanism 15 is added without changing the other structure of embodiment 1.
The control mechanism 15 comprises a control terminal and a remote control signal receiver which are arranged on the vehicle body 1, the remote controller is held in the hands of a constructor, and the control terminal is respectively in communication connection with the power mechanism 12, the first telescopic cylinder 212, the second telescopic cylinder 213 and the third telescopic cylinder 222; the constructor stands in a safe position far away from the lower part of the door plate 3, can operate the power mechanism 12 to operate through a remote controller so as to control the movement of the vehicle body 1, and can also operate the three telescopic cylinder bodies to perform telescopic motion through the remote controller. Even though the door panel 3 falls down in the installation process by accident, the construction personnel can not be injured by pounding in the dangerous area.
Example 5:
as shown in fig. 1-4, the present invention further provides a door plate for a sink pipe end sealing door, wherein the door plate 3 comprises a plate body 31 and a mounting plate 32;
the plate body 31 is a main structure of the door panel 3 and is used for plugging a port of the immersed tube, and the mounting plate 32 is used for being connected with the flange plate 223 through bolts. Can prefabricate the screw on mounting panel 32, when being connected door plant 3 and arm 2, only need to laminate mounting panel 32 and flange board 223 to communicate the through-hole on the flange board 223 with the screw one-to-one on the mounting panel 32, reuse 6 sets of 10.9 level M30's bolt screw in can accomplish fast and connect/dismantle.
Various technical features in the above embodiments may be arbitrarily combined as long as there is no conflict or contradiction in the combination between the features, but is limited to the space and is not described one by one.
The present invention is not limited to the above embodiment, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology if they do not depart from the spirit and scope of the present invention.
Claims (10)
1. A mounting device for a sinking pipe end sealing door is characterized in that: comprises a vehicle body and a mechanical arm arranged on the vehicle body; the front end of the mechanical arm is detachably connected with a door panel to be installed, the door panel is lifted and the angle of the door panel is adjusted through the joint extension movement of the mechanical arm, and then the door panel is sent to the installation position through the movement of the vehicle body.
2. The mounting device for a immersed tube end-sealing door according to claim 1, wherein the mechanical arm comprises a primary arm and a secondary arm; the front end of the main arm is hinged with the rear end of the auxiliary arm, and a mechanical arm joint is formed at the hinged position; the rear end of the main arm is hinged to the vehicle body; the front end of the auxiliary arm is connected with the door panel.
3. The mounting device for a immersed tube end sealing door according to claim 2, wherein the main arm comprises a main arm rod, a first telescopic cylinder and a second telescopic cylinder; two ends of the main arm rod are respectively hinged with the vehicle body and the auxiliary arm; the first telescopic cylinder body is hinged to the vehicle body, the telescopic end of the first telescopic cylinder body is hinged to the main arm rod, and the first telescopic cylinder body performs telescopic motion to adjust the pitch angle of the main arm rod; the second telescopic cylinder body is hinged to the main arm rod, the telescopic end of the second telescopic cylinder body is hinged to the auxiliary arm, and the auxiliary arm rotates around the hinged position of the auxiliary arm and the main arm through telescopic motion of the second telescopic cylinder body.
4. The mounting device for a immersed tube end sealing door according to claim 3, wherein the secondary arm comprises a secondary arm rod and a third telescopic cylinder; one end of the auxiliary arm rod is hinged with the main arm rod; the other end is hinged with a door plate to be installed; the third telescopic cylinder body is hinged to the auxiliary arm rod, the telescopic end of the third telescopic cylinder body is hinged to the door panel to be installed, and the third telescopic cylinder body conducts telescopic motion to enable the door panel to be installed to rotate around the hinged position of the third telescopic cylinder body and the auxiliary arm rod.
5. The mounting device for a countersink end-sealing door according to claim 4, wherein said secondary arm further comprises a flange plate; the flange plate is detachably connected with the door plate to be installed through bolts; the end part of the auxiliary arm rod and the telescopic end of the third telescopic cylinder body are hinged to the flange plate.
6. The mounting device for a immersed tube end-sealing door according to claim 5, wherein said secondary arm further comprises a linkage assembly; the connecting rod assembly comprises a first connecting rod and a second connecting rod; one end of the first connecting rod is hinged to the flange plate, and the other end of the first connecting rod is hinged to the telescopic end of the third telescopic cylinder body; one end of the second connecting rod is hinged to the auxiliary arm rod, and the other end of the second connecting rod is hinged to the hinged position of the first connecting rod and the telescopic end of the third telescopic cylinder body; the first connecting rod, the second connecting rod, the flange plate and the auxiliary arm rod form a four-bar mechanism to enhance stability.
7. The mounting device for the immersed tube end sealing door according to claim 1, wherein the vehicle body comprises a chassis, a power mechanism and a traveling mechanism; the walking mechanism comprises four groups of wheels which are arranged at the bottom of the chassis and can independently steer; the power mechanism is used for driving four groups of wheels to move.
8. The mounting device for a countersink end seal according to claim 7, wherein said body further comprises a slewing support platform; the rotary supporting platform is rotatably arranged at the top of the chassis and is hinged with the mechanical arm; the rotary supporting platform drives the mechanical arm to rotate horizontally through the rotation of the rotary supporting platform in a horizontal plane.
9. The installation apparatus for a immersed tube end-sealing door according to claim 1, further comprising a control mechanism; the control mechanism comprises a control terminal, a remote control signal receiver and a remote controller; the control terminal is respectively in communication connection with the remote control signal receiver, the mechanical arm and the vehicle body; the remote controller is in communication connection with the signal receiver through a remote signal; the remote controller can be used for controlling the vehicle body to move and the joint of the mechanical arm to extend.
10. A door plate of a immersed tube end sealing door is characterized by comprising a plate body and a mounting plate fixed on the plate body; the mounting plate is used for being connected with the mechanical arm; the mechanical arm is the mechanical arm in the installation device for the immersed tube end-sealing door of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021896821.5U CN213709627U (en) | 2020-09-02 | 2020-09-02 | Door plate for sunken tube end sealing door and mounting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021896821.5U CN213709627U (en) | 2020-09-02 | 2020-09-02 | Door plate for sunken tube end sealing door and mounting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213709627U true CN213709627U (en) | 2021-07-16 |
Family
ID=76792563
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021896821.5U Active CN213709627U (en) | 2020-09-02 | 2020-09-02 | Door plate for sunken tube end sealing door and mounting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213709627U (en) |
-
2020
- 2020-09-02 CN CN202021896821.5U patent/CN213709627U/en active Active
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