CN217780659U - Transportation device - Google Patents

Abstract

The utility model belongs to the technical field of the shield tunnel construction, a conveyer is disclosed. The transportation device comprises a moving assembly, a bearing assembly and a grabbing assembly, wherein the moving assembly can move in a shaft bottom and a shield tunnel; the bearing assembly is arranged on the moving assembly and comprises a bearing plate and a lifting assembly which are fixedly connected, the lifting assembly can drive the bearing plate to lift between a first position and a second position, the bearing plate at the first position is flush with a wellhead, and the top of a box culvert borne on the bearing plate at the second position is lower than the highest position of the inner wall of the shield tunnel; the grabbing component comprises a mechanical arm and a clamping component arranged at the tail end of the mechanical arm, the mechanical arm is movably connected to the moving component, the mechanical arm has a plurality of degrees of freedom, and the clamping component is used for clamping the box culvert. This conveyer can independently transport the box culvert to the assigned position in the shield tunnel and accomplish from the well head and assemble, has saved the manpower, has improved work efficiency.

Description

Transportation device

Technical Field

The utility model relates to a shield tunnel construction technical field especially relates to a conveyer.

Background

Box culvert refers to a culvert whose body is built up of reinforced concrete box pipe sections, the cross section is usually one or more rectangular sections. In the shield tunnel project, a box culvert is generally used for laying pipelines so as to protect the pipelines. In traditional work progress, the box culvert needs at first hoist to the transport flatbed in the shaft bottom at the well head on, hoist to the assigned position again and assemble in the transport flatbed drives the tunnel, and whole work progress needs a large amount of manpowers to cooperate, and the work progress is very slow.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a conveyer can independently transport the box culvert to the assigned position in the shield tunnel from the well head to accomplish and assemble.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a transportation device, include:

a movement assembly movable within a bottom hole and a shield tunnel;

the bearing assembly is installed on the moving assembly and comprises a bearing plate and a lifting assembly, the bearing plate and the lifting assembly are fixedly connected, the lifting assembly can drive the bearing plate to lift between a first position and a second position, the bearing plate at the first position is flush with a well mouth, and the top of a box culvert borne on the bearing plate at the second position is lower than the highest position of the inner wall of the shield tunnel; the grabbing component comprises a mechanical arm and a clamping component arranged at the tail end of the mechanical arm, the mechanical arm is movably connected to the moving component, the mechanical arm has a plurality of degrees of freedom, and the clamping component is used for clamping the box culvert.

Preferably, the clamping assembly comprises a first clamping arm and a second clamping arm with adjustable intervals, and the first clamping arm and the second clamping arm can tightly press against two sides of the box culvert.

Preferably, the lifting assembly comprises a driving hydraulic cylinder and an arm support, and the driving hydraulic cylinder is used for expanding and contracting the arm support.

Preferably, the arm support comprises a first-stage arm support, a second-stage arm support and a third-stage arm support, the first-stage arm support is mounted on the moving assembly, the third-stage arm support is mounted on the lower surface of the bearing plate, the second-stage arm support is connected between the first-stage arm support and the third-stage arm support, and the driving hydraulic cylinder is mounted between the first-stage arm support and the third-stage arm support.

Preferably, the moving assembly comprises a frame and wheels arranged on the frame, and the first-stage arm support is connected with the frame.

Preferably, the mechanical arm further comprises a main arm and an auxiliary arm which are matched in a rotating mode, the main arm is movably connected to the frame, and the clamping assembly is movably connected to the main arm through the auxiliary arm.

Preferably, the transportation device further comprises a positioning module, and the positioning module is used for identifying the well wall and the position of the assembled box culvert.

Preferably, there are two of said positioning modules.

Preferably, the transportation device further comprises a lighting device.

Preferably, the moving assembly is provided with braking means capable of slowing down or holding the moving assembly stationary.

The beneficial effects of the utility model reside in that:

the utility model provides a transportation device, through the lift assembly drive loading board with loading board fixed connection rise to the first position, make loading board and well head parallel and level, the fork truck of the well head position of being convenient for places the box culvert on the loading board, later through driving the loading board and drop to the second position, make the top of the box culvert that bears on the loading board be less than the inner wall highest point of shield tunnel, thereby transport the box culvert from the well head to the shield tunnel in fast, need not the loop wheel machine handling box culvert, improved work efficiency; the box culvert is clamped by the clamping components arranged at the tail ends of the mechanical arms, and the mechanical arms have multiple degrees of freedom, can be matched with the clamping components to finish the carrying and assembling of the box culvert, and greatly improve the construction efficiency; bearing component and arm all set up on removing the subassembly, remove the subassembly and can remove in shaft bottom and shield tunnel, need not the manual transport box culvert of constructor to assigned position, have saved a large amount of manpowers.

Drawings

FIG. 1 is a schematic view of a transportation device according to an embodiment of the present invention stopped at the bottom of a well;

fig. 2 is a schematic structural view of the transportation device provided in the embodiment of the present invention when receiving a box culvert at a wellhead;

fig. 3 is a schematic structural view of the transportation device provided in the embodiment of the present invention when transporting a box culvert;

fig. 4 is a schematic structural view of the transportation device when the box culvert is assembled according to the embodiment of the present invention.

In the figure:

100-box culvert; 200-shield tunnel; 300-highest position of inner wall; 400-well wall;

1-a moving assembly; 11-a frame; 12-a wheel;

2-a carrier assembly; 21-a carrier plate; 22-a lifting assembly; 221-driving a hydraulic cylinder; 222-arm support; 2221-first level arm support; 2222-second stage arm support; 2223-third-stage arm support;

3-a grasping assembly; 31-a robotic arm; 311-a main arm; 312-a secondary arm; 32-a clamping assembly; 321-a first gripper arm; 322-a second gripper arm; 323-a holder;

4-positioning the module.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures associated with the present invention are shown in the drawings, not all of them.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", "left", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The utility model provides a transportation device, as shown in figure 1, the transportation device comprises a moving component 1, a bearing component 2 and a grabbing component 3, wherein the moving component 1 can move in the shaft bottom and a shield tunnel 200; the bearing assembly 2 is installed on the moving assembly 1, the bearing assembly 2 comprises a bearing plate 21 and a lifting assembly 22 which are fixedly connected, the lifting assembly 22 can drive the bearing plate 21 to lift between a first position and a second position, the bearing plate 21 at the first position is flush with a wellhead, and the top of a box culvert 100 borne on the bearing plate 21 at the second position is lower than the highest position 300 of the inner wall of the shield tunnel 200; thereby rapidly transporting the box culvert 100 from the wellhead to the shield tunnel 200 and improving the transportation efficiency; in this embodiment, the first position is not strictly a position that makes the bearing plate 21 level with the wellhead, but may be slightly higher or slightly lower than the wellhead as long as the box culvert 100 is placed in the normal operation range of the forklift fork; the second position is the lowest position to which the bearing plate 21 can be lowered, and at this time, the lifting assembly 22 is completely folded, and can maximally avoid the highest position 300 of the inner wall of the shield tunnel 200 and the pipeline at the top in the shield tunnel 200. The grabbing component 3 comprises a mechanical arm 31 and a clamping component 32 arranged at the tail end of the mechanical arm 31, the mechanical arm 31 is movably connected to the moving component 1, the mechanical arm 31 has multiple degrees of freedom, and the clamping component 32 is used for clamping the box culvert 100; the box culvert 100 is clamped by the clamping assembly 32 arranged at the tail end of the mechanical arm 31, and the mechanical arm 31 has multiple degrees of freedom, so that the box culvert 100 can be conveyed and assembled by being matched with the clamping assembly 32, and the construction efficiency is greatly improved; bearing assembly 2 and arm 31 all set up on moving subassembly 1, move subassembly 1 and can move in shaft bottom and shield tunnel 200, need not constructor manual transport box culvert 100 to assigned position, have saved a large amount of manpowers.

Further, as shown in fig. 2, the clamping assembly 32 includes a first clamping arm 321 and a second clamping arm 322 with adjustable intervals, and the first clamping arm 321 and the second clamping arm 322 can tightly press against two sides of the box culvert 100. In this embodiment, the clamping assembly 32 further includes a clamping seat 323, a hydraulic rod is installed inside the clamping seat 323, and the first clamping arm 321 and the second clamping arm 322 are installed on the clamping seat 323 and can move along the clamping seat 323; first centre gripping arm 321 and second centre gripping arm 322 stretch into the inside part of grip slipper 323 and are connected with the hydraulic stem of both sides respectively to can adjust the interval between first centre gripping arm 321 and the second centre gripping arm 322 under the drive of hydraulic stem, realized the centre gripping of box culvert 100 and loose putting, can adapt to the centre gripping of different specification box culverts 100 simultaneously, improve the practicality of device.

Further, as shown in fig. 2, the lifting assembly 22 includes a driving hydraulic cylinder 221 and an arm support 222, and the driving hydraulic cylinder 221 is used for expanding and contracting the arm support 222. In this embodiment, the arm support 222 is a scissor-type arm support structure and is a symmetrically arranged double-sleeve structure, so that the entire apparatus can maintain good stability while bearing a box culvert 100 with a larger weight, and is safer and more reliable. The driving hydraulic cylinder 221 is electrically controlled, and the arm support 222 can be driven to expand and contract by driving the hydraulic cylinder 221 to stretch, so that the bearing plate 21 is lifted or lowered.

Specifically, as shown in fig. 2, the boom 222 includes a first-stage boom 2221, a second-stage boom 2222, and a third-stage boom 2223, the first-stage boom 2221 is installed on the moving component 1, the third-stage boom 2223 is installed on the lower surface of the bearing plate 21, the second-stage boom 2222 is connected between the first-stage boom 2221 and the third-stage boom 2223, and the driving hydraulic cylinder 221 is installed between the first-stage boom 2221 and the third-stage boom 2223. The two first-stage arm supports 2221 on the same side are crossed to form an X shape, the middle parts are hinged, and the second-stage arm support 2222 and the third-stage arm support 2223 are connected in the same way. In this embodiment, the lifting assembly 22 is fixed on the moving assembly 1 through a supporting seat, the supporting seat is a rectangular frame structure, the inner side wall is provided with a guide rail, the first-stage arm support 2221 is divided into a fixed arm support and a sliding arm support, the fixed arm support is fixedly mounted on the supporting seat through a transverse shaft, and the sliding arm support is matched with the guide rail on the inner side wall of the supporting seat through a bearing and can slide along the guide rail. And starting a driving motor for driving the hydraulic cylinder 221, driving the hydraulic cylinder 221 to extend, driving the sliding arm support to move towards the fixed arm support along the guide rail, and simultaneously unfolding the arm support 222 to drive the bearing plate 21 to rise. The support seat can fix the arm support 222 on the moving assembly 1, the guide rail can limit the moving route of the sliding arm support, friction is reduced, and the stability of the arm support 222 in the expanding and contracting processes and the durability of the arm support 222 are improved.

In this embodiment, the first-stage arm support 2221, the second-stage arm support 2222, and the third-stage arm support 2223 are connected by hinges, and the double-casing arm support 222 is connected at the hinge of each stage of arm support 222 in the transverse axial direction, so that the stability of the arm support 222 after being unfolded is ensured. The tail of the driving hydraulic cylinder 221 is mounted on a transverse shaft between the first-stage arm support 2221 and the second-stage arm support 2222 through a connecting rod, one end of the connecting rod is fixed on the transverse shaft between the first-stage arm support 2221 and the second-stage arm support 2222, the other end of the connecting rod is provided with a circular hole, the inner diameter of the hole is the same as the diameter of a through hole in the tail of the driving hydraulic cylinder 221, then the tail of the driving hydraulic cylinder 221 is movably connected with the connecting rod through pins, and the connecting rod can be matched with the tail of the driving hydraulic cylinder 221 through rotation; the head of the driving hydraulic cylinder 221 is connected to the transverse shaft between the second-stage boom 2222 and the third-stage boom 2223 in the same connection manner, so that the firmness of the driving hydraulic cylinder 221 connected with the transverse shaft can be effectively improved, and the safety risk in the process of transporting the box culvert 100 is reduced.

Further, as shown in fig. 2, the moving assembly 1 includes a frame 11 and wheels 12 disposed on the frame 11, and the first-stage arm support 2221 is connected to the frame 11. Specifically, the arm support 222 is fixed on the frame 11 through a support seat, the support seat is a rectangular frame structure, the inner side wall is provided with a guide rail, the first-stage arm support 2221 is divided into a fixed arm support and a sliding arm support, the fixed arm support is fixedly mounted on the support seat through a transverse shaft, and the sliding arm support is matched with the guide rail on the inner side wall of the support seat through a bearing and can slide along the guide rail. In the embodiment, the moving assembly 1 is provided with four wheels 12, the wheels 12 are connected with the frame 11 through a connecting frame, and a wheel shaft of the connecting frame penetrates through the middle of the wheels 12 and is matched with the wheels 12 through bearings, so that the wheels 12 can rotate around the wheel shaft; a driving shaft is arranged between the two rear wheels 12, a driving motor drives the two rear wheels 12 to run through the driving shaft, and the frame 11 is fixed at the top of the connecting frame; the wheels 12 reduce the friction between the frame 11 and the ground in the moving process in a rolling manner, thereby reducing the loss and improving the working efficiency.

Specifically, as shown in fig. 4, the mechanical arm 31 further includes a main arm 311 and an auxiliary arm 312 which are rotatably coupled, the main arm 311 is movably coupled to the frame 11, and the clamping assembly 32 is movably coupled to the main arm 311 through the auxiliary arm 312. In this embodiment, the main arm 311 is rotatably connected to the sub arm 312 through a bearing, the sub arm 312 is provided with a driving motor, a fixed gear is provided at a connection position of the main arm 311 and the sub arm 312, an output shaft of the driving motor is engaged with the fixed gear through a driving gear, the driving motor is turned on, the output shaft of the driving motor drives the driving gear to rotate, and the driving gear rotates to drive the sub arm 312 to rotate around the fixed gear of the main arm 311, so that the sub arm 312 and the main arm 311 can rotate in the same plane, the number of motors is reduced, and the cost is saved.

Further, as shown in fig. 4, the transportation device further includes a positioning module 4, and the positioning module 4 is used for identifying the position of the well wall 400 and the assembled box culvert 100. In this embodiment, the positioning module 4 is installed on the frame 11, and the positioning module 4 is a three-dimensional laser scanner, and can identify the three-dimensional coordinates of the well wall 400 and the assembled box culvert 100, so that the mobile assembly 1 can accurately move to a proper position to assemble the box culvert 100, and the accuracy of the assembling operation is improved.

Specifically, as shown in fig. 2, the positioning modules 4 are two in total. In this embodiment, the positioning modules 4 are respectively arranged at the front and the rear of the frame 11, the positioning module 4 arranged at the front of the frame 11 is used for identifying the position of the assembled box culvert 100 when the moving assembly 1 moves forwards, the positioning module 4 arranged at the rear of the frame 11 is used for identifying the position of the well wall 400 when the moving assembly 1 moves backwards, the positioning module 4 arranged at the rear of the frame 11 can avoid the moving assembly 1 from colliding with the well wall 400, the transportation device is prevented from being damaged, and the service life of the transportation device is prolonged.

Further, the transportation device also comprises a lighting device. The lighting devices are arranged at the front end and the rear end of the frame 11, the lighting devices in the embodiment are automatic induction lamps, can be automatically turned on and off according to the brightness of the surrounding environment, and provide lighting for the positioning module 4 and auxiliary operators, so that the positioning module 4 can also be identified and positioned under the condition of low visibility in the shield tunnel 200, the visibility of the auxiliary operators is improved, and the environmental adaptability of the transportation device is further improved.

Further, the transportation device further comprises a control center, wherein the control center can transmit electric signals to the moving assembly 1, the lifting assembly 22 and the grabbing assembly 3, so that the moving assembly 1, the lifting assembly 22 and the grabbing assembly 3 are controlled to act. The positioning module 4 converts the recognized position information of the assembled box culvert 100 into an electric signal and transmits the electric signal to the control center, and the control center calculates and judges according to the assembled box culvert 100 and the position of the control center after receiving the electric signal, and transmits the electric signal to the driving motor of the moving assembly 1, so that the moving assembly 1 is driven to move to the front of the assembled box culvert 100; after reaching the designated position, the control center closes the driving motor of the moving component 1 to stop moving, and then transmits an electric signal to the mechanical arm 31, so that the box culvert 100 is grabbed from the bearing plate 21 to the front of the assembled box culvert 100 under the matching of the main arm 311, the auxiliary arm 312 and the clamping component 32, and the placing position is finely adjusted under the control of the control center, so that the assembly of the box culvert 100 is completed; after the assembly of the section of box culvert 100 is completed, the positioning module 4 can identify the position of the well wall 400 and perform positioning, so as to transmit an electric signal to the control center 3, the control center 3 is controlled, the moving assembly 1 moves to the bottom of the well, and the driving hydraulic cylinder 221 is started, so as to drive the arm support 222 to be unfolded, so that the bearing plate 21 is lifted to the first position, so as to receive the next section of box culvert 100, after the bearing plate 21 descends to the second position, the control center transmits an electric signal to the moving assembly 1, namely, the transportation and assembly operation of the next section of box culvert 100 are performed, so as to realize automatic operation, save labor force and improve working efficiency.

Further, the moving assembly 1 is provided with braking means, which are able to slow down or keep the moving assembly 1 stationary. In this embodiment, a brake pad is installed on the inner side of the wheel 12, the brake pad is connected to a hydraulic rod, the hydraulic rod of the brake pad is controlled by a control center through a circuit, the control center closes a driving motor of the moving assembly 1 before reaching a specified position, and simultaneously transmits an electric signal to the hydraulic rod of the brake pad, after the hydraulic cylinder is operated, the brake pad is pushed out to be in contact with the inner side of the wheel 12 and generate friction, kinetic energy is converted into heat energy, and finally the rotating speed of the wheel 12 is rapidly reduced and stopped.

The working process of the occlusion device provided by the embodiment is roughly as follows:

firstly, the positioning module 4 identifies and positions the position of the well wall 400, then transmits a signal to the control center, and the control center controls the driving hydraulic cylinder 221 to start, so that the arm support 222 is unfolded and the bearing plate 21 is driven to rise to the first position; a constructor places the box culvert 100 at a corresponding position on the bearing plate 21 using a forklift; then, the control center operates the driving hydraulic cylinder 221 to contract the arm support 222 and drive the bearing plate 21 to descend to the second position, so that the top of the box culvert 100 on the bearing plate 21 is lower than the highest position 300 of the inner wall of the shield tunnel 200. Transport box culvert 100 to shield tunnel 200 in back, the positional information who assembles the box culvert 100 that accomplishes that orientation module 4 will discern converts the signal of telecommunication into and transmits for control center, after control center received the signal of telecommunication, calculate and judge according to the box culvert 100 that has assembled the completion and the position of self, control center carries the signal of telecommunication to the driving motor of removal subassembly 1 afterwards, make removal subassembly 1 bear box culvert 100 and remove to assembling the box culvert 100 before, lighting device can open and close according to the light and shade degree automatic start-stop of surrounding environment simultaneously. When the extreme position is to be reached, the control center turns off the driving motor of the movable assembly 1, and simultaneously controls the hydraulic rod of the brake pad to extend, so as to brake the movable assembly 1 and make it still at a specified position. After the moving assembly 1 stops, the control center transmits an electric signal to the mechanical arm 31, so that under the cooperation of the main arm 311, the auxiliary arm 312 and the clamping assembly 32, the box culvert 100 is grabbed from the bearing plate 21 to the front of the assembled box culvert 100, and the placing position is finely adjusted under the control of the control center, so that the assembly of the box culvert 100 is completed.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, rearrangements and substitutions will now occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A transportation device, comprising:

a moving assembly (1), the moving assembly (1) being movable downhole and within a shield tunnel (200);

the bearing assembly (2) is mounted on the moving assembly (1), the bearing assembly (2) comprises a bearing plate (21) and a lifting assembly (22) which are fixedly connected, the lifting assembly (22) can drive the bearing plate (21) to lift between a first position and a second position, the bearing plate (21) at the first position is flush with a well mouth, and the top of a box culvert (100) carried on the bearing plate (21) at the second position is lower than the highest position (300) of the inner wall of the shield tunnel (200);

snatch subassembly (3), including arm (31) and set up in the terminal centre gripping subassembly (32) of arm (31), arm (31) swing joint in move on the subassembly (1), arm (31) have a plurality of degrees of freedom, centre gripping subassembly (32) are used for the centre gripping box culvert (100).

2. The transportation device according to claim 1, wherein the clamping assembly (32) comprises a first clamping arm (321) and a second clamping arm (322) with adjustable spacing, and the first clamping arm (321) and the second clamping arm (322) can tightly press against two sides of the box culvert (100).

3. A transporter according to claim 1, wherein the lifting assembly (22) comprises a drive cylinder (221) and an arm support (222), the drive cylinder (221) being adapted to extend and retract the arm support (222).

4. The transportation device according to claim 3, wherein the boom (222) comprises a first stage boom (2221), a second stage boom (2222) and a third stage boom (2223), the first stage boom (2221) is mounted on the moving assembly (1), the third stage boom (2223) is mounted on the lower surface of the bearing plate (21), the second stage boom (2222) is connected between the first stage boom (2221) and the third stage boom (2223), and the driving hydraulic cylinder (221) is mounted between the first stage boom (2221) and the third stage boom (2223).

5. A transporting arrangement as claimed in claim 4, characterised in that the moving assembly (1) comprises a frame (11) and wheels (12) arranged on the frame (11), the first stage boom (2221) being connected to the frame (11).

6. A transporter as claimed in claim 5, wherein the robotic arm (31) further comprises a primary arm (311) and a secondary arm (312) pivotally coupled, the primary arm (311) being pivotally coupled to the frame (11), and the gripper assembly (32) being pivotally coupled to the primary arm (311) via the secondary arm (312).

7. The transporter according to any of claims 1 to 6, further comprising a positioning module (4), wherein the positioning module (4) is configured to identify the position of the walls (400) and the assembled box culvert (100).

8. A transporting arrangement as claimed in claim 7, characterised in that the positioning modules (4) are two in total.

9. The transportation device of any one of claims 1-6, wherein the transportation device further comprises an illumination device.

10. A transporting arrangement as claimed in any one of claims 1-6, characterised in that the moving assembly (1) is provided with braking means which can slow down or keep the moving assembly (1) stationary.

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