WO2020007003A1 - 一种掘进机钢拱架安装系统 - Google Patents
一种掘进机钢拱架安装系统 Download PDFInfo
- Publication number
- WO2020007003A1 WO2020007003A1 PCT/CN2018/124199 CN2018124199W WO2020007003A1 WO 2020007003 A1 WO2020007003 A1 WO 2020007003A1 CN 2018124199 W CN2018124199 W CN 2018124199W WO 2020007003 A1 WO2020007003 A1 WO 2020007003A1
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- WO
- WIPO (PCT)
- Prior art keywords
- steel arch
- ring
- grasping
- control device
- arch frame
- Prior art date
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 238
- 239000010959 steel Substances 0.000 title claims abstract description 238
- 238000009434 installation Methods 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 238000012546 transfer Methods 0.000 claims abstract description 33
- 238000007789 sealing Methods 0.000 claims abstract description 20
- 230000000007 visual effect Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000006798 ring closing metathesis reaction Methods 0.000 claims description 2
- 230000032258 transport Effects 0.000 description 41
- 230000000875 corresponding effect Effects 0.000 description 8
- 238000010276 construction Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000009412 basement excavation Methods 0.000 description 5
- 239000010742 number 1 fuel oil Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000007142 ring opening reaction Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/14—Lining predominantly with metal
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
- E21D11/183—Supporting means for arch members, not provided for in E21D11/22
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0607—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining the shield being provided with devices for lining the tunnel, e.g. shuttering
Definitions
- the invention relates to the technical field of tunnel construction machinery, and more particularly, to a steel arch mounting system for a roadheader.
- TBM Full-section tunnel boring machine
- the steel arch frame is one of the most important supporting members used in the tunnel excavation structure surface, and its installation speed and installation quality have an important impact on the stability of the tunnel and the safety of the construction personnel.
- steel arches need to be installed after the excavation process to provide initial support for surrounding rocks.
- This installation step is: divide the steel arch into several sections and complete the segment processing at the processing plant outside the tunnel; then, transport each section into the cave by a trolley, etc., and manually bundle each steel arch in the cave.
- the steel arch frame is lifted to the storage mechanism by a lifting machine, and then the steel arch frame is transported to the installation position by a simple installation platform and other lifting auxiliary devices, and then the steel arch frame is manually moved and erected to make it dock in the air, and manually Install and tighten bolts.
- the tunnel can basically only be stabilized by the force inside the surrounding rock, and because the operator is close to the tunnel excavation surface, this is extremely dangerous in a tunnel with poor stability, and
- the installation of the segmental manual installation of steel arches is relatively low in mechanization and requires a large amount of labor to complete the installation of the steel arches.
- the labor cost is high, the installation efficiency is low, the construction period is affected, and the tunnel construction operation takes longer , Undoubtedly also increased the danger of manual installation of arches, and there are problems with the quality of erection.
- the object of the present invention is to provide a steel arch mounting system for a roadheader, which has a high degree of mechanization and automation, avoids manual handling and installation of the steel arch frame, and reduces labor intensity. Improved installation efficiency.
- the present invention provides the following technical solutions:
- a road arching machine steel arch mounting system includes:
- a transport device for receiving a steel arch and transporting the steel arch to a preset transfer position
- Splicing device for connecting a plurality of said steel arches end to end to form a C-shaped ring
- a grasping device for grasping the steel arch frame from the transport device and placing the steel arch frame on the splicing device
- a clamping device for grasping and conveying the C-ring to a clamping position and making it tight
- a control device connected to the transportation device, the splicing device, the grasping device, the holding device, and the closing ring mechanism.
- the transportation device includes:
- a transport cart for receiving and transporting the steel arch frame the transport cart is provided with a limiting mechanism for limiting the placement position of the steel arch frame;
- a stroke displacement sensor for detecting whether the steel arch frame has reached the preset transfer position is connected to the control device, and the control device is connected to a driving device of the transport trolley.
- the splicing device includes:
- a rotation driving device for driving the assembling ring to sequentially rotate a preset angle
- An automatic connecting device for fixedly connecting adjacent steel arches head to end;
- a tactile or visual detection device for detecting whether the steel arch frame is positioned on the assembling ring and for detecting whether the steel arch frame is a first steel arch frame, the tactile or visual detection device and the A control device is connected, and the control device is connected to the rotary driving device and the automatic connection device, respectively.
- the splicing device further includes:
- a pre-tensioning pressure feedback device for monitoring in real time whether the pre-tensioning force of the steel arch frame reaches a preset pre-tensioning force value, the pre-tensioning pressure feedback device is connected to the control device.
- the splicing device further includes:
- a rotation angle measurement sensor for detecting whether a rotation angle of the rotary driving device reaches a preset rotation angle
- a rotation torque sensor for detecting whether the torque of the rotation driving device meets a preset torque requirement, and both the rotation angle measurement sensor and the rotation torque sensor are connected to the control device.
- the assembling ring is provided with a positioning claw for positioning an outer peripheral portion of the steel arch frame and a limiting block for positioning an end portion of the steel arch frame.
- the grasping device includes:
- a linear driving device connected to the grasping arm and configured to drive the grasping arm to move between the preset transfer position and a feeding position of the splicing device
- a propulsion stroke sensor for detecting whether the grasping arm has reached the preset transfer position or the feeding position is connected to the control device, and the control device is connected to the linear drive device ;
- a telescopic driving device connected to the grasping arm and used to drive the grasping arm to expand and contract;
- a lifting stroke sensor for detecting whether the grasping hand is extended to a grasping position is connected to the control device, and the control device is connected to the telescopic driving device;
- the grasping hand is connected with a fine adjustment mechanism for adjusting the posture of the grasping hand to assist the positioning of the steel arch on the splicing device, and the fine adjusting mechanism is connected to the control device .
- the holding device includes a plurality of holding arms for holding the C-shaped ring, the holding arms are arranged on the holding ring, and the holding ring is used for driving the holding A ring-opening or retracted supporting driving device is connected, the supporting ring is movably sleeved on a main beam for carrying, the supporting ring is connected to the linear driving device; the supporting device It further comprises a holding force sensor for detecting whether the holding force of the holding arm reaches a preset holding force, the holding force sensor is connected to the control device, and the control device is connected to the holding drive Device connected
- the grasping arm is connected to the linear driving device through the supporting ring;
- the advancement stroke sensor is also used to detect whether the tightening ring has reached the tightening position.
- the closing ring mechanism includes:
- a feeding device for sending a connection to the opening
- An automatic ring sealing device for connecting the connecting member with the open end of the C-ring
- a contact force sensor for detecting whether the clamping force of the clamping portion reaches a preset value of the contact force, the contact force sensor is connected to the control device, and the control device is respectively connected to the feeding device and the Automatic ring closure device is connected.
- the steel arch mounting system of the roadheader provided by the present invention sequentially controls the actions of the transport device, the grasping device, the splicing device, the tightening device and the closing ring mechanism through the control device, so that the above components cooperate to complete the steel arch frame. Install support.
- the steel arch When in use, the steel arch is placed on the transportation device, and the control device controls the movement of the transportation device, so that the transportation device transports the steel arch to the preset transfer position; then, the control device controls the movement of the grasping device, so that the grasping device moves the steel
- the arch frame is transferred from the transportation device to the splicing device; the control device controls the splicing device movement, and connects several steel arch frames end to end to form a C-ring; the control device controls the movement of the holding device, so that the holding device turns the C-ring Convey to the supporting position and support the C-shaped ring on the wall of the cave.
- the control device controls the closing and closing ring mechanism to close the opening of the tightened C-shaped ring.
- the road arch machine steel arch mounting system provided by the present application adopts a mechanical automatic control method to realize all the supporting work such as automatic transportation, automatic grabbing, automatic splicing, moving support, and closing into a closed loop of the steel arch.
- the degree of mechanization High avoid manual handling and installation of steel arch frames, reduce labor intensity, improve installation efficiency, safety and reliability, and avoid manual installation errors.
- FIG. 1 is a schematic structural diagram of a concrete embodiment of a steel arch mounting system for a roadheader provided by the present invention
- Figure 2 is a side view of the steel arch mounting system of the roadheader shown in Figure 1;
- Figure 3 is a front view of the steel arch mounting system of the roadheader shown in Figure 1;
- FIG. 4 is a control flowchart of the steel arch mounting system of the roadheader shown in FIG. 1.
- FIG. 4 is a control flowchart of the steel arch mounting system of the roadheader shown in FIG. 1.
- 11 is a transport trolley, 12 is a transport track, 13 is a limit mechanism, 21 is an assembly ring, 22 is a rotary drive device, 23 is an automatic connection device, 24 is a positioning claw, 25 is a limit block, and 31 is a grasping arm , 32 is the gripper, 33 is the fine adjustment mechanism, 34 is the connecting ring, 41 is the holding arm, 42 is the holding ring, 43 is the linear drive device, 5 is the closing ring mechanism, 61 is the main beam, and 62 is the slide Rails, 63 are support legs, and 7 is a steel arch.
- the core of the present invention is to provide a steel arch frame mounting system for a roadheader.
- the steel arch frame mounting system of the roadheader has a high degree of mechanization, avoids manual handling and installation of the steel arch frame, reduces labor intensity, and improves installation efficiency.
- FIG. 1 is a schematic structural diagram of a concrete embodiment of a steel arch mounting system for a roadheader provided by the present invention.
- FIG. 2 is a side view of the steel arch mounting system for a roadheader shown in FIG.
- FIG. 1 is a front view of the steel arch frame installation system of the roadheader shown in FIG. 1;
- FIG. 4 is a control flowchart of the steel arch frame installation system of the roadheader shown in FIG. 1.
- This application provides a steel arch mounting system for a roadheader, including:
- a transport device for receiving the steel arch 7 and transporting the steel arch 7 to a preset transfer position
- Splicing device for connecting several steel arches 7 end to end to form a C-shaped ring
- a grasping device for grasping the steel arch 7 from a transport device and placing the steel arch 7 on a splicing device
- Supporting device for grasping and conveying the C-ring to the supporting position and tightening it
- a control device connected to the transportation device, the splicing device, the grasping device, the holding device and the closing ring mechanism 5.
- the road archer steel arch mounting system provided by this application mainly realizes the transformation of the assembly of the steel arch 7 from manual operation to automatic control of the machinery, so as to effectively solve the inefficiency, large error and steel arch 7 of manual installation. Support difficulties and other issues.
- the steel arch mounting system provided by the present application mainly includes a transport device, a grasping device, a splicing device, a tightening device, and a closing ring mechanism 5. All of the above devices are connected to the control device and are integrated with automatic transportation, Automatic assembly system with automatic grabbing, automatic splicing, automatic moving support and automatic sealing into a closed loop.
- the transport device mainly plays the role of transporting the steel arch frame 7 to transport the steel arch frame 7 from the initial position to a preset transfer position.
- the preset transfer position in this application refers to the grasping device taking from the transport device. Location of the lower steel arch 7.
- the preset transfer position can be at the splicing device or a certain distance away from the splicing device. When the preset transfer position is away from the splicing device, the grab device removes the steel arch frame 7 from the conveying device and needs to move a certain distance until It is convenient to transfer the steel arch frame 7 to the splicing device.
- the grasping device is like a mechanical hand commonly used in the mechanical field, and can realize six-degree-of-freedom movement to realize the accurate transfer of the steel arch frame 7 from the transport device to the splicing device, and to help ensure the correct position of the steel arch frame 7 on the splicing device.
- C-shaped ring in this application refers to an unclosed ring structure, and the open ends of the C-shaped ring may abut, As long as it is not connected, it will not affect the radial expansion when the subsequent C-ring is tightened. That is, preferably, after several steel arches 7 are spliced on the splicing device, the two opposite ends of two adjacent steel arches 7 abut and are not connected, and the opposite ends of the other adjacent steel arches 7 are both connection.
- the holding device plays the role of transporting the C-ring to the holding position. On the other hand, after the C-ring reaches the holding position, the holding device can make the C-ring radially open the holding hole wall.
- this application uses the closing and sealing ring mechanism 5 to seal the opened gap.
- the transportation device, holding device, splicing device, holding device and closing ring mechanism 5 All are connected with a control device for controlling the above-mentioned devices to achieve corresponding actions.
- the steel arch mounting system of the roadheader further includes a mechanism for setting a transport device, a grasping device, a splicing device, a tightening device and a closing ring mechanism 5
- the main beam 61 is connected to a supporting leg 63 for supporting.
- the transportation device, the grasping device, the splicing device, the holding device, and the closing and closing ring mechanism 5 are all directly or indirectly disposed on the main beam 61 and maintain a corresponding positional relationship on the main beam 61.
- the main beam 61 plays a load-bearing role, and the main beam is connected to the support leg 63, and its stable position is maintained by the support leg 63.
- the number of the supporting legs 63 is two.
- the steel arch mounting system of the roadheader controls the actions of the transport device, the splicing device, the grasping device, the tightening device and the closing ring mechanism 5 through the control device, so that the above-mentioned devices work together. Installation and support of the steel arch 7 is completed.
- the steel arch 7 When in use, the steel arch 7 is placed on a transport device, and the steel arch 7 is transported to a preset transfer position by the transport device, and at this position, the grasping device grabs the steel arch 7 from the transport device, and then The grasping device places the steel arch frame 7 on the splicing device, and several steel arch frames 7 are spliced into a C-ring on the splicing device, and then the supporting device is used to transport the C-shaped ring to the supporting position and support the C-shaped ring. Tightly, at the end, the closed C-ring opening is closed by the closing ring mechanism 5 to complete the supporting work of the steel arch 7.
- the steel arch frame installation system of the roadheader uses the control device to implement mechanical automatic control of the steel arch frame 7 through automatic transportation, automatic grasping, automatic splicing, automatic moving support, and automatic sealing into a closed loop.
- the transportation device includes:
- a stroke displacement sensor for detecting whether the steel arch 7 has reached a preset transfer position is connected to a control device, and the control device is connected to a driving device of the transport cart 11.
- the steel arch frame 7 When in use, the steel arch frame 7 is placed on the transport cart 11 and the transport cart 11 moves along the trajectory defined by the transport track 12 to achieve the purpose of receiving and transporting the steel arch frame 7.
- the position of the steel arch 7 on the transport trolley 11 is limited by the position limiting mechanism 13 so that the position of the steel arch 7 remains unchanged during transportation.
- the stroke displacement sensor is used to detect and locate the position of the steel arch frame 7.
- the stroke displacement sensor detects that the steel arch frame 7 reaches a preset transfer position
- the stroke displacement sensor sends the information that the steel arch frame 7 is in place to the control device.
- the control device sends a control instruction to the driving device of the transport cart 11 to control the braking of the transport cart 11.
- the splicing device includes:
- a rotation driving device 22 for driving the assembly ring 21 to rotate a preset angle one by one;
- An automatic connecting device 23 for fixedly connecting adjacent steel arches 7 end to end;
- Haptic or visual detection device for detecting whether the steel arch frame 7 is positioned on the assembly ring 21 and for detecting whether the steel arch frame 7 is the first steel arch frame.
- the tactile or visual detection device is connected to the control device, and the control devices are respectively It is connected to the rotary driving device 22 and the automatic connecting device 23.
- the driving device 22 to drive the splicing ring 21 to sequentially rotate a preset angle different steel arch frames 7 are sequentially placed on the preset positions of the assembling ring 21, and the assembling ring 21 makes it well placed.
- the heads and tails of the adjacent steel arches 7 are opposite to each other to facilitate the connection of the adjacent steel arches 7.
- the preset angle just corresponds to the arc length of a steel arch 7 to ensure that the steel arch 7 is always placed on the splicing device from a feeding position.
- the automatic connection device 23 preferably corresponds to a fixed position of the splicing device, and the fixed position corresponds to a connection portion between two adjacent steel arch frames 7 so that the adjacent steel arch frames 7 always complete a fixed connection at the fixed position.
- the automatic connection device 23 may be an automatic bolting device, an automatic welding device, or other automatic connection structures that can achieve the same function.
- the tactile or visual detection device is used to detect whether the steel arch frame 7 is positioned on the assembly ring 21.
- the tactile or visual detection device detects that the steel arch frame 7 has been positioned on the assembly ring 21, the tactile or visual detection device will place the steel arch frame
- the positioning information of 7 is sent to the control device.
- the tactile or visual detection device is used to detect whether the steel arch frame 7 is the first steel arch frame, and sends the detected corresponding information to the control device.
- the control device controls the rotation driving device 22 to start and rotate the assembly ring 21 by a preset angle; when the steel arch frame 7 is positioned and the positioning When the steel arch frame is not the first steel arch frame, the control device controls the automatic connecting device 23 to start, and fixedly connects the adjacent steel arch frames 7 end to end. After the adjacent steel arch frames 7 are fixedly connected end to end, the control device controls the rotation driving device 22 to start, and the assembly ring 21 is rotated by a preset angle to prepare the next steel arch frame 7 to be assembled.
- the tactile or visual detection device in this embodiment is mainly used to detect whether the connecting portions of the two steel arches 7 that are being spliced are aligned.
- the connecting parts of 7 are aligned, it means that the steel arch 7 is positioned.
- the steel arch frame 7 has a certain pre-tensioning force when it is positioned on the assembly ring 21.
- the splicing device also include:
- a pre-tensioning pressure feedback device for real-time monitoring whether the pre-tensioning force of the steel arch frame 7 reaches a preset pre-tensioning force value is connected to the control device.
- this embodiment uses a pre-tensioning pressure feedback device to assist the tactile or visual detection device to determine whether the steel arch 7 is fully in place.
- the tactile or visual detection device mainly determines whether the steel arch 7 is based on position information. In place; the pre-tensioning pressure feedback device mainly determines whether it is in place from the pre-tensioning force experienced after the steel arch 7 is positioned. Thereby, more reliable and stable work of the splicing device is ensured.
- the pre-tensioning pressure feedback device When the pre-tensioning pressure feedback device detects that the pre-tensioning force when the steel arch 7 is positioned reaches a preset pre-tensioning force value, the pre-tensioning pressure feedback device sends this information to the control device, and the control device according to the information and the tactile or visual detection device The transmitted positioning information generates a control command to the rotation driving device 22 or the automatic connection device 23.
- the splicing device further includes:
- a rotation angle measurement sensor for detecting whether the rotation angle of the rotation driving device 22 reaches a preset rotation angle
- a rotation torque sensor for detecting whether the torque of the rotation driving device 22 satisfies a preset torque requirement, and a rotation angle measurement sensor and a rotation torque sensor are connected to the control device.
- the control device controls the rotation driving device 22 to brake in time so that the assembly ring 21 is accurately positioned to the rotation angle position.
- the control device adjusts the torque of the rotation driving device 22 so that the torque of the rotation driving device 22 is within the preset torque requirement range so that The assembly ring 21 rotates slowly and smoothly.
- the assembly ring 21 is provided with positioning claws 24 for positioning the outer periphery of the steel arch 7 and for positioning the steel arch. 7 of the end stop 25.
- the limiting block 25 is used to limit the positions of the two ends of the steel arch frame 7 so that the steel arch frame 7 is just caught between the two limiting blocks 25; At the same time, the grasping device places the steel arch frame 7 just in the positioning claw 24, and the positioning claw 24 grasps the steel arch frame 7 tightly, so that the steel arch frame 7 is held on the assembly ring 21.
- the grasping device includes:
- a linear driving device 43 connected to the grasping arm 31 and configured to drive the grasping arm 31 to move between a preset transfer position and a feeding position of the splicing device;
- a propulsion stroke sensor for detecting whether the grasping arm 31 has reached a preset transfer position or a feeding position, the propulsion stroke sensor is connected to a control device, and the control device is connected to a linear drive device 43;
- a telescopic driving device connected to the grasping arm 31 and configured to drive the grasping arm 31 to expand and contract;
- a lifting stroke sensor for detecting whether the grasping hand 32 is extended to the grasping position is connected to a control device, and the control device is connected to a telescopic driving device;
- the linear driving device 43 first drives the grasping device to move to the preset transfer position, and when the advancement stroke sensor detects that the grasping arm 31 reaches the preset When shifting the position, the advancement stroke sensor sends the information that the gripping arm 31 reaches the preset shifting position to the control device, the control device controls the linear drive 43 to brake, and at the same time, the control device sends a control instruction to the telescopic driving device to make the gripping arm 31 drives the grabbing hand 32 to extend.
- the lifting stroke sensor detects that the grabbing hand 32 is extended to the grabbing position
- the lifting stroke sensor sends the information that the grabbing hand 32 is in place to the control device, and the control device controls the telescopic drive.
- the device brakes, and at the same time, the control device controls the action of the grabbing hand 32 to make the grabbing hand 32 grasp the steel arch frame 7.
- the pressure sensor detects that the grabbing pressure of the grabbing hand 32 reaches a preset pressure value, the pressure sensor will This information is sent to the control device.
- the control device controls the grasping arm 31 to lift the steel arch frame 7 through the telescopic driving device.
- the control device controls the gripping arm 31 to move to the feeding position of the splicing device through the linear driving device 43 to prepare for placing the steel arch 7 on the splicing device.
- the grasping hand 32 is connected to the fine adjustment mechanism 33 for adjusting the posture of the grasping hand 32 to assist the steel arch frame. 7 Position on the splicing device, and the fine adjustment mechanism 33 is connected to the control device.
- the posture of the grasping hand 32 is finely adjusted by the fine adjustment mechanism 33, so that the grasping hand 32 assists the positioning of the steel arch 7 on the splicing device.
- the fine-tuning structure includes a spherical linkage mechanism that is spherically articulated to the gripper 32, the linkage mechanism is connected to several short-range oil cylinders, and several short-range oil cylinders are connected to the control device.
- the stroke of each short-range oil cylinder is controlled by the control device, thereby driving the link mechanism to continuously change its position, and then driving the grasping hand 32 to rotate, so as to achieve the purpose of finely adjusting the grasping hand 32 posture.
- the grasping position of the grasping hand 32 is near the connection portion of the steel arch frame 7, so that the fine adjustment mechanism 33 mainly adjusts the connection portion of the steel arch frame 7.
- the holding device includes several holding arms for holding the C-shaped ring.
- the tight arm is arranged on the supporting ring 42, the supporting ring 42 is movably sleeved on the main beam 61 for carrying, and the supporting ring 42 is connected to the linear driving device 43;
- the grasping arm 31 is connected to the linear driving device 43 through the retaining ring 42;
- the propulsion stroke sensor is also used to detect whether the holding ring 42 has reached the holding position.
- this embodiment uses the holding ring 42 to fix and carry the holding arms 41, and The C-ring is transported by the holding arm 41 by the movement of the holding ring 42.
- the main beam 61 is provided with a slide rail 62, and the retaining ring 42 is slidably connected to the slide rail 62 through a slider, so as to realize the movement of the retaining ring 42 under the action of the linear driving device 43.
- two parallel slide rails 62 are provided on opposite sides of the main beam 61.
- the slide rails 62 are parallel to the axis of the main beam 61.
- the retaining ring 42 is moved in the axial direction of the main beam 61.
- a slide block slidably connected to the corresponding slide rail 62 is provided at a position of the retaining ring 42 corresponding to the slide rail 62, and the linear driving device 43 is connected to any one or at least two slide blocks.
- the linear driving device 43 is a hydraulic cylinder, and the telescopic direction of the hydraulic cylinder piston cylinder is consistent with the length direction of the slide rail 62.
- the propulsion stroke sensor is also used to detect whether the holding ring 42 has reached the holding position.
- the thrust stroke sensor detects that the holding ring 42 reaches the tightening position, the thrust stroke sensor sends the detected information to the control device, and the control device controls the linear drive device 43 to brake.
- the holding device further includes a holding driving device for driving the holding arm 41 to expand and contract, and the holding driving device is connected to the control device.
- the control device controls the retaining ring 42 to stay to the tightening position through the linear driving device 43, the control device controls the tightening driving device to start, so as to drive the supporting arm 41 to extend to make the supporting arm 41 support the hole wall.
- the grasping arm 31 is connected to the retaining ring 42, and the linear driving device 43 drives the grasping arm 31 to move through the retaining ring 42.
- One end of the slide rail 62 is located at the preset transfer position, the other end is located at the splicing device, and the holding position is located between the preset transfer position and the splicing device.
- the grasping arm 31 is fixed on the retaining ring 42, and the movement of the retaining ring 42 drives the grasping arm 31 to move the steel arch 7 from the preset transfer position to the splicing device.
- the length of the slide rail 62 defines the moving range of the retaining ring 42.
- the retaining ring 42 is connected to the transportation device to facilitate the grasping arm 31 to grasp the steel arch 7;
- the retaining ring 42 is connected to the splicing device, so that the grasping arm 31 transfers the steel arch 7 to the splicing device.
- the tightening position is located between the preset transfer position and the splicing device.
- the grasping arm 31 is connected to the retaining ring 42 through the connecting ring 34, the grasping arm 31 is fixed to the upper end of the connecting ring 34, and the connecting ring 34 is connected to the retaining ring 42.
- the grasping arm 31 can be extended, and the grasping hand 32 at the end of the grasping arm 31 is grasped upward to grasp the steel arch frame 7, and the grasping arm 31 continues to rise until the steel arch frame 7 is completely separated from the transportation.
- the device is then driven by the retaining ring 42 to translate the retaining ring 42, the connecting ring 34 and the grasping arm 31 as a whole until they reach the splicing device.
- the connecting ring 34 is provided with a rotatable rotating ring, and the automatic connecting device 23 is provided on the rotating ring. That is, the automatic connecting device 23 can move with the connecting ring 34.
- the holding ring 42 drives the connecting ring 34 to move to the splicing device as a whole
- the automatic connecting device 23 moves to a position corresponding to the connecting portion of the steel arch frame 7. Position, and can be accurately turned to the connection portion of the steel arch frame 7 through a rotating ring, so that adjacent steel arch frames 7 are fixedly connected.
- the closing ring mechanism 5 includes:
- Feeding device for sending the connection to the opening
- An automatic ring-sealing device for connecting a connector with the open end of the C-ring
- a contact force sensor for detecting whether the clamping force of the clamping part reaches a preset value of the contact force.
- the contact force sensor is connected to a control device, and the control device is connected to a feeding device and an automatic ring sealing device, respectively.
- the closing and sealing ring mechanism 5 is disposed at a corresponding position of the holding ring 42, so that different C-shaped rings are sealed at the corresponding position of the holding ring 42.
- the automatic ring sealing device may be a device for automatically threading and tightening the bolts to realize the bolt connection between the connecting member and the open end of the C-shaped ring.
- the bolt connection can be disassembled to facilitate subsequent C-shaped Demolition of the ring.
- the automatic ring sealing device may also be an automatic welding device.
- the connecting member is a structural member capable of enclosing the opening of the C-shaped ring. After the connecting member wraps the opening, the welding members are used at the ends of the connecting member to connect the connecting member. Weld the seal ring to the open end of the C-ring.
- the clamping part is used for clamping the C-ring to facilitate the operation of the automatic ring sealing device.
- the feeding device includes a feeding slot for stacking connecting pieces and a pushing cylinder for pushing the lowermost connecting piece to the opening.
- the control device is connected to the pushing cylinder.
- the control device controls the movement of the pushing cylinder, so that the pushing cylinder pushes the connector at the lower end of the loading trough to the opening of the C-ring.
- the control device controls the operation of the automatic ring sealing device, so that the connecting member is connected with the open end of the C-ring.
- FIG. 4 is a control flowchart of a concrete embodiment of a steel arch mounting system for a roadheader provided by the present invention.
- the control steps for automatic transportation, automatic grabbing, automatic assembly, automatic tightening, and automatic sealing and looping of the steel arch mounting system of the roadheader are as follows:
- Step S1 Automatic transportation of the steel arch frame:
- the steel arch frame 7 is placed on the transportation device, and the control device controls the movement of the transportation device to realize the transportation of the steel arch frame 7.
- the stroke displacement sensor detects that the steel arch frame 7 reaches the preset transfer
- the control device controls the braking of the transport device.
- Step S2 Automatic grasping of the steel arch frame:
- the control device controls the linear drive device 43 to start, so that the linear drive device 43 drives the grasping arm 31 to move to the preset transfer position.
- the control device controls the linear driving device 43 to brake, and controls the telescopic driving device to start, so that the grasping arm 31 is extended, and when the lifting stroke sensor detects the grasping hand
- the control device drives the grasping hand 32 to move, the grasping hand 32 grasps the steel arch 7, and when the pressure sensor on the grasping hand 32 detects that the grasping pressure of the grasping hand 32 reaches a preset pressure
- the control device controls the telescopic driving device to continue to start, so that the grasping arm 31 continues to rise, and the steel arch frame 7 is removed from the transportation device.
- the control device controls the linear driving device 43 to start again, so that the linear driving device 43 drives the grasping arm 31 to drive the steel
- Step S3 Automatic assembly of the steel arch frame:
- the grasping hand 32 places the steel arch frame 7 on the splicing device under the action of the fine-tuning mechanism 33, and the positioning claws 24 and the limit blocks 25 of the splicing device pair the steel arch frame 7
- the pretension pressure feedback device detects that the pretension force when the steel arch 7 is positioned reaches a preset pretension value, and the vision / tactile
- the control device controls the rotation driving device 22 to rotate a preset angle.
- the rotation torque sensor detects that the torque of the rotation driving device 22 does not meet the preset torque requirement Then, the torque of the rotation driving device 22 is adjusted by the control device, so that the torque of the rotation driving device 22 is within a preset torque requirement range, so that the assembly ring 21 rotates slowly and smoothly.
- the control device controls the rotation driving device 22 to brake in time. When the assembly ring is turned in place, continue to install the next steel arch 7.
- the control device controls the operation of the automatic connection device, and fixedly connects the adjacent steel arch frames 7 after the fixed connection of the adjacent steel arch frames 7 is completed. , The control device controls the action of the automatic grasping device. Continue to install and fix the next steel arch frame 7 according to the above control process, until several steel arch frames 7 are spliced into a C-shaped ring on the splicing device.
- Step S4 Automatic tightening of the steel arch frame:
- the control device controls the linear driving device 43 to move, so that the holding device drives the C-ring to move.
- the stroke sensor detects that the holding device moves to the holding position
- the control device controls the holding arm 41 to extend to hold the C-shaped ring.
- the holding force sensor detects that the holding force reaches a preset holding force value
- the control device controls the stay arm 41 to stop extending.
- Step S5 Automatic sealing and looping of the steel arch frame:
- the control device controls the clamping portion of the closing ring mechanism 5 to clamp the C-ring.
- the contact force sensor detects the contact of the clamping portion
- the control device controls the operation of the feeding device, and transports the connecting member to the opening of the C-ring.
- the control device controls the operation of the automatic ring-sealing device to close the opening of the C-ring after the tightening.
- the support of the steel arch support of one ring is completed, and the steel arch support of the next ring is entered.
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- Geochemistry & Mineralogy (AREA)
- Environmental & Geological Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Basic Packing Technique (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Earth Drilling (AREA)
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Abstract
Description
Claims (10)
- 一种掘进机钢拱架安装系统,其特征在于,包括:用于接收钢拱架(7)并将所述钢拱架(7)输送至预设转移位置的运输装置;用于使若干个所述钢拱架(7)首尾相接以形成C形环的拼接装置;用于从所述运输装置上抓取所述钢拱架(7)并将所述钢拱架(7)放置在所述拼接装置上的抓取装置;用于抓取所述C形环并将其输送至撑紧位置且使其撑紧的撑紧装置;用于将撑紧后的所述C形环的开口处封闭的收尾封环机构(5);与所述运输装置、所述拼接装置、所述抓取装置、所述撑紧装置以及所述收尾封环机构(5)均相连的控制装置。
- 根据权利要求1所述的掘进机钢拱架安装系统,其特征在于,所述运输装置包括:用于接收并输送所述钢拱架(7)的运输小车(11),所述运输小车(11)上设有用于限定所述钢拱架(7)的摆放位置的限位机构(13);用于对所述运输小车(11)进行导向的运输轨道(12);用于检测所述钢拱架(7)是否到达所述预设转移位置的行程位移传感器,所述行程位移传感器与所述控制装置相连,所述控制装置与所述运输小车(11)的驱动装置相连。
- 根据权利要求1所述的掘进机钢拱架安装系统,其特征在于,所述拼接装置包括:用于设置所述钢拱架(7)并使相邻的所述钢拱架(7)首尾相对的拼装环(21);用于带动所述拼装环(21)逐次转动预设角度的转动驱动装置(22);用于将相邻的所述钢拱架(7)首尾固定连接的自动连接装置(23);用于检测所述钢拱架(7)是否在所述拼装环(21)上定位且用于检测所述钢拱架(7)是否为第一块钢拱架的触觉或视觉检测装置,所述触觉或视觉检测装置与所述控制装置相连,所述控制装置分别与所述转动驱动装置(22)和所述自动连接装置(23)相连。
- 根据权利要求3所述的掘进机钢拱架安装系统,其特征在于,所述拼接装置还包括:用于实时监测所述钢拱架(7)定位时的预紧力是否达到预设预紧力值的预紧压力反馈装置,所述预紧压力反馈装置与所述控制装置相连。
- 根据权利要求3所述的掘进机钢拱架安装系统,其特征在于,所述拼接装置还包括:用于检测所述转动驱动装置(22)的转角是否达到预设转角的回转角度测量传感器;用于检测所述转动驱动装置(22)的扭矩是否满足预设扭矩要求的回转扭矩传感器,所述回转角度测量传感器和所述回转扭矩传感器均与所述控制装置相连。
- 根据权利要求3所述的掘进机钢拱架安装系统,其特征在于,所述拼装环(21)设有用于定位所述钢拱架(7)的外周部的定位卡爪(24)和用于定位所述钢拱架(7)的端部的限位块(25)。
- 根据权利要求1-6任一项所述的掘进机钢拱架安装系统,其特征在于,所述抓取装置包括:用于抓取所述钢拱架(7)的抓取手(32)和用于设置所述抓取手(32)的抓取臂(31);与所述抓取臂(31)相连、用于驱动所述抓取臂(31)在所述预设转移位置和所述拼接装置的入料位置之间移动的直线驱动装置(43);用于检测所述抓取臂(31)是否到达所述预设转移位置或所述入料位置的推进行程传感器,所述推进行程传感器与所述控制装置相连,所述控制装置与所述直线驱动装置(43)相连;与所述抓取臂(31)相连、用于驱动所述抓取臂(31)伸缩的伸缩驱动装置;用于检测所述抓取手(32)是否伸出至抓取位置的举升行程传感器,所述举升行程传感器与所述控制装置相连,所述控制装置与所述伸缩驱动装置相连;用于检测所述抓取手(32)的抓取压力是否达到预设压力值的压力传感器,所述压力传感器与所述控制装置相连。
- 根据权利要求7所述的掘进机钢拱架安装系统,其特征在于,所述抓取手(32)与用于调整所述抓取手(32)的位姿的微调机构(33)相连,以辅助所述钢拱架(7)在所述拼接装置上定位,所述微调机构(33)与所述控制装置相连。
- 根据权利要求7所述的掘进机钢拱架安装系统,其特征在于,所述撑紧装置包括用于撑紧所述C形环的若干个撑紧臂(41),所述撑紧臂(41)设置在撑紧环(42)上,所述撑紧环(42)与用于驱动所述撑紧环(42)张开或缩回的撑紧驱动装置相连,所述撑紧环(42)可移动地套设在用于承载的主梁(61)上,所述撑紧环(42)与所述直线驱动装置(43)相连;所述撑紧装置还包括用于检测所述撑紧臂(41)的撑紧力是否达到预设撑紧力的撑紧力传感器,所述撑紧力传感器与所述控制装置相连,所述控制装置与所述撑紧驱动装置相连;所述抓取臂(31)通过所述撑紧环(42)与所述直线驱动装置(43)相连;所述推进行程传感器还用于检测所述撑紧环(42)是否到达所述撑紧位置。
- 根据权利要求1所述的掘进机钢拱架安装系统,其特征在于,所述收尾封环机构(5)包括:用于夹持所述C形环的夹持部;用于将连接件送至所述开口处的供料装置;用于将所述连接件与所述C形环的开口端连接的自动封环装置;用于检测所述夹持部的夹持力是否达到接触力预设值的接触力传感器,所述接触力传感器与所述控制装置相连,所述控制装置分别与所述供料装置和所述自动封环装置相连。
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AU2018431356A AU2018431356B2 (en) | 2018-07-05 | 2018-12-27 | Tunnel boring machine steel arch installation system |
PE2021000001A PE20210505A1 (es) | 2018-07-05 | 2018-12-27 | Sistema de instalacion de arcos de acero de una tuneladora |
PH12021550021A PH12021550021A1 (en) | 2018-07-05 | 2021-01-04 | Tunnel boring machine steel arch installation system |
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CN107654245A (zh) * | 2017-10-27 | 2018-02-02 | 中铁西南科学研究院有限公司 | 一种运营隧道病害整治用钢拱架安装台车及运营隧道病害整治用钢拱架机械化安装方法 |
CN112593958B (zh) * | 2020-12-03 | 2023-01-06 | 重庆文理学院 | 一种隧道tbm施工的加固的旋转式设备及使用方法 |
CN112593958A (zh) * | 2020-12-03 | 2021-04-02 | 重庆文理学院 | 一种隧道tbm施工的加固的旋转式设备及使用方法 |
CN112983491A (zh) * | 2021-01-19 | 2021-06-18 | 中南大学 | 一种新型tbm钢拱架自动拼装作业装置及作业方法 |
CN112983491B (zh) * | 2021-01-19 | 2022-05-10 | 中南大学 | 一种新型tbm钢拱架自动拼装作业装置及作业方法 |
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CN115387823A (zh) * | 2022-08-08 | 2022-11-25 | 武汉容晟吉美科技有限公司 | 钢环片全自动托举装置及其施工方法 |
CN115263379A (zh) * | 2022-08-16 | 2022-11-01 | 湖南五新隧道智能装备股份有限公司 | 一种拱架抓取机构 |
CN116085003A (zh) * | 2023-03-07 | 2023-05-09 | 河南金品建筑工程有限公司 | 一种土木施工隧道支护体系 |
CN116085003B (zh) * | 2023-03-07 | 2023-12-15 | 重庆亿扬建筑工程有限公司 | 一种土木施工隧道支护体系 |
CN116927831A (zh) * | 2023-09-14 | 2023-10-24 | 湖南省通盛工程有限公司 | 一种隧道护拱整体拆装设备以及施工方法 |
CN116927831B (zh) * | 2023-09-14 | 2023-12-19 | 湖南省通盛工程有限公司 | 一种隧道护拱整体拆装设备以及施工方法 |
Also Published As
Publication number | Publication date |
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AU2018431356A1 (en) | 2021-01-28 |
PE20210505A1 (es) | 2021-03-15 |
AU2018431356B2 (en) | 2022-08-25 |
CN108756927B (zh) | 2024-01-19 |
PH12021550021A1 (en) | 2021-09-27 |
CN108756927A (zh) | 2018-11-06 |
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