Segment assembly machine

Abstract

The present invention discloses a segment assembly machine, which solves the problems of the segment assembly machine in the prior art that the structure is complex, the segment assembly machine is not suitable for small turns of the shield machine, and the versatility is low. The present invention includes a main beam and a slewing mechanism, the main beam is connected to the shield machine, the slewing mechanism is arranged on the main beam, the main beam is a gun-type main beam, the slewing mechanism is movably arranged on the main beam, a left lifting cylinder and a right lifting cylinder are arranged on the slewing mechanism, a segment grabbing device is arranged between the left lifting cylinder and the right lifting cylinder, and the segment grabbing device is hinged to the left lifting cylinder and the right lifting cylinder respectively. The present invention has seven degrees of freedom of movement, including two-stage walking, lifting action of the lifting cylinder, rotation action of the slewing frame, three degrees of rotation freedom inside the segment grabbing device, and innovatively designed left and right swing structures, which make the system more flexible in the process of assembling segments, greatly improving the efficiency of segment assembly and the safety factor of construction.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel construction, in particular to a segment assembling machine. Background Art

[0002] At present, shield machines are more and more widely used in tunnel construction. As an indispensable key component, the segment assembly machine bears the heavy responsibility of assembling prefabricated segments into tunnels. Its structure is complex, with many degrees of freedom of movement, and it is difficult to design. Especially in shield machines of 4m and below, the layout space is small. On the basis of ensuring at least 6 degrees of freedom and the function of retreating to replace the shield tail brush, it avoids other components and perfectly matches the segment transportation system, which is very difficult to design. The existing segment assembly machines mainly include three types: main beam segment assembly machine, main beam-free rotary assembly machine and rocker arm segment assembly machine. The three types of assembly machines have a common problem, that is, the thickness H of the grab head structure is too large, resulting in a small clearance R in the rotary, which is not suitable for small-diameter shield machines with narrow space. When encountering small-diameter, large-curvature and thick segment tunnels, the space is even more cramped. In addition, there are many problems when they are used in small-diameter shield machines: the main beam segment assembly machine relies on the shield body's M-beam for fixation. The M-beam structure occupies the shield body's internal beam space. When used in a small shield machine, it is not conducive to the arrangement of other components. Moreover, the assembly machine only has a first-level forward and backward moving mechanism, which is not conducive to segment grabbing, and is even more unfavorable for the small turning design of the shield machine; the main beam-free rotary assembly machine, the biggest limitation of this structure is that its forward and backward moving stroke S is too small, and manual assistance is required to grab the segments, which is very inconvenient in a small tunnel. At the same time, the grab head does not have the function of retreating to replace the tail brush; the rocker arm segment assembly machine is mainly used in small-diameter shield machines, but its rocker arm lifting structure has poor rigidity, and it shakes significantly in actual applications, resulting in limited forward and backward moving stroke. In summary, the existing tunnel construction lacks a segment assembly machine that can greatly save space, adapt to small turns of the shield, and has high versatility. Summary of the invention

[0003] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a segment assembly machine, which solves the problems in the prior art that the segment assembly machine has a complex structure, is not suitable for small turns of the shield machine, and has low versatility.

[0004] The technical solution of the present invention is implemented as follows: a segment assembly machine includes a main beam and a slewing mechanism, the main beam is connected to a shield machine, the slewing mechanism is arranged on the main beam, the main beam is a gun-type main beam, the slewing mechanism is movably arranged on the main beam, a left lifting cylinder and a right lifting cylinder are arranged on the slewing mechanism, a segment grabbing device is arranged between the left lifting cylinder and the right lifting cylinder, and the segment grabbing device is respectively hinged to the left lifting cylinder and the right lifting cylinder.

[0005] The slewing mechanism comprises a moving frame and a slewing support frame. The slewing support frame is arranged at one end of the moving frame and cooperates with the moving frame. The other end of the moving frame is provided with a primary walking mechanism. The slewing support frame is provided with a slewing frame. The slewing frame is rotatably connected with the slewing support frame. The moving frame is provided with a rotating drive motor, and the rotating drive motor is connected with the slewing frame.

[0006] The primary walking mechanism includes a support symmetrically arranged on the mobile frame, a first motor is provided on the upper part of the support, a first gear is provided at the output end of the first motor, a fixed rack is provided on the upper part of the main beam, the first gear cooperates with the fixed rack, a roller is provided at the lower part of the support, a concave track is provided on the outer side wall of the main beam, and the roller is located in the concave track and cooperates with the concave track.

[0007] The left lifting cylinder and the right lifting cylinder are symmetrically arranged on both sides of the rotating frame. A rotary encoder is arranged on the moving frame, and the rotary encoder is connected to the rotating driving motor.

[0008] The segment grabbing device includes a grabbing frame, one end of which is provided with a long supporting arm, the other end of which is provided with a short supporting arm, a swing arm is hinged on the short supporting arm, the long supporting arm is hinged to the left lifting cylinder, the swing arm is hinged to the right lifting cylinder, a grabbing head assembly is movably provided at the lower part of the grabbing frame, and two-level walking mechanisms are provided on both sides of the grabbing head assembly.

[0009] The grab head assembly includes a translation frame, guide sleeves are provided on both sides of the translation frame, a guide column is fixedly provided in the grab frame, the guide sleeve is sleeved on the guide column and is slidably connected to the guide column, a transmission box is rotatably provided at the lower part of the translation frame, a lifting screw for lifting the pipe segment is provided in the middle of the transmission box, and small cylinders are symmetrically provided on both sides of the transmission box, and the small cylinders are vertically arranged.

[0010] The top of the lifting screw is a spherical head, and a clamping groove is arranged in the middle of the transmission box. The spherical head is located in the clamping groove and is clamped with the clamping groove.

[0011] A joint bearing is arranged in the middle of the translation frame, and a load-bearing shaft is connected to the upper part of the transmission box through fixing screws. The load-bearing shaft is installed in the joint bearing and matched with the joint bearing.

[0012] A pair of top oil cylinders are arranged at one end of the transmission box, the fixed ends of the top oil cylinders are fixedly connected to the transmission box, and the telescopic ends of the top oil cylinders are connected to the translation frame through the top blocks.

[0013] The secondary walking mechanism includes a translation oil cylinder, which is symmetrically arranged on both sides of the grab frame. The fixed end of the translation oil cylinder is fixedly connected to the grab frame, and the telescopic end of the translation oil cylinder is connected to the translation frame through an ear seat, and the ear seat is symmetrically arranged on both sides of the translation frame.

[0014] The main beam of the present invention adopts a gun-type main beam structure, which is shaped like a pistol. The root is fixed to the shield shell of the shield machine by bolts. There is no need to set up a rice beam as a supporting structure, which greatly saves space inside the shield body and is conducive to the arrangement of other components and personnel maintenance operations. The segment grabbing device has a simple and compact structure and an ultra-thin thickness H design. It can achieve large diameter and large rotation, has three rotational degrees of freedom, and small shield turns. It has high versatility and is flexible to use. The present invention adopts a primary walking mechanism and a secondary walking mechanism, with a two-stage walking mechanism, and the forward and backward movement stroke is greatly improved. The present invention has seven degrees of freedom of movement, including two-stage walking, lifting action of the lifting cylinder, rotation action of the slewing frame, three rotational degrees of freedom inside the segment grabbing device, and an innovatively designed left and right swing structure, which makes the system more flexible in the process of assembling segments, greatly improving the segment assembly efficiency and construction safety factor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a schematic three-dimensional axial view of the present invention as a whole.

[0018] Figure 3 It is a schematic diagram of the structure of the pipe segment grabbing device of the present invention.

[0019] Figure 4 It is a schematic diagram of the internal structure of the pipe segment grabbing device of the present invention.

[0020] Figure 5 It is a structural schematic diagram of the pipe segment grabbing device of the present invention in an original state.

[0021] Figure 6 It is a structural schematic diagram of the pipe segment grabbing device of the present invention in an assembled state. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] like Figure 1-3As shown, in Example 1, a segment assembly machine includes a main beam 1 and a slewing mechanism. The main beam 1 is connected to the shield shell of the shield machine by bolts. The slewing mechanism is arranged on the main beam 1, and the slewing mechanism can rotate with the central axis of the main beam as the center line. The main beam 1 is a gun-type main beam, which is shaped like a pistol. The root is fixed to the shield shell of the shield machine by bolts. There is no need to set a rice beam as a supporting structure, which greatly saves the space inside the shield body and is conducive to the arrangement of other components and personnel maintenance operations; the main beam adopts a left-right symmetrical design. The slewing mechanism is movably arranged on the main beam 1, and the slewing mechanism can be moved on the main beam. The slewing mechanism is provided with a left lifting cylinder 12 and a right lifting cylinder 10. The left lifting cylinder 12 and the right lifting cylinder 10 are vertically arranged and form a left-right swing mechanism. A segment grabbing device 11 is provided between the left lifting cylinder 12 and the right lifting cylinder 10, and the segment grabbing device 11 is respectively hinged to the left lifting cylinder 12 and the right lifting cylinder 10. When the telescopic strokes of the right lifting cylinder and the left lifting cylinder are different, the swing arm and the grab frame of the pipe segment grabbing device 11 will have a relative swing angle, the piston rod of the right lifting cylinder extends the stroke L, the piston rod of the left lifting cylinder does not extend, and the grab frame swings to the left. This swing structure is different from the existing swing structure, has a simple structure, low cost, easy assembly, and more stable and reliable operation.

[0024] Further, the slewing mechanism includes a moving frame 4 and a slewing support frame 7. The slewing support frame 7 is fixedly connected to the moving frame 4. The slewing support frame 7 is arranged at one end of the moving frame 4 and cooperates with the moving frame 4. The moving frame 4 and the slewing support frame 7 are both annular structures, and the main beam 1 passes through the moving frame 4 and the slewing support frame 7. The other end of the moving frame 4 is provided with a primary walking mechanism, and the moving frame realizes movement along the main beam through the primary walking mechanism. A slewing frame 9 is provided on the slewing support frame 7, and the slewing frame 9 is rotatably connected to the slewing support frame 7. A rotating drive motor 6 is provided on the moving frame 4, and the rotating drive motor 6 is connected to the slewing frame 9. The rotating drive motor drives the slewing frame to rotate, so as to realize the rotation of the pipe segment grabbing device on the slewing frame. The slewing mechanism composed of the slewing frame 9 and the slewing support frame 7 is a circular ring, and the main beam passes through the slewing mechanism.

[0025] Further, the primary walking mechanism includes a support 15 symmetrically arranged on the mobile frame 4, the support extends out of the mobile frame and is located on both sides of the main beam, the upper part of the support 15 is provided with a first motor 3, the output end of the first motor 3 is provided with a first gear 16, the upper part of the main beam 1 is provided with a fixed rack 2, the first gear 16 cooperates with the fixed rack 2, the first motor drives the first gear to move along the fixed rack, and then drives the mobile frame to move along the main beam. The lower part of the support 15 is provided with a roller 8, the outer side wall of the main beam 1 is provided with a concave track 17, the roller 8 is located in the concave track 17 and cooperates with the concave track 17, under the action of the first motor, the roller moves along the concave track 17, and plays the role of guiding, bearing, reducing friction and stabilizing the mobile frame. The left lifting cylinder 12 and the right lifting cylinder 10 are symmetrically arranged on both sides of the rotating frame 9, and a rotary encoder 5 is provided on the mobile frame 4, and the rotary encoder 5 is connected to the rotation drive motor 6, and the encoder is connected to the background controller to monitor the speed of the rotation drive motor.

[0026] like Figure 4-6 As shown, embodiment 2 is a pipe segment assembly machine, the pipe segment grabbing device 11 includes a grab frame 11-3, one end of the grab frame 11-3 is provided with a supporting long arm 11-14, and the other end is provided with a supporting short arm 11-15, and the supporting short arm 11-15 is hinged with a swing arm 11-1 through a pin shaft 11-2, and the supporting long arm 11-14 is hinged with the left lifting cylinder 12, and the swing arm 11-1 is hinged with the right lifting cylinder 10. When the telescopic stroke of the right lifting cylinder and the left lifting cylinder are different, the grab frame will produce a relative swing angle, when the piston rod of the right lifting cylinder extends, and the piston rod of the left lifting cylinder does not extend, the grab frame produces a leftward swing angle; when the piston rod of the right lifting cylinder does not extend, and the piston rod of the left lifting cylinder extends, the grab frame produces a rightward swing angle. The different telescopic amounts of the right lifting cylinder and the left lifting cylinder can realize the tilting of the grab frame at different angles. A grab head assembly is movable at the lower part of the grab frame 11-3, and a secondary walking mechanism is arranged on both sides of the grab head assembly. Through the secondary walking mechanism, the grab head assembly can move along the grab frame. The walking direction of the secondary walking mechanism is the same as that of the primary walking mechanism, forming a double-stage walking mechanism, and the forward and backward moving stroke is greatly improved.

[0027] Furthermore, the grab head assembly includes a translation frame 11-9, the translation frame 11-9 is arranged at the lower part of the grab frame, the upper part of the grab frame is an arc-shaped surface, guide sleeves 11-16 are arranged on both sides of the translation frame 11-9, and a guide column 11-12 is fixedly arranged in the grab frame 11-3, the guide sleeve 11-16 is sleeved on the guide column 11-12 and is slidably connected with the guide column 11-12, the translation frame 11-9 realizes movement along the guide column through the guide sleeve, and a transmission box 11-6 is rotatably provided at the lower part of the translation frame 11-9, and the transmission box rotates around the connection point, and a lifting screw 11-8 for lifting the pipe segment 14 is provided in the middle of the transmission box 11-6, and the top of the lifting screw 11-8 is a spherical head, and a slot is provided in the middle of the transmission box 11-6, and the spherical head is located in the slot and is engaged with the slot to form a ball joint structure. Four small cylinders 11-5 are symmetrically arranged on both sides of the transmission box 11-6. The small cylinders 11-5 are vertically arranged, and the telescopic ends of the small cylinders correspond to the pipe segments to be assembled. The four small cylinders 11-5 are centrally symmetrically arranged, and the piston rods of the small cylinders 11-5 are extended at the same time and pressed against the inner wall of the pipe segment 14. The cylinders on the same side are paired in pairs and telescope symmetrically, so that the pipe segment can be rotated in two directions (i.e., forward and backward tilting, left and right tilting).

[0028] The other structures are the same as those in Example 1.

[0029] Embodiment 3, a segment assembly machine, wherein a spherical bearing 11-11 is provided in the middle of the translation frame 11-9, and a load-bearing shaft 11-10 is connected to the upper part of the transmission box 11-6 through a fixing screw 11-13, and the load-bearing shaft 11-10 is installed in the spherical bearing 11-11 and cooperates with the spherical bearing 11-11 to realize the rotation connection between the transmission box and the translation frame. A pair of top cylinders 11-7 are provided at one end of the transmission box 11-6, and the fixed ends of the top cylinders 11-7 are fixedly connected to the transmission box 11-6, and the telescopic ends of the top cylinders 11-7 are connected to the translation frame 11-9 through the top blocks. One of the top cylinders 11-7 actively extends to push the top block, and the other top cylinder is passively retracted, and the actively extended top cylinder drives the rotating box 11-6 to rotate horizontally relative to the translation frame.

[0030] Furthermore, the secondary walking mechanism includes a translation cylinder 11-4, which is symmetrically arranged on both sides of the grab frame 11-3, and the fixed end of the translation cylinder 11-4 is fixedly connected to the grab frame 11-3, and the telescopic end of the translation cylinder 11-4 is connected to the translation frame 11-9 through the ear seat 11-17, and the ear seat 11-17 is symmetrically arranged on both sides of the translation frame 11-9. The cylinder barrel of the translation cylinder 11-4 is fixed to one side of the grab frame 11-3, and the piston rod is connected to the translation frame 11-9. A guide column 11-12 is arranged in the grab frame 11-3 to provide support and guidance for the moving frame. Under the drive of the translation cylinder 11-4, the translation frame 11-9 is moved forward and backward, and finally the secondary walking movement of the pipe segment 14 is realized.

[0031] The other structures are the same as those in Example 2.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A segment assembly machine, comprising a main beam (1) and a slewing mechanism, wherein the main beam (1) is connected to a shield machine, and the slewing mechanism is arranged on the main beam (1), characterized in that: The main beam (1) is a gun-type main beam, and a slewing mechanism is movably arranged on the main beam (1). A left lifting cylinder (12) and a right lifting cylinder (10) are arranged on the slewing mechanism. A pipe segment grabbing device (11) is arranged between the left lifting cylinder (12) and the right lifting cylinder (10). The pipe segment grabbing device (11) is respectively hinged to the left lifting cylinder (12) and the right lifting cylinder (10). The pipe segment grabbing device (11) comprises a grabbing frame (11-3), the upper part of the grabbing frame is an arc-shaped surface, one end of the grabbing frame (11-3) is provided with a supporting long arm (11-14), and the other end is provided with a supporting short arm (11-15), a swing arm (11-1) is hingedly connected to the supporting short arm (11-15), the supporting long arm (11-14) is hingedly connected to the left lifting cylinder (12), the swing arm (11-1) is hingedly connected to the right lifting cylinder (10), and a grabbing head assembly is movably provided at the lower part of the grabbing frame (11-3), and two-level walking mechanisms are provided on both sides of the grabbing head assembly; The grab head assembly comprises a translation frame (11-9), a transmission box (11-6) is rotatably provided at the lower part of the translation frame (11-9), a lifting screw (11-8) for lifting the pipe segment (14) is provided in the middle part of the transmission box (11-6), small oil cylinders (11-5) are symmetrically provided on both sides of the transmission box (11-6), and the small oil cylinders (11-5) are vertically arranged; The top of the lifting screw (11-8) is a spherical head, and a slot is provided in the middle of the transmission box (11-6), and the spherical head is located in the slot and is engaged with the slot.

2. The segment assembly machine according to claim 1, characterized in that: The slewing mechanism comprises a moving frame (4) and a slewing support frame (7); the slewing support frame (7) is arranged at one end of the moving frame (4) and cooperates with the moving frame (4); the other end of the moving frame (4) is provided with a primary walking mechanism; a slewing frame (9) is provided on the slewing support frame (7); the slewing frame (9) is rotatably connected to the slewing support frame (7); a slewing drive motor (6) is provided on the moving frame (4); and the slewing drive motor (6) is connected to the slewing frame (9).

3. The segment assembly machine according to claim 2, characterized in that: The primary walking mechanism comprises a support (15) symmetrically arranged on the moving frame (4); a first motor (3) is provided on the upper part of the support (15); a first gear (16) is provided at the output end of the first motor (3); a fixed rack (2) is provided on the upper part of the main beam (1); the first gear (16) cooperates with the fixed rack (2); a roller (8) is provided on the lower part of the support (15); a concave track (17) is provided on the outer side wall of the main beam (1); and the roller (8) is located in the concave track (17) and cooperates with the concave track (17).

4. The segment assembly machine according to claim 2 or 3, characterized in that: The left lifting cylinder (12) and the right lifting cylinder (10) are symmetrically arranged on both sides of the rotating frame (9), and a rotary encoder (5) is arranged on the moving frame (4), and the rotary encoder (5) is connected to the rotary drive motor (6).

5. The segment assembly machine according to claim 1, characterized in that: Guide sleeves (11-16) are provided on both sides of the translation frame (11-9), a guide column (11-12) is fixedly provided in the snatch frame (11-3), and the guide sleeves (11-16) are sleeved on the guide column (11-12) and are slidably connected to the guide column (11-12).

6. The segment assembly machine according to claim 5, characterized in that: A joint bearing (11-11) is provided in the middle of the translation frame (11-9); the upper part of the transmission box (11-6) is connected to a load-bearing shaft (11-10) via a fixing screw (11-13); the load-bearing shaft (11-10) is installed in the joint bearing (11-11) and matches the joint bearing (11-11).

7. The segment assembly machine according to claim 6, characterized in that: A pair of jacking oil cylinders (11-7) are provided at one end of the transmission box (11-6); fixed ends of the jacking oil cylinders (11-7) are fixedly connected to the transmission box (11-6); and telescopic ends of the jacking oil cylinders (11-7) are connected to the translation frame (11-9) via jacking blocks.

8. The segment assembly machine according to claim 1, characterized in that: The secondary walking mechanism comprises a translation oil cylinder (11-4), the translation oil cylinder (11-4) being symmetrically arranged on both sides of the snatch frame (11-3), the fixed end of the translation oil cylinder (11-4) being fixedly connected to the snatch frame (11-3), the telescopic end of the translation oil cylinder (11-4) being connected to the translation frame (11-9) via an ear seat, and the ear seat being symmetrically arranged on both sides of the translation frame (11-9).

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