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Anchoring robot

A robot and industrial robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult construction, long construction period, and high construction cost, so as to improve repair efficiency, reduce manual operation error rate, and improve grasping efficiency. Take the effect of efficiency

Active Publication Date: 2021-09-21
CHINA RAILWEY ENG SERVICE CO LTD
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the repair and reinforcement work in our country, measures such as manual installation, refitted trolley assistance, and simple cantilever beam assistance are mainly used for construction. There are generally problems such as long construction period, high construction cost, low construction efficiency, and great construction difficulties. The ring is assembled to the damaged part of the subway tunnel segment, and the steel plate ring is fixed and the anchor bolt is installed. The anchor bolt needs to be installed manually

Method used

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Embodiment

[0050] like Figure 1-2 , the present invention proposes an anchoring robot, including

[0051] A robot; the robot is a six-axis industrial robot 13;

[0052] Anchor integrated component; the quick change component is set on the anchor integrated component to connect with the robot; such as image 3 - 4 anchor integrated components including:

[0053] Mounting frame 3; connecting plate 9 is arranged on the top of mounting frame 3, and the two ends of connecting plate 9 are connected with 13 hands of six-axis industrial robot;

[0054] The anchor bolt continuous feeding assembly 1; the anchor bolt continuous feeding assembly 1 is connected to the connecting plate 9 and is located on the side of the installation frame 3; the anchor bolt 11 is clamped under the anchor bolt continuous feeding assembly 1; the anchor bolt 11 is put on the A nut 12 matching it is provided;

[0055] Mobile module 2; the mobile module 2 is integrated under the installation frame 3 through the linea...

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Abstract

The invention provides an anchoring robot. The anchoring robot comprises a six-axis industrial robot and an anchoring integration assembly, wherein, the anchoring integration assembly is provided with a quick change assembly connected with the six-axis industrial robot, an anchor bolt continuous feeding assembly on the anchoring integration assembly comprises power strip bases, a base plate and an anchor bolt fixing frame, and quick feeding of anchor bolts is achieved. According to the anchoring robot, a 3D visual positioning system is used for scanning and positioning the punching position, a steel bar detector is used for detecting whether steel bars exist inside a segment or not, after it is confirmed that no steel bars meet the drilling condition, the position of a moving module can be conveniently adjusted through a sensor, accurate drilling is conducted on the segment through a segment drilling assembly, meanwhile, the position of the moving module can be adjusted to the drilled position of the segment, an anchor bolt mounting assembly and a gripper can be conveniently matched to insert the anchor bolts, and an anchor bolt tightening assembly can tighten nuts conveniently.

Description

technical field [0001] The invention relates to the technical field of tunnel construction equipment, in particular to an anchoring robot. Background technique [0002] At present, subway lines have been built and operated in major cities in China, and most of the subway interval tunnels are single-circle shield tunnels. According to relevant investigation data, during the operation period, due to the subway structure or the surrounding environment, the tunnel structure usually has deformation and other diseases, which generally include tunnel vertical displacement deformation, lateral displacement deformation, elliptic deformation (convergence deformation), cracks, seepage, etc. Leakage, etc., will affect operational safety in severe cases. [0003] In our country, the tunnels with an operation period of about 10 years need to enter the stage of renovation and restoration. The steel plate ring reinforcement method is mainly used for the repair and reinforcement of the dam...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23P23/00B25J11/00B25J9/16
CPCB25J11/005B25J9/16B25J9/1697B23P23/00B25J9/1679
Inventor 班延军张浩文罗红梅李恒高旭东杨梦柳郑军梅元元牟松庄元顺苏金龙刘祥
Owner CHINA RAILWEY ENG SERVICE CO LTD
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