A grabbing sling for steel lining segments and its using method

Abstract

A grasping sling for steel lining segments of the present invention and its using method, aiming at the problem that the vacuum suction cups of existing segment erectors cannot directly grasp steel segments. It includes: a sling main body, a clamp device and a grab bar device. The arc-shaped shell at the top of the sling main body is matched with the vacuum suction cup of the segment erector, and the arc-shaped shell at its bottom is consistent with the radian of the steel lining segment, and a number of long slot holes are provided on the arc-shaped shell at the bottom; the fixed ends of the clamp device and the grab bar device are connected to the inner cavity of the sling main body, and their movable ends extend out of the long slot openings and clamp the steel lining segment. Method: After the vacuum suction cup of the segment erector adsorbs the sling main body, control the four rods of the grab bar device to rotate downward and be in a retracted state, control a pair of clamp bodies of the clamp device to be in an open state. After the sling main body contacts the steel lining segment, the telescopic rod of the grab bar device contracts to drive the quadrilateral link mechanism to open to both sides and abut against the web of the steel lining segment; the clamp bodies of the clamp device are clamped on both sides of the web.

Description

Technical Field

[0001] The present invention relates to the technical field of shield tunnel segment installation construction, and particularly relates to a gripping sling for steel lining segments and a using method thereof. Background Art

[0002] The main function of the cross-passage in a shield tunnel is to connect the double-track tunnels. When disasters such as fire, flood or structural damage occur in any one of the tunnels, the tunnel workers can transfer to the other tunnel through the cross-passage to achieve the function of emergency evacuation, so it is known as the "escape passage"; moreover, it is convenient for rescue workers to reach the cross-passage from the other tunnel and then enter the accident tunnel through the cross-passage to achieve the purpose of rapid rescue.

[0003] Generally, the segment erector supporting a large-diameter shield machine uses vacuum suckers to grip reinforced concrete segments. However, the cross-passage is assembled by steel segments. The steel segment is a fully steel open-ring segment with holes opened on the inner ring surface. The interior is reinforced with multiple "T"-shaped webs and is of an open-box girder structure. Each single steel segment not only has a large curvature and large size, but also weighs about 1 to 3 tons, resulting in that the vacuum suckers of the segment erector cannot directly grip the steel segments at the cross-passage. Summary of the Invention

[0004] Aiming at the problem that the vacuum suckers of the existing segment erector cannot directly grip the steel segments at the tunnel cross-passage, the purpose of the present invention is to provide a gripping sling for steel lining segments and a using method thereof.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows: A gripping sling for steel lining segments, which comprises: a sling main body, a clamp device and a gripping rod device. The sling main body is formed by welding multiple webs that are vertically arranged and connected between two layers of arc-shaped shells arranged at intervals. The arc-shaped shell at the top of the sling main body is matched with the vacuum sucker of the segment erector. The arc-shaped shell at the bottom thereof is consistent with the curvature of the steel lining segment to be hoisted, and several long slot holes are provided on the arc-shaped shell at the bottom; the fixed ends of at least two pairs of clamp devices and at least two pairs of gripping rod devices are connected to the inner cavity of the sling main body. The number and positions of the clamp devices and the gripping rod devices correspond to the number and positions of the long slot openings on the arc-shaped shell at the bottom, so that the moving ends of the clamp devices and the gripping rod devices can all extend out of the long slot openings and clamp the steel lining segment to be hoisted.

[0006] The gripping sling for the steel lining segment of the present invention includes a sling main body, a clamp device and a gripper rod device. The arc-shaped housing at the top of the sling main body is matched with the vacuum suction cup of the segment erector. The arc-shaped housing at the bottom has the same radian as the steel lining segment to be hoisted, and several long slot holes are provided on the arc-shaped housing at the bottom. The fixed ends of at least two pairs of clamp devices and at least two pairs of gripper rod devices are connected to the inner cavity of the sling main body. The long slot openings on the arc-shaped housing correspond to the number and positions of the clamp devices and the gripper rod devices. The moving ends of the clamp devices extend out of the long slot openings and clamp the web of the steel lining segment to be hoisted. The moving ends of the gripper rod devices extend into the inner cavity of the steel lining segment to be hoisted and abut against the two side webs. Under the combined action of the clamping forces of the clamp devices and the gripper rod devices, the steel lining segment is tightly adsorbed to the bottom of the vacuum suction cup of the segment erector, and the segment erector is cooperated to complete the assembly construction of the steel lining ring. There is no need to transform the original structures of the segment erector and the steel lining segment, realizing the automatic hoisting construction of the steel lining segment, improving the construction efficiency and ensuring the construction safety.

[0007] Further, at least two pairs of clamp devices and at least two pairs of gripper rod devices are symmetrically arranged along the axis of the sling main body, and the gripper rod devices are arranged outside the clamp devices.

[0008] Further, the clamp device includes a driving motor connected to the ear plate at the top of the sling main body, a driving gear connected to the output shaft of the driving motor, and a pair of clamps hinged to the ear plate. The top ends of the pair of clamps are connected to the ear plate through a rotating shaft, and the bottom ends thereof can extend into the holes of the steel lining segment. Convex teeth that mesh with each other are provided at the tops of the pair of clamps, and the convex teeth of at least one clamp mesh with the driving gear. Corresponding grooves are provided at the middle parts of the pair of clamps near the top plate of the steel lining segment.

[0009] Further, the bottom of the clamp is hollow, and an electromagnet assembly is installed at the hollow position.

[0010] Further, a layer of rubber plates is provided on one side of each of the pair of clamps close to the web of the steel lining segment.

[0011] Further, the gripper rod device includes a torque motor, a rotating rod, a driven rod, a main strut, a connecting rod and a telescopic rod. The torque motor is connected to the side of the web of the sling main body. The fixed end of the rotating rod is connected to the output shaft of the torque motor. One end of the main strut is pin-connected to the rotating end of the rotating rod. One end of the driven rod is pin-connected to the rotating rod and the telescopic rod. The other end of the driven rod is pin-connected to one end of the connecting rod. The other end of the connecting rod is pin-connected to the main strut. The fixed end of the telescopic rod is connected to the rotating rod, and the moving end of the telescopic rod is pin-connected to the other end of the main strut.

[0012] Further, the sling body further includes positioning ear plates arranged on the inner wall of the bottom arc-shaped housing. The cross-section of the positioning ear plate is L-shaped. One end of the positioning ear plate is fixedly connected to the arc-shaped housing. When the rotating end of the rotating rod of the gripper device contacts the web of the steel lining segment, the other end of the positioning ear plate abuts against the top of the rotating rod.

[0013] Further, the gripper device further includes a first limiting block connected to the joint of the rotating rod and the main support rod, and a second limiting block connected to the joint of the driven rod and the connecting rod. The side of the first limiting block and the second limiting block away from the telescopic rod has a smooth bottom surface. When the telescopic rod of the gripper device extending into the inner cavity of the steel lining segment contracts, the included angle between the rods on both sides of the telescopic rod becomes smaller, and the bottom surfaces of the first limiting block and the second limiting block abut against the two webs of the steel lining segment. The gripper device further includes a third limiting block connected to the end of the telescopic rod. The third limiting block is arranged at an angle with the telescopic rod, and the third limiting block is close to the connecting rod with a shorter length.

[0014] In addition, the present invention also provides a method for using a gripper sling for steel lining segments, and the steps are as follows:

[0015] S1: Press the vacuum suction cup of the segment erector on the top of the sling body, evacuate until the vacuum suction cup adsorbs the sling body; control the torque motor of the gripper device to rotate towards its midline direction, driving the rotating rod, driven rod, main support rod, and connecting rod of the gripper device to rotate downward and be in a retracted state; control the driving motor of the clamp device to rotate, driving a pair of clamp bodies to rotate in the opposite direction along the midline, so that the pair of clamp bodies are in an open state.

[0016] S2: The segment erector moves downward until the sling body contacts the upper surface of the steel lining segment to be lifted. The open clamp bodies and the retracted gripper device respectively extend into the inner cavity of the steel lining segment. The telescopic rod of the gripper device contracts, driving the rotating rod, driven rod, main support rod, and connecting rod to open to both sides until they abut against the webs of the steel lining segment; the driving motor of the clamp device rotates in the reverse direction, driving a pair of clamp bodies to rotate towards the midline direction respectively until they contact the webs. Thus, the grasping connection between the gripper sling and the steel lining segment is completed, and the segment erector completes the assembly of the steel lining ring according to the conventional assembly process of concrete lining blocks.

[0017] Usage method of the grasping sling for the steel lining segment of the present invention. After the vacuum sucker of the segment erector adsorbs the sling main body, control the torque motor of the gripper device to rotate towards its center line direction, drive the four rods of the gripper device to rotate downward and be in a retracted state, control the driving motor of the clamp device to rotate, drive a pair of clamp bodies to rotate in the opposite direction of the center line, so that a pair of clamp bodies are in an open state. The segment erector moves downward until the sling main body touches the upper surface of the steel lining segment to be hoisted. The telescopic rod of the gripper device contracts, drives the quadrilateral link mechanism to open to both sides until it abuts against the web of the steel lining segment; the driving motor of the clamp device rotates in the reverse direction to drive a pair of clamp bodies to rotate towards the center line direction respectively until they touch the web. Repeat this process to complete the hoisting of the steel lining segment; under the combined action of the clamping forces of the clamp device and the gripper device, the steel lining segment is tightly adsorbed at the bottom of the vacuum sucker of the segment erector, cooperate with the segment erector to complete the assembly construction of the steel lining ring, without modifying the original structures of the segment erector and the steel lining segment, realizing the automatic hoisting construction of the steel lining segment, improving the construction efficiency, and ensuring the construction safety.

[0018] Further, the step S2 further includes that after a pair of clamp bodies touch the web of the steel lining segment, start the electromagnet assembly of the clamp body, so that the electromagnet assemblies of a pair of clamp bodies firmly adsorb on both sides of the web; after the step S2, there is also a step S3: after the assembly of the steel lining ring is completed, turn off the electromagnet assembly, the driving motor of the clamp device rotates in the reverse direction again, drive a pair of clamp bodies to open, the telescopic rod of the gripper device extends, drive the rotating rod, the driven rod, the main support rod, and the link to retract towards the telescopic rod until they are away from the web of the steel lining segment, the segment erector rises, drive the grasping sling to disengage from the steel lining segment, the torque motor rotates, drive the gripper device to be placed into the inner cavity of the sling main body. Description of the Drawings

[0019] Figure 1 Schematic diagram of the open state of the clamp device in an embodiment of the grasping sling for the steel lining segment of the present invention;

[0020] Figure 2 Schematic diagram of the clamping state of the clamp device in an embodiment of the grasping sling for the steel lining segment of the present invention;

[0021] Figure 3 is Figure 1 A - A sectional view of

[0022] Figure 4 Schematic diagram of the structure of the gripper device in an embodiment of the present invention;

[0023] Figures 5 to 7 Schematic diagrams of each step of the usage method of the grasping sling for the steel lining segment in an embodiment of the present invention.

[0024] The reference numerals in the figures are as follows:

[0025] Steel lining segment 1; hole 1a; sling body 10; arc-shaped shell 11; web 12; positioning ear plate 15; clamp device 20; ear plate 21; drive motor 22; drive gear 24; clamp 25; convex tooth 26; groove 27; electromagnet assembly 28; grab bar device 30; rotating bar 31; main support bar 32; driven bar 34; connecting rod 35; telescopic rod 33; limit block one 36; limit block two 37; limit block three 38. Detailed implementation mode

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and use non-precise scales, only for the purpose of conveniently and clearly assisting in explaining the purpose of the embodiments of the present invention. For the convenience of narration, the "upper" and "lower" directions mentioned below are consistent with the upper and lower directions of the drawings, but this cannot be a limitation of the technical solution of the present invention.

[0027] Taking the assembly construction of the steel lining ring at the connection passage of a certain tunnel project in this embodiment as an example, combined with Figures 1 to 7 To illustrate a grabbing sling for a steel lining segment of the present invention, it includes: a sling body 10, a clamp device 20 and a grab bar device 30. The sling body 10 is a steel member, which is welded and connected by two layers of arc-shaped shells 11 arranged at intervals and multiple webs 12 vertically arranged and connected between the two layers of arc-shaped shells 11. The arc-shaped shell 11 at the top of the sling body 10 cooperates with the vacuum suction cup of the assembling machine, and the arc-shaped shell 11 at the bottom thereof is consistent with the radian of the steel lining segment 1 to be hoisted, and several long slot holes are provided on the arc-shaped shell 11 at the bottom; the fixed ends of at least two pairs of clamp devices 20 and at least two pairs of grab bar devices 30 are connected to the inner cavity of the sling body 10, and the quantity and positions of the clamp devices 20 and the grab bar devices 30 correspond to the quantity and positions of the long slot openings on the arc-shaped shell 11 at the bottom, so that the movable ends of the clamp devices 20 and the grab bar devices 30 can all extend out of the long slot openings and clamp the steel lining segment 1 to be hoisted.

[0028] The gripping sling for the steel lining segment of the present invention comprises a sling main body 10, a clamp device 20 and a grab bar device 30. The arc-shaped housing 11 at the top of the sling main body 10 is matched with the vacuum suction cup of the segment erector. The arc-shaped housing 11 at the bottom thereof has the same radian as the steel lining segment 1 to be hoisted, and a plurality of long slot holes are provided on the arc-shaped housing 11 at the bottom. The fixed ends of at least two pairs of clamp devices 20 and at least two pairs of grab bar devices 30 are connected to the inner cavity of the sling main body 10. The long slot openings on the arc-shaped housing 11 correspond to the number and positions of the clamp devices 20 and the grab bar devices 30. The moving ends of the clamp devices 20 extend out of the long slot openings and clamp the web 12 of the steel lining segment 1 to be hoisted. The moving ends of the grab bar devices 30 extend into the inner cavity of the steel lining segment 1 to be hoisted and abut against the two side webs. Under the combined action of the clamping forces of the clamp devices 20 and the grab bar devices 30, the steel lining segment 1 is tightly adsorbed to the bottom of the vacuum suction cup of the segment erector, and the segment erector is cooperated to complete the erection construction of the steel lining ring. Without modifying the original structures of the segment erector and the steel lining segment 1, the automatic hoisting construction of the steel lining segment 1 is realized, the construction efficiency is improved, and the construction safety is ensured.

[0029] As Figure 1 and Figure 2 shown, at least two pairs of clamp devices 20 and at least two pairs of grab bar devices 30 are symmetrically arranged along the axis of the sling main body 10, and the grab bar devices 30 are arranged outside the clamp devices 20 (in the direction away from the axis). By setting multiple symmetric lifting points, the force balance of the large-scale steel lining segment 1 is ensured, and the stability during the hoisting process is improved.

[0030] As Figure 4 and Figure 5 shown, the sling main body 10 further comprises positioning ear plates 15 arranged on the inner wall of the arc-shaped housing 11 at the bottom. The cross section of the positioning ear plates 15 is L-shaped. One end of the positioning ear plates 15 is fixedly connected to the arc-shaped housing 11. When the rotating end of the rotating rod 31 of the grab bar device 30 contacts the web of the steel lining segment 1, the other end of the positioning ear plate 15 abuts against the top of the rotating rod 31 to limit the rotation range of the rotating rod 31 and ensure the safe operation of the grab bar device 30.

[0031] As Figure 1 、 Figure 2 and Figure 3As shown in the figure, there are a total of 4 clamping devices 20 in this embodiment, and they are arranged in pairs opposite to each other. The clamping device 20 includes a driving motor 22 connected to the ear plate 21 at the top of the sling body 10, a driving gear 24 connected to the output shaft of the driving motor 22, and a pair of clamping pliers 25 hinged to the ear plate 21. The top ends of the pair of clamping pliers 25 are connected to the ear plate 21 through a rotating shaft, and their bottom ends can extend into the hole 1a of the steel lining segment 1. The top of the pair of clamping pliers 25 is provided with engaging convex teeth 26, and at least one of the convex teeth 26 of the clamping pliers 25 meshes with the driving gear 24. Corresponding grooves 27 are provided at the middle parts of the pair of clamping pliers 25 near the top plate of the steel lining segment 1. After the clamping pliers 25 clamp the web of the steel lining segment 1, it can prevent the middle part of the clamping pliers 25 from colliding with the top plate of the steel lining segment 1.

[0032] Please continue to refer to Figure 1 、 Figure 2 and Figure 3 , the bottom of the clamping pliers 25 is hollow, and an electromagnet assembly 28 is installed at the hollow position, so that the pair of clamping pliers 25 can be adsorbed on both sides of the web of the steel lining segment 1 by magnetic attraction.

[0033] Preferably, a layer of rubber plate (not shown in the figure) is provided on one side of each of the pair of clamping pliers 25 close to the web of the steel lining segment 1 to prevent damage to the clamping pliers 25 and the steel lining segment 1 caused by impact.

[0034] As Figure 4 and Figure 5 shown, there are a total of 4 gripper rod devices 30 in this embodiment, and they are arranged in pairs opposite to each other. The gripper rod device 30 includes a torque motor, a rotating rod 31, a driven rod 34, a main support rod 32, a connecting rod 35 and a telescopic rod 33. The torque motor is connected to the side of the web 12 of the sling body 10. The fixed end of the rotating rod 31 is connected to the output shaft of the torque motor. One end of the main support rod 32 is pin-connected to the rotating end of the rotating rod 31. One end of the driven rod 34 is pin-connected to the rotating rod 31 and the telescopic rod 33. The other end of the driven rod 34 is pin-connected to one end of the connecting rod 35. The other end of the connecting rod 35 is pin-connected to the main support rod 32. The rotating rod 31, the main support rod 32, the driven rod 34 and the connecting rod 35 are pin-connected to form a quadrilateral connecting rod 35 mechanism. The fixed end of the telescopic rod 33 is connected to the rotating rod 31, and the moving end of the telescopic rod 33 is pin-connected to the other end of the main support rod 32. By controlling the telescopic movement of the telescopic rod 33, the quadrilateral connecting rod 35 mechanism is driven to extend or shorten, so as to realize the function of the gripper rod device 30 extending into the inner cavity of the steel lining pipe and supporting on both sides of the web.

[0035] As Figure 4As shown, the gripper device 30 further includes a first limit block 36 connected to the connection between the rotating rod 31 and the main support rod 32, and a second limit block 37 connected to the connection between the driven rod 34 and the connecting rod 35. The sides of the first limit block 36 and the second limit block 37 away from the telescopic rod 33 have smooth bottom surfaces. When the telescopic rod 33 of the gripper device 30 extending into the inner cavity of the steel lining segment 1 contracts, the included angle between the rods on both sides of the telescopic rod 33 becomes smaller, and the bottom surfaces of the first limit block 36 and the second limit block 37 abut against the two webs of the steel lining segment 1, so that the gripper device 30 tightly grips the steel lining segment 1 and at the same time avoids hitting the webs.

[0036] As Figure 4 shown, the gripper device 30 further includes a third limit block 38 connected to the end of the telescopic rod 33. The third limit block 38 is arranged at an angle with the telescopic rod 33, and the third limit block 38 is close to the connecting rod 35 with a shorter length. The third limit block 38 is used to prevent the bottom end of the telescopic rod 33 from colliding with the hoist main body 10 or the inner wall of the steel lining segment 1.

[0037] To prevent the gripper device 30 from loosening due to vibration or other reasons, a locking structure is also provided on the telescopic rod 33 to prevent the telescopic rod 33 from retracting under the action of external force and ensure the safety during the hoisting process of the steel lining segment 1. The specific structure of the locking structure is the content of the prior art and will not be elaborated here.

[0038] The following combines Figures 5 to 7 to illustrate the usage method of the gripper for the steel lining segment 1 of the present invention. The specific steps are as follows:

[0039] S1: Press the vacuum suction cup (not shown in the figure) of the segment erector on the top of the hoist main body 10 and evacuate until the vacuum suction cup adsorbs the hoist main body 10; As Figure 6 shown, control the torque motor of the gripper device 30 to rotate towards its midline direction, driving the rotating rod 31, driven rod 34, main support rod 32, and connecting rod 35 of the gripper device 30 to rotate downward and be in a retracted state; As Figure 1 and Figure 6 shown, control the driving motor 22 of the clamp device 20 to rotate, driving the two clamp bodies 25 to rotate in the opposite direction along the midline, so that the two clamps 25 are in an open state;

[0040] S2: As Figure 7As shown, the assembling machine moves downward until the hoist body 10 contacts the upper surface of the steel lining segment 1 to be hoisted, the open clamp 25 and the retracted grab rod device 30 are respectively extended into the inner cavity of the steel lining segment 1, and the telescopic rod 33 of the grab rod device 30 contracts, driving the rotating rod 31, the driven rod 34, the main support rod 32, and the connecting rod 35 to open to both sides until they are against the web of the steel lining segment 1; the driving motor 22 of the clamp device 20 rotates in the opposite direction, driving a pair of clamps 25 to rotate in the center line direction until they contact the web, and the electromagnet assembly 28 of the clamp 25 is started, so that the electromagnet assembly 28 of the pair of clamps 25 is firmly adsorbed on both sides of the web, thereby completing the grab connection between the grabbing hoist and the steel lining segment 1, and the assembling machine completes the assembly of the steel lining ring according to the assembly process of conventional concrete lining blocks.

[0041] The method for using the grabbing and slinging device for steel lining pipe segments of the present invention is as follows: after the vacuum suction cup of the assembling machine adsorbs the slinging device body 10, the torque motor of the grabbing rod device 30 is controlled to rotate in the direction of the center line, driving the four rods of the grabbing rod device 30 to rotate downward and be in a retracted state, and the driving motor 22 of the clamp device 20 is controlled to rotate, driving a pair of clamps 25 to rotate in the opposite direction of the center line, so that the pair of clamps 25 are in an open state, and the assembling machine moves downward until the slinging device body 10 contacts the upper surface of the steel lining pipe segment 1 to be hoisted, and the telescopic rod 33 of the grabbing rod device 30 is contracted, driving the quadrilateral connecting rod mechanism to open to both sides. , until it abuts against the web of the steel lining segment 1; the driving motor 22 of the clamp device 20 rotates in the opposite direction to drive a pair of clamps 25 to rotate in the center line direction until they contact the web, and this is repeated to complete the lifting of the steel lining segment 1; under the joint action of the clamping force of the clamp device 20 and the grab bar device 30, the steel lining segment 1 is tightly adsorbed on the bottom of the vacuum suction cup of the assembling machine, and the assembling machine is cooperated to complete the assembly construction of the steel lining ring, without modifying the original structure of the assembling machine and the steel lining segment 1, thereby realizing the automatic lifting construction of the steel lining segment 1, improving the construction efficiency, and ensuring the construction safety.

[0042] like Figure 5 As shown, step S2 also includes step S3 after the step S2: after the steel lining ring is assembled, the electromagnet assembly 28 is turned off, and the driving motor 22 of the clamp device 20 rotates in the opposite direction again, driving the pair of clamps 25 to open, and the telescopic rod 33 of the grab rod device 30 extends, driving the rotating rod 31, the driven rod 34, the main support rod 32, and the connecting rod 35 to retract in the direction of the telescopic rod 33 until they are away from the web of the steel lining segment 1, and the assembling machine rises, driving the grabbing sling to detach from the steel lining segment 1, and the torque motor rotates, driving the grabbing rod device 30 to be placed in the inner cavity of the sling body 10.

[0043] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of the claims.

Claims

1. A grabbing and lifting device for steel lining segments, characterized in that: It includes: A sling body, a clamp device and a grab rod device. The sling body is formed by two layers of arc-shaped shells arranged at intervals, and a plurality of webs arranged vertically and connected between the two layers of arc-shaped shells and welded together. The vacuum suction cup of the assembling machine is pressed on the arc-shaped shell at the top of the sling body, and vacuum is drawn until the vacuum suction cup absorbs the sling body. The arc-shaped shell at the bottom of the sling body is consistent with the curvature of the steel lining segment to be hoisted, and the arc-shaped shell at the bottom is provided with a plurality of long slots. The fixed ends of at least two pairs of clamp devices and at least two pairs of grab rod devices are connected to the inner cavity of the sling body. The number and position of the clamp devices and the grab rod devices correspond to the number and position of the long slots on the bottom arc-shaped shell, so that the movable ends of the clamp devices and the grab rod devices can extend out of the long slots and clamp the steel lining segment to be hoisted. The at least two pairs of clamp devices and at least two pairs of grab rod devices are symmetrically arranged along the axis of the sling body, and the grab rod device is arranged on the outside of the clamp device. The grab rod device includes a torque motor, a rotating rod, a driven rod, a main support rod, a connecting rod and a telescopic rod. The torque motor is connected to the side of the web of the sling body, the fixed end of the rotating rod is connected to the output shaft of the torque motor, one end of the main support rod is pin-connected to the rotating end of the rotating rod, one end of the driven rod is pin-connected to the rotating rod and the telescopic rod, the other end of the driven rod is pin-connected to one end of the connecting rod, the other end of the connecting rod is pin-connected to the main support rod, the fixed end of the telescopic rod is connected to the rotating rod, and the movable end of the telescopic rod is pin-connected to the other end of the main support rod.

2. The grabbing and lifting device for steel lining segments according to claim 1 is characterized in that: The clamp device includes a driving motor connected to the ear plate at the top of the hanger body, a driving gear connected to the output shaft of the driving motor, and a pair of clamps hinged to the ear plate, the top ends of the pair of clamps are connected to the ear plate through a rotating shaft, and the bottom ends of the pair of clamps can extend into the holes of the steel lining segment, the tops of the pair of clamps are provided with meshing convex teeth, and the convex teeth of at least one clamp are meshed with the driving gear, and the middle part of the pair of clamps is provided with corresponding grooves near the top plate of the steel lining segment.

3. The grabbing and lifting device for steel lining segments according to claim 2 is characterized in that: The bottom of the clamp is hollow, and an electromagnet assembly is installed in the hollow position.

4. The grabbing and lifting device for steel lining segments according to claim 2 is characterized in that: A layer of rubber sheet is provided on one side of a pair of clamps close to the web of the steel lining segment.

5. The grabbing and lifting device for steel lining segments according to claim 2 is characterized in that: The sling body also includes a positioning ear plate arranged on the inner wall of the bottom arc-shaped shell. The cross-section of the positioning ear plate is L-shaped. One end of the positioning ear plate is fixed to the arc-shaped shell. When the rotating end of the rotating rod of the grabbing rod device contacts the web of the steel lining segment, the other end of the positioning ear plate abuts against the top of the rotating rod.

6. The grabbing and lifting device for steel lining segments according to claim 1 is characterized in that: The grab rod device also includes a limit block 1 connected to the connection between the rotating rod and the main support rod, and a limit block 2 connected to the connection between the driven rod and the connecting rod. The side of the limit block 1 and the limit block 2 away from the telescopic rod has a smooth bottom surface. When the telescopic rod of the grab rod device extending into the inner cavity of the steel lining pipe segment is contracted, the angle between the rods on both sides of the telescopic rod becomes smaller, and the bottom surfaces of the limit block 1 and the limit block 2 are against the two webs of the steel lining pipe segment. The grab rod device also includes a limit block 3 connected to the end of the telescopic rod. The limit block 3 is set at an angle to the telescopic rod, and the limit block 3 is close to the connecting rod with a shorter length.

7. The method for using the grabbing and slinging device for steel lining segments according to any one of claims 1 to 6, characterized in that: Here are the steps: S1: Press the vacuum suction cup of the assembling machine on the top of the sling body, and draw vacuum until the vacuum suction cup absorbs the sling body; control the torque motor of the grabbing rod device to rotate in the direction of the center line, driving the rotating rod, the driven rod, the main support rod, and the connecting rod of the grabbing rod device to rotate downward and be in a retracted state; control the driving motor of the clamp device to rotate, driving a pair of clamp bodies to rotate in the opposite direction of the center line, so that the pair of clamp bodies are in an open state; S2: The assembling machine moves downward until the main body of the hoist contacts the upper surface of the steel lining segment to be hoisted, the open clamp body and the retracted grab rod device respectively extend into the inner cavity of the steel lining segment, the telescopic rod of the grab rod device contracts, driving the rotating rod, the driven rod, the main support rod and the connecting rod to open to both sides until they are against the web of the steel lining segment; the driving motor of the clamp device rotates in the opposite direction, driving a pair of clamp bodies to rotate in the center line direction until they contact the web, thus completing the grab connection between the grabbing hoist and the steel lining segment, and the assembling machine completes the assembly of the steel lining ring according to the assembly process of conventional concrete lining blocks.

8. The method for using the grabbing and lifting device for steel lining segments according to claim 7, characterized in that: The step S2 also includes that after a pair of clamp bodies contact the web of the steel lining segment, the electromagnet assembly of the clamp bodies is started, so that the electromagnet assemblies of the pair of clamp bodies are firmly adsorbed on both sides of the web; after the step S2, step S3 is also included: after the steel lining ring is assembled, the electromagnet assembly is closed, and the driving motor of the clamp device rotates in the opposite direction again, driving the pair of clamp bodies to open, and the telescopic rod of the grab rod device extends, driving the rotating rod, the driven rod, the main support rod, and the connecting rod to retract in the direction of the telescopic rod until they are away from the web of the steel lining segment, the assembling machine rises, driving the grabbing sling to detach from the steel lining segment, and the torque motor rotates, driving the grab rod device to be placed in the inner cavity of the sling body.

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