Lateral arch center transfer method and arch center transfer system

Abstract

The invention discloses a side arch center transfer method and an arch center transfer system, and relates to the technical field of tunnel engineering equipment, and the side arch center transfer system comprises a rack, a lifting mechanism device, an arch center transfer arm frame, an arch center transfer storage frame, a middle vertical arch arm frame and a side vertical arch arm frame. The whole arch frame is transferred in a segmented mode and divided into three segments of segmented arch frames, the segmented arch frames are transferred to the rack from the ground segment by segment, and therefore the three segments of arch frames are placed on the arch frame transferring frame side by side, according to the technical route, the arch frames are stored in the upper space of the rack, a slag discharging channel is not affected, parallel operation with other procedures can be achieved, and the operation time is saved; if the arch frame is installed, the middle vertical arch arm frame and the side vertical arch arm frames on the two sides are used for splicing and installing the segmented arch frame.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel engineering equipment, and more specifically to the technical field of a side arch frame transfer method and an arch frame transfer system. Background Art

[0002] In tunnel construction, the excavation of the face, bolting, arch frame transportation and installation, mesh welding, grouting, pumping and other construction processes are realized through the coordinated cooperation of different machines and tools configured on the integrated unit to achieve cyclic parallel operations such as excavation, bolting, arch frame transportation and installation, mesh welding, grouting, pumping, etc. In tunnel construction, arch frame transportation and installation are key construction steps and directly affect the construction efficiency and safety of the entire cycle.

[0003] In the current existing technology, the integrated unit mainly adopts the transportation and installation of folding prefabricated arch frames. This folding prefabricated arch frame is limited by the parallel process and the space in the tunnel: if the total arc length of the folding arch frame is designed to be consistent with the total arc length of the initial support section of the upper road, the two side sections of the folding arch frame in the tunnel cannot be fully unfolded and sent to the support surface. If the folding arch frame is designed to have a total arc length less than the total arc length of the initial support of the upper section, then the folding arch frame can be unfolded, but because the total arc length of the arch frame is less than the total support arc length, after the folding arch frame is fully unfolded, the total length of the arch frame does not reach the total support arc length of the upper road. This results in the need to leave soil piles at the arch foot position of the previous process for support, and in the subsequent process, the soil piles on both sides need to be excavated, and then a small leg arch frame is added to reach the total support arc length. This increases the process time of excavation and support, reduces efficiency, and increases costs accordingly.

[0004] In addition, in the current technology, a loader is used to transport the segmented arch frame to the tunnel face one by one, and then the middle and two side arch arms of the integrated unit are used to grab the arch frame one by one for erection. The transportation of this arch frame mainly relies on manual or simple mechanical assistance, and has the following defects:

[0005] 1. Low transfer efficiency: In this technical route, the arch frame is transported to the tunnel face in sections and spliced ​​at the tunnel face in the tunnel. It needs to be transported multiple times, and the construction efficiency is low. In addition, the arch frame transfer operation in this technical route cannot be synchronized with the slag discharge in the tunnel. The arch frame transfer will affect the slag discharge channel, and the arch frame needs to be placed on the tunnel face without slag. After the slag discharge is completed, the arch frame transfer can be carried out.

[0006] 2. Poor construction environment: The installation and splicing position of the arch frame is close to the bottom of the tunnel face. The construction environment in the tunnel is complex, and the installation and splicing operations below the tunnel face are inconvenient.

[0007] 3. Increased costs: Low transfer efficiency and the addition of multiple processes lead to increased construction costs. Summary of the invention

[0008] The purpose of the present invention is to solve the above-mentioned technical problems and provide a side arch frame transfer method and an arch frame transfer system.

[0009] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0010] A first aspect of the present invention provides a side arch transport method, comprising the following steps:

[0011] S1, transporting the side arch frame from the rear end of the stand to the front end of the stand through the arch frame transfer rack assembly located above the slag discharge channel;

[0012] S2. In the preparation stage of the arch erection process, the middle arch erection arm frame on the gantry is first moved to the bottom of the side arch frame, and then the side arch frame is grabbed by the mechanical arm gripper of the middle arch erection arm frame, and the side arch frame is lifted and sent to a position close to the tunnel face;

[0013] S3, moving the mechanical arm gripper of the side arch arm frame to a position above the middle arch arm frame where the side arch arm frame can be grasped, and allowing the side arch arm frame and the middle arch arm frame to form an "X"-shaped intersecting arm frame posture;

[0014] S4. In the "X" type joint boom posture, the grabber of the side arch boom first grabs the side arch frame, and then the middle arch boom releases the side arch frame, thereby completing the side arch frame handover.

[0015] In one embodiment, in step S4, while the gripper of the side arch boom grabs the side arch frame on the middle arch boom, the grabbing pressure of the side arch assembly on one side is detected by a pressure sensor, and as the grabbing pressure of the side arch boom gradually increases, the pressure of the middle arch boom grabbing the side arch frame gradually decreases; the arch handover range of the boom action actuator of the side arch boom and the middle arch boom is set, and during the handover process, it is automatically diagnosed whether there is an abnormality in the boom position (the processor determines whether the position is abnormal through the position information of the position sensor), and if there is an abnormality, the dynamic compensation mechanism of the side arch boom and the middle arch boom is triggered to achieve position correction.

[0016] Specifically, this scheme transports the whole arch frame in sections, and divides it into three sections: the first side arch frame, the second side arch frame and the middle arch frame. The sectioned arch frame is transported from the ground to the platform section by section, so that the three sections of the arch frame are placed side by side on the arch frame transfer rack. This technical route uses the upper space of the platform to store the arch frame, does not affect the slag discharge channel, can be operated in parallel with other processes, and saves working time; when installing the arch frame, the middle arch arm frame and the side arch arm components on both sides are used to splice and install the three sections of the arch frame, as follows:

[0017] During the transfer process, the lifting mechanism device vertically lifts the first side arch frame to the height position of the gripper assembly of the arch frame transfer arm frame on the upper part of the platform, grabs the segmented arch frame through the gripper assembly and performs telescoping, pitching, and backward recovery, and places the segmented arch frame on the arch frame transfer rack assembly designed on both sides of the platform; the first side arch frame is transported to the front end of the platform through the sprocket chain of the arch frame transfer rack assembly; similarly, the second side arch frame and the middle arch frame are sequentially transferred side by side to the arch frame transfer rack assembly in this way, and stored at the front end of the platform for subsequent erection conditions;

[0018] In the front stage of the arch erection process preparation, the middle arch erection arm moves to the platform below the first side arch frame, grabs the first side arch frame and sends it to the vicinity of the tunnel face, the side arch erection arm includes two side arch assemblies located on the left and right sides of the arch frame transfer frame assembly, and at the same time, the gripper of the side arch assembly on the left side moves to the position above the first side arch frame to hand over the first side arch frame, and the middle arch erection arm and the side arch assembly on the left side form an "X"-shaped handover arm posture; similarly, the second side arch frame is handed over to the side arch assembly on the right, and the middle arch erection arm grabs the middle arch frame, and the arch frame is docked and installed through the coordinated movement of the side arch assembly on the left, the side arch assembly on the right and the middle arch erection arm.

[0019] This plan will transfer the overall arch frame in sections, dividing it into three sections, and transfer the sectioned arch frame from the ground to the platform one section at a time, so that the three sections of the arch frame are placed side by side on the arch frame transfer rack. This technical route uses the upper space of the platform to store the arch frame, does not affect the slag discharge channel, can be operated in parallel with other processes, and saves working time; when installing the arch frame, the middle arch arm frame and the side arch arm frames on both sides are used to splice and install the sectioned arch frame.

[0020] The second aspect of the present invention provides an arch frame transfer system for executing the above-mentioned side arch frame transfer method, comprising a platform, a lifting mechanism device, an arch frame transfer arm frame, an arch frame transfer frame, an intermediate arch frame, and a side arch frame;

[0021] The lifting mechanism device is arranged at the rear side of the platform and is used to lift the position of the segmented arch frame;

[0022] The arch frame transfer rack comprises two arch frame transfer assemblies arranged in parallel on a platform along the tunnel direction, and is used for transferring and temporarily storing segmented arch frames;

[0023] The middle vertical arch arm frame is slidably arranged between the two arch frame transfer assemblies on the top front side of the platform;

[0024] The arch frame transfer arm is slidably arranged between the two arch frame transfer assemblies at the top rear side of the platform, and is used to place the segmented arch frame on the lifting mechanism device on the two arch frame transfer assemblies;

[0025] The side arch arm comprises two side arch assemblies which are arranged in parallel on the left and right sides of the outside of the platform along the tunnel direction. Each side arch assembly comprises a sliding track and a mechanical arm to be clamped which moves along the sliding track. Each side arch assembly is used to grasp the corresponding segmented arch frame transmitted by the middle arch arm and can adjust the posture of the segmented arch frame.

[0026] Specifically, the overall arch frame is divided into three sections, which are lifted to a suitable height by a lifting mechanism, and then placed on an arch transfer rack by an arch transfer rack, and transported to the front end of the platform by the arch transfer rack. The first section and the second side arch frame are transferred to the two side arch arms on the left and right sides respectively by the middle arch arm, and the middle arch arm grabs the middle arch frame. The position and posture of the three sections are adjusted by the middle arch arm and the two side arch arms, and the three sections are welded together into an overall arch frame.

[0027] In one embodiment, the lifting mechanism device includes a first lifting assembly and a second lifting assembly symmetrically arranged on two rear end vertical beams of the platform, and the first lifting assembly and the second lifting assembly are used to adjust the height of the segmented arch frame.

[0028] Specifically, the first lifting assembly and the second lifting assembly are assembled on the two vertical beams at the rear end of the platform by bolts on the left and right sides.

[0029] In one embodiment, the first lifting assembly and the second lifting assembly have the same structure, and both the first lifting assembly and the second lifting assembly include a vertical lifting assembly and an L-shaped swing arm assembly that rises and falls with the vertical lifting assembly, and each vertical lifting assembly is installed on the rear end vertical beam of the corresponding platform;

[0030] The vertical lifting assembly includes a vertically arranged chain mounting frame, a sprocket chain assembly sleeved on the chain mounting frame, and a hydraulic motor driving mechanism (the hydraulic motor can be replaced by an electric motor) for driving the sprocket chain assembly to rotate;

[0031] The L-shaped swing arm assembly includes a lifting connection installed on the outside of the sprocket chain assembly, a slewing support installed on the lifting connection, and an L-shaped swing arm. The L-shaped swing arm is installed on the lifting connection by the slewing swinging mode of the slewing support. At least two groups of guide roller assemblies cooperating with the chain mounting frame are arranged on the inner side of the lifting connection.

[0032] Specifically, the L-shaped swing arm assembly is assembled to the vertical lifting assembly through rollers, and the L-shaped swing arm assembly is driven by the hydraulic motor and the operation of the sprocket chain assembly to move up and down on the vertical lifting assembly. The L-shaped swing arm assembly is driven to rotate by the slewing support, driving the L-shaped swing arm to rotate and swing, thereby lifting the arch frame up and down.

[0033] In one embodiment, the L-shaped swing arm includes a longitudinal support column arranged along the longitudinal direction of the tunnel and a transverse support column fixedly connected to the longitudinal support column, the end of the transverse support column is fixedly connected to the slewing support, the rotation center line of the slewing support is parallel to the longitudinal support column, and a reinforcing diagonal brace is arranged between the transverse support column and the longitudinal support column.

[0034] In one embodiment, each guide roller assembly includes a main guide wheel group slidably connected to the chain mounting frame and a secondary guide wheel group slidably connected to the chain mounting frame, and the secondary guide wheel group is mounted on the main guide wheel group.

[0035] In one embodiment, the middle vertical arch arm frame includes a sliding track arranged on the top of the platform and located between the two arch frame transfer assemblies, and an arch frame grabbing arm arranged on the sliding track, and the direction of the sliding track is consistent with the extension direction of the tunnel.

[0036] Specifically, the middle vertical arch arm has the functions of sliding and adjusting the pitch posture of the arm, and the grabber of the arch arm can perform rotation, swing and other actions as required.

[0037] In one embodiment, the arch frame transfer arm frame includes a base assembly slidably mounted on a sliding track, a large arm assembly connected to the base assembly via a rotating pair, a small arm assembly movably connected to the large arm assembly via a rotating pair, and a gripper assembly movably connected to the end of the small arm assembly.

[0038] Specifically, the arch frame transfer arm frame assembles the base assembly on the sliding trolley of the sliding track of the middle vertical arch arm frame through bolts, and can slide with the sliding trolley of the middle vertical arch arm frame. The boom assembly is driven by a cylinder and can adjust the pitch and yaw movements. The forearm assembly has an embedded cylinder with telescopic movement. The gripper assembly is based on the forearm assembly driven by a cylinder, has a pitch movement, and the gripper assembly has a rotation and yaw movement.

[0039] In one embodiment, each arch frame transfer assembly includes a driving assembly and an arch frame transfer frame, the arch frame transfer frame includes a horizontal mounting frame arranged horizontally along the tunnel direction and a plurality of support legs arranged at the bottom of the horizontal mounting frame, and the bottom of each support leg is detachably mounted on the top of the platform;

[0040] The driving assembly comprises a horizontal sprocket chain assembly installed on a horizontal mounting frame and a horizontal hydraulic motor driving mechanism for driving the horizontal sprocket chain assembly to rotate. A plurality of hook plates for hanging segmented arch frames are evenly distributed on the horizontal chain of the horizontal sprocket chain assembly.

[0041] Specifically, the two arch transfer assemblies are respectively assembled on the upper beam plane of the platform by bolts. The driving assembly consists of a horizontal sprocket chain assembly and a horizontal hydraulic motor driving mechanism. The horizontal sprocket chain is driven by the horizontal hydraulic motor driving mechanism to rotate, and the segmented arch placed on the arch transfer rack is driven from the rear end of the platform to the front end of the platform through the hook plate installed on the horizontal chain.

[0042] The beneficial effects of the present invention are as follows:

[0043] The invention has a reasonable design, optimizes the equipment layout and operation process, significantly improves the construction efficiency and automation level, and reduces the space occupied by the equipment and the complexity of the construction organization. The system has strong adaptability, can meet the construction needs of complex tunnel sections, improve construction quality and safety, reduce labor and equipment costs, and provide an efficient, economical and safe solution for tunnel construction.

[0044] 2. Spatial collaborative optimization: The "X"-shaped handover posture significantly improves the efficiency and flexibility of the mechanical arm in achieving arch handover in the limited working space environment of the tunnel through a three-dimensional cross-handover method. At the same time, the cross-arm posture is proposed for arch handover for the first time. This posture can disperse the force on the arm and avoid single-point load concentration on the arm. It combines mechanical optimization with spatial adaptability design to reduce the risk of structural deformation. It solves the problem of arm interference and load imbalance in traditional handover.

[0045] 3. The arm posture is adjustable. Based on the changes in the center of gravity of arches of different specifications and sizes, the adjustable arm posture can adapt to the grabbing requirements of side arches of different specifications, avoiding the poor adaptability problem caused by fixed angle intersections.

[0046] 4. The side arch boom and the middle arch boom are controlled by pressure sensors and torque closed loop. At the moment when the side arch boom grabs the side arch, the middle arch boom performs a "soft release" action synchronously to achieve seamless load transfer and eliminate the risk of vibration or side arch slippage caused by traditional hard separation. The process efficiency is improved, and the two booms operate in parallel during the boom handover process, avoiding the waiting time for the other boom to operate after one boom is completed during the handover process.

[0047] 5. Add a safety mechanism and a dual-channel safety locking device to detect that when the gripping force of the handover grip of the middle arch arm is insufficient, the side arch arm will not loosen the grip.

[0048] 6. The arm is based on the tunnel section profile size, and the arm action actuator arch handover range is set. During the handover process, the arm posture abnormality is automatically diagnosed, and the dynamic compensation mechanism can be triggered to achieve position correction, thereby improving the handover efficiency.

[0049] 7. Improve transfer efficiency: The segmented transfer system significantly improves the transfer efficiency of the arch frame, reduces the waiting time and steps for the construction process, and shortens the construction period.

[0050] 8. Improve the construction environment: The optimized transfer method reduces the manual construction operations in the tunnel, improves the construction site environment, and increases the convenience of the construction process.

[0051] 9. Reduce construction costs: avoid additional excavation, earth piling and support processes, reduce material waste and reduce construction costs.

[0052] 10. Improve construction safety: reduce construction operations in the tunnel, reduce the safety risks of construction workers, and improve the safety of the construction process.

[0053] 11. Improve construction quality: By precisely controlling the transportation and installation of the arch frame, the accuracy and quality of the arch frame installation are improved, ensuring the stability and reliability of the tunnel construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0055] Figure 1 It is a structural schematic diagram of an arch transport system of the present invention;

[0056] Figure 2 yes Figure 1 A directional view of

[0057] Figure 3 It is a structural schematic diagram of the arch frame transfer arm;

[0058] Figure 4 It is a structural schematic diagram of a lifting mechanism device;

[0059] Figure 5 yes Figure 4 Schematic diagram of the local structure;

[0060] Figure 6 It is a structural schematic diagram of an arch transfer rack;

[0061] Figure 7 It is a schematic diagram of the initial lifting of the segmented arch frame of the present invention;

[0062] Figure 8 It is a schematic diagram of the initial lifting of the segmented arch frame of the present invention to the highest position;

[0063] Fig. 9 It is a structural schematic diagram of the first side arch frame of the present invention being transferred to the arch frame transfer rack;

[0064] Fig.10 It is a structural schematic diagram of the three-section arch frame of the present invention being transferred to the arch frame transfer rack;

[0065] Reference numerals: 100 - lifting mechanism device, 200 - arch frame transfer arm frame, 300 - arch frame transfer frame assembly, 400 - middle arch arm frame, 500 - side arch arm frame, 600 - stand;

[0066] 110-vertical lifting assembly, 120-L-type swing arm assembly;

[0067] 121-lifting connector, 122-slewing support, 123-L-shaped swing arm, 124-guide roller assembly;

[0068] 210-base assembly, 220-big arm assembly, 230-small arm assembly, 240-gripper assembly;

[0069] 310-driving assembly, 320-arch transfer rack. DETAILED DESCRIPTION

[0070] In order to make the technical problems, technical solutions and technical effects of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0071] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0072] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0073] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0074] Example 1

[0075] This embodiment provides a side arch frame transportation method, comprising the following steps:

[0076] S1, transporting the side arch frame from the rear end of the platform 600 to the front end of the platform 600 through the arch frame transfer rack assembly 300 located above the slag discharge channel;

[0077] S2, in the front stage of the arch erection process, first move the middle arch erection arm frame 400 on the platform 600 to the bottom of the side arch frame, then grab the side arch frame through the mechanical arm gripper of the middle arch erection arm frame 400, and lift the side arch frame to a place close to the tunnel face;

[0078] S3, moving the mechanical arm gripper of the side arch arm frame 500 to a position above the middle arch arm frame 400 where the side arch arm frame can be grasped, and allowing the side arch arm frame 500 and the middle arch arm frame 400 to form an "X"-shaped intersecting arm frame posture;

[0079] S4. In the "X"-shaped boom handover posture, the gripper of the side arch boom 500 first grabs the side arch frame, and then the middle arch boom 400 releases the side arch frame, thereby completing the side arch frame handover; while the gripper of the side arch boom 500 grabs the side arch frame on the middle arch boom 400, the gripping pressure of the side arch assembly on one side is detected, and as the gripping pressure of the side arch boom 500 gradually increases, the pressure of the middle arch boom 400 grabbing the side arch frame gradually decreases; the arch handover range of the boom action actuators of the side arch boom 500 and the middle arch boom 400 is set, and whether there is an abnormality in the boom position during the handover process is automatically diagnosed. If there is an abnormality, the dynamic compensation mechanism of the side arch boom 500 and the middle arch boom 400 is triggered to achieve position correction.

[0080] Specifically, this scheme transports the whole arch frame in sections, and divides it into three sections: the first side arch frame, the second side arch frame and the middle arch frame. The sectioned arch frame is transported from the ground to the platform section by section, so that the three sections of the arch frame are placed side by side on the arch frame transfer rack. This technical route uses the upper space of the platform to store the arch frame, does not affect the slag discharge channel, can be operated in parallel with other processes, and saves working time; when installing the arch frame, the middle arch arm frame and the side arch arm components on both sides are used to splice and install the three sections of the arch frame, as follows:

[0081] During the transportation process, the lifting mechanism device 100 vertically lifts the first side arch frame to the height position of the gripper assembly 240 of the arch frame transfer arm frame 200 on the upper part of the platform 600, grabs the segmented arch frame through the gripper assembly 240 and performs telescoping, pitching, and backward recovery, and places the segmented arch frame on the arch frame transfer rack assembly 300 designed on both sides of the platform 600; the first side arch frame is transported to the front end of the platform 600 through the sprocket chain of the arch frame transfer rack assembly 300; similarly, the second side arch frame and the middle arch frame are sequentially transported side by side to the arch frame transfer rack assembly 300 in this way, and stored at the front end of the platform 600 for subsequent use in the erection condition;

[0082] In the front stage of the arch erection process preparation, the middle arch arm 400 moves to the platform 600 below the first side arch frame, grabs the first side arch frame and sends it to the vicinity of the face, the side arch arm 500 includes two side arch assemblies located on the left and right sides of the arch frame transfer frame assembly 300, and at the same time, the gripper of the side arch assembly on the left side moves to the position above the first side arch frame to transfer the first side arch frame, and the middle arch arm 400 forms an "X"-shaped transfer arm posture with the side arch assembly on the left; similarly, the second side arch frame is handed over to the side arch assembly on the right, and the middle arch arm 400 grabs the middle arch frame, and the arch frame is docked and installed through the coordinated movement of the side arch assembly on the left, the side arch assembly on the right and the middle arch arm 400.

[0083] Spatial collaborative optimization: The "X"-shaped handover posture significantly improves the efficiency and flexibility of the mechanical arm in achieving arch handover in the limited working space environment of the tunnel through a three-dimensional cross-handover method. At the same time, the cross-arm posture is proposed for arch handover for the first time. This posture can disperse the force on the arm and avoid single-point load concentration on the arm. It combines mechanical optimization with spatial adaptability design to reduce the risk of structural deformation. It solves the problem of arm interference and load imbalance in traditional handover.

[0084] The arm posture is adjustable. Based on the changes in the center of gravity of arch frames of different specifications and sizes, the adjustable arm posture can adapt to the grabbing requirements of side arches of different specifications, avoiding the poor adaptability problem caused by fixed-angle intersections.

[0085] The side arch boom and the middle arch boom are controlled by pressure sensors and torque closed loop. At the moment when the side arch boom grabs the side arch, the middle arch boom performs a "soft release" action synchronously to achieve seamless load transfer and eliminate the risk of vibration or side arch slippage caused by traditional hard separation. The process efficiency is improved, and the two booms operate in parallel during the boom handover process, avoiding the waiting time for the other boom to operate after one boom is completed during the handover process.

[0086] A safety mechanism is added, and a dual-channel safety locking device is added to detect that when the gripping force of the handover grip of the middle arch arm is insufficient, the side arch arm will not loosen the grip.

[0087] The boom is based on the tunnel section profile size, and the arch handover range of the boom action actuator is set. During the handover process, the boom posture abnormality is automatically diagnosed, and the dynamic compensation mechanism can be triggered to achieve position correction, thereby improving the handover efficiency.

[0088] Example 2

[0089] like Figures 1 to 10 As shown, this embodiment provides an arch frame transfer system, including a platform 600, a lifting mechanism device 100, an arch frame transfer arm frame 200, an arch frame transfer frame assembly 300, a middle arch arm frame 400, and a side arch arm frame 500;

[0090] The lifting mechanism device 100 is arranged at the rear side of the platform 600 and is used to lift the position of the segmented arch frame;

[0091] The arch transfer rack assembly 300 includes two arch transfer assemblies arranged in parallel on a platform 600 along the tunnel direction, and is used for transferring and temporarily storing segmented arches;

[0092] The middle vertical arch arm frame 400 is slidably disposed between the two arch frame transfer assemblies on the top front side of the platform 600;

[0093] The arch frame transfer arm 200 is slidably disposed between two arch frame transfer assemblies at the top rear side of the platform 600, and is used to place the segmented arch frame on the lifting mechanism device 100 on the two arch frame transfer assemblies;

[0094] The side arch arm 500 includes two side arch assemblies arranged in parallel on the left and right sides of the outside of the platform 600 along the tunnel direction. Each side arch assembly includes a sliding track and a mechanical arm to be clamped that moves along the sliding track. Each side arch assembly is used to grasp the corresponding segmented arch frame transmitted from the middle arch arm 400, and can adjust the posture of the segmented arch frame.

[0095] Specifically, the overall arch frame is divided into three sections, which are lifted to appropriate heights by the lifting mechanism device 100, and then placed on the arch frame transfer rack assembly 300 by the arch frame transfer rack assembly 300, and transported to the front end of the platform 600 by the arch frame transfer rack assembly 300, and the first section and the second side arch frame are transferred to the two side arch assemblies on the left and right sides respectively by the middle arch arm 400, and the middle arch arm 400 grabs the middle arch frame, and the position and posture of the three sections are adjusted by the middle arch arm 400 and the two side arch assemblies, and the three sections are spliced ​​into an overall arch frame by welding.

[0096] Example 3

[0097] This embodiment is further optimized on the basis of Embodiment 2, specifically:

[0098] The lifting mechanism device 100 includes a first lifting assembly and a second lifting assembly symmetrically arranged on two rear end vertical beams of the platform 600, and the first lifting assembly and the second lifting assembly are used to adjust the height of the segmented arch frame.

[0099] The first lifting assembly and the second lifting assembly have the same structure. Both the first lifting assembly and the second lifting assembly include a vertical lifting assembly 110 and an L-shaped swing arm assembly 120 that rises and falls with the vertical lifting assembly 110. Each vertical lifting assembly 110 is installed on the rear end vertical beam of the corresponding platform 600.

[0100] The vertical lifting assembly 110 includes a vertically arranged chain mounting frame, a sprocket chain assembly sleeved on the chain mounting frame, and a hydraulic motor driving mechanism for driving the sprocket chain assembly to rotate. The hydraulic motor can be replaced by an electric motor;

[0101] The L-shaped swing arm assembly 120 includes a lifting connection 121 installed on the outside of the sprocket chain assembly, a swivel support 122 installed on the lifting connection 121, and an L-shaped swing arm 123. The L-shaped swing arm 123 is installed on the lifting connection 121 by the swivel swing of the swivel support 122. At least two groups of guide roller assemblies 124 that cooperate with the chain mounting frame are arranged on the inner side of the lifting connection 121.

[0102] Specifically, the first lifting assembly and the second lifting assembly are assembled on the two vertical beams at the rear end of the platform 600 by bolts on the left and right. The L-shaped swing arm assembly 120 is assembled to the vertical lifting assembly 110 through rollers, and the L-shaped swing arm assembly 120 is driven by the hydraulic motor and the operation of the sprocket chain assembly to move up and down on the vertical lifting assembly 110. The L-shaped swing arm assembly 120 is driven to rotate by the slewing support, driving the L-shaped swing arm to rotate and swing, thereby lifting the arch frame to move up and down.

[0103] Example 4

[0104] This embodiment is further optimized on the basis of embodiment 3, specifically:

[0105] The L-shaped swing arm includes a longitudinal support column arranged along the longitudinal direction of the tunnel and a transverse support column fixedly connected to the longitudinal support column. The end of the transverse support column is fixedly connected to the slewing support 122. The rotation center line of the slewing support is parallel to the longitudinal support column. A reinforcing diagonal brace is arranged between the transverse support column and the longitudinal support column.

[0106] Each guide roller assembly 124 includes a main guide wheel assembly slidably connected to the chain mounting frame and a secondary guide wheel assembly slidably connected to the chain mounting frame, and the secondary guide wheel assembly is mounted on the main guide wheel assembly.

[0107] Example 5

[0108] This embodiment is further optimized on the basis of embodiment 3, specifically:

[0109] The middle vertical arch arm frame 400 includes a sliding track arranged on the top of the platform 600 and located between two arch frame transfer components, and an arch frame grabbing arm arranged on the sliding track. The direction of the sliding track is consistent with the extension direction of the tunnel.

[0110] Specifically, the middle vertical arch arm 400 has the functions of sliding and adjusting the pitch posture of the arm, and the gripper of the arch arm can perform rotation, swing and other actions as required.

[0111] Example 6

[0112] This embodiment is further optimized on the basis of Embodiment 5, specifically:

[0113] The arch frame transfer arm frame 200 includes a base assembly 210 slidably mounted on a sliding track, a large arm assembly 220 connected to the base assembly 210 via a rotating pair, a small arm assembly 230 movably connected to the large arm assembly 220 via a rotating pair, and a gripper assembly 240 movably connected to the end of the small arm assembly 230.

[0114] Specifically, the arch frame transfer arm frame 200 assembles the base assembly 210 on the sliding trolley of the sliding track of the middle arch arm frame 400 through bolts, and can slide together with the sliding trolley of the middle arch arm frame 400. The big arm assembly 220 is driven by a cylinder and can adjust the pitch and yaw movements. The small arm assembly 230 has a built-in cylinder and has a telescopic movement. The gripper assembly 240 is driven by a cylinder based on the small arm assembly 230, and has a pitch movement. At the same time, the gripper assembly 240 has a rotation and yaw movement.

[0115] Example 7

[0116] This embodiment is further optimized on the basis of embodiment 6, specifically:

[0117] Each arch frame transfer assembly includes a driving assembly 310 and an arch frame transfer frame 320, and the arch frame transfer frame 320 includes a horizontal mounting frame horizontally arranged along the tunnel direction and a plurality of support legs arranged at the bottom of the horizontal mounting frame, and the bottom of each support leg is detachably mounted on the top of the platform 600;

[0118] The driving assembly 310 includes a horizontal sprocket chain assembly mounted on a horizontal mounting frame, and a horizontal hydraulic motor driving mechanism for driving the horizontal sprocket chain assembly to rotate. A number of hook plates for hanging segmented arch frames are evenly distributed on the horizontal chain of the horizontal sprocket chain assembly.

[0119] Specifically, the two arch transfer assemblies are respectively assembled on the upper beam plane of the stand 600 by bolts.

[0120] The driving component 310 is composed of a horizontal sprocket chain assembly and a horizontal hydraulic motor driving mechanism. The horizontal sprocket chain is driven to rotate by the horizontal hydraulic motor driving mechanism, and the segmented arch placed on the arch transfer rack 320 is driven to operate from the rear end of the platform to the front end of the platform through the hook plate installed on the horizontal chain.

Claims

1. A side arch transport method, characterized in that: The steps include: S1, transporting the side arch frame from the rear end of the platform (600) to the front end of the platform (600) through the arch frame transfer rack assembly (300) located above the slag discharge channel; S2, in the front stage of the arch erection process, the middle arch erection arm frame (400) on the stand (600) is first moved to the bottom of the side arch frame, and then the side arch frame is grabbed by the mechanical arm gripper of the middle arch erection arm frame (400), and the side arch frame is lifted and sent to a position close to the tunnel face; S3, moving the mechanical arm gripper of the side arch arm frame (500) to a position above the middle arch arm frame (400) where the side arch arm frame can be gripped, and allowing the side arch arm frame (500) and the middle arch arm frame (400) to form an "X"-shaped intersecting arm frame posture; S4. In the "X"-shaped joint arm frame posture, the gripper of the side arch arm frame (500) first grabs the side arch frame, and then the middle arch arm frame (400) releases the side arch frame, thereby completing the side arch frame handover.

2. A side arch transport method according to claim 1, characterized in that: In step S4, while the gripper of the side arch boom (500) grips the side arch frame on the middle arch boom (400), the gripping pressure of the side arch assembly on one side is detected, and as the gripping pressure of the side arch boom (500) gradually increases, the pressure of the middle arch boom (400) gripping the side arch frame gradually decreases; the arch frame handover range of the boom action actuators of the side arch boom (500) and the middle arch boom (400) is set, and whether there is an abnormality in the boom position during the handover process is automatically diagnosed. If there is an abnormality, the dynamic compensation mechanism of the side arch boom (500) and the middle arch boom (400) is triggered to achieve position correction.

3. An arch transfer system, used to perform the side arch transfer method according to claim 1, characterized in that: The invention comprises a platform (600), a lifting mechanism device (100), an arch frame transfer arm frame (200), an arch frame transfer frame assembly (300), a middle arch arm frame (400) and a side arch arm frame (500).

4. The arch transport system according to claim 3, characterized in that: The lifting mechanism device (100) is arranged at the rear side of the platform (600) and is used to lift the position of the segmented arch frame; The arch frame transfer rack assembly (300) comprises two arch frame transfer assemblies arranged in parallel on the platform (600) along the tunnel direction, and used for transferring and temporarily storing segmented arch frames; The intermediate vertical arch arm frame (400) is slidably arranged between the two arch frame transfer assemblies on the top front side of the platform (600); The arch frame transfer arm (200) is slidably arranged between the two arch frame transfer assemblies on the top rear side of the platform (600) and is used to place the segmented arch frame on the lifting mechanism device (100) on the two arch frame transfer assemblies.

5. The arch transport system according to claim 4, characterized in that: The side arch arm frame (500) comprises two side arch assemblies arranged in parallel on the left and right sides of the outside of the platform (600) along the tunnel direction, each of the side arch assemblies comprises a sliding track and a mechanical arm to be clamped moving along the sliding track, and each of the side arch assemblies is used to grasp the corresponding segmented arch frame transmitted from the middle arch arm frame (400), and can adjust the posture of the segmented arch frame.

6. The arch transport system according to claim 4, characterized in that: The intermediate vertical arch arm frame (400) comprises a sliding track arranged on the top of the platform (600) and located between the two arch frame transfer assemblies, and an arch frame grabbing arm arranged on the sliding track, and the direction of the sliding track is consistent with the extension direction of the tunnel.

7. The arch transport system according to claim 4, characterized in that: The arch frame transfer arm frame (200) comprises a base assembly (210) slidably mounted on the sliding track, a large arm assembly (220) connected to the base assembly (210) via a rotating pair, a small arm assembly (230) movably connected to the large arm assembly (220) via a rotating pair, and a gripper assembly (240) movably connected to the end of the small arm assembly (230).

8. The arch transport system according to claim 4, characterized in that: Each of the arch frame transfer components comprises a driving component (310) and an arch frame transfer frame (320), wherein the arch frame transfer frame (320) comprises a horizontal mounting frame arranged horizontally along the tunnel direction and a plurality of supporting legs arranged at the bottom of the horizontal mounting frame, wherein the bottom of each supporting leg is detachably mounted on the top of the platform (600); The driving assembly (310) comprises a horizontal sprocket chain assembly mounted on the horizontal mounting frame, and a horizontal hydraulic motor driving mechanism for driving the horizontal sprocket chain assembly to rotate. The horizontal chain of the horizontal sprocket chain assembly is evenly distributed with a plurality of hook plates for hanging the segmented arch frame.

9. The arch transport system according to claim 4, characterized in that: The lifting mechanism device (100) comprises a first lifting assembly and a second lifting assembly symmetrically arranged on two rear end vertical beams of the platform (600), wherein the first lifting assembly and the second lifting assembly are used to adjust the height of the segmented arch frame.

10. The arch transport system according to claim 9, characterized in that: The first lifting assembly and the second lifting assembly have the same structure, and both the first lifting assembly and the second lifting assembly include a vertical lifting assembly (110) and an L-shaped swing arm assembly (120) that rises and falls with the vertical lifting assembly (110), and each of the vertical lifting assemblies (110) is mounted on a rear end vertical beam corresponding to the platform (600); The vertical lifting assembly (110) comprises a vertically arranged chain mounting frame, a sprocket chain assembly sleeved on the chain mounting frame, and a hydraulic motor driving mechanism for driving the sprocket chain assembly to rotate; The L-shaped swing arm assembly (120) comprises a lifting connection member (121) mounted on the outside of the sprocket chain assembly, a slewing support (122) mounted on the lifting connection member (121), and an L-shaped swing arm (123); the L-shaped swing arm (123) is mounted on the lifting connection member (121) in a slewing and swinging manner of the slewing support (122); and at least two groups of guide roller assemblies (124) cooperating with the chain mounting frame are arranged on the inner side of the lifting connection member (121).

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