Multifunctional assembling equipment for prefabricated parts in tunnel and construction method

Abstract

The invention belongs to the technical field of tunnel internal structure construction, and discloses multifunctional assembling equipment for prefabricated parts in a tunnel and a construction method. A track; an annular seat; a first driving member; a rotating mechanism; the mechanical arm can rotate along with rotation of the rotating mechanism, and the position of the tail end of the mechanical arm on the plumb surface can be adjusted through movement of the mechanical arm; a grabbing mechanism; and a transport vehicle. The prefabricated part is transported to the position below the frame vehicle through the transport vehicle, the grabbing mechanism is used for grabbing the prefabricated part, then the grabbing mechanism is driven to move to the to-be-assembled position through matched movement of the first driving part, the rotating mechanism and the mechanical arm, and the prefabricated part grabbed by the grabbing mechanism is further assembled at the to-be-assembled position; compared with traditional hoisting, the positions and the assembling postures of the prefabricated parts are adjusted through cooperation of multiple kinds of mechanical movement, the construction efficiency is improved, and the safety risk is reduced.

Description

Technical Field

[0001] This invention belongs to the field of tunnel internal structure construction technology, and specifically relates to a multifunctional prefabricated component assembly equipment and construction method for tunnels. Background Technology

[0002] Currently, with the increasing exploration of urban underground space and the growing emphasis on environmental protection requirements and sustainable development concepts in the construction sector, the exploration of reducing carbon emissions in the construction industry has also received significant attention. By using prefabricated components in factories and assembling them on-site, carbon emissions during construction can be significantly reduced, and the combined factory and on-site construction methods can increase overall efficiency.

[0003] In the field of long tunnel construction, the construction of tunnel internal structures is also exploring the use of a "precast component + on-site assembly" model. However, the size and weight of precast components inside large-diameter tunnels are large, and the limited space inside the tunnel makes the traditional methods of hoisting, transporting, and assembling components risky. Furthermore, the coordination and command of multiple construction equipment is difficult and cannot meet construction requirements. Therefore, we propose a multifunctional precast component assembly equipment and construction method for tunnels to solve the above problems. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a multifunctional prefabricated component assembly equipment and construction method for tunnels, which solves the problem that traditional hoisting and component transportation and assembly methods cannot meet construction requirements.

[0005] This invention is achieved through the following solution: a multifunctional prefabricated component assembly device for tunnels, comprising: A frame vehicle is used to move along the tunnel to the assembly location of the precast components; The track is fixed to the frame vehicle, and the extension direction of the track is consistent with the movement direction of the frame vehicle; A ring-shaped seat is fitted onto the outside of the frame car and can move along the track; The first driving component is used to drive the annular seat to move along the track; A rotating mechanism is rotatably fitted outside the annular seat, and the rotating mechanism rotates about the center line of the annular seat as the axis of rotation; The robotic arm is fixedly connected to the rotating mechanism and can rotate with the rotation of the rotating mechanism. The position of the end effector on the plumb surface can be adjusted by the movement of the robotic arm itself. A gripping mechanism for gripping and releasing prefabricated components, the gripping mechanism being connected to the end of a robotic arm and capable of adjusting its position following the movement of the robotic arm itself; and The transport vehicle is used to transport prefabricated components to the underside of the frame vehicle for the gripping mechanism to grasp. The coordinated movement of the first driving component, the rotating mechanism, and the robotic arm can drive the gripping mechanism to move to the assembly position, and further assemble the prefabricated components gripped by the gripping mechanism at the assembly position.

[0006] A further improvement of the multifunctional tunnel prefabricated component assembly equipment of the present invention is that the prefabricated component is rectangular, and both ends of the rectangular prefabricated component in the length direction are assembly ends. The gripping mechanism is rotatably connected to the end of the robotic arm, and the gripping mechanism rotates about the center line perpendicular to the ring seat as the axis of rotation. The assembly equipment also includes a third driving component for driving the gripping mechanism to rotate. The third driving component drives the gripping mechanism to rotate, thereby causing the prefabricated components gripped by the gripping mechanism to adjust their assembly posture.

[0007] A further improvement of the multifunctional tunnel prefabricated component assembly equipment of the present invention is that it also includes a laser level for projecting a laser line at the position to be assembled, and the prefabricated component is marked with an ink line for aligning the ink line with the laser line when the prefabricated component is assembled at the position to be assembled, so as to realize the assembly of the prefabricated component.

[0008] A further improvement of the multifunctional tunnel prefabricated component assembly equipment of the present invention is that the transport vehicle includes a double-headed vehicle and a storage rack, the storage rack being placed on top of the double-headed vehicle for storing prefabricated components.

[0009] A further improvement of the multifunctional tunnel prefabricated component assembly equipment of the present invention is that the assembly equipment further includes a crane and a second drive component. The crane is used to lift or lower the storage rack and is movably connected to the track. The second drive component is fixed on the frame vehicle and is used to drive the crane to move along the track to move the lifted storage rack below the gripping mechanism.

[0010] A further improvement of the multifunctional tunnel prefabricated component assembly equipment of the present invention is that the storage rack includes a base frame and two guardrails, the two guardrails being fixed to the two opposite sides of the base frame to form a storage rack with a U-shaped cross-section.

[0011] A construction method for a multifunctional prefabricated component assembly equipment for tunnels, as described above, includes the following steps: S1. Start the frame vehicle and move it along the tunnel to the position where the precast components are to be assembled; S2. Start the transport vehicle to transport the prefabricated components to the bottom of the frame vehicle; S3. Using the coordinated movement of the first driving component, the rotating mechanism and the robotic arm, the gripping mechanism is moved to the top of the precast component and the gripping mechanism is used to grip the precast component. S4. Using the coordinated movement of the first driving component, the rotating mechanism and the robotic arm, the gripping mechanism is moved to the assembly position, and the prefabricated components gripped by the gripping mechanism are assembled at the assembly position.

[0012] A further improvement of the construction method of the multifunctional tunnel prefabricated component assembly equipment of the present invention is that the prefabricated component is rectangular, and both ends of the rectangular prefabricated component in the length direction are assembly ends. The gripping mechanism is rotatably connected to the end of the robotic arm and rotates about the center line perpendicular to the ring seat as the rotation axis. The assembly equipment also includes a third driving component for driving the gripping mechanism to rotate. The assembly equipment also includes a laser level. The prefabricated component is marked with ink lines. Before performing step S4, a laser line is projected onto the position to be assembled using a laser level. When assembling the prefabricated component held by the gripping mechanism at the assembly position, the third driving component drives the gripping mechanism to rotate, thereby adjusting the assembly posture of the prefabricated component, and stops rotating when the ink line and the laser line coincide.

[0013] A further improvement of the construction method of the multifunctional tunnel prefabricated component assembly equipment of the present invention is that the transport vehicle includes a double-headed vehicle and a storage rack, the storage rack is placed on the top of the double-headed vehicle for storing prefabricated components, and the assembly equipment also includes a crane and a second drive component, the crane is slidably connected to the track, and the second drive component is fixed to the frame vehicle. Before performing step S2, the prefabricated components are stored on the storage rack, and when performing step S2, the double-headed vehicle is started to move the storage rack to the bottom of the frame vehicle. Before performing step S3, the storage rack is lifted by a crane, the double-headed vehicle is started to move backward and move away from under the frame vehicle, the second drive unit is used to drive the crane to move along the track and move the lifted storage rack to below the grabbing mechanism, and the crane is used to lower the storage rack to the bottom of the tunnel.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention transports prefabricated components to a frame vehicle using a transport vehicle, grabs the prefabricated components using a gripping mechanism, and then uses the coordinated movement of a first drive component, a rotating mechanism, and a robotic arm to move the gripping mechanism to the assembly position. The prefabricated components grabbed by the gripping mechanism are then assembled at the assembly position. Compared with traditional hoisting, this application improves construction efficiency and reduces safety risks by adjusting the position and assembly posture of the prefabricated components through the coordination of various mechanical movements. Attached Figure Description

[0015] Figure 1 A schematic diagram of the installation of the prefabricated flue slab according to the present invention is shown.

[0016] Figure 2 A schematic diagram of the crane position according to the present invention is shown.

[0017] Figure 3 A schematic diagram of the installation of the prefabricated partition wall according to the present invention is shown.

[0018] Figure 4 A schematic diagram is shown of the dual-head vehicle transport storage rack of the present invention positioned under the frame vehicle.

[0019] Figure 5 A schematic diagram of the frame structure of the present invention is shown.

[0020] Figure 6 A schematic diagram of the storage rack structure of the present invention is shown.

[0021] In the diagram: 1. Frame vehicle; 2. Circular seat; 3. Rotating mechanism; 4. Robotic arm; 5. Grabbing mechanism; 6. Tunnel; 7. Bow-shaped component; 8. Corbel; 9. Crane; 10. Double-headed vehicle; 11. Storage rack; 111. Base frame; 112. Guardrail; 12. Precast component; 121. Precast flue slab; 122. Precast partition wall. Detailed Implementation

[0022] To address the problem that traditional methods of transporting and assembling precast components are insufficient to meet construction requirements, this invention provides a multifunctional precast component assembly equipment and construction method for tunnels. The following detailed description, in conjunction with specific embodiments and accompanying drawings, further illustrates this multifunctional precast component assembly equipment and construction method for tunnels.

[0023] See Figures 1-6 As shown, a multifunctional prefabricated component assembly equipment for tunnels includes: Frame vehicle 1 is used to move along the tunnel to the assembly position of the precast components; The track is fixed on the frame vehicle 1, and the extension direction of the track is consistent with the movement direction of the frame vehicle 1. The annular seat 2 is fitted onto the outside of the frame car 1 and can move along the track; The first driving component is used to drive the annular seat 2 to move along the track; The rotating mechanism 3 is rotatably sleeved on the outside of the annular seat 2, and the rotating mechanism 3 rotates about the center line of the annular seat 2 as the axis of rotation; The robotic arm 4 is fixedly connected to the rotating mechanism 3 and can rotate with the rotation of the rotating mechanism 3. The position of the end effector on the plumb surface can be adjusted by the movement of the robotic arm 4 itself. The gripping mechanism 5 is used to grip and release the prefabricated component 12. The gripping mechanism 5 is connected to the end of the robotic arm 4 and can adjust its position following the movement of the robotic arm 4. A transport vehicle is used to transport the precast component 12 to the underside of the frame vehicle 1 for the gripping mechanism 5 to grip. The coordinated movement of the first driving component, the rotating mechanism 3, and the robotic arm 4 can drive the gripping mechanism 5 to move to the assembly position, and further assemble the prefabricated component 12 gripped by the gripping mechanism 5 at the assembly position.

[0024] This invention transports prefabricated components 12 to the underside of a frame vehicle 1 using a transport vehicle. A gripping mechanism 5 grips the prefabricated components 12, and then the gripping mechanism 5 is moved to the assembly position by the coordinated movement of the first drive component, the rotating mechanism 3, and the robotic arm 4. The prefabricated components 12 gripped by the gripping mechanism 5 are then assembled at the assembly position. Compared with traditional hoisting, this application improves construction efficiency and reduces safety risks by adjusting the position and assembly posture of the prefabricated components 12 through the coordination of various mechanical movements.

[0025] Among them, see Figure 3-5 As shown, the prefabricated component 12 is rectangular, and both ends of the rectangular prefabricated component 12 in the length direction are assembly ends. The gripping mechanism 5 is rotatably connected to the end of the robotic arm 4, and the gripping mechanism 5 rotates about the center line perpendicular to the ring seat 2 as the axis of rotation. The assembly equipment also includes a third drive component for driving the gripping mechanism 5 to rotate. The third drive component drives the gripping mechanism 5 to rotate, thereby causing the prefabricated component 12 gripped by the gripping mechanism 5 to adjust its assembly posture.

[0026] For details, please refer to Figure 3 As shown, in this embodiment, the lower part of the tunnel 6 is constructed with an arched component 7, and the frame vehicle 1, transport vehicle, etc. move on the arched component 7. The upper ends of the tunnel are pre-constructed with corbels 8 (which are existing technologies and will not be described in detail) to support the installation of the precast flue slab 121. Further, see Figure 2 and 3As shown in this application, the rectangular prefabricated component 12 can be a prefabricated flue slab 121 and a prefabricated partition wall 122. To facilitate transportation within the tunnel 6, the length direction of the prefabricated flue slab 121 and the prefabricated partition wall 122 is consistent with the longitudinal direction of the tunnel 6. When constructing the prefabricated flue slab 121 or the prefabricated partition wall 122, the gripping mechanism 5 first grips the prefabricated flue slab 121 or the prefabricated partition wall 122. Then, the coordinated movement of the first driving component, the rotating mechanism 3, and the robotic arm 4 drives the gripped prefabricated component 12 to the assembly position. At this time, the assembly ends of the prefabricated flue slab 121 do not correspond to the brackets at both ends (connection positions). Then, the gripping mechanism 5 can be driven to rotate by the third driving component to drive the prefabricated component 12 gripped by the gripping mechanism 5 to rotate a certain angle at the assembly position, so that the two assembly ends are adjusted to correspond to the brackets at both ends. This method is beneficial for precise assembly in a limited space.

[0027] It also includes a laser level, which projects a laser line at the position to be assembled. The prefabricated component 12 is marked with an ink line, which is used to make the ink line coincide with the laser line when the prefabricated component 12 is assembled at the position to be assembled, so as to realize the assembly of the prefabricated component 12.

[0028] By adopting the above design, before assembling the prefabricated component 12, a laser line vertical plane is projected at the assembly position using a laser level, and an ink line is marked on the center line position of the prefabricated component 12. When assembling the prefabricated component 12, the ink line is made to coincide with the position of the laser line vertical plane, which can ensure the accurate assembly position of the prefabricated component 12 and facilitate rapid construction.

[0029] Among them, see Figure 3 As shown, the transport vehicle includes a double-headed vehicle 10 and a storage rack 11, which is placed on top of the double-headed vehicle 10 for storing prefabricated components 12.

[0030] The design of the double-headed vehicle 10 facilitates bidirectional transportation of the storage rack 11, which is beneficial for the continuous transportation of prefabricated components 12 for assembly.

[0031] Among them, see Figure 4-5 As shown, the assembly equipment also includes a crane 9 and a second drive unit. The crane 9 is used to lift or lower the storage rack 11 and is movably connected to the track. The second drive unit is fixed on the frame vehicle 1 and is used to drive the crane 9 to move along the track to move the lifted storage rack 11 to below the gripping mechanism 5.

[0032] By adopting the above design, the crane 9 is used to lift the storage rack 11 so that it is detached from the double-headed vehicle 10, and the second drive unit drives it to move to the bottom of the grabbing mechanism 5. Then, it can exit under the frame vehicle 1 through the double-headed vehicle 10, which can leave operating space for the grabbing mechanism 5 to grab the prefabricated component 12.

[0033] Among them, see Figure 6 As shown, the storage rack 11 includes a base frame 111 and two guardrails 112. The two guardrails 112 are respectively fixed to the two opposite sides of the base frame 111 to form a U-shaped storage rack 11.

[0034] By adopting the above design, the prefabricated component 12 can be placed in the storage rack 11 with a U-shaped cross-section. The guardrails 112 on both sides can prevent the prefabricated component 12 from moving left and right during transportation, avoid the prefabricated component 12 from being placed in a mess, and facilitate the gripping mechanism 5 to grip the prefabricated component 12.

[0035] A construction method for a multifunctional tunnel prefabricated component assembly equipment as described above includes the following steps: S1. Start the frame vehicle 1 and move it along the tunnel 6 to the position where the precast component 12 is to be assembled; S2. Start the transport vehicle to transport the precast component 12 to the bottom of the frame vehicle 1; S3. The first driving component, the rotating mechanism 3 and the robotic arm 4 work together to move the gripping mechanism 5 above the precast component 12 and grip the precast component 12. S4. The first driving component, the rotating mechanism 3 and the robotic arm 4 work together to move the gripping mechanism 5 to the assembly position and assemble the prefabricated component 12 gripped by the gripping mechanism 5 at the assembly position.

[0036] The prefabricated component 12 is rectangular, and both ends of the rectangular prefabricated component 12 in the length direction are assembly ends. The gripping mechanism 5 is rotatably connected to the end of the robotic arm 4 and the gripping mechanism 5 rotates about the center line perpendicular to the ring seat 2 as the rotation axis. The assembly equipment also includes a third driving component for driving the gripping mechanism 5 to rotate. The splicing equipment also includes a laser level. The prefabricated component 12 is marked with ink lines. Before performing step S4, a laser line is projected onto the assembly location using a laser level. When assembling the prefabricated component 12 held by the gripping mechanism 5 at the assembly position, the gripping mechanism 5 is driven to rotate by the third driving component to adjust the assembly posture of the prefabricated component 12, and stops rotating when the ink line and the laser line coincide.

[0037] The transport vehicle includes a double-headed vehicle 10 and a storage rack 11. The storage rack 11 is placed on top of the double-headed vehicle 10 and is used to store prefabricated components 12. The assembly equipment also includes a crane 9 and a second drive unit. The crane 9 is slidably connected to the track, and the second drive unit is fixed to the frame vehicle 1. Before performing step S2, the prefabricated component 12 is stored on the storage rack 11, and when performing step S2, the double-headed vehicle 10 is started to move the storage rack 11 to the bottom of the frame vehicle 1. Before performing step S3, the crane 9 is used to lift the storage rack 11, the double-headed vehicle 10 is started to move backward and move away from under the frame vehicle 1, the second drive unit is used to drive the crane 9 to move along the track and move the lifted storage rack 11 to below the grabbing mechanism 5, and the crane 9 is used to lower the storage rack 11 to the bottom of the tunnel 6.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0039] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A multi-functional in-tunnel precast component assembling apparatus, characterized by, The application relates to a multifunctional tunnel prefabricated component assembling device. The device comprises a frame vehicle for moving along a tunnel to a position where a prefabricated component is to be assembled; a track fixed on the frame vehicle, the track extending in the same direction as the frame vehicle; a ring-shaped seat sleeved on the outside of the frame vehicle and movable along the track; a first driving element for driving the ring-shaped seat to move along the track; a rotating mechanism rotatably sleeved on the outside of the ring-shaped seat and rotating around the center line of the ring-shaped seat; a mechanical arm fixedly connected to the rotating mechanism and rotating with the rotating mechanism, the mechanical arm being capable of adjusting the position of the end thereof on a plumb surface through self-motion; a grabbing mechanism for grabbing and releasing the prefabricated component, the grabbing mechanism being connected to the end of the mechanical arm and capable of adjusting the position through self-motion of the mechanical arm; and a transport vehicle for transporting the prefabricated component to the lower side of the frame vehicle for the grabbing mechanism to grab. The first driving element, the rotating mechanism and the mechanical arm are cooperatively moved to drive the grabbing mechanism to move to the position where the prefabricated component is to be assembled and further assemble the prefabricated component grabbed by the grabbing mechanism at the position. The prefabricated component is rectangular, both ends of the length direction of the rectangular prefabricated component are assembling ends, the grabbing mechanism is rotatably connected to the end of the mechanical arm and rotates around the center line of the ring-shaped seat. The device further comprises a third driving element for driving the grabbing mechanism to rotate, the third driving element drives the grabbing mechanism to rotate to adjust the assembling pose of the prefabricated component grabbed by the grabbing mechanism.

3. The multifunctional tunnel prefabricated component assembling device according to claim 2, further comprising a laser level for projecting a laser line at the position where the prefabricated component is to be assembled, the prefabricated component being marked with an ink line, the prefabricated component being assembled at the position by making the ink line coincide with the laser line. The transport vehicle comprises a double-end vehicle and a storage rack, the storage rack being placed on the top of the double-end vehicle and used for storing the prefabricated component.

5. The multifunctional tunnel prefabricated component assembling device according to claim 4, further comprising a crane and a second driving element, the crane being used for lifting or lowering the storage rack and being movably connected to the track, the second driving element being fixed on the frame vehicle and used for driving the crane to move along the track to move the lifted storage rack to the lower side of the grabbing mechanism. The storage rack comprises a bottom frame and two guardrails, the two guardrails being oppositely fixed to the two sides of the bottom frame to form a U-shaped storage rack in cross section. The device comprises the following steps:

2. The multi-functional in-tunnel precast component assembly apparatus of claim 1, wherein, S1, starting the frame vehicle to move along a tunnel to a position where a prefabricated component is to be assembled; S2, starting the transport vehicle to transport the prefabricated component to the lower side of the frame vehicle; S3, cooperatively moving the first driving element, the rotating mechanism and the mechanical arm to drive the grabbing mechanism to move to the upper side of the prefabricated component and grab the prefabricated component by the grabbing mechanism; S4, cooperatively moving the first driving element, the rotating mechanism and the mechanical arm to drive the grabbing mechanism to move to the position where the prefabricated component is to be assembled and assemble the prefabricated component grabbed by the grabbing mechanism at the position.

4. The multi-functional in-tunnel precast component assembly apparatus of claim 1, wherein, ​ ​ ​ 6. The multi-functional in-tunnel precast component assembly apparatus of claim 4, wherein, ​ 7. A construction method of the multifunctional tunnel inner precast member assembling apparatus according to claim 1, characterized in that, ​ ​ ​ ​ ​ 8. The construction method of a multi-functional in-tunnel precast component assembling apparatus according to claim 7, characterized in that, The prefabricated component is rectangular, and both ends of the length direction of the rectangular prefabricated component are assembly ends, the grabbing mechanism is rotatably connected to the end of the mechanical arm, and the grabbing mechanism rotates around the center line of the annular seat as the rotation axis, the assembly equipment further comprises a third driving member for driving the grabbing mechanism to rotate, and the splicing equipment further comprises a laser level, and the prefabricated component is marked with an ink line; Before the step S4 is performed, a laser line is projected on the position to be assembled by using the laser level; When the prefabricated component grabbed by the grabbing mechanism is assembled at the position to be assembled, the third driving member is used to drive the grabbing mechanism to rotate, so as to drive the prefabricated component to adjust the assembly position, and the rotation is stopped when the ink line coincides with the laser line.

9. The construction method of a multi-functional in-tunnel precast component assembling apparatus according to claim 7, wherein, The transport vehicle comprises a double-head vehicle and a storage rack, the storage rack is placed on the top of the double-head vehicle and is used for storing the prefabricated component, the assembly equipment further comprises a crane and a second driving member, the crane is slidably connected to the track, and the second driving member is fixed to the frame vehicle; Before the step S2 is performed, the prefabricated component is stored in the storage rack, and when the step S2 is performed, the double-head vehicle is started to drive the storage rack to move below the frame vehicle; Before the step S3 is performed, the storage rack is lifted by the crane, the double-head vehicle is started to retreat and separate from below the frame vehicle, the second driving member is used to drive the crane to move along the track and move the lifted storage rack below the grabbing mechanism, and the storage rack is lowered to the bottom of the tunnel by the crane.

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