Equipment and method for transporting and assembling arched steel structures in tunnels

Abstract

The present invention relates to a device and method for transporting and assembling an arched steel structure in a tunnel. A top mechanical arm and a side mechanical arm are installed on the walking mechanism of the device. The top mechanical arm includes a first actuator and a lifting unit for cooperating with the top arch steel structure. The side mechanical arm includes a second actuator and a side shift unit for cooperating with the side wall steel structure. The side shift unit is used to drive the second actuator to move left and right. The assembly mechanism also includes a lifting device, and the top mechanical arm and / or the side mechanical arm are installed on the lifting device. The top mechanical arm and the side mechanical arm of the present invention can cooperate with each other to firmly support the overall arched steel structure from different positions, thereby safely and efficiently transporting and assembling the overall arched steel structure. The top mechanical arm and the side mechanical arm can also transport and assemble the top arch steel structure and the side wall steel structure separately. Through the convenient operation of lifting and lowering and side shifting of the mechanical arm, the tunnel wall surface can be avoided during transportation, so that the tunnel section range applicable to the present invention is wider.

Description

Technical Field

[0001] The invention relates to the technical field of construction of assembled steel structure engineering in tunnels, and in particular to transport and assemble equipment and a transport and assemble method for arched steel structures in tunnels. Background Art

[0002] During the tunnel excavation process, it is necessary to erect an "arch steel structure" in the tunnel along the tunnel direction to support the tunnel to prevent tunnel collapse. During the construction of the arch steel structure in the tunnel, the arch steel structure needs to be transported to the installation site and then assembled. Existing mechanized assembly equipment can be found in the "A kind of arch steel structure assembly equipment and method in the tunnel" disclosed in the patent document with application publication number CN114135325A, and the "A kind of multifunctional assembly equipment for assembled steel structure in the tunnel" disclosed in the patent document with application publication number CN114046164A. This type of assembly equipment includes a walking mechanism and an assembly mechanism installed on the walking mechanism. The mechanical arm of the assembly mechanism and the actuator at the end of the mechanical arm can grab and put down the steel structure. Different types of actuators can grab different steel structures. For example, the actuator in the CN114135325A patent document can grab the overall arch steel structure, while the actuator in the CN114046164A patent document can be replaced. The two actuators can respectively grab the independent top arch steel structure and side wall steel structure.

[0003] The above-mentioned existing assembly equipment uses the mechanical arm carried by the walking mechanism to grab the steel structure and walk together in the tunnel, thereby realizing the transportation of the steel structure in the tunnel. The movement of the mechanical arm can adjust the posture of the steel structure and move it to the installation position. With the cooperation of the on-site personnel, the transported steel structure is assembled with the existing steel structure. However, the assembly equipment in the prior art only has one actuator fixedly matched with the steel structure during one transportation. If the overall arched steel structure is transported, it is not firm enough because the actuator is fixedly matched with the steel structure only locally (for example, the bottom of the arch in the CN114135325A patent document), and there are construction risks such as overturning and falling off. If only a certain rigid structure component (top arch steel structure, side wall steel structure) is transported at one time, the efficiency is not high. Summary of the invention

[0004] The purpose of the present invention is to provide a transport and assembly device for an arched steel structure in a tunnel, which can improve the construction efficiency while ensuring the construction safety. The purpose of the present invention is also to provide a transport and assembly method for an arched steel structure in a tunnel, which can reduce safety hazards and improve work efficiency.

[0005] The present invention provides an equipment for transporting and assembling an arched steel structure in a tunnel, comprising a walking mechanism, an assembling mechanism installed on the walking mechanism, the assembling mechanism comprising a mechanical arm, an actuator at the end of the mechanical arm, the actuator having a matching structure, and being used for fixedly matching with a corresponding structure on the steel structure during the transportation and assembly of the steel structure; the mechanical arm comprises a top mechanical arm and a side mechanical arm; the top mechanical arm comprises a first actuator and a lifting unit for matching with the top arch steel structure, the lifting unit is used to drive the first actuator to rise and fall, so that the first actuator approaches or separates from the bottom of the top arch steel structure to be fixedly matched with or separated from the top arch steel structure, or drives the top arch steel structure fixedly matched with the first actuator to rise and fall; the side mechanical arm comprises a second actuator for matching with the side wall steel structure The side-shift unit is used to drive the second actuator to move left and right, so that the second actuator approaches or separates from the side of the side wall steel structure to be fixedly matched with or separated from the side wall steel structure, or drives the side wall steel structure fixedly matched with the second actuator to move to a predetermined position, and the predetermined position includes: an installation position and a transportation position. The installation position is close to the tunnel wall to correspond to the position to be installed of the side wall steel structure, and the transportation position is close to the walking mechanism and away from the tunnel wall to avoid the tunnel wall; the assembling mechanism also includes a lifting device, the top mechanical arm and / or the side mechanical arm are installed on the lifting device, and the lifting device is used to drive the top mechanical arm and the top arch steel structure fixedly matched with the top mechanical arm to rise and fall and / or to drive the side mechanical arm and the side wall steel structure fixedly matched with the side mechanical arm to rise and fall.

[0006] The tunnel arch steel structure transport and assembly equipment of the present invention is equipped with two kinds of mechanical arms. The top mechanical arm and the side mechanical arm can cooperate with each other to firmly support the overall arch steel structure from different positions, so the overall arch steel structure can be transported and assembled safely and efficiently; and the two mechanical arms can also transport and assemble the top arch steel structure and the side wall steel structure separately, and through the convenient operation of lifting and lowering and lateral movement of the mechanical arms, the steel structure can be moved away from the tunnel wall along with the mechanical arms, so that the tunnel wall can be avoided during transportation, making the tunnel section range applicable to the present invention wider.

[0007] Furthermore, the mating structure of the second actuator is a claw having an upwardly folded flange, and a connecting plate corresponding to the claw is fixed on the side wall steel structure, and the connecting plate has a downwardly folded flange, and the upwardly folded flange of the claw is used to interlock and fix with the downwardly folded flange of the connecting plate.

[0008] Furthermore, the lifting device includes a lifting platform and a lifting mechanism, the mechanical arm is installed on the lifting platform, and the lifting mechanism is used to drive the lifting platform to rise and fall.

[0009] Furthermore, the top mechanical arm includes a swivel unit, which is used to drive the first actuator to rotate around the vertical axis to a set angle, and has two states: a horizontal state and a vertical state, so as to adjust the posture of the top arch steel structure fixedly matched with the first actuator. The first actuator in the horizontal state makes the left and right arch legs of the top arch steel structure be on the left and right sides of the walking mechanism, and the first actuator in the vertical state makes the left and right arch legs of the top arch steel structure be on the front and back sides of the walking mechanism. The swivel unit enables the top mechanical arm, which originally telescopes and lifts in the vertical direction, to have the freedom to rotate around the vertical axis, so that it can change the height of the top arch steel structure at the top position of the arc, and also change its horizontal and vertical posture. The first actuator in the vertical state makes the left and right arch legs of the top arch steel structure be on the front and back sides of the walking mechanism, that is, the space occupied by the top arch steel structure in the left and right directions is reduced, so as to be far away from the tunnel wall to the maximum extent, so that the present invention can be adapted to small-sized tunnels with small width in the left and right directions.

[0010] Furthermore, the side shift unit of the side robot arm includes a left-right shift unit and / or a left-right swing unit, and the left-right movement includes at least one of the following: translation and swing. The left-right shift unit and the left-right swing unit enable the side robot arm to have both the degree of freedom of left-right movement and the degree of freedom of left-right swing, so that the second actuator has a larger range of motion.

[0011] Furthermore, the transfer position of the second actuator is in front of or behind the traveling mechanism, and the installation position of the second actuator is on the left and right sides of the traveling mechanism. When the side shift unit of the side robot arm drives the second actuator to be in the transfer position, the side wall steel structure fixedly matched by the second actuator is in front of the traveling mechanism and in the center of the tunnel, so as to be far away from the tunnel wall as much as possible, so that the present invention can be adapted to small-sized tunnels with small width in the left and right directions.

[0012] The present invention provides a method for transporting and assembling an arched steel structure in a tunnel, which utilizes the above-mentioned equipment for assembling an arched steel structure in a tunnel to transport and assemble an integral arched steel structure in one operation, comprising:

[0013] (1) At the hoisting position, the side shift unit of the side mechanical arm drives the second actuator to approach the side of the side wall steel structure, and the side shift mechanical arm is driven by the lifting device to rise so that the second actuator is fixedly matched with the side wall steel structure; the lifting unit of the top mechanical arm drives the first actuator to rise until the first actuator is fixedly matched with the bottom of the top arch steel structure;

[0014] (2) After the side mechanical arm is fixedly matched with the side wall steel structure, and the top mechanical arm is fixedly matched with the top arch steel structure, the lifting device drives the side mechanical arm, the top mechanical arm and the overall arch steel structure to rise as a whole, so that the overall arch steel structure leaves the ground, and then the walking mechanism moves to the position to be installed;

[0015] (3) At the installation location, the lifting device drives the side robotic arm, the top robotic arm and the overall arched steel structure to descend as a whole, so that the overall arched steel structure falls back to the ground, and then the arched steel structure to be installed is fixedly connected to the existing arched steel structure. Finally, the lifting unit of the top robotic arm drives the first actuator to descend and detach from the top arched steel structure, and the side shift unit of the side robotic arm drives the second actuator to detach from the side of the side wall steel structure. The walking mechanism moves back to the lifting position to lift the next steel structure.

[0016] Another method for transporting and assembling an arched steel structure in a tunnel provided by the present invention utilizes the above-mentioned equipment for assembling an arched steel structure in a tunnel to successively transport and assemble a side wall steel structure and a top arch steel structure, comprising:

[0017] (1) Transportation and assembly of the side wall steel structure: At the hoisting position, the side shift unit of the side robot arm drives the second actuator to the transport position, the walking mechanism carries the side wall steel structure to the installation position, the side shift unit of the side robot arm drives the second actuator to the installation position, the lifting device descends to place the side wall steel structure on the ground at the installation position and assembles it;

[0018] (2) Transportation and assembly of the top arch steel structure: After the left and right side wall steel structures are installed, at the hoisting position, the first actuator is driven down by the lifting unit of the top robot arm to a set height that is convenient for transportation, and the top arch steel structure is placed on the first actuator and fixed, and the walking mechanism is used to drive the top robot arm to transport the top arch steel structure to the installation position; at the installation position, the first actuator is driven up by the lifting unit of the top robot arm to a set height, so that the top arch steel structure is above the two side wall steel structures, and then the first actuator is driven down by the lifting unit of the top robot arm, so that the top arch steel structure is placed on the two side wall steel structures and assembled.

[0019] Furthermore, the top robotic arm includes a swivel unit, which is used to drive the first actuator to rotate around the vertical axis to a set angle, and has two states: a horizontal state and a vertical state, so as to adjust the posture of the top arch steel structure fixedly matched with the first actuator. The first actuator in the horizontal state makes the left and right arch legs of the top arch steel structure be on the left and right sides of the walking mechanism, and the first actuator in the vertical state makes the left and right arch legs of the top arch steel structure be on the front and back sides of the walking mechanism; when transporting the top arch steel structure, the first actuator is driven by the swivel unit to rotate to the vertical state, so that the left and right arch legs of the top arch steel structure are on the front and back sides of the walking mechanism to avoid the tunnel walls on the left and right sides.

[0020] Furthermore, the side shift unit of the side robot arm includes a left and right moving unit and a left and right swing unit, the transfer position of the second actuator is located in front of or behind the walking mechanism, and the installation position of the second actuator is located on the left and right sides of the walking mechanism; when transferring the side wall steel structure, the second actuator and the side wall steel structure are driven to the front or rear of the walking mechanism by the side shift unit to avoid the tunnel walls on the left and right sides. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of Embodiment 1 of the tunnel arch steel structure transport and assembly equipment of the present invention;

[0022] Figure 2 It is a three-dimensional schematic diagram of the arched steel structure;

[0023] Figure 3 It is a schematic diagram of the side wall steel structure;

[0024] Figure 4 It is one of the construction status diagrams of Example 1;

[0025] Figure 5 This is the second construction status diagram of Example 1;

[0026] Figure 6 This is the third construction state diagram of Example 1;

[0027] Figure 7 This is the fourth construction state diagram of Example 1;

[0028] Figure 8 This is the fifth construction state diagram of Example 1;

[0029] Fig. 9 This is the sixth construction state diagram of Example 1;

[0030] Fig.10 This is the seventh construction state diagram of Example 1;

[0031] Fig.11 It is a structural schematic diagram of Embodiment 2 of the tunnel arch steel structure transport and assembly equipment of the present invention;

[0032] Fig.12 yes Fig.11 Schematic diagram of the structure of the top robotic arm;

[0033] Fig.13 yes Fig.11 Schematic diagram of the structure of the side robot arm;

[0034] Fig.14 It is one of the construction status diagrams of Example 2;

[0035] Fig.15 This is the second construction state diagram of Example 2;

[0036] Fig.16 This is the third construction state diagram of Example 2;

[0037] Fig.17 This is the fourth construction state diagram of Example 2;

[0038] Fig.18 This is the fifth construction state diagram of Example 2;

[0039] Fig.19 This is the sixth construction status diagram of Example 2;

[0040] In the figure:

[0041] 1. Walking mechanism; 101. Lifting platform; 102. Mounting frame; 2. Top robotic arm; 21. Telescopic unit; 22. First actuator; 3. Side robotic arm; 31. Side shift unit; 32. Second actuator; 4. Top arch steel structure; 5. Side wall steel structure; 51. Connecting plate; 6. Large-size tunnel; 7. Small-size tunnel; 8. Ground; 9. Position to be assembled; 201. Outer arm; 202. Inner arm; 203. Rotating unit; 204. Upper claw; 3011. Slide rail; 3012. Sliding block; 3013. Driving motor; 302. Translation arm; 303. Swinging device; 304. Swinging arm. DETAILED DESCRIPTION

[0042] Embodiment 1 of the tunnel arch steel structure transport and assembly equipment of the present invention, as Figure 1 As shown, it includes a walking mechanism 1, on which an assembly mechanism is installed. The assembly mechanism includes a lifting platform 101, a lifting mechanism, and a mechanical arm installed on the lifting platform 101. The lifting mechanism is used to drive the lifting platform 101 to rise and fall. There are two types of mechanical arms: a top mechanical arm 2 and a side mechanical arm 3, which correspond to Figure 2 , Figure 3 The two parts of the arched steel structure shown are: the top arch steel structure 4 and the side wall steel structure 5. Each mechanical arm has an actuator at the end, and the actuator has a matching structure, which is used to be fixedly matched with the corresponding structure on the steel structure during transportation and assembly of the steel structure. The first actuator 22 of the top mechanical arm 2 is used to be fixedly matched with the top arch steel structure 4, and the second actuator 32 of the side mechanical arm 3 is used to be fixedly matched with the side wall steel structure 5.

[0043] In this embodiment, there are two top mechanical arms 2, which extend in the vertical direction and are arranged side by side on the lifting platform 101. The top mechanical arms 2 include a first actuator 22 for fixedly matching with the top arch steel structure 4 and a lifting unit. The lifting unit is specifically a telescopic oil cylinder. The lifting unit is used to drive the first actuator 22 to rise and fall, so that the first actuator 22 approaches or separates from the bottom of the top arch steel structure 4 to be fixedly matched with or separated from the top arch steel structure 4. The lifting unit can also be used to drive the top arch steel structure 4 fixedly matched with the first actuator 22 to rise and fall. The matching structure of the first actuator 22 in this embodiment is a supporting arc surface arranged at the top of the first actuator 22, and the supporting arc surface is used to match with the bottom surface of the top arch steel structure 4 to form a supporting fixed match.

[0044] There are two side mechanical arms 3, which extend in the horizontal direction and are arranged on the lifting platform 101 in opposite directions. The side mechanical arms 3 include a second actuator 32 for cooperating with the side wall steel structure 5 and a side shift unit 31. The side shift unit 31 is specifically a telescopic oil cylinder. The side shift unit 31 is used to drive the second actuator 32 to move left and right, so that the second actuator 32 approaches or separates from the inner side of the side wall steel structure 5 to be fixedly matched with or separated from the side wall steel structure 5. The left and right movement in this embodiment is specifically a left and right translation movement, that is, a movement along a straight line. In other embodiments, the left and right movement can also be a left and right swing movement or a combination of left and right translation and left and right swing. The corresponding side shift unit 31 can be a rotary drive mechanism, such as a motor driven by an output torque or a hydraulic motor. Moreover, the side shift unit 31 is also used to drive the side wall steel structure 5 fixedly matched with the second actuator 32 to move left and right to a predetermined position: an installation position and a transportation position. The installation position is close to the tunnel wall to correspond to the position to be installed of the side wall steel structure 5, and the transportation position is close to the walking mechanism 1 and away from the tunnel wall to avoid the tunnel wall. The matching structure of the second actuator 32 in this embodiment is a claw, and the claw has an upwardly folded flange. Figure 3 As shown, holes are punched at appropriate positions on the inner side of the side wall steel structure 5, and then the connecting plate 51 is fixed by bolts. The connecting plate 51 has a downward folded flange, and the upward folded flange of the claw and the downward folded flange of the connecting plate 51 of the side wall steel structure 5 form an interlocking and fixed fit to grab the side wall steel structure 5.

[0045] When the above-mentioned embodiment 1 of the present invention is in use, there are two assembly methods described below: the first assembly method is to transport and assemble the overall arch steel structure, and the second assembly method is to transport and assemble the side wall steel structure 5 and the top arch steel structure 4 in sequence.

[0046] like Figure 4-Figure 6 As shown, the steps of the first assembly method are as follows, which is also the embodiment a of the method for transporting and assembling the arched steel structure in a tunnel of the present invention:

[0047] (1) Figure 4 As shown, at the hoisting position, the whole arched steel structure is hoisted by a crane, the connecting plate 51 is fixed to the side of the side wall steel structure 5 with bolts, and the walking mechanism 1 moves to the bottom of the arched steel structure.

[0048] (2) Figure 5 As shown, the side shift unit 31 of the side robot arm 3 is extended, and the two second actuators 32 move close to the side of the side wall steel structure 5, and the claws of the second actuator 32 enter the grooves of the connecting plate 51, that is, they move to a position where they can be fixedly matched with the connecting plate 51. The subsequent rise of the lifting platform 101 can enable the claws of the second actuator 32 to cooperate with the connecting plate 51 on the side wall steel structure 5, thereby ensuring that the entire box is in a stable state during the rising process.

[0049] (3) Figure 6As shown, the lifting unit of the top robotic arm 2 extends upward until the two first actuators 22 contact the arc-shaped surface at the bottom of the top arch steel structure 4, so as to keep the overall steel box structure stable and prevent it from tipping over during transportation; after the side robotic arm 3 is fixedly matched with the side wall steel structure 5 and the top robotic arm 2 is fixedly matched with the top arch steel structure 4, the lifting platform 101 rises, and the top robotic arm 2, the side robotic arm 3 and the overall arch steel structure leave the ground 8 through overall lifting, and then the walking mechanism 1 drives the overall arch steel structure to move to the position to be installed.

[0050] (4) After moving to the installation location, the lifting platform 101 descends and the entire arched steel structure falls back to the ground 8 (see Figure 5 ), keep the side mechanical arm 3 fixedly matched with the side wall steel structure 5, and the top mechanical arm 2 fixedly matched with the top arch steel structure 4 to provide support and guarantee, then fix and connect the arch steel structure to be installed with the existing arch steel structure, and then retract the side mechanical arm 3 and the top mechanical arm 2 to separate from the arch steel structure (refer to Figure 4 ), the walking mechanism 1 moves back to the hoisting position to carry out the hoisting of the next steel structure.

[0051] like Figure 7-Figure 10 As shown, the steps of the second assembly method are as follows, which is also the embodiment b of the method for transporting and assembling the arched steel structure in the tunnel of the present invention:

[0052] (1) Figure 7 As shown, in the hoisting position, the walking mechanism 1 is equipped with a counterweight to prevent rollover during transportation. The side wall steel structure 5 is hoisted on the side robot arm 3 by a crane, and the connecting plate 51 of the side wall steel structure 5 is matched with the claw of the side robot arm 3; at this time, the side shift unit 31 is retracted, and the second actuator 32 is in the transport position, so that the side wall steel structure 5 is close to the walking mechanism 1 and away from the tunnel wall, which not only reduces the torque that may cause rollover, but also avoids hitting the tunnel wall, which is conducive to transportation.

[0053] (2) Figure 8 As shown, the walking mechanism 1 carries the side wall steel structure 5 to the installation position, the side shift unit 31 extends to place the second actuator 32 in the installation position, the lifting platform 101 descends to place the side wall steel structure 5 on the ground 8 at the installation position, the steel structure to be installed is fixedly connected to the existing steel structure, the side shift unit 31 retracts to separate the second actuator 32 from the side wall steel structure 5, and the walking mechanism 1 moves back to the hoisting position to hoist the next steel structure.

[0054] (3) Fig. 9 , Fig.10As shown, after the two side wall steel structures 5 are installed, a top arch steel structure 4 can be transferred to the position to be installed using the top mechanical arm 2. In the hoisting position and transportation process, the lifting unit of the top mechanical arm 2 is lowered to facilitate the placement and transportation of the top arch steel structure 4. In the position to be installed, the lifting unit of the top mechanical arm 2 is raised so that the top arch steel structure 4 is above the two side wall steel structures 5, and then the lifting unit of the top mechanical arm 2 is lowered so that the top arch steel structure 4 is placed on the two side wall steel structures 5 and fixed. The lifting unit of the top mechanical arm 2 is lowered to separate the first actuator 22 from the top arch steel structure 4, and the walking mechanism 1 moves back to the hoisting position to hoist the next steel structure.

[0055] Embodiment 2 of the tunnel arch steel structure transport and assembly equipment of the present invention, as Figure 11-Figure 19 As shown, the difference from Example 1 lies in the number and structure of the top mechanical arm 2 and the side mechanical arm 3, and correspondingly, when they transport the top arch steel structure 4 and the side wall steel structure 5 separately, the posture adjustment of the top arch steel structure 4 and the side wall steel structure 5 is also different, as follows:

[0056] There is one top mechanical arm 2, and the matching structure of the first actuator of the top mechanical arm 2 is an upper claw 204, and the upper claw 204 has a clamping groove that can clamp the front and rear end surfaces of the top arch steel structure 4. Fig.12 As shown, the top robotic arm 2 includes, in addition to a lifting unit (the lifting unit includes a nested outer arm 201 and an inner arm 202, which are driven by an internal hydraulic cylinder), a swivel unit 203. The swivel unit 203 enables the top robotic arm 2, which was originally telescopically lifted and retracted in the vertical direction, to have the freedom to swivel around the vertical axis, thereby being able to change the height of the top arch steel structure 4 at the top of the arc and its horizontal and vertical postures. Specifically, the swivel unit 203 is used to drive the upper claw 204 of the first actuator to rotate around the vertical axis to a set angle, and has two states: a horizontal state and a vertical state, so as to adjust the posture of the top arch steel structure 4 fixedly matched with the first actuator. The first actuator in the horizontal state causes the left and right arch legs of the top arch steel structure 4 to be on the left and right sides of the walking mechanism 1, and the first actuator in the vertical state causes the left and right arch legs of the top arch steel structure 4 to be on the front and rear sides of the walking mechanism 1.

[0057] like Fig.17 As shown, the first actuator in the horizontal state makes the left and right arch legs of the top arch steel structure 4 located on the left and right sides of the walking mechanism 1, and cannot pass through the small-sized tunnel 7 with a small width in the left and right directions. Fig.18 As shown, the first actuator rotated and transformed into the longitudinal state makes the left and right arch legs of the top arch steel structure 4 located at the front and rear sides of the walking mechanism 1, so that it can pass through the small-sized tunnel 7 with a smaller width in the left and right directions to reach the installation position in the large-sized tunnel 6. Fig.19As shown, at the installation position in the large-size tunnel 6, the first actuator that is rotated and transformed into a horizontal state causes the left and right arch legs of the top arch steel structure 4 to be located on the left and right sides of the walking mechanism 1, so that the top arch steel structure 4 is located above the two side wall steel structures 5 for assembly and fixation.

[0058] At the same time, there is one side robot arm 3, which is installed on the front side of the walking mechanism 1. The side shift unit of the side robot arm 3 includes a left and right translation unit and a left and right swing unit. Fig.13 As shown, the left and right translation unit includes a slide rail 3011, a slider 3012, a drive motor 3013, and a translation arm 302. The drive motor 3013 is used to drive the walking wheels on the slider 3012 to rotate so as to move left and right along the guide rail. The left and right swing unit includes a swing device 303 and a swing arm 304. The swing device 303 is specifically an electric motor or a hydraulic motor, which outputs torque to drive the swing arm 304 to swing left and right, and can achieve a swing of 90° in the left and right directions. The second actuator is fixed at the end of the swing arm 304.

[0059] As mentioned above, in the embodiment 2 of the tunnel arch steel structure transport and assembly equipment of the present invention, since the side shift unit includes a left and right moving unit and a left and right swinging unit, the side mechanical arm 3 has both the degree of freedom of left and right movement and the degree of freedom of left and right swing. This allows the second actuator to have a larger range of motion, and the side shift unit of the side mechanical arm 3 can drive the second actuator to move the side wall steel structure 5 to the transport position and the installation position, the transport position is in front of the walking mechanism 1, and the installation position is on the left and right sides of the walking mechanism 1.

[0060] like Fig.14 , Fig.15 As shown, when the side shift unit of the side robot arm 3 drives the second actuator to be in the transfer position, the side wall steel structure 5 is away from the tunnel wall, and can adapt to the small-sized tunnel 7 with a smaller width in the left and right directions (such as Fig.15 shown).

[0061] And as Fig.16 As shown, when the walking mechanism 1 reaches the installation position of the large-sized tunnel 6 with a larger width, the side shift unit of the side robot arm drives the second actuator to be in the installation position, and the side wall steel structure 5 is close to the tunnel wall. When the lifting platform 101 is lowered, it can be assembled and fixed with the existing steel structure.

[0062] In addition, in other embodiments of the present invention, the mating structure of the actuator at the end of the robotic arm is not limited to the claw form in the above embodiments, but can also be a mating structure such as a clamping claw or hook that can be opened and closed (cylinder driven) as provided in the prior art in the background technology and can be fixedly mated with a steel structure.

[0063] In addition, the lifting device in the above embodiment is to install two kinds of mechanical arms on an integral lifting platform at the same time. In other embodiments, the lifting device can also be separated to drive the two kinds of mechanical arms separately, either synchronously or sequentially.

[0064] In addition, in other embodiments of the present invention, the number of the same type of robotic arms can be changed according to actual needs. For example, the side robotic arms in Example 2 can also be two, one installed at the front and one at the back, so that two side wall steel structures can be transported at one time, and both sides of the overall arch steel structure can be supported when transporting; of course, the side robotic arm in Example 1 can also be one, and only one side of the arch steel structure is supported when transporting the overall arch steel structure; of course, the top robotic arm in Example 1 can also be one, and the top of the first actuator can be adaptively designed as a semicircular arc.

[0065] In addition, in other embodiments of the present invention, the side shift unit of the side robot arm refers to a driving mechanism capable of providing lateral position changes to the second actuator, and the side shift includes translation and rotation, so the side shift unit of the side robot arm may also only include a left and right swing unit.

Claims

1. A transport and assembly device for an arched steel structure in a tunnel, comprising a traveling mechanism, an assembling mechanism installed on the traveling mechanism, the assembling mechanism comprising a mechanical arm, an actuator at the end of the mechanical arm, and the actuator having a matching structure for fixedly matching with a corresponding structure on the steel structure during transport and assembly of the steel structure; characterized in that: The robotic arm includes a top robotic arm and a side robotic arm; The top mechanical arm includes a first actuator and a lifting unit for cooperating with the top arch steel structure. The lifting unit is used to drive the first actuator to lift and lower, so that the first actuator approaches or separates from the bottom of the top arch steel structure to be fixedly matched with or separated from the top arch steel structure, or drives the top arch steel structure fixedly matched with the first actuator to lift and lower; The side robot arm includes a second actuator and a side shift unit for cooperating with the side wall steel structure. The side shift unit includes a left-right moving unit and a left-right swing unit. The left-right moving unit is used to drive the second actuator to move left-right, driving the side wall steel structure fixedly matched with the second actuator to move to a predetermined position. The predetermined position includes: an installation position and a transport position. The installation position is close to the tunnel wall to correspond to the position to be installed of the side wall steel structure, and the transport position is close to the walking mechanism and away from the tunnel wall to avoid the tunnel wall. The left-right swing unit is used to drive the second actuator to be in the transport position in front of or behind the walking mechanism when transporting the side wall steel structure, so as to avoid the tunnel walls on the left and right sides to adapt to the small-sized tunnel in the left and right width directions. The installation position of the second actuator is on the left and right sides of the walking mechanism. The assembly mechanism also includes a lifting device, on which the top robotic arm and the side robotic arm are installed. The lifting device is used to drive the top robotic arm and the top arch steel structure fixedly matched with the top robotic arm to lift and / or to drive the side robotic arm and the side wall steel structure fixedly matched with the side robotic arm to lift and lower.

2. The tunnel arch steel structure transport and assembly equipment according to claim 1, characterized in that: The mating structure of the second actuator is a claw having an upwardly folded flange. A connecting plate corresponding to the claw is fixed on the side wall steel structure, and the connecting plate has a downwardly folded flange. The upwardly folded flange of the claw is used to interlock and fit with the downwardly folded flange of the connecting plate.

3. The tunnel arch steel structure transport and assembly equipment according to claim 1, characterized in that: The lifting device comprises a lifting platform and a lifting mechanism. The mechanical arm is installed on the lifting platform, and the lifting mechanism is used to drive the lifting platform to move up and down.

4. The tunnel arch steel structure transport and assembly equipment according to claim 1, 2 or 3, characterized in that: The top robotic arm includes a swivel unit, which is used to drive the first actuator to rotate around the vertical axis to a set angle, and has two states: a horizontal state and a vertical state, so as to adjust the posture of the top arch steel structure fixedly matched with the first actuator. The first actuator in the horizontal state makes the left and right arch legs of the top arch steel structure be on the left and right sides of the walking mechanism, and the first actuator in the vertical state makes the left and right arch legs of the top arch steel structure be on the front and rear sides of the walking mechanism.

5. The tunnel arch steel structure transport and assembly equipment according to claim 1, 2 or 3, characterized in that: The left-right movement includes at least one of the following: translation and swing.

6. A method for transporting and assembling an arched steel structure in a tunnel, characterized in that: The tunnel arch steel structure assembly equipment according to any one of claims 1 to 3 is used for transporting and assembling the whole arch steel structure in one time, comprising: (1) At the hoisting position, the side shift unit of the side robotic arm drives the second actuator to approach the side of the side wall steel structure, and the side shift robotic arm rises under the drive of the lifting device so that the second actuator is fixedly matched with the side wall steel structure; the lifting unit of the top robotic arm drives the first actuator to rise until the first actuator is fixedly matched with the bottom of the top arch steel structure; (2) After the side mechanical arm is fixedly matched with the side wall steel structure, and the top mechanical arm is fixedly matched with the top arch steel structure, the lifting device drives the side mechanical arm, the top mechanical arm and the overall arch steel structure to rise as a whole, so that the overall arch steel structure leaves the ground, and then the walking mechanism moves to the position to be installed; (3) At the installation location, the lifting device drives the side robotic arm, the top robotic arm and the overall arched steel structure to descend as a whole, so that the overall arched steel structure falls back to the ground, and then the arched steel structure to be installed is fixedly connected to the existing arched steel structure. Finally, the lifting unit of the top robotic arm drives the first actuator to descend and detach from the top arched steel structure, and the side shift unit of the side robotic arm drives the second actuator to detach from the side of the side wall steel structure. The walking mechanism moves back to the lifting position to lift the next steel structure.

7. A method for transporting and assembling an arched steel structure in a tunnel, characterized in that: The tunnel arch steel structure transfer and assembly equipment according to any one of claims 1 to 3 is used to transfer and assemble the side wall steel structure and the top arch steel structure in sequence, comprising: (1) Transportation and assembly of the side wall steel structure: At the hoisting position, the side shift unit of the side robot arm drives the second actuator to the transport position, the walking mechanism carries the side wall steel structure to the installation position, the side shift unit of the side robot arm drives the second actuator to the installation position, the lifting device descends to place the side wall steel structure on the ground at the installation position and assembles it; (2) Transportation and assembly of the top arch steel structure: After the left and right side wall steel structures are installed, at the hoisting position, the first actuator is driven down by the lifting unit of the top robotic arm to a set height that is convenient for transportation, and the top arch steel structure is placed on the first actuator and fixed, and the walking mechanism is used to drive the top robotic arm to transport the top arch steel structure to the installation position; at the installation position, the first actuator is driven up by the lifting unit of the top robotic arm to a set height so that the top arch steel structure is above the two side wall steel structures, and then the first actuator is driven down by the lifting unit of the top robotic arm so that the top arch steel structure is placed on the two side wall steel structures for assembly.

8. The method for transporting and assembling an arched steel structure in a tunnel according to claim 7, characterized in that: The top robotic arm includes a swivel unit, which is used to drive the first actuator to rotate around the vertical axis to a set angle, and has two states: a horizontal state and a vertical state, so as to adjust the posture of the top arch steel structure fixedly matched with the first actuator. The first actuator in the horizontal state makes the left and right arch legs of the top arch steel structure be on the left and right sides of the walking mechanism, and the first actuator in the vertical state makes the left and right arch legs of the top arch steel structure be on the front and back sides of the walking mechanism; when transporting the top arch steel structure, the first actuator is driven by the swivel unit to rotate to the vertical state, so that the left and right arch legs of the top arch steel structure are on the front and back sides of the walking mechanism to avoid the tunnel walls on the left and right sides.

9. The method for transporting and assembling an arched steel structure in a tunnel according to claim 7 or 8, characterized in that: The side shift unit of the side robot arm includes a left and right moving unit and a left and right swinging unit. The transfer position of the second actuator is located in front of or behind the walking mechanism, and the installation position of the second actuator is located on the left and right sides of the walking mechanism. When transferring the side wall steel structure, the second actuator and the side wall steel structure are driven by the side shift unit to the front or rear of the walking mechanism to avoid the tunnel walls on the left and right sides.

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