Arch Steel Structure Transfer and Assembly Equipment and Manipulator Adapted to Narrow Tunnels

Abstract

The present invention relates to an arched steel structure transfer and assembly device and a robotic arm adapted to narrow tunnels. The robotic arm is sequentially provided with a first unit, a rotation and posture adjustment device, and a second unit in the extending direction. The rotation and posture adjustment device includes a first part, a second part, and a rotation drive mechanism that are rotationally matched about a rotation axis extending in the up-down direction. The first part is connected to the first unit, and the second part is connected to the second unit. The rotation drive mechanism is used to drive the second unit and the actuator to rotate a set angle relative to the first unit and the vehicle body about the rotation axis. The rotation and posture adjustment device of the present invention can not only pre-rotate and adjust the actuator and the steel structure fixedly matched therewith away from the tunnel side wall to adapt to narrow tunnels, but also rotate and adjust the actuator and the steel structure fixedly matched therewith close to the tunnel wall to perform assembly operations.

Description

Technical Field

[0001] The present invention relates to the technical field of construction of prefabricated steel structures in tunnels, and particularly to an arched steel structure transfer and assembly device in a tunnel. Background Art

[0002] At present, the application of prefabricated steel structures in tunnel construction is constantly expanding. However, prefabricated steel structures rely highly on mechanical equipment. Especially for the main components of prefabricated steel structures: arched steel structures (arched steel structures), the arched steel structure needs to be first divided into multiple steel structures, such as a top arch steel structure and a side wall steel structure. Then, each steel structure is transported from the part storage area to the tunnel construction operation area. Then, the whole arched steel structure is assembled in the construction operation area. Then, a special assembly device is used to lift and move the whole arched steel structure to the position to be installed. Then, the whole arched steel structure is lowered and assembled and fixed with the existing arched steel structure along the extension direction of the tunnel.

[0003] For the aforementioned special assembly device, reference can be made to the assembly device disclosed in the patent document with the application publication number CN114135325A. This assembly device includes a vehicle body and a robotic arm. The robotic arm is installed on the vehicle body, and the actuator at the end of the robotic arm can grab and release the whole arched steel structure. Another example is the assembly device disclosed in the patent document CN114046164A, whose actuator can be replaced, and the two actuators can respectively grab the segmented top arch steel structure and side wall steel structure. The main actions of the robotic arm of the assembly devices in the above-mentioned prior art are lifting or pitching and swinging. The actuator is located in front of the vehicle body to grab or release the steel structure. On the one hand, the actuator located in front of the vehicle body cannot be directly used for installing the segmented side wall steel structures whose positions to be installed are on the left and right sides of the tunnel. Instead, the vehicle head of the vehicle body must be turned around, resulting in inconvenient on-site construction operations and affecting construction efficiency. On the other hand, in tunnel construction, there are often tunnel road conditions with height and width restrictions for transportation. However, the robotic arm of the above-mentioned assembly devices can only lower the height of the actuator and is difficult to adapt to the occasion where the tunnel is relatively narrow in the left and right width directions during the transfer process. In such a situation, the arched steel structure can only be disassembled into smaller segments for transportation, and then assembled in the construction operation area, resulting in a reduction in construction efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a robotic arm for an arched steel structure transfer and assembly device to solve the technical problem that the robotic arm in the prior art is difficult to adapt to narrow tunnels. The present invention also provides an arched steel structure transfer and assembly device adapted to narrow tunnels to solve the problem of low construction efficiency in the prior art.

[0005] The robotic arm of an arched steel structure transfer and assembly device provided by the present invention has an actuator at the end for fixedly cooperating with the steel structure. The steel structure is a top arch steel structure or a side wall steel structure. The robotic arm is sequentially provided with a first unit, a rotation and posture adjustment device, and a second unit in the extending direction. The first unit is used to connect with the vehicle body of the arched steel structure transfer and assembly device, and the actuator is arranged on the second unit. The rotation and posture adjustment device includes a first part, a second part, and a rotation drive mechanism that are rotationally matched around a rotation axis extending in the up and down direction. The first part is connected to the first unit, and the second part is connected to the second unit. The rotation drive mechanism is used to drive the second unit and the actuator to rotate a set angle around the rotation axis relative to the first unit and the vehicle body, so as to adjust the steel structure fixedly cooperated with the actuator to rotate to the left or right to a predetermined posture one and posture two. The side wall surface of the steel structure in posture one close to the tunnel wall corresponds to the installation position of the steel structure, and the side wall surface of the steel structure in posture two away from the tunnel.

[0006] The robotic arm of the arched steel structure transfer and assembly device of the present invention is equipped with a rotation and posture adjustment device between the actuator and the vehicle body. The rotation axis of the rotation and posture adjustment device is in the up and down direction, so that the robotic arm has the freedom to rotate around the vertical rotation axis, thereby enabling the adjustment of the left or right rotation of the actuator at the end of the robotic arm. And this adjustment is an adjustment with a preset angle and the set postures (position and / or posture) of the corresponding steel structure. The technical effects of this adjustment are reflected in: on the one hand, when the assembly device is in the transfer state, relative to the forward walking direction of the vehicle body, the opposite side walls of the tunnel are spaced left and right. So when the vehicle body advances forward in the tunnel, the side walls on both sides of the tunnel are on the left and right sides of the vehicle body. When encountering the "narrow tunnel" road condition, that is, when the distance between the left and right side walls of the tunnel is relatively narrow, the rotation and posture adjustment device can pre-rotate and adjust the actuator and the steel structure fixedly cooperated with it to rotate to the left or right, so that the posture (position and / or posture) of the steel structure originally close to the tunnel side wall is adjusted to a posture away from the tunnel side wall, that is, from posture one corresponding to the installation position (the steel structure is installed close to the tunnel wall, so the steel structure is close to the tunnel side wall in the installation position) to posture two away from the tunnel wall suitable for the transfer state, so as to avoid the tunnel wall surface during the transfer state to adapt to the narrow tunnel; on the other hand, when the assembly device reaches the tunnel working face for assembly operations, the rotation and posture adjustment device rotates and adjusts the actuator and the steel structure fixedly cooperated with it to turn back (rotate to the left or right) from posture two to posture one, close to the tunnel wall to perform the assembly operation.

[0007] Further, the robotic arm is a side robotic arm extending in the horizontal direction. The actuator of the side robotic arm is a second actuator for cooperating with the side wall steel structure. The first unit is a left-right translation mechanism that outputs left-right linear motion. The output end of the left-right translation mechanism is connected to the first part of the rotation and pose adjustment device. The second unit is a swing arm, and the swing arm is connected between the second actuator and the second part of the rotation and pose adjustment device. The left-right translation mechanism and the rotation and pose adjustment device are respectively used to adjust the swing arm left and right and swing the swing arm left and right, so that the second actuator moves to a predetermined position. The predetermined positions include: a mounting position corresponding to a first pose and a transfer position corresponding to a second pose. The transfer position is in front of or behind the vehicle body, and the mounting position is on the left or right side of the vehicle body. The side robotic arm of the present invention also has the degree of freedom of left-right translation, which is adapted to the to-be-installed position of the side wall steel structure and the position more conducive to transportation (the head or tail position of the vehicle body), so that the actuator can be adjusted left and right, and cooperate with the rotation and pose adjustment device, enabling the robotic arm to more flexibly drive the second actuator and the side wall steel structure to switch poses in front, behind, left, and right of the vehicle body, and adapt to the requirements during transportation and assembly operations.

[0008] Further, the left-right translation mechanism includes a slide rail, a slider that is assembled to move left and right on the guide rail, and a driving component for driving the slider to move. The slide rail is used to be installed on the vehicle body.

[0009] Further, a translation arm is fixed on the slider. The end of the translation arm away from the slider is connected to the rotation and pose adjustment device. The translation arm extends in the front-rear direction and has a set length, so that there is a set interval between the rotation and pose adjustment device and the vehicle body in the front-rear direction. The set interval is used to provide space for the rotation and pose adjustment device to swing the swing arm left and right.

[0010] Further, the second actuator includes a claw. The claw has a flanging that turns upward. A connecting plate corresponding to the claw is fixed on the side wall steel structure. The connecting plate has a flanging that turns downward. The upward-turning flanging of the claw is used for snap-fitting and fixing cooperation with the downward-turning flanging of the connecting plate.

[0011] Furthermore, the robotic arm is a top robotic arm extending in the vertical direction. The actuator of the top robotic arm is a first actuator for cooperating with the top arch steel structure. The first unit is a first lifting mechanism that outputs linear up-and-down motion. The output end of the first lifting mechanism is connected to the first part of the rotation and posture adjustment device. The second unit is a rotating shaft, which is connected between the first actuator and the second part of the rotation and posture adjustment device. The first lifting mechanism and the rotation and posture adjustment device are respectively used to lift and adjust the rotating shaft and rotate and adjust the rotating shaft by a set angle, so that the first actuator moves to a predetermined position. The predetermined positions include: a mounting position corresponding to the first posture and a transfer position corresponding to the second posture. The transfer position is lower than the mounting position. The first actuator at the mounting position positions the left and right arch legs of the top arch steel structure on the left and right sides of the vehicle body, and the first actuator at the transfer position positions the left and right arch legs of the top arch steel structure on the front and back sides of the vehicle body. The top robotic arm of the present invention also has the degree of freedom of up-and-down movement. When lifted to a high position, it is adapted to the higher installation position of the top arch steel structure. When lowered to a low position, the center of gravity of the steel structure moves down, which is beneficial to the stability of the vehicle body during walking. Moreover, when assembling and carrying, it is also convenient to lift or lower the steel structure carried by the robotic arm. It cooperates with the rotation and posture adjustment device to more flexibly drive the first actuator and the top arch steel structure to change the posture, meeting the requirements during transportation and assembly operations.

[0012] Furthermore, the first lifting mechanism includes a nested outer arm, an inner arm, and a driving component for driving the inner arm to move up and down relative to the outer arm.

[0013] Furthermore, the first actuator includes an upper claw, and the upper claw has a clamping groove that can clamp the front and rear end faces of the top arch steel structure and support the bottom surface of the top arch steel structure, so as to form a support and fixation cooperation with front and rear limits.

[0014] An arched steel structure transportation and assembly device adapted to narrow tunnels provided by the present invention includes a vehicle body, and the vehicle body is equipped with the robotic arm as described above.

[0015] Furthermore, the vehicle body includes a lifting platform and a second lifting mechanism. The robotic arm is installed on the lifting platform, and the second lifting mechanism is used to drive the lifting platform to lift and lower.

[0016] The arched steel structure transfer and assembly equipment adapted to narrow tunnels of the present invention is equipped with a robotic arm having a degree of freedom of rotation about a vertical rotation axis, so as to be able to adjust the left or right rotation of the actuator at the end of the robotic arm. In this way, when encountering the road condition of a "narrow tunnel", that is, when the distance between the left and right side walls of the tunnel is relatively narrow, the rotation and posture adjustment device can pre-rotate and adjust the actuator and the steel structure fixedly matched with it to turn left or right, so that the posture of the steel structure originally close to the side wall of the tunnel is adjusted to a posture far from the side wall of the tunnel, that is, from the posture one corresponding to the position to be installed to the posture two far from the tunnel wall suitable for the transfer state, so as to be able to avoid the tunnel wall surface during the transfer state to adapt to the narrow tunnel; and when the assembly equipment reaches the tunnel working face to perform the assembly operation, the rotation and posture adjustment device rotates and adjusts the actuator and the steel structure fixedly matched with it to turn back from the posture two to the posture one, close to the tunnel wall to perform the assembly operation. Therefore, the present invention can flexibly adapt to the transfer and assembly work, and improve the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of an embodiment of the arched steel structure transfer and assembly equipment adapted to narrow tunnels of the present invention;

[0018] Figure 2 is a three-dimensional schematic diagram of the arched steel structure;

[0019] Figure 3 is a schematic diagram of the side wall steel structure;

[0020] Figure 4 is Figure 1 a schematic structural diagram of the top robotic arm in

[0021] Figure 5 is Figure 1 a schematic structural diagram of the side robotic arm in

[0022] Figure 6 is Figure 1 one of the construction state diagrams of the shown embodiment;

[0023] Figure 7 is Figure 1 two of the construction state diagrams of the shown embodiment;

[0024] Figure 8 is Figure 1 three of the construction state diagrams of the shown embodiment;

[0025] Figure 9 is Figure 1 four of the construction state diagrams of the shown embodiment;

[0026] Figure 10 is Figure 1 five of the construction state diagrams of the shown embodiment;

[0027] Figure 11 is Figure 1 the sixth construction status diagram of the illustrated embodiment;

[0028] In the figure:

[0029] 1. Vehicle body; 101. Lifting platform; 102. Mounting frame; 2. Top robotic arm; 21. First lifting mechanism; 22. First actuator; 3. Side robotic arm; 31. Left - right translation mechanism; 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. Installation position to be installed; 201. Outer arm; 202. Inner arm; 203. Rotary unit; 204. Upper claw; 205. Rotating shaft; 3011. Slide rail; 3012. Slide block; 3013. Driving motor; 302. Translation arm; 303. Swing device; 304. Swing arm. Specific embodiments

[0030] An embodiment of the arched steel structure transfer and assembly device for adapting to narrow tunnels of the present invention, as Figure 1 shown, includes a vehicle body 1. The vehicle body is equipped with a traveling mechanism and can travel in the tunnel. The traveling direction of the vehicle body is defined as the front - rear direction. A robotic arm is installed on the vehicle body 1. A lifting platform 101 and a second lifting mechanism are provided on the vehicle body 1. The second lifting mechanism is used to drive the lifting platform 101 to lift, and the robotic arm is installed on the lifting platform 101.

[0031] The robotic arm in this embodiment includes a top robotic arm 2 and a side robotic arm 3. First, from a macroscopic perspective, each robotic arm extends along its length direction, and its end has an actuator. The actuator has a mating structure for fixedly mating with the corresponding structure on the steel structure during the transfer and assembly of the steel structure. The robotic arm is sequentially provided with a first unit, a rotary posture adjustment device, and a second unit along the extension direction. The first unit is connected to the vehicle body, the actuator is provided on the second unit, and the rotary posture adjustment device is connected between the first unit and the second unit, just like an "elbow joint" connected between two arm body units. Its structure and function will be introduced in detail in the following content. Specifically, the top robotic arm 2 and the side robotic arm 3 respectively correspond to Figure 2 , Figure 3 shown two parts of the arched steel structure: the top arch steel structure 4 and the side wall steel structure 5. The first actuator 22 of the top robotic arm 2 is used to fixedly mate with the top arch steel structure 4, and the second actuator 32 of the side robotic arm 3 is used to fixedly mate with the side wall steel structure 5.

[0032] As Figure 5As shown, the side robotic arm 3 extends horizontally and is installed on the front side of the lifting platform 101. The side robotic arm 3 is successively provided with a left-right translation mechanism 31 (the first unit), a swinging device 303 (a rotating posture adjustment device), and a swing arm 304 (the second unit) in the extending direction. A second actuator 32 for cooperating with the side wall steel structure 5 is installed at the end of the swing arm 304. The cooperating structure of the second actuator 32 is a claw, and the claw has a flanging that folds upward. Correspondingly, as Figure 3 shown, holes are drilled at appropriate positions on the inner side surface of the side wall steel structure 5, and then the connecting plate 51 is fixed by bolts. The connecting plate 51 has a flanging that folds downward. The upward flanging of the claw and the downward flanging of the connecting plate 51 of the side wall steel structure 5 form an interlocking fixed fit to grab the side wall steel structure 5.

[0033] The left-right translation mechanism 31 includes a slide rail 3011, a slider 3012, a driving motor 3013, and a translation arm 302. The translation arm 302 extends back and forth and is fixed to the slider 3012. The slide rail 3011 is fixed to the front side of the mounting frame 102 on the lifting platform 101. The driving motor 3013 is used to drive the running wheels on the slider 3012 to rotate and move left and right along the guide rail. The translation arm 302 extends in the front-back direction and has a set length, so that there is a set interval between the rotating posture adjustment device and the vehicle body in the front-back direction. The set interval is used to provide space for the rotating posture adjustment device to swing left and right to adjust the swing arm. The left-right translation mechanism 31 is used to drive the swinging device 303 (the rotating posture adjustment device), the swing arm 304 (the second unit), and the second actuator 32 to translate left and right, so that the second actuator 32 approaches or separates from the inner side surface of the side wall steel structure 5 to be fixedly fitted with or separated from the side wall steel structure 5.

[0034] The swinging device 303 is specifically a torque output device driven by a motor (or a hydraulic motor), which has a fixed part (the first part) and a rotating part (the second part) that can rotate relative to each other. The fixed part is fixed to the translation arm 302, and the rotating part, that is, the output shaft, is fixedly connected to the swing arm 304 and can output torque to drive the swing arm 304 to swing left and right, and can realize a swing of 90° in each of the left and right directions of the swing arm 304 and the second actuator 32 thereon.

[0035] Since the left-right translation mechanism 31 and the swinging device 303 can respectively output left-right translation and left-right swing, the side robotic arm 3 has degrees of freedom of left-right movement and left-right swing, so as to drive the second actuator 32 to move the side wall steel structure 5 to a predetermined position: a transfer position and an installation position. The transfer position is in front of the vehicle body 1, and this transfer position is close to the vehicle body 1 and far from the tunnel side wall to avoid the tunnel side wall. The installation positions are on the left and right sides of the vehicle body 1, and these installation positions are close to the tunnel wall to correspond to the positions where the side wall steel structures 5 are to be installed. As Figure 6 、 Figure 7As shown, when the second actuator 32 is in the transfer position, the side wall steel structure 5 is away from the tunnel wall, and it can adapt to the small-size tunnel 7 with a relatively small width in the left-right direction (such as Figure 7 shown).

[0036] While Figure 8 as shown, when the vehicle body 1 passes through the small-size tunnel 7 and reaches the installation position of the large-size tunnel 6 with a larger width, the left-right translation mechanism 31 of the side manipulator 3 drives the second actuator 32 to be in the installation position, the side wall steel structure 5 approaches the tunnel wall, and after the lifting platform 101 descends, it can be assembled and fixed with the existing steel structure.

[0037] Such as Figure 4 shown, the top manipulator 2 extends in the vertical direction and is installed at the center of the top surface of the lifting platform 101. The top manipulator 2 is sequentially provided with a first lifting mechanism (first unit), a slewing unit 203 (rotation and posture adjustment device), and a rotating shaft 205 (second unit) connecting the first slewing unit and the first actuator 22 in the extending direction. The first actuator 22 for fixedly cooperating with the top arch steel structure 4 is fixed at the end of the rotating shaft 205, and its mating structure is an upper claw 204. The upper claw 204 has a clamping groove capable of clamping the front and rear end faces of the top arch steel structure 4 and supporting the bottom surface of the top arch steel structure 4 to form a front-rear limiting support and fixation cooperation.

[0038] The first lifting mechanism includes nested outer arm 201 and inner arm 202. The inner arm 202 is driven by an internal hydraulic cylinder. The first lifting mechanism is used to drive the first actuator 22 and the top arch steel structure 4 fixedly cooperated therewith to lift. The output end (inner arm 202) of the first lifting mechanism is connected to the slewing unit 203. The slewing unit 203 constitutes the rotation and posture adjustment device of the top manipulator. The slewing unit 203 includes a base and an output shaft rotating around the vertical axis. The output shaft can be driven by a hydraulic or electric drive mechanism through a transmission mechanism. For example, a motor or a hydraulic motor outputting torque drives through a gear reducer. This belongs to the prior art and will not be elaborated here. The output shaft of the slewing unit 203 is fixedly connected to the first actuator 22 through the rotating shaft 205.

[0039] The slewing unit 203 enables the top robotic arm 2 to have the freedom of slewing around the vertical axis. Thus, the first lifting mechanism and the slewing unit 203 (rotary posture adjustment device) are respectively used to lift and adjust the rotating shaft 205 to a set height and rotate and adjust the rotating shaft 205 to a set angle. Thereby, it can not only change the height of the top arch steel structure 4 at the arc top position, but also change its horizontal and longitudinal postures. Specifically, by lifting and adjusting the rotating shaft 205 and rotating and adjusting the set angle of the rotating shaft 205, the first actuator can move to a predetermined position: the installation position and the transfer position. The transfer position is lower than the installation position. At the same time, the first actuator 22 is in a horizontal posture at the installation position, so that the top arch steel structure 4 has a first posture: the first actuator 22 in the horizontal posture makes the left and right arch legs of the top arch steel structure 4 on the left and right sides of the vehicle body 1. This installation position makes the surfaces of the left and right arch legs of the top arch steel structure 4 close to the tunnel side wall to correspond to its installation position to be (as Figure 11 shown); the first actuator 22 is in a longitudinal posture at the transfer position, so that the top arch steel structure 4 has a second posture: the first actuator 22 in the longitudinal posture makes the left and right arch legs of the top arch steel structure 4 on the front and rear sides of the vehicle body 1. This transfer position makes the left and right arch legs of the top arch steel structure 4 arranged front and rear, away from the left and right tunnel side walls, so as to be able to adapt to the small-size tunnel 7 with a smaller width in the left and right directions (as Figure 10 shown).

[0040] When the above embodiments of the present invention are used, the side wall steel structure 5 and the top arch steel structure 4 can be successively transported and assembled. The transportation and assembly method is as follows:

[0041] (a) As Figure 6 , Figure 7 shown, at the hoisting position, the left and right translation mechanism 31 and the swing device 303 of the side robotic arm 3 move, so that the second actuator 32 is in the transfer position. Specifically, that is, the second actuator 32 is in front of the vehicle body 1. The side wall steel structure 5 is hoisted onto the side robotic 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 robotic arm 3; in this way, in the left and right directions, the side wall steel structure 5 is arranged centrally relative to the vehicle body 1, so as to be close to the vehicle body 1 and away from the tunnel wall, which not only reduces the torque that may cause rollover, but also avoids hitting the tunnel wall and is beneficial to transportation.

[0042] (b) As Figure 7 shown, the vehicle body 1 carries the side wall steel structure 5 to move to the installation position to be. The left and right translation mechanism 31 and the swing device 303 of the side robotic arm 3 move, so that the second actuator 32 is 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 to be, and fixedly connects the steel structure to be installed with the existing steel structure. The side robotic arm 3 moves to retract the second actuator 32 from the side wall steel structure 5, and the vehicle body 1 moves back to the hoisting position to hoist the next steel structure.

[0043] (c) As Figure 9 , Figure 10As shown, after the two side wall steel structures 5 are installed, the top robotic arm 2 can be used to transfer a top arch steel structure 4 to the position 9 to be installed.

[0044] At the hoisting position, the first lifting mechanism of the top robotic arm 2 descends to facilitate the placement and transportation of the top arch steel structure 4. The rotary unit 203 rotates to adjust the first actuator 22 to the transfer position. The first actuator 22 rotated into the longitudinal posture positions the left and right arch legs of the top arch steel structure 4 on the front and rear sides of the vehicle body 1, enabling it to pass through a small-size tunnel 7 with a relatively small width in the left-right direction (as Figure 10 shown. In contrast, as Figure 9 shown, the first actuator 22 in the transverse posture positions the left and right arch legs of the top arch steel structure 4 on the left and right sides of the vehicle body 1, and it cannot pass through the small-size tunnel 7 with a relatively small width in the left-right direction).

[0045] (d) The vehicle body 1 carries the top arch steel structure 4 to the position to be installed. At the position to be installed, as Figure 11 shown, the first lifting mechanism of the top robotic arm 2 rises, positioning the top arch steel structure 4 above the two side wall steel structures 5. The rotary unit 203 rotates to adjust the first actuator 22 to the installation position. The first actuator 22 in the transverse posture positions the left and right arch legs of the top arch steel structure 4 on the left and right sides of the vehicle body 1, bringing the surfaces of the left and right arch legs of the top arch steel structure 4 close to the tunnel side walls to correspond to their positions to be installed. Then, the first lifting mechanism of the top robotic arm 2 descends, placing the top arch steel structure 4 on the two side wall steel structures 5 and fixing it. The first lifting mechanism of the top robotic arm 2 descends, disengaging the first actuator 22 from the top arch steel structure 4. The vehicle body 1 moves back to the hoisting position, enabling the hoisting of the next steel structure.

[0046] Embodiment 1 and Embodiment 2 of the robotic arm of the arched steel structure transfer and assembly equipment of the present invention are respectively the same as the structures of the side robotic arm and the top robotic arm in the above-mentioned embodiments of the arched steel structure transfer and assembly equipment adapted to narrow tunnels, and will not be elaborated here.

[0047] In addition, in other embodiments of the present invention, the mating structures of the actuators at the end of the robotic arm are not limited to the claw form in the above embodiments, and can also be mating structures such as the jaws and hooks that can open and close (driven by cylinders) provided in the prior art in the background technology and can be fixedly mated with the steel structure.

[0048] In addition, in the above embodiments, two types of robotic arms are installed on an integral lifting platform. In other embodiments, the lifting platforms can be separate and drive the two types of robotic arms respectively, which can be driven synchronously or successively. Additionally, in some embodiments, the lifting platform is not necessary, and the requirement for the position of the lifting steel structure can be achieved by hoisting the steel structure at a predetermined position. Similarly, the lifting mechanism of the top robotic arm is not necessary either. In some embodiments of the present invention, the left-right translation mechanism of the side robotic arm is not necessary, and it can also only include a rotation posture adjustment device (swinging device) that provides left-right swinging rotation. The requirement for the position of its translation steel structure can be achieved by the movement of the vehicle body or compensated by the action of the swinging device.

[0049] 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, there can also be two side robotic arms, one installed at the front and one at the back, so that two side wall steel structures can be transported at one time, or two-side support can be provided when transporting the integral arched steel structure.

Claims

1. A robotic arm of an arched steel structure transfer and assembly device, with an actuator at the end of the robotic arm for fixed cooperation with the steel structure. The steel structure is a side wall steel structure. Characterized in that, The robotic arm is successively provided with a first unit, a rotation and posture adjustment device, and a second unit in the extending direction. The first unit is used to connect with the vehicle body of the arched steel structure transfer and assembly device. The first unit is a left - right translation mechanism that outputs left - right linear motion. The left - right translation mechanism includes a slide rail and a slider that moves left - right and is assembled on the guide rail, as well as a driving component for driving the slider to move. The slide rail is used to be installed on the vehicle body, and the actuator is arranged on the second unit. The rotation and posture adjustment device includes a first part, a second part, and a rotation driving mechanism that are rotationally matched around a rotation axis extending in the up - down direction. The first part is connected to the first unit, and the second part is connected to the second unit. The rotation driving mechanism is used to drive the second unit and the actuator to rotate a set angle relative to the first unit and the vehicle body around the rotation axis, so as to adjust the steel structure fixed and cooperated with the actuator to rotate right or left to a predetermined posture one and posture two. The side wall surface of the steel structure in posture one is close to the tunnel wall corresponding to the installation position of the steel structure, and the side wall surface of the steel structure in posture two is far from the tunnel to avoid the tunnel wall. Posture one is the installation position corresponding to the side wall steel structure, and posture two is the transfer position corresponding to the side wall steel structure. The transfer position is in front of or behind the vehicle body, and the installation position is on the left or right side of the vehicle body.

2. The robotic arm of the arched steel structure transfer and assembly device according to claim 1, Characterized in that, The robotic arm is a side robotic arm extending in the horizontal direction. The output end of the left - right translation mechanism is connected to the first part of the rotation and posture adjustment device. The second unit is a swing arm, and the swing arm is connected between the second actuator and the second part of the rotation and posture adjustment device. The left - right translation mechanism and the rotation and posture adjustment device are respectively used to adjust the swing arm left - right and swing the swing arm left - right.

3. The robotic arm of the arched steel structure transfer and assembly device according to claim 1, Characterized in that, A translation arm is fixed on the slider. The end of the translation arm far from the slider is connected to the rotation and posture adjustment device. The translation arm extends in the front - rear direction and has a set length, so that there is a set interval between the rotation and posture adjustment device and the vehicle body in the front - rear direction. The set interval is used to provide space for the rotation and posture adjustment device to swing the swing arm left - right.

4. The robotic arm of the arched steel structure transfer and assembly device according to claim 2, Characterized in that, The second actuator includes a claw, and the claw has a flanging that turns upwards. A connecting plate corresponding to the claw is fixed on the side wall steel structure, and the connecting plate has a flanging that turns downwards. The upwards - turned flanging of the claw is used for mutual - locking and fixed cooperation with the downwards - turned flanging of the connecting plate.

5. An arched steel structure transfer and assembly device adapted to a narrow tunnel, including a vehicle body, Characterized in that, The vehicle body is installed with the robotic arm according to any one of claims 1 - 4.

6. The arched steel structure transfer and assembly device adapted to a narrow tunnel according to claim 5, Characterized in that, The vehicle body includes a lifting platform and a second lifting mechanism. The robotic arm is installed on the lifting platform, and the second lifting mechanism is used to drive the lifting platform to move up and down.

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