Crawler-type arch mounting trolley intelligent control system and arch mounting method

Abstract

The application discloses a caterpillar type arch mounting trolley intelligent control system and an arch mounting method, and comprises a trolley arch automatic positioning module; walking caterpillars are arranged on the two sides of the trolley; the trolley arch automatic positioning module comprises a first encoder, a second encoder, a first controller and a caterpillar hydraulic valve group; the first and second encoders are installed at the walking caterpillars of the trolley; the first and second encoders collect encoder signals, and finally send linear displacement data of the two walking caterpillars in the advancing direction to the first controller after processing; the first controller is used for converting the collected encoder signals into walking distances of the two walking caterpillars, driving the caterpillar hydraulic valve group with flow transmission to execute flow and on-off specific instructions, so as to realize automatic control of trolley advancing positioning. The control system and the mounting method are suitable for tunnel three-step construction methods, and are suitable for synchronous operation of arch mounting, longitudinal reinforcement, mesh mounting and other tunnel primary support structures.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of tunnel construction special mechanical equipment, and particularly relates to a tracked arch installation trolley intelligent control system and an arch installation method. BACKGROUND

[0002] With the rapid development of high-speed rail, there are more and more high-speed rail tunnel drilling and blasting construction projects. The arch installation trolley as the arch installation equipment in the tunnel drilling and blasting construction needs to solve the problems of automation and intelligentization of arch installation and trolley positioning, and realize intelligent control of the arch trolley. The intelligent control can not only effectively reduce the labor and improve the work efficiency, but also reduce the construction management cost. The traditional arch trolley has the following defects: 1. It needs to be dragged to the arch installation position by means of a site loader or an excavator; 2. The arch installation is installed in place by artificial shoulder carrying or hand lifting; 3. Other equipment needs to be assisted in the construction process and the danger coefficient is extremely high; 4. There are many construction personnel and the risk of misoperation endangers personal safety and delays the construction period; and 5. Construction data cannot be collected and saved for analysis to improve construction safety management. SUMMARY

[0003] The present application belongs to the field of tunnel construction special mechanical equipment, and particularly relates to a tracked arch installation trolley intelligent control system and an arch installation method.

[0004] One of the purposes of the present application is to provide a trolley intelligent control system. The trolley intelligent control system comprises an automatic positioning module. The automatic positioning module comprises a first encoder, a second encoder, a first controller and a tracked hydraulic valve group. The counting wheels of the first encoder and the second encoder are respectively linked with the tracked wheels of at least one walking tracked belt on both sides of the trolley. The first encoder is installed at the walking tracked belt on the first side of the trolley, and the second encoder is installed at the walking tracked belt on the second side of the trolley. The first and second encoders are driven to act together by the walking tracked belt. The first and second encoders collect the encoder signals at the tracked wheels, and finally send the linear displacement data of the walking tracked belts on both sides along the direction of travel to the first controller after processing. The first controller is used to convert the collected signals into the walking distances of the walking tracked belts on both sides, so as to drive the tracked hydraulic valve group to execute the specific instructions of flow and on-off, so as to realize the automatic control of the trolley positioning.

[0005] As a preferred solution, the automatic positioning module further comprises a first angle sensor and a second angle sensor, the first angle sensor is installed on the front side crossbeam of the trolley, the second angle sensor is installed on the rear side crossbeam of the trolley, the first angle sensor and the second angle sensor are respectively used to obtain the rotation angle value signals of the front and rear sides of the trolley, and send the rotation angle value signals to the first controller after processing, the first controller converts the obtained rotation angle value signals into actual angle values, so as to drive the track hydraulic valve group to execute specific flow and on-off instructions, so as to realize the automatic control of the deviation correction of the trolley running direction.

[0006] As a preferred solution, the trolley intelligent control system further comprises an arch mounting module; the arch mounting module comprises a third encoder, a fourth encoder, a second controller and a lifting hydraulic valve group; the third encoder and the fourth encoder are respectively installed on the two sides of the assembled movable frame, the assembled movable frame is slidably arranged on the fixed slide rail, the third encoder and the fourth encoder are in close contact with the fixed slide rail on the two sides, respectively, for collecting the displacement signals of the assembled movable frame, the third and fourth encoders are driven to move together when the assembled movable frame moves, and the linear movement distance signals of the assembled movable frame are sent to the second controller, and the second controller compares the linear movement distance signals with the preset walking displacement G1 to control the movement of the assembled movable frame on the fixed slide rail to stop.

[0007] As a preferred solution, the trolley intelligent control system further comprises a pull rope sensor, the pull rope sensor is installed on the assembled movable frame, the assembled movable frame comprises a bottom fixed seat, a top movable seat and a lifting oil cylinder, the two ends of the lifting oil cylinder are connected with the bottom fixed seat and the top movable seat, respectively, one end of the pull rope sensor is connected with the top movable seat, and the other end is connected with the bottom fixed seat, for obtaining the lifting data of the top movable seat and sending the actual lifting data to the second controller, and the second controller is used for comparing the actual lifting data with the preset lifting height data G2, so as to control the lifting of the top movable seat through the lifting oil cylinder.

[0008] As a preferred solution, the assembled movable frame further comprises a horizontal crossbeam parallel to the horizontal crossbeam and a horizontal crossbeam, the horizontal crossbeam is arranged on the two top movable seats and can slide relative to the two top movable seats, one end of the horizontal crossbeam is connected with the horizontal crossbeam, and the other end is connected with the top movable seat, for moving the horizontal crossbeam on the top movable seat in the direction perpendicular to the fixed slide rail through the horizontal crossbeam.

[0009] As a preferred solution, it further comprises a construction history data module, the construction history data module comprises a man-machine operation interface, the man-machine operation interface is signal connected with the first controller and the second controller, and is used for inputting control signals and recording or checking operation history data.

[0010] As a preferred solution, the assembling movable frame and the fixed slide rail are installed on a telescopic platform, and the telescopic platform is a multi-layer sliding platform, wherein an upper layer of the telescopic platform is slidably arranged on a lower layer of the telescopic platform, and the multi-layer platform can be sequentially unfolded or retracted along a sliding direction under the action of each driving mechanism.

[0011] The second object of the present application is to provide a caterpillar type arch mounting trolley installation method, which has three steps: an upper step installation step, a middle step installation step and a lower step installation step; the upper step arch includes a top arch and two side arches, wherein the two side arches are connected to the two sides of the top arch to form a complete arch.

[0012] Step one, the upper step installation step is as follows: step 11, using the crane mechanical arm on the trolley, the two side arches and / or the top arch to be installed are lifted and stored on the top storage platform of the trolley in advance; step 12, after the working face has arch installation conditions, using the trolley intelligent control system described above, during the trolley running process, the trolley running direction is automatically corrected in real time by the trolley intelligent control system, the trolley is automatically driven to reach the arch installation station, the telescopic platform is adjusted in the unfolding direction, so that all the layers of the telescopic platform are fully extended and unfolded, and the support mechanisms at the end of each layer of the telescopic platform are extended; step 13, using the installation mechanical arm, the two side arches on the top storage platform are placed near the installation position on both sides of the trolley, and the pose state of the two side arches is adjusted by the installation mechanical arm, so that one end of the two side arches is close to the top position of the upper step excavation, and the other end is suspended at the side position of the trolley; step 14, using the trolley intelligent control system described above to drive the assembling movable frame to move on the fixed slide rail, the top arch on the top storage platform is moved to the installation position as a whole, and the precise positioning of the top arch is realized through the adjustment of the six degrees of freedom in the left and right, up and down, and front and back directions; step 15, after the top arch is in place, the two side arches to be installed are clamped by the installation mechanical arm, the position of the two side arches is adjusted according to the position of the top arch, and after the two side arches are installed in place on both sides of the top arch, they are fixed to form a complete arch; step 16, while installing the arch, longitudinal reinforcing bars and mesh installation operations are carried out;

[0013] Step two, the middle step installation step is as follows: step 21, using the installation mechanical arm, the two side arches to be installed stored on the top storage platform are clamped and moved to both sides of the trolley according to the installation position requirements, connected with the arch of the upper step and fixed to form the arch of the middle step; step 22, through the work platform provided on both sides of the trolley, longitudinal reinforcing bars and mesh installation operations are carried out while installing the arch of the middle step;

[0014] Step three, the specific steps of the lower step installation are as follows: step 31, installing the lower step arches on both sides, using the installation mechanical arm, the lower step arches stored on the ground are connected and fixed with the middle step arches according to the installation position requirements to form the lower step arches; step 32, installing the inverted arch arches, using the installation mechanical arm, the inverted arch arches stored on the ground are connected and fixed with the lower step arches according to the installation position requirements to form the inverted arch arches; step 33, through the working platforms provided on both sides of the trolley, the longitudinal reinforcing bars and the mesh installation work are carried out at the same time of installing the lower step arches and the inverted arch arches.

[0015] As a preferred solution, in step 12, the specific control steps of the trolley intelligent control system are as follows: step 121: the first and second encoders installed on the walking tracks on both sides of the trolley send the detected trolley walking displacement signals to the first controller, the first controller calculates the forward displacement values E and F of the trolley on both sides, and compares the forward displacement values E and F with the set walking displacement value A1, when the forward displacement values E and F are less than the set walking displacement value A1 at the same time, the trolley keeps the state of forward advancing; step 122: the first and second angle sensors installed on the front and rear cross beams of the trolley base frame send the detected trolley walking angle posture signals to the first controller; the first controller calculates the actual angle values C and D of the front and rear of the trolley and judges the offset direction, compares the actual angle values C and D with the set offset angle value A2 respectively, the walking track on the side of faster advancing stops, the walking track on the side of slower advancing continues to advance, when the actual angle values C and D are less than the set offset angle value B, the four walking tracks advance at the same time; step 123: before the forward displacement values E and F are less than the set displacement value A1 at the same time, the trolley keeps the state of forward advancing and simultaneously continuously executes the automatic correction step of step 22; when the forward displacement values E and F are equal to the set displacement value A1, the trolley stops advancing.

[0016] As a preferred solution, the step 14 is specifically as follows: step 141: first, according to the set displacement value A2 input by the construction history data module, the assembling movable frame is controlled to move on the fixed slide rail, the third encoder and the fourth encoder send the displacement of the assembling movable frame on the fixed slide rail to the second controller, the second controller calculates the assembling frame forward displacement value K and the assembling frame forward displacement value L; the assembling frame forward displacement value K and the assembling frame forward displacement value L are compared with the set assembling frame displacement value G1, when the assembling frame forward displacement value K and the assembling frame forward displacement value L are less than the set assembling frame displacement value G1, the movement is continued, when the assembling frame forward displacement value K and the assembling frame forward displacement value L are equal to the set assembling frame displacement value G1, the forward movement is stopped; step 142: after the assembling movable frame is positioned, according to the set height data G2 input by the history data module, the top movable seat is controlled to move up and down on the bottom fixed seat, the pull rope sensor sends the displacement of the top movable seat relative to the bottom fixed seat to the second controller, the second controller is used for calculating the actual lifting height H of the top movable seat, and the actual lifting height H is compared with the set assembling frame height data G2, when the actual lifting height H is less than the set assembling frame height data G2, the lifting is continued, when the actual lifting height H is equal to the set assembling frame height data G2, the lifting is stopped; step 143: after the top movable seat is lifted to the position, the horizontal moving oil cylinder is controlled to extend and retract through the manual button, so that the horizontal beam arranged on the top movable seat is adjusted to move transversely along the vertical direction of the fixed slide rail, and when the top arch frame is adjusted to the position, the top arch frame is installed at the corresponding position of the top step excavation tunnel.

[0017] Beneficial effects

[0018] Firstly, the trolley intelligent control system provided by the application comprises an automatic positioning module, an arch frame automatic installation module and a construction history data module, encoders are installed on the track wheels of the trolley, and the automatic travel and automatic deviation correction functions of the trolley can be realized through the encoders, angle sensors and a first controller. According to the running posture and travel displacement of the trolley, the deviation of the trolley is automatically adjusted, the automatic deviation correction function of the trolley is realized, the trolley can be automatically stopped after being positioned, construction time is saved, and construction efficiency is improved. The assembling control system collects the transverse and longitudinal displacement amounts of the arch frame positioning through two groups of encoders and a pull rope sensor, the second controller compares the obtained digital signals with the decision mode set in advance, drives the hydraulic execution equipment with flow adjustment and on-off functions to execute specific instructions such as on-off and flow control, and realizes the automatic positioning of the arch frame installation trolley and the automatic installation of the arch frame.

[0019] Secondly, the installation process of the arch frame is optimized, the three-step arch frame trolley with the specific structure is adopted, and a special trolley intelligent control system is matched with the trolley, an automatic control mode is adopted, the automatic deviation correction function of the trolley is utilized, the automatic deviation correction and automatic pushing of the trolley in the running process are realized, the installation mode of the assembling frame is adjusted, the upper step arch frame is automatically positioned and installed through the mobile assembling frame, the two side arch frames are automatically positioned and installed through the installation mechanical arm, the middle step and the lower step are automatically positioned and installed through the installation mechanical arm, so that the functions of the trolley and the parts of the arch frame are fully integrated, the installation efficiency of the arch frame is improved, and the installation positioning precision in the construction process is improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is the module principle drawing of the intelligent control system of the application;

[0021] Figure 2 It is the control step flow chart of the automatic positioning module;

[0022] Figure 3 It is the control step flow chart of the arch frame installation module;

[0023] Figure 4 It is the layout of the encoders and sensors of the automatic positioning module Figure 1 ;

[0024] Figure 5 It is Figure 4 the partial enlarged view of A in figure 6;

[0025] Figure 6 It is the layout of the encoders and sensors of the automatic positioning module Figure 2 ;

[0026] Figure 7 It is the installation schematic view of the assembling mobile frame;

[0027] Figure 8 It is Figure 7 the partial enlarged view of B in figure 7;

[0028] Figure 9 It is the working state view of the assembling movable frame;

[0029] Figure 10 It is the module principle drawing of the track hydraulic valve group;

[0030] Figure 11 It is the module principle drawing of the lifting hydraulic valve group;

[0031] Figure 12 It is the automatic deviation correction principle drawing of the trolley of the application;

[0032] Figure 13Fig. 6 is a schematic view of the installation of the mechanical arm clamping the arch; Figure 1 ;

[0033] Figure 14 Fig. 7 is a schematic view of the installation of the mechanical arm clamping the arch; Figure 2 ;

[0034] Figure 15 Fig. 8 is a schematic view of the installation of the mechanical arm clamping the arch on both sides;

[0035] Figure 16 Fig. 9 is a schematic view of the installation of the mechanical arm clamping the arch on both sides and rotating to the side of the trolley;

[0036] Figure 17 Fig. 10 is a schematic view of the installation of the mechanical arm clamping the bottom arch;

[0037] Figure 18 Fig. 11 is a schematic view of the structure of the lower sliding seat;

[0038] Figure 19 Fig. 12 is a schematic view of the structure of the lower push rod mechanism;

[0039] Figure 20 Fig. 13 is a schematic view of the structure of the telescopic platform;

[0040] Figure 21 Fig. 14 is a schematic view of the overall structure of the trolley;

[0041] Marked in the figure: 1, first encoder, 2, second encoder, 3, first angle sensor, 4, second angle sensor, 5, third encoder, 6, fourth encoder, 7, pull rope sensor, 10, first controller, 20, second controller, 30, construction history data module, 40, trolley, 50, excavated tunnel, 60, track hydraulic valve group, 601, oil tank I, 602, oil suction coarse oil filter I, 603, temperature transmitter, 604, liquid level meter, 605, oil discharge ball valve, 606, oil suction filter I, 607, oil return filter I, 608, three-phase asynchronous motor, 609, axial plunger pump, 610, always-on electromagnetic overflow valve, 611, synchronous motor, 612, electromagnetic directional valve I, 613, electromagnetic directional valve II, 614, electromagnetic directional valve III, 615, electromagnetic directional valve IV, 616, track motor ①, 617, track motor ②, 618, track motor ③, 619, track motor ④, 110, lifting hydraulic valve group, 1101, oil tank II, 1102, oil suction filter II, 1103, oil return filter II, 1104, oil discharge filter, 1105, air filter, 1106, liquid level and temperature meter, 1107, gear pump, 1108, shaft coupling, 1109, motor, 1110, one-way valve, 1111, hand and light integrated overflow valve, 1112, pressure gauge, 1113, 19-way electromagnetic directional valve, 1114, oil suction coarse oil filter II, 1115, 2-position 4-way manual electromagnetic directional valve, 1116, hydraulic lock, 1117, upper push rod oil cylinder, 1118, lower push rod oil cylinder, 1119, longitudinal movement oil cylinder, 1120, side platform telescopic oil cylinder, 1121, first support oil cylinder, 1122, second support oil cylinder, 1123, trolley transverse movement oil cylinder, 1124, crane mechanical arm, 1125, clamping oil cylinder I, 1126, clamping oil cylinder II, 1127, throttle valve, 1128, lifting oil cylinder; 100, walking track, 101, drive wheel, 200, assembled movable frame, 2001, bottom fixed seat, 2002, top movable seat, 2004, horizontal cross beam, 300, fixed slide rail, 400, base frame, 401, side frame, 500, top storage platform, 600, telescopic platform, 610, upper layer platform, 620, lower layer platform, 630, upper slide seat, 640, lower slide seat, 6401, seat body, 6402, clamping jaw, 700, installed mechanical arm, 900, arched frame, 901, top arched frame, 902, two side arched frames. DETAILED DESCRIPTION

[0042] The application will now be described in greater detail by way of example only with reference to the accompanying drawings. It is to be understood that the elements, structures and features of one embodiment can be beneficially combined with elements, structures and features of another embodiment without further recitation.

[0043] Before describing the present scheme, first describe the structure of the trolley in the present application, as shown in the figure: the trolley 40 described in the present scheme comprises a base frame 400, four corners of the base frame 400 are respectively provided with a lifting base, the lifting base is used for adjusting the height of the trolley base frame 400, a walking track 100 is arranged at the bottom of the lifting base, a telescopic platform 600 and a crane mechanical arm 1124 are arranged at the top of the base frame 400, a mounting mechanical arm 700 is arranged at both sides of the base frame 400, the middle part of the base frame 400 is provided with a crane mechanical arm 1124, the telescopic platform 600 is a multi-layer platform, the telescopic platform 600 can be expanded or retracted along the excavation direction of the tunnel 50, a pair of fixed slide rails 300, an assembled movable frame 200 and a top storage platform 500 are arranged on the uppermost layer of the telescopic platform 600, the assembled movable frame 200 is slidably arranged on the fixed slide rails 300 at both sides, the top storage platform 500 is used for temporarily storing the arch frame 900 to be installed, and the top storage platform 500 comprises two storage supports which are oppositely arranged and respectively located at both sides of the fixed slide rails 300.

[0044] The embodiment provides a crawler-type arch frame installation trolley intelligent control system, which comprises an automatic positioning module, an arch frame installation module and a construction history data module 30, wherein the automatic positioning module is used for controlling automatic positioning and travel of the trolley and automatic correction of the direction during travel of the trolley, the arch frame installation module is used for controlling automatic positioning and splicing installation of each part of the arch frame 900, and the construction history data module 30 comprises a man-machine operation interface, the man-machine operation interface is in signal connection with the first controller 10 and the second controller 20, is used for inputting a control signal and recording or checking operation history data.

[0045] In the embodiment, automatic positioning of the trolley 40 mainly comprises distance control during travel and automatic correction during travel, first, distance data during travel is input into the first controller 10, two groups of encoders are connected with the left and right walking tracks 100, the encoders are driven to move together when the tracks walk, the encoders convert linear displacement into electrical signals, and then convert the electrical signals into counting pulses, the number of pulses is used to represent displacement data, and the displacement data is sent to the first controller 10, and the first controller 10 converts the actual distance of track walking into data through data algorithm.

[0046] The automatic positioning module comprises two sets of encoders, two sets of angle sensors, a first controller 10 and a track hydraulic valve group; as shown in the figure, the two sets of encoders are a first encoder 1 and a second encoder 2 respectively, the first encoder 1 and the second encoder 2 are installed at a walking track 100 on both sides of the trolley respectively, and are linked with a driving wheel 101 in at least one walking track 100 on both sides of the trolley, the first encoder 1 and the second encoder 2 are driven by the driving wheel 101 to move together, the first encoder 1 and the second encoder 2 collect encoder signals, and finally send linear displacement data of the two walking tracks 100 in the advancing direction to the first controller 10 after processing.

[0047] In the scheme, the two sets of angle sensors comprise a first angle sensor 3 and a second angle sensor 4, the first angle sensor 3 and the second angle sensor 4 are installed on the front crossbeam and the rear crossbeam of the trolley base frame 400 respectively, and are used for detecting the rotation angle values of the front and rear sides of the trolley, and sending the two angle sensor signals to the first controller 10 after processing, when the trolley advancing direction is deflected, the count of the angle sensor is correspondingly increased, and the rotation angle value can be calculated by calculation, the angle sensor sends the angle value data to the first controller 10, and the first controller 10 controls the flow of the track hydraulic valve group 60 by calculating the angle value and the displacement data source of the encoder, so as to change the walking direction and the walking distance of the trolley.

[0048] The setting relationship of the above units is as follows: a set of encoders is installed on the left and right walking tracks 100 of the trolley respectively, which is used for detecting the displacement data of the walking track 100; the walking displacement detected by the two sets of encoders is sent to the first controller 10 after digital processing and special processing; the two sets of angle sensors are installed on the crossbeams of the front and rear base frames 400 of the trolley, and monitor the angle posture data of the trolley advancing, and send the two sets of angle sensor data to the first controller 10 after digital processing, the first controller 10 compares the obtained digital encoder walking displacement and angle data of the angle sensor with the decision mode set in it, drives the track hydraulic valve group 60 with flow transmission to execute specific instructions such as flow and on-off, and realizes the automatic control process of the trolley positioning.

[0049] The embodiment also comprises an arch mounting module, which functions to detect the position of the assembled movable frame 200, and comprises two sets of encoders, a pull rope sensor 7, a second controller 20 and a lifting hydraulic valve group 110. As shown, the two sets of encoders comprise a third encoder 5 and a fourth encoder 6, which are respectively mounted on the two side lifting seats of the assembled movable frame 200. The assembled movable frame 200 comprises bottom fixed seats 2001, top movable seats 2002 and lifting oil cylinders 1128 on both sides. The bottom fixed seats 2001 on both sides are fixedly connected through a horizontal bar. The top movable seats 2002 are installed in the cavities of the bottom fixed seats 2001 and can move up and down. The two ends of the two lifting oil cylinders 1128 are respectively connected with the bottom fixed seats 201 and the top movable seats 2002, so as to provide driving force for the lifting adjustment of the top movable seats 2002. A top sliding groove is arranged at the upper end of the top movable seat 2002. Horizontal cross beams 2004 are arranged in the top sliding grooves on both sides. Two trolley transverse oil cylinders 1123 are oppositely arranged. One end of the trolley transverse oil cylinder 1123 is connected with the horizontal cross beam 2004, and the other end is connected with the top movable seat 2002, so as to provide driving force for the horizontal transverse movement of the horizontal cross beam 2004 in the top sliding groove at the upper end of the top movable seat 2002. The horizontal transverse movement refers to movement in the direction perpendicular to the fixed sliding rail 300.

[0050] In the scheme, the third encoder 5 and the fourth encoder 6 are arranged on the bottom fixed seat 201 and closely contact the fixed sliding rail 300. The purpose is to collect the displacement signal of the assembled movable frame 200. When the assembled movable frame 200 moves, the third encoder 5 and the fourth encoder 6 are driven to move together. The pulse data of the encoders are sent to the second controller 20 for digital processing to obtain the displacement data of the assembled movable frame 200. The linear movement distance signal of the assembled movable frame 200 is sent to the second controller 20. The second controller 20 compares the linear movement distance signal with the preset walking displacement G1 to control the movement of the assembled movable frame 200.

[0051] The pull rope sensor 7 is installed on the assembled movable frame 200. One end of the pull rope sensor 7 is connected to the horizontal crossbeam 2004 by a steel wire, and the other end is fixed to the middle section of the crossbar between the bottom fixed seats 201 on both sides. The function of the pull rope sensor 7 is to convert mechanical motion into electrical signals that can be measured, recorded or transmitted. When the top movable seat 2002 rises and falls, the pull rope sensor 7 extends and retracts. An internal spring of the pull rope sensor 7 ensures that the tension of the pull rope remains unchanged. The threaded hub drives the precision rotation sensor to rotate and outputs an electrical signal proportional to the distance the pull rope moves. The output electrical signal is sent to the second controller 20 for digital processing to obtain the height data of the assembled movable frame 200. The actual lifting data is then sent to the second controller 20. The second controller 20 compares the actual lifting data with the preset lifting height data G2 to control the lifting of the top movable seat 2002 through the lifting cylinder 1128. During the installation of the arch frame 900, the position data of the arch frame 900 to be installed is first input. The second controller 20 compares the displacement and height data of the assembled movable frame 200 with the input position data to be installed, and then drives the lifting hydraulic valve group 110 to open and close and control the flow rate to realize the automated installation process of the arch 900.

[0052] In this plan, such as Figure 10 As shown, the hydraulic pump station power part of the tracked hydraulic valve group 60 includes an oil tank I 601, a suction coarse oil filter I 602, a temperature transmitter 603, a level gauge 604, a drain ball valve 605, a suction filter I 606, a return oil filter I 607, a three-phase asynchronous motor 608, and an axial piston pump 609. The valve control component mainly includes a normally open electromagnetic relief valve 610, a synchronous motor 611, an electromagnetic directional valve I 612, an electromagnetic directional valve II 613, an electromagnetic directional valve III 614, and an electromagnetic directional valve IV 615. The positioning part mainly consists of track motors 616①, 617, 618, and 619, which together form the overall walking structure of the trolley. Track motors 616①, 617, 618, and 619 are respectively installed inside the four sets of walking tracks 100.

[0053] In this scheme, the power unit of the hydraulic pump station includes a three-phase asynchronous motor 608 and an axial piston pump 609. The three-phase asynchronous motor 608 is connected to the axial piston pump 609 through a coupling. The output port of the axial piston pump 609 is connected to the input main pipe of the synchronous motor 611 through a pipeline and a suction filter I. The input port of the axial piston pump 609 is connected to the suction coarse oil filter I 602 on the oil tank I 601 through a pipeline.

[0054] The hydraulic pump station power part is connected to the output port of the axial piston pump and the inlet of the synchronous motor 611. The synchronous motor 611 divides the hydraulic oil flow rate output from the axial piston pump. The a5 port and the a6 port of the crawler motor 1616 are connected to the a3 port and the a4 port of the electromagnetic reversing valve 1612 through pipelines, respectively. The a2 port of the electromagnetic reversing valve 1612 is connected to the output port e1 of the synchronous motor 611 through a pipeline. The a1 port of the electromagnetic reversing valve 1612 is connected to the input port of the oil return filter 607 through a pipeline. The b5 port and the b6 port of the crawler motor 1617 are connected to the b3 port and the b4 port of the electromagnetic reversing valve 1613 through pipelines, respectively. The b2 port of the electromagnetic reversing valve 1613 is connected to the output port e2 of the synchronous motor 611 through a pipeline. The b1 port of the electromagnetic reversing valve 1613 is connected to the input port of the oil return filter 607 through a pipeline. The c5 port and the c6 port of the crawler motor 1618 are connected to the c3 port and the c4 port of the electromagnetic reversing valve 1614 through pipelines, respectively. The c2 port of the electromagnetic reversing valve 1614 is connected to the output port e3 of the synchronous motor 611 through a pipeline. The c1 port of the electromagnetic reversing valve 1614 is connected to the input port of the oil return filter 607 through a pipeline. The d5 port and the d6 port of the crawler motor 1619 are connected to the d3 port and the d4 port of the electromagnetic reversing valve 1615 through pipelines, respectively. The d2 port of the electromagnetic reversing valve 1615 is connected to the output port e4 of the synchronous motor 611 through a pipeline. The d1 port of the electromagnetic reversing valve 1615 is connected to the input port of the oil return filter 607 through a pipeline.

[0055] The specific working process of the crawler hydraulic valve group device 6 in the trolley automatic positioning module is as follows: first, the arch positioning data A is input into the construction history data module 30. The positioning data mainly includes: setting the walking displacement value A1, setting the offset angle value A2, and pressing the automatic positioning start button after the setting is completed. The first controller 10 outputs the command to start the three-phase asynchronous motor 608. The axial piston pump 609 starts to operate under no load. The high-pressure oil directly returns to the oil tank 1601 through the normally open electromagnetic overflow valve 610, forming a hydraulic circuit.

[0056] Subsequently, electromagnet Y1, Y3, Y5 and Y7 power, normally on electromagnetic overflow valve 610 power, and then the valve is closed, the high pressure oil output by the axial piston pump 609 through the synchronous motor 611 into the track motor ①, track motor ②, track motor ③ and track motor ④ forward direction control port, respectively, so as to drive the trolley forward, the first encoder 1 and the second encoder 2 counting wheel respectively with the trolley left and right side each 1 track motor drive wheel 101 linkage, start collecting encoder signal, the encoder signal to the first controller 10, through the preset proportional algorithm to calculate the trolley left and right side track motor forward displacement value E and F, forward displacement value E and F constantly compared with the set walking displacement value A1, when E and F are simultaneously greater than or equal to A1, electromagnet Y1, Y3, Y5, Y7 and normally on electromagnetic overflow valve 610 power loss, trolley stop advancing, automatic positioning process is completed, when E and F are simultaneously less than A1, the trolley keeps advancing forward.

[0057] The trolley keeps advancing forward, while the first angle sensor 3, the second angle sensor 4 placed on the transverse beam of the whole arch (reference to the drawing), the trolley advancing process four walking track 100 force is inconsistent and flow into the track motor high pressure oil flow is not consistent, it is easy to cause the trolley deviation, angle sensor linkage with the transverse beam together, can be calculated to calculate the angle value (reference to the offset model drawing), two angle value data to the first controller 10, the first controller 10 through the calculation of the actual angle value C and D, the actual angle value C and D constantly compared with the set offset angle value A2, when the actual angle value C and D are simultaneously greater than or equal to A2, electromagnet Y1, Y5 power loss, electromagnetic valve Y3 and Y7 continue to power on, so as to stop the track motor ① and track motor ③ through the high pressure oil on off control advancing, track motor ② and track motor ④ continue to advance, the trolley begins to correct, the actual angle value C and D slowly decrease, when the actual C and D angle value decreases to the set walking offset angle A2, electromagnet Y1, Y3, Y5, Y7 power on at the same time, high pressure oil, trolley continues to advance at the same time, before the forward displacement value E and F are simultaneously greater than or equal to the set walking displacement value A1, will not stop the execution of the automatic correction process before.

[0058] In this scheme, the hydraulic system diagram of the lifting hydraulic valve group 110 is as follows: Figure 11The lifting hydraulic valve group 110 includes an oil tank II 1101, an oil suction filter II 1102, an oil return filter II 1103, an oil discharge filter 1104, an air filter 1105, a liquid level and temperature gauge 1106, a gear pump 1107, a coupling 1108, a motor 1109, a one-way valve 1110, a hand and light integrated overflow valve 1111, a pressure gauge 1112, a 19-way electromagnetic reversing valve 1113, an oil suction coarse oil filter II 1114, a 2-position 4-way manual electromagnetic reversing valve 1115, a hydraulic lock 1116, an upper push rod oil cylinder 1117, a lower push rod oil cylinder 1118, a longitudinal moving oil cylinder 1119, a side platform telescopic oil cylinder 1120, a first support oil cylinder 1121, a second support oil cylinder 1122, a trolley transverse moving oil cylinder 1123, a crane mechanical arm 1124, a clamping oil cylinder I 1125, a clamping oil cylinder II 1126, a throttle valve 1127, and a lifting oil cylinder 1128.

[0059] In this scheme, the oil suction filter II 1102, the oil return filter II 1103, the oil discharge filter 1104, the air filter 1105, and the liquid level and temperature gauge 1106 are installed on the oil tank II 1101. The motor 1109 is connected with the gear pump 1107 through the coupling 1108 to form an integral whole. The inlet of the gear pump 1107 is connected with the oil suction coarse oil filter II 1114, and the outlet of the gear pump 1107 is connected with the oil suction filter II 1102 to form a pump station power system of the lifting hydraulic valve group 110.

[0060] In this scheme, the outlet of the oil suction filter II 1102 is connected with the one-way valve 1110. The hand and light integrated overflow valve 1111, the pressure gauge 1112, the 19-way electromagnetic reversing valve 1113, and the 2-position 4-way manual electromagnetic reversing valve 1115 are connected as an integral valve block through their own connection ports.

[0061] In this scheme, the hydraulic lock 1116 is installed on the cylinder body of the side platform telescopic oil cylinder 1120, the first support oil cylinder 1121, the second support oil cylinder 1122, the clamping oil cylinder I 1125, and the clamping oil cylinder II 1126. The pipeline uses hydraulic steel pipe to maintain the pressure in the oil cylinder.

[0062] In this scheme, the throttle valve 1127 is installed at the oil return port position of the 19-way electromagnetic reversing valve 1113. The throttle valve 1127 can adjust the hydraulic oil flow, with a range of 0-50 L / m in. By adjusting the flow through the throttle valve 1127, the extension or retraction speed of the oil cylinder can be controlled, and the response speed of each executing component of the trolley can be controlled.

[0063] The specific working process of the lifting hydraulic valve group 110 is as follows:

[0064] First, in the construction history data module 30 input arch positioning data G, positioning data mainly include: set the assembly frame displacement G1, set the assembly frame height data G2, set after pressing the automatic arch installation module start button, the second controller 20 output command to start the three-phase asynchronous motor 1109, gear pump 1107 start no-load operation, high pressure oil directly through the flashlight integrated overflow valve 1111 back to the hydraulic oil tank 1101, forming a hydraulic circuit.

[0065] Subsequently, the Y18 and Y20 of the 19-union electromagnetic reversing valve 1113 on the whole valve block are electrified at the same time, the hand-electric integrated overflow valve 1111 is electrified to be closed, the high-pressure oil output by the gear pump 1107 enters the rodless cavity of the longitudinal moving oil cylinder 1119, the longitudinal moving oil cylinder 1119 drives the assembled movable frame 200 to move forward, the third encoder 5 and the fourth encoder 6 are fixed at the front end of the assembled movable frame 200, the counting wheels of the third encoder 5 and the fourth encoder 6 are in close contact with the fixed slide rail 300, the forward and backward movement of the assembled movable frame 200 drives the counting wheels to count up and down, the forward displacement signal of the assembled movable frame 200 is collected, and then sent to the second controller 20, the forward displacement values K and L of the assembled frame are calculated through the preset proportional algorithm, the forward displacement values K and L of the assembled movable frame 200 are compared with the set walking displacement G1 continuously, if less, the assembled movable frame 200 is continuously driven to move forward, the longitudinal moving oil cylinder 1119 has two, which drive the two sides of the assembled movable frame 200 respectively, the base of the longitudinal moving oil cylinder 1119 is fixed on the end face of the uppermost platform of the telescopic platform 600, and the telescopic movable end is connected with the sliding seat of the assembled movable frame 200, which is used for providing driving force for the movement of the assembled movable frame 200 on the fixed slide rail 300. By comparing the difference between the forward displacement values K and L of the assembled frame, the on-off of Y18 and Y20 is adjusted to further adjust the horizontal movement of the assembled movable frame 200, when the forward displacement values K and L of the assembled movable frame 200 are equal to the set displacement G1 of the assembled frame, the second controller 20 disconnects the electromagnetic coils Y18 and Y20 in the 19-union electromagnetic reversing valve 1113, and then the second controller 20 automatically starts the electromagnetic reversing valve coil Y45 and Y47 of the lifting oil cylinder 1128 to be electrified, the lifting oil cylinder 1128 starts to extend, and further drives the assembled movable frame 200 to rise, the assembled movable frame 200 has placed the arch frame to be constructed, drives the top movable seat 2002 to rise, the pull rope sensor 7 is provided with a pull rope, the pull rope sensor 7 body and the pull rope are fixed on the horizontal beam 2004 and the horizontal beam 2004 between the bottom fixed seat 2001 of the movable assembled frame 200 respectively, the assembled movable frame 200 rises at the same time, the pull rope extends to obtain a signal, the signal is sent into the second controller 20 to calculate the arch frame lifting height data H, the arch frame lifting height data H is compared with the set movable assembled frame height data G2, if less, the lifting continues, if equal, the electromagnetic coils Y18 and Y20 in the 19-union electromagnetic reversing valve 1113 are disconnected, the hand-electric integrated overflow valve 1111 is de-energized, and the assembled movable frame 200 drives the top arch frame 901 to be positioned to the set position to complete the automatic assembly process.

[0066] The telescopic platform 600 is at least one layer of telescopic platform, preferably two layers of telescopic platform, wherein the upper platform 610 is slidably arranged on the lower platform 620, the lower platform 620 is slidably arranged on the upper end surface of the base frame 400, the first supporting mechanism is arranged at the telescopic end of the upper platform 610, the second supporting mechanism is arranged at the telescopic end of the lower platform 620, the upper platform 610, the lower platform 620 and the base frame 400 are matched by the side sliding block and the C-shaped side sliding groove, and the wear-resistant steel plate is arranged on the side sliding block to reduce the sliding contact surface between the platforms and reduce the sliding driving force.

[0067] The workbench needs to be extended by more than 10m, for example, two layers of platform design, each layer of platform needs to be extended by more than 5m, therefore, in order to achieve better results, sliding is driven by hydraulic pressure, and is configured with a stepping system and a limiting device. The scheme considers that the unfolding length of the telescopic platform 600 is limited by the stroke length of the longitudinal displacement oil cylinder 1119, in order to avoid this situation, the telescopic platform 600 is designed as a stepping driving mechanism, and the telescopic platform 600 further comprises an upper push rod mechanism and a lower push rod mechanism which are the same in structure, wherein the upper push rod mechanism comprises an upper push rod oil cylinder 1117 and an upper sliding seat 630, two ends of the upper push rod oil cylinder 1117 are respectively hinged to the upper platform 610 and the upper sliding seat 630, and the lower push rod mechanism comprises a lower push rod oil cylinder 1118 and a lower sliding seat 640, two ends of the lower push rod oil cylinder 1118 are respectively hinged to the lower platform 620 and the lower sliding seat 640.

[0068] Since the upper sliding seat 630 and the lower sliding seat 640 have the same structure and working principle, the structure of the lower sliding seat 640 is described in detail: the lower sliding seat 640 comprises a seat body 6401 and a clamping oil cylinder I 1125 arranged on the seat body 6401, the lower side of the seat body 6401 is connected with a clamping jaw 6402, the telescopic end of the clamping oil cylinder I 1125 can be extended to abut against the frame 401 of the base frame 400 to lift the seat body 6401, the clamping oil cylinder I 1125 and the clamping jaw 6402 clamp the frame 401 from the upper and lower directions, so as to realize the locking of the lower sliding seat 640 on the frame 401. The telescopic end of the clamping oil cylinder I 1125 can be retracted, the clamping oil cylinder I 1125 and the clamping jaw 6402 release the frame 401 from the upper and lower directions, so as to realize the unlocking of the lower sliding seat 640, one lower push rod oil cylinder 1118 is arranged at each side frame 401, the base of the lower push rod oil cylinder 1118 is hinged to one side of the seat body 6401 through a shaft, or two lower push rod oil cylinders 1118 are arranged at each side frame 401, and the two lower push rod oil cylinders 1118 are respectively located at the two sides of the seat body 6401, the base of the lower push rod oil cylinder 1118 is hinged to the two sides of the seat body 6401 through a shaft, and the push rod end of the lower push rod oil cylinder 1118 is hinged to the end of the lower platform 620. The upper sliding seat 630 comprises a seat body and a clamping oil cylinder II 1126 arranged on the seat body, the seat body of the upper sliding seat 630 is hinged to the base of the upper push rod oil cylinder 1117, the push rod end of the upper push rod oil cylinder 1117 is hinged to the end of the upper platform 610, and the upper sliding seat 630 has the same arrangement and working principle as the lower sliding seat 640.

[0069] In another embodiment not shown in the figure, fixed shafts and limit pulleys are arranged at the front and rear ends along the sliding direction of the seat body 6401, the limit pulleys are rotatably installed on the fixed shafts and can roll along the frame 401. After the limit pulleys contact the frame 401, the rolling contact of the whole lower sliding seat 640 and the frame 401 can be realized, the limit pulleys are respectively provided with limit plates at the two ends, the limit plates can keep the limit pulleys rolling along the frame, so as to prevent the movement direction of the lower sliding seat 640 from deviating.

[0070] The telescoping steps of the telescoping platform 600 are as follows: Step one, when the telescoping platform needs to be unfolded, the lower push rod oil cylinder 1118 is extended, which will push the lower platform 620 to unfold. After the lower push rod oil cylinder 1118 is extended to the maximum stroke, the clamping oil cylinder I 1125 is retracted, the clamping oil cylinder I 1125 and the clamping jaw 6402 loosen the frame 400 from the upper and lower directions, the lower push rod oil cylinder 1118 is retracted in the direction of unfolding the telescoping platform 600, and after moving to the position, the clamping oil cylinder I 1125 is extended, thereby relocking the lower sliding seat 640. At this time, the lower sliding seat 640 is a fixed point to repeat the unfolding action of the lower platform 620; after the lower platform 620 is unfolded to the position, the support mechanism (second support oil cylinder 1122) driving the lower platform 620 is unfolded, supporting the end of the lower platform 620, and the upper platform 610 is stepwise unfolded. After unfolding to the position, the support mechanism (first support oil cylinder 1121) driving the upper platform 610 is unfolded, supporting the end of the upper platform 610. Step two, when the telescoping platform 600 needs to be retracted, the support mechanism driving the upper platform 610 is retracted, the upper sliding seat 630 is locked, the upper platform 610 is stepwise retracted, the support mechanism (first support oil cylinder 1121) driving the lower platform is retracted, the lower sliding seat 640 is locked, the clamping oil cylinder I 1125 is extended, the clamping oil cylinder I 1125 and the clamping jaw 6402 are clamped from the upper and lower directions of the frame 400, the lower push rod oil cylinder 1118 is shortened, which will pull the lower platform 620 to retract. After the lower push rod oil cylinder 1118 is retracted to the position, the clamping oil cylinder I 1125 is retracted, the clamping oil cylinder I 1125 and the clamping jaw 6402 loosen the frame 400 from the upper and lower directions, the lower push rod oil cylinder 1118 is extended in the direction of retracting the telescoping platform 600, and after moving to the position, the clamping oil cylinder I 1125 is extended, thereby relocking the lower sliding seat 640. At this time, the lower sliding seat 640 is a fixed point to repeat the retraction action of the lower platform 620.

[0071] The working process of the three steps is further described in combination with the hydraulic system. When the start increasing process remote control button is started, Y37 and Y39 in the 19th electromagnetic reversing valve 1113 on the overall valve block are electrified at the same time, the hand and electric integrated overflow valve 1111 is electrified and closed, high pressure oil enters the rod cavity of the clamping oil cylinder I 1125, the clamping oil cylinder I 1125 starts to elongate, then the oil cylinder drives the base to clamp the frame 400, then the lower platform 620 push-out remote control button is started, Y9 and Y11 in the 19th electromagnetic reversing valve 1113 are electrified at the same time, the hand and electric integrated overflow valve 1111 is electrified and closed, high pressure oil enters the rodless cavity of the push rod oil cylinder 1118, the push rod oil cylinder 1118 starts to extend, the base of the push rod oil cylinder 1118 is fixed on the frame 400, the push rod end of the push rod oil cylinder 1118 is hingedly connected with one end of the lower platform 620, through the extension of the push rod oil cylinder 1118, the forward movement of the lower platform 620 relative to the frame 400 is realized, after the lower platform 620 is moved forward to the position, the lower platform support button is started, the electromagnetic valves Y30 and Y32 are electrified, the second support oil cylinder 1122 extends, the lower platform 620 not only bears its own weight, but also bears the weight of the upper platform 610, therefore, in order to make the second support oil cylinder 1122 support structure make the sliding platform more stable, preferably, the telescopic ends of the lower platform 620 are respectively hingedly connected with the bases of the second support oil cylinder 1122 and the inclined support oil cylinder 1129, the telescopic end of the inclined support oil cylinder 1129 is hingedly connected with the base of the second support oil cylinder 1122. When the inclined support oil cylinder 1129 extends to form a stable triangular structure, the support will be more stable. The upper platform 610 push-out button is started, the electromagnetic valves Y13 and Y15 are electrified, the push rod oil cylinder 1117 extends, through the extension of the push rod oil cylinder 1117, the movement of the upper platform 610 relative to the lower platform 620 is realized, after the upper platform 610 is moved forward to the position, the upper platform support button is started, the electromagnetic valves Y26 and Y28 are electrified, the first support oil cylinder 1121 extends, the base of the first support oil cylinder 1121 is fixed on the bottom of the upper platform 610, a support is arranged at the extending end of the first support oil cylinder 1121, and the support is supported on the step and used for installing and constructing the arch frame at the step. The purpose of arranging the support oil cylinder is to make the extension end of the upper platform 610 support more stable.

[0072] The hydraulic valve group of the arch frame installation equipment in the scheme continuously provides high pressure oil for the crane mechanical arm 1124, the crane mechanical arm 1124 is controlled through an artificial wireless remote control handle, the crane mechanical arm 1124 lifts the arch frame to be installed from the ground to the top storage rack 500, and the top storage rack 500 provides an arch frame storage position for the crane mechanical arm 1124. The installation mechanical arm 700 uses the clamp at the end to accurately position the arch frames on both sides according to the side arch frame installation requirements.

[0073] The embodiment also provides an arch mounting method, which has three steps: an upper step mounting step, a middle step mounting step and a lower step mounting step in sequence; the upper step arch 900 comprises a top arch 901 and two side arches 902, wherein the two side arches 902 are connected to the two sides of the top arch 901 to form a complete arch 900;

[0074] Step one, the upper step mounting step is specifically as follows: step 11, the two side arches 902 and / or the top arch 901 to be mounted are lifted in advance and stored on the top storage platform 500 of the trolley by the crane mechanical arm 1124 on the trolley;

[0075] Step 12, after the working face is provided with arch mounting conditions, the trolley is automatically driven to the arch mounting station by the trolley intelligent control system, the trolley running direction is automatically corrected in real time by the trolley intelligent control system during the trolley running process; the telescopic platform 600 is adjusted along the unfolding direction, so that all the layers of the telescopic platform 600 are unfolded and the support mechanisms at the end of each layer of the sliding platform are unfolded; when the telescopic platform 600 needs to be unfolded, the lower push rod oil cylinder 1117 is elongated to push the lower layer platform 620 to unfold; after the lower push rod oil cylinder 1117 is elongated to the maximum stroke, the clamping oil cylinder I 1125 is retracted, the clamping oil cylinder I 1125 and the clamping jaw 6402 are loosened from the upper and lower directions to the frame 400, the lower push rod oil cylinder 1117 is retracted to the unfolding direction of the telescopic platform 600, and after the movement is completed, the clamping oil cylinder I 1125 is elongated to re-lock the lower sliding seat 640; at this time, the lower layer platform 620 is pulled to be repeatedly unfolded and adjusted with the lower sliding seat 640 as a fixed point; after the lower layer platform 620 is unfolded to the position, the support mechanism of the lower layer platform 620 is driven to unfold to support the end of the lower layer platform 620, and the upper layer platform 610 is stepwise unfolded by the upper push rod oil cylinder 1117 and the upper sliding seat 630, and after the unfolding is completed, the first support oil cylinder 1121 of the upper layer platform 610 is driven to unfold to support the end of the upper layer platform 610.

[0076] Step 12 is specifically as follows, step 121: the first and second encoders 1, 2 installed on the two walking tracks 100 of the trolley send the detected trolley walking displacement signals to the first controller 10, the first controller 10 calculates the forward displacement value E and the forward displacement value F of the two sides of the trolley, and compares the forward displacement value E and the forward displacement value F with the set walking displacement value A1, when the forward displacement value E and the forward displacement value F are less than the set walking displacement value A1 at the same time, the trolley keeps the state of forward advancing; step 122: the first and second angle sensors 3, 4 installed on the front and rear cross beams of the trolley base frame 400 send the detected trolley walking angle posture signals to the first controller 10; the first controller 10 calculates the actual angle value C and the actual angle value D of the front and rear of the trolley and judges the deviation direction, compares the actual angle value C and the actual angle value D with the set deviation angle value A2 respectively, the walking track 100 on the side advancing faster stops, the walking track 100 on the side advancing slower continues to advance, when the actual angle value C and the actual angle value D are less than the set deviation angle value B, the four walking tracks 100 continue to advance at the same time; step 123: before the forward displacement value E and the forward displacement value F are less than the set displacement value A1, the trolley keeps the state of forward advancing and simultaneously continuously executes the automatic deviation correction step of step 122; when the forward displacement value E and the forward displacement value F are equal to the set displacement value A1, the trolley stops advancing.

[0077] Step 13, uses the installation mechanical arm 700 to place the two side arches 902 of the top storage platform 500 near the installation position of the two sides of the trolley, and simultaneously adjusts the pose state of the two side arches 902 by using the installation mechanical arm 700, so that one end of the two side arches 902 is close to the top position of the upper step excavation, and the other end is suspended in the side position of the trolley;

[0078] Step 14, uses the trolley intelligent control system described above to drive the assembled movable frame 200 to move on the fixed slide rail 300, and moves the top arch 901 of the top storage platform 500 to the installation position as a whole, and realizes the precise positioning of the top arch 901 through the adjustment of the six degrees of freedom of left and right, up and down, and front and back;

[0079] Step 141: First, the assembled movable frame 200 moves on the fixed slide rail 300 according to the set displacement value A2 input by the construction history data module 30, the third encoder 5 and the fourth encoder 6 send the displacement of the assembled movable frame 200 on the fixed slide rail 300 to the second controller 20, and the second controller 20 calculates the assembled frame forward displacement value K and the assembled frame forward displacement value L; the assembled frame forward displacement value K and the assembled frame forward displacement value L are compared with the set assembled frame displacement value G1, when the assembled frame forward displacement value K and the assembled frame forward displacement value L are less than the set assembled frame displacement value G1, the movement continues, and when the assembled frame forward displacement value K and the assembled frame forward displacement value L are equal to the set assembled frame displacement value G1, the forward movement stops; step 142: after the assembled movable frame 200 is positioned, the top movable seat 202 moves up and down on the bottom fixed seat 201 according to the set height data G2 input by the history data module 30, the pull rope sensor 7 sends the height displacement of the top movable seat 202 relative to the bottom fixed seat 201 to the second controller 20, and the second controller 20 is used to calculate the actual lifting height H of the top movable seat 202, and compare the actual lifting height H with the set assembled frame height data G2, when the actual lifting height H is less than the set assembled frame height data G2, the lifting continues, and when the actual lifting height H is equal to the set assembled frame height data G2, the lifting stops; step 143: after the top movable seat 202 is lifted into position, the car transverse cylinder 1123 is controlled to extend or retract by a manual button, so as to adjust the horizontal cross beam 204 installed on the top movable seat 202 to move transversely in a direction perpendicular to the fixed slide rail 300, and when the top arch 901 is adjusted into position, the top arch 901 is installed at a position corresponding to the top of the upper step excavation tunnel 50.

[0080] Step 15: After the top arch 901 is positioned, the two side arches 902 to be installed are clamped by the installation mechanical arm 700, the positions of the two side arches 902 are adjusted according to the position of the top arch 901, and after the two side arches 902 are installed into position, they are fixed to form a complete arch 900;

[0081] Step 16: While installing the top arch 901 and the two side arches 902, longitudinal reinforcing bars and mesh installation work is performed on the work platform provided by the equipment.

[0082] Step 2: The middle step installation steps are as follows: step 21: the two side arches 902 stored on the top of the equipment to be installed are directly connected with the arch 900 of the upper step and fixed to form a middle step arch according to the installation position requirements by using the installation mechanical arm 700; step 22: while installing the two side arches 902, longitudinal reinforcing bars and mesh installation work is performed on the work platform provided by the equipment.

[0083] Step three, the installation of the lower step is as follows: step 31, installation of the two side arches of the lower step, using the installation mechanical arm 700, the two side arches 902 of the lower step stored on the ground are connected and fixed with the middle step arch according to the installation position requirements to form the two side arches of the lower step; step 32, installation of the inverted arch, using the installation mechanical arm 700, the inverted arch stored on the ground is connected with the two side arches of the lower step according to the installation position requirements; step 33, through the working platform provided by the equipment, the longitudinal reinforcing bars and the mesh are installed at the same time when the two side arches 902 of the lower step and the inverted arch are installed.

[0084] Step four, the retraction of the telescopic platform 600 is as follows: after the construction is completed, the telescopic platform 600 is retracted, the first supporting oil cylinder 1121 of the upper platform 610 is driven to retract, the upper sliding seat 630 is locked, the upper platform 610 is retracted step by step, after the retraction is completed, the second supporting oil cylinder 1122 of the lower platform 620 is driven to retract, the lower sliding seat 640 is locked, the clamping oil cylinder I 1125 is elongated, the clamping oil cylinder I 1125 and the clamping jaw 6402 clamp the frame 400 from the upper and lower directions. The lower push rod oil cylinder 1117 is shortened, which pulls the lower platform 620 to retract. After the lower push rod oil cylinder 1117 is retracted to the position, the clamping oil cylinder I 1125 is retracted, the clamping oil cylinder I 1125 and the clamping jaw 6402 are loosened from the upper and lower directions of the frame 400, the lower push rod oil cylinder 1117 is elongated in the telescopic platform retraction direction, the lower sliding seat 640 is pushed to move, after the lower sliding seat 640 moves to the position, the clamping oil cylinder I 1125 is elongated, so as to lock the lower sliding seat 640 again, at this time, the lower platform 620 is pulled to repeat the retraction action with the lower sliding seat 640 as the fixed point; after the lower platform 620 is retracted to the position.

[0085] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the preferred embodiment of the present application has been disclosed as above, it is not intended to limit the present application. Any skilled person in the art can make some changes or modifications to the above disclosed technical content without departing from the technical solution of the present application, and any simple modification, equivalent change and modification of the above embodiment based on the technical essence of the present application are still within the scope of the technical solution of the present application.

Claims

1. A caterpillar arch mounting trolley intelligent control system, characterized in that: The trolley intelligent control system comprises an automatic positioning module; the automatic positioning module comprises a first encoder, a second encoder, a first controller and a track hydraulic valve group; the counting wheels of the first encoder and the second encoder are respectively linked with at least one track wheel on each side of the trolley, the first encoder is installed at the walking track on the first side of the trolley, the second encoder is installed at the walking track on the second side of the trolley, the first and second encoders are driven to move together through the walking tracks, the first and second encoders collect the encoder signals at the track wheels, and finally the linear displacement data of the walking tracks on the two sides in the advancing direction are sent to the first controller after processing; the first controller is used for converting the collected signals into the walking distances of the walking tracks on the two sides, thereby driving the track hydraulic valve group to execute the specific instructions of flow and on-off, so as to realize the automatic control of the trolley advancing positioning; The automatic positioning module further comprises a first angle sensor and a second angle sensor, the first angle sensor is installed on the front side crossbeam of the trolley, the second angle sensor is installed on the rear side crossbeam of the trolley, the first angle sensor and the second angle sensor are respectively used for acquiring the rotation angle value signals of the front and rear sides of the trolley, and sending the rotation angle value signals to the first controller after processing, the first controller converts the acquired rotation angle value signals into actual angle values, thereby driving the track hydraulic valve group to execute the specific instructions of flow and on-off, so as to realize the automatic control of the trolley advancing direction deviation correction; The two angle value data acquired by the first angle sensor and the second angle sensor are sent to the first controller, the first controller obtains actual angle values C and D through calculation, the actual angle values C and D are compared with the set offset angle value A2 constantly, the walking track on the side advancing faster stops, and the walking track on the side advancing slower continues to advance; The assembling movable frame and the fixed slide rail are installed on the telescopic platform, the telescopic platform is a two-layer sliding platform, the upper layer platform is slidably arranged on the lower layer platform, the lower layer platform is slidably arranged on the upper end surface of the base frame, a first supporting mechanism is arranged at the telescopic end of the upper layer platform, and a second supporting mechanism is arranged at the telescopic end of the lower layer platform, the upper layer platform, the lower layer platform and the base frame are slidably matched, and the telescopic platform further comprises an upper push rod mechanism and a lower push rod mechanism which are the same in structure, wherein the upper push rod mechanism comprises an upper push rod oil cylinder and an upper sliding seat, the two ends of the upper push rod oil cylinder are hinged to the upper layer platform and the upper sliding seat respectively, the lower push rod mechanism comprises a lower push rod oil cylinder and a lower sliding seat, and the two ends of the lower push rod oil cylinder are hinged to the lower layer platform and the lower sliding seat respectively; When the telescopic platform needs to be unfolded, the lower push rod oil cylinder is elongated to push the lower layer platform to unfold, after the lower push rod oil cylinder is elongated to the maximum stroke, the clamping oil cylinder I is retracted, the clamping oil cylinder I and the clamping jaw loosen the frame from the upper and lower directions, the lower push rod oil cylinder is retracted to the unfolding direction of the telescopic platform, and after being moved to the position, the clamping oil cylinder I is elongated, so that the lower sliding seat is relocked. After the lower platform is unfolded in place, the second supporting mechanism driving the lower platform is unfolded, the end of the lower platform is supported, and the upper platform is unfolded step by step.

2. The intelligent control system of a caterpillar arch mounting trolley according to claim 1, characterized in that: The intelligent control system of the trolley further comprises an arch mounting module; the arch mounting module comprises a third encoder, a fourth encoder, a second controller and a lifting hydraulic valve group; the third encoder and the fourth encoder are respectively mounted on the two sides of the assembling movable frame, the assembling movable frame is slidably arranged on the fixed slide rail, the third encoder and the fourth encoder are in close contact with the fixed slide rail, and the third encoder and the fourth encoder are used for collecting displacement signals of the assembling movable frame; when the assembling movable frame moves, the third encoder and the fourth encoder are driven to move together, and the linear movement distance signals of the assembling movable frame are sent to the second controller; the second controller compares the linear movement distance signals with a set assembling frame displacement value G1 to control the movement of the assembling movable frame on the fixed slide rail to stop.

3. The intelligent control system of a caterpillar arch mounting trolley according to claim 1, characterized in that: The intelligent control system of the trolley further comprises a pull rope sensor, the pull rope sensor is mounted on the assembling movable frame, the assembling movable frame comprises a bottom fixed seat, a top movable seat and a lifting oil cylinder, the two ends of the lifting oil cylinder are connected with the bottom fixed seat and the top movable seat respectively, one end of the pull rope sensor is connected with the top movable seat, and the other end of the pull rope sensor is connected with the bottom fixed seat, the pull rope sensor is used for acquiring lifting data of the top movable seat and sending actual lifting data to the second controller, and the second controller is used for comparing the actual lifting data with a set assembling frame height data G2 to control the lifting of the top movable seat through the lifting oil cylinder.

4. The intelligent control system of a caterpillar arch mounting trolley according to claim 1, characterized in that: The assembling movable frame further comprises a horizontal cross beam parallel to the horizontal cross beam and a trolley transverse oil cylinder, the horizontal cross beam is arranged on top of the two top movable seats and can slide relative to the two top movable seats, one end of the trolley transverse oil cylinder is connected with the horizontal cross beam, and the other end of the trolley transverse oil cylinder is connected with the top movable seat, the trolley transverse oil cylinder is used for driving the horizontal cross beam to move on the top movable seat in a direction perpendicular to the fixed slide rail.

5. The intelligent control system of a caterpillar arch mounting trolley according to any one of claims 1-4, characterized in that: The construction history data module further comprises a man-machine operation interface, the man-machine operation interface is in signal connection with the first controller and the second controller, and is used for inputting control signals and recording or checking operation history data.

6. A method of installing a centering, characterized in that: The steps in sequence comprise an upper step mounting step, a middle step mounting step and a lower step mounting step; the arch-shaped frame of the upper step comprises a top arch and two side arches, and the two side arches are connected to the two sides of the top arch to form a complete arch-shaped frame; Step one, the upper step mounting step is specifically as follows: step 11, the two side arches and / or the top arch to be mounted are lifted and stored on the top storage platform of the trolley in advance by using the crane mechanical arm on the trolley; Step 12, after the working face meets the arch mounting conditions, the intelligent control system of the trolley according to any one of claims 1-5 is used, the traveling direction of the trolley is automatically and timely corrected by the intelligent control system of the trolley during the traveling of the trolley, the trolley is automatically driven to reach the arch mounting station, the telescopic platform is adjusted in the unfolding direction, the sliding platforms of all layers of the telescopic platform are unfolded, and the supporting mechanisms at the end portions of the sliding platforms of all layers are unfolded. Step 13, using the installation mechanical arm to place the two sides of the top storage platform near the installation position of the trolley, and adjusting the pose state of the two sides of the arch frame using the installation mechanical arm, so that one end of the two sides of the arch frame is close to the top position of the upper step excavation, and the other end is suspended in the side position of the trolley; Step 14, using the trolley intelligent control system of any one of claims 1-5 to drive the assembled movable frame to move on the fixed slide rail, and move the top arch frame of the top storage platform to the installation position, and adjust the position through the six degrees of freedom of left and right, up and down, and front and back, to realize the precise positioning of the top arch frame; Step 15, after the top arch frame is in place, the two side arch frames to be installed are clamped using the installation mechanical arm, the position of the two side arch frames is adjusted according to the position of the top arch frame, and after the two side arch frames are installed in place, they are fixed to form a complete arch frame; Step 16, while installing the top arch frame and the two side arch frames, longitudinal reinforcing bars and mesh installation operations are performed; Step two, the middle step installation steps are as follows: step 21, using the installation mechanical arm, the two side arch frames stored on the top storage platform to be installed are directly connected with the arch frame of the upper step and fixed to form a middle step arch frame according to the installation position requirements; Step 22, through the work platform provided by the equipment, longitudinal reinforcing bars and mesh installation operations are performed while installing the two side arch frames; Step three, the lower step installation steps are as follows: step 31, installing the lower step two side arch frames, using the installation mechanical arm, the lower step two side arch frames stored on the ground are connected with the middle step arch frame and fixed to form a lower step arch frame according to the installation position requirements; Step 32, installing the inverted arch arch frame, using the installation mechanical arm, the inverted arch arch frame stored on the ground is connected with the lower step arch frame according to the installation position requirements; Step 33, through the work platform provided by the equipment, longitudinal reinforcing bars and mesh installation operations are performed while installing the two side arch frames of the lower step and the inverted arch arch frame.

7. A method of installing an arch according to claim 6, wherein: In step 12, the specific control steps of the trolley intelligent control system are as follows: step 121: the first and second encoders installed on the two side traveling belts of the trolley send the detected trolley traveling displacement signals to the first controller, the first controller calculates the forward displacement values E and F of the two sides of the trolley, and compares the forward displacement values E and F with the set traveling displacement value A1, when the forward displacement values E and F are less than the set traveling displacement value A1 at the same time, the trolley keeps advancing forward; Step 122: the first and second angle sensors installed on the front and rear cross beams of the trolley base frame send the detected trolley traveling angle posture signals to the first controller; the first controller calculates the actual angle values C and D of the front and rear of the trolley and judges the offset direction, compares the actual angle values C and D with the set offset angle value A2 respectively, the traveling belt of the side that travels faster stops, the traveling belt of the side that travels slower continues to travel, and when the actual angle values C and D are less than the set offset angle value A2, the four traveling belts travel at the same time; Step 123: When the forward displacement value E and the forward displacement value F are less than the set walking displacement value A1, the trolley keeps advancing forward and continuously executes the automatic deviation correction step of step 122; when the forward displacement value E and the forward displacement value F are equal to the set walking displacement value A1, the trolley stops advancing.

8. The arch mounting method of claim 6, wherein: The step 14 is specifically as follows: Step 141: First, the assembling movable frame moves on the fixed slide rail according to the set assembling frame displacement value G1 input by the construction history data module, the third encoder and the fourth encoder send the displacement of the assembling movable frame on the fixed slide rail to the second controller, and the second controller calculates the assembling frame forward displacement value K and the assembling frame forward displacement value L; the assembling frame forward displacement value K and the assembling frame forward displacement value L are compared with the set assembling frame displacement value G1, when the assembling frame forward displacement value K and the assembling frame forward displacement value L are less than the set assembling frame displacement value G1, the assembling movable frame continues to move, and when the assembling frame forward displacement value K and the assembling frame forward displacement value L are equal to the set assembling frame displacement value G1, the assembling movable frame stops advancing; Step 142: After the assembling movable frame is in place, the top movable seat moves up and down on the bottom fixed seat according to the set assembling frame height data G2 input by the history data module, the pull rope sensor sends the displacement of the top movable seat relative to the bottom fixed seat to the second controller, the second controller is used to calculate the actual lifting height H of the top movable seat, and the actual lifting height H is compared with the set assembling frame height data G2, when the actual lifting height H is less than the set assembling frame height data G2, the top movable seat continues to lift, and when the actual lifting height H is equal to the set assembling frame height data G2, the top movable seat stops; Step 143: After the top movable seat is lifted into place, the car transverse cylinder is controlled to extend and retract by a manual button, so as to adjust the horizontal cross beam arranged on the top movable seat to move transversely in the direction perpendicular to the fixed slide rail, and when the top arch is adjusted into place, the top arch is installed at the corresponding position on the top step of the excavated tunnel.

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