A segment removal device

Abstract

This invention discloses a tunnel segment removal device, comprising a removal unit, a soil-carrying unit, and a traction unit. The removal unit includes a mounting base movably disposed within the tunnel along a front-to-back direction, with a mounting bracket on the mounting base. Multiple robotic arms are mounted on the mounting bracket and are detachably connected to the tunnel segments within the tunnel. The soil-carrying unit is located at the front of the mounting bracket and includes two soil-carrying components arranged in a left-to-right direction. Each soil-carrying component has an upward-facing mounting groove, and the opposite sidewalls of the two mounting grooves are interconnected. The orientation of the two soil-carrying components in the left-to-right direction is adjustable. The traction unit drives the mounting base, enabling it to move along a front-to-back direction. This invention removes tunnel segments within the tunnel using multiple robotic arms, carries loose soil from the removed segments using the mounting grooves, and uses the traction unit to move the removal unit and transport the segments out of the tunnel. This method offers high removal efficiency and low safety risks.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction equipment technology, and in particular to a segment removal device. Background Technology

[0002] With the continuous construction of infrastructure, tunnel construction is becoming increasingly common in the process of modernization, especially in urban subway construction. Tunnel boring machines are often used to excavate underground tunnels, and then segmented tunnel sections are spliced ​​to form the tunnel sidewalls for temporary support. After that, the segments are removed for subsequent construction to form permanent support.

[0003] In existing tunnel segment dismantling operations, manual scaffolding is often used to form temporary supports and working platforms, or mechanical equipment is used to provide supports and working platforms. The segments are then manually dismantled and transferred to transportation equipment, and transported to the hoisting point to complete the dismantling of the tunnel segments.

[0004] Existing dismantling methods are time-consuming, inefficient, and cannot guarantee the construction period. Furthermore, the construction environment is relatively harsh, and workers are prone to accidental injuries during the construction process. Summary of the Invention

[0005] The main objective of this invention is to propose a segment removal device, which aims to solve the technical problems of low removal efficiency and high safety risk of existing segment removal methods.

[0006] To achieve the above objectives, the present invention proposes a segment removal device for removing multiple segments within a shield tunnel, with the tunnel's extension direction as the front-to-back direction. The segment removal device comprises:

[0007] The dismantling device includes a mounting base that is movable in the front-rear direction inside the tunnel. The mounting base is provided with a mounting bracket, and the mounting bracket is provided with multiple robotic arms. The multiple robotic arms are spaced apart on the periphery of the mounting bracket and are retractable in the radial direction of the tunnel. The multiple robotic arms are used to detachably connect with multiple tunnel segments.

[0008] A soil-carrying device is located on the front side of the mounting bracket. The soil-carrying device includes two soil-carrying components arranged in the left-right direction. Each of the two soil-carrying components has an upward-facing mounting groove, and the opposite side walls of the two mounting grooves are connected. The orientation of the two soil-carrying components in the left-right direction is adjustable.

[0009] A traction device, movably disposed in the front-to-back direction, is drive-connected to the mounting base for driving the mounting base to move in the front-to-back direction; and...

[0010] The control device is electrically connected to the plurality of robotic arms and the traction device, respectively.

[0011] Optionally, the bottom walls of the two mounting slots are inclined from top to bottom toward each other.

[0012] Optionally, the dismantling device includes multiple robotic arm groups, which are spaced apart circumferentially along the mounting bracket, and each robotic arm group includes multiple robotic arms spaced apart in the front-back direction.

[0013] Optionally, the included angle between two adjacent robotic arm groups in the plurality of robotic arm groups is adjustable.

[0014] Optionally, the dismantling device further includes multiple connecting components, which are correspondingly disposed at the ends of the multiple robotic arm groups away from the mounting bracket. The multiple robotic arms in each robotic arm group are connected to the mounting portion inside the segment through the connecting components.

[0015] Optionally, the connection component includes:

[0016] A fixing component includes a fixing part and a connecting part, wherein one side of the fixing part is fixedly connected to one or more robotic arms of each of the said robotic arm assemblies, and the connecting part is located on the other side of the fixing part; and...

[0017] A connector, one end of which is rotatably connected to the adapter, and the other end of which is detachably connected to the mating part of the tunnel.

[0018] Optionally, the demolition device further includes a support platform, which is located on the front side of the mounting bracket and above the soil-carrying device;

[0019] The lower side of the support platform is provided with a lifting device, which includes:

[0020] The drive motor is fixedly installed on the lower side of the support platform;

[0021] The guide chain has one end connected to the drive motor for transmission, and the other end can move vertically under the drive of the drive motor; and,

[0022] The lifting component is fixedly connected to the other end of the guide chain.

[0023] Optionally, handrails are connected to both sides of the support platform, and the two handrails extend downward to the left and right sides of the support frame, respectively.

[0024] The handrail of the escalator is foldable.

[0025] Optionally, the demolition device further includes a plurality of movable support parts, each of which is movable to abut against the inner wall of the tunnel.

[0026] The plurality of said support portions are movably mounted on the periphery of the mounting base; and / or,

[0027] Multiple support parts are movably mounted on the mounting bracket, and the multiple support parts are spaced apart along the periphery of the mounting bracket and located on the front and / or rear sides of the multiple robotic arms.

[0028] Optionally, the plurality of said support portions include:

[0029] Multiple fixed support parts are spaced apart on the lower side of the mounting base in the left-right direction. The multiple fixed support parts are telescopically movable in the up-down direction. When the multiple fixed support parts are moved to the supported state, they abut against the lower sidewall of the tunnel.

[0030] Multiple sliding support parts are spaced apart along the periphery of the mounting bracket. One end of each sliding support part is fixedly mounted on the mounting bracket, and the other end is retractable along the radial direction of the tunnel. The other end of each sliding support part is provided with a roller that can roll in the front-back direction. When the multiple sliding support parts move to the supported state, the multiple rollers abut against the inner wall of the tunnel.

[0031] In the technical solution of this invention, the segment removal equipment includes a removal device, a soil-carrying device, a traction device, and a control device. The removal device includes a mounting base that is movably arranged in the tunnel along the front-back direction. The mounting base is provided with a mounting bracket, and the mounting bracket is provided with multiple robotic arms. The multiple robotic arms are spaced apart and installed around the periphery of the mounting bracket, and are retractable along the tunnel radial direction. The multiple robotic arms are used to detachably connect with multiple tunnel segments. The soil-carrying device is located on the front side of the mounting bracket. The soil-carrying device includes two soil-carrying components arranged in the left-right direction. Each of the two soil-carrying components has an upward-facing mounting groove, and the opposite sidewalls of the two mounting grooves are connected. The orientation of the two soil-carrying components in the left-right direction is adjustable. The traction device is movably arranged in the front-back direction and is driven by the mounting base to drive the mounting base to move in the front-back direction. The control device is electrically connected to the multiple robotic arms and the traction device. The control device controls the traction device to drive the mounting base to move along the track inside the tunnel to the segment removal position. Multiple robotic arms are controlled to extend and connect with the mating parts inside the segment. After the connection is completed, the multiple robotic arms are controlled to retract and remove the corresponding segment. Workers can excavate the loose soil around the tunnel after the segment removal into the mounting trench. The loose soil can be poured out from the corresponding through sidewalls of the two mounting trenches. The two soil-carrying components can also be controlled to move the positions of the two mounting trenches in the left and right directions so that the two mounting trenches are merged into one soil-receiving trench. The loose soil is loaded into the soil-receiving trench and transported out of the tunnel along with the traction device. The traction device pulls the mounting base to move outside the tunnel, and the segment transported out with the removal device and the loose soil in the soil-receiving trench are removed. The segment removal process is automated by multiple robotic arms controlled by the control device according to the calculated trajectory, avoiding safety accidents caused by collapse during segment removal. After the segments are removed from the tunnel, workers can then enter the site to clear the loose soil. This process is highly efficient, requires no equipment, and can be completed by a single machine. After removal, the segments can be directly transported out of the tunnel by the traction device. All dangerous steps are completed by the equipment, significantly reducing the probability of accidents causing casualties and improving safety. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of a structure of an embodiment of the segment removal equipment provided by the present invention;

[0034] Figure 2 for Figure 1 Another structural schematic diagram of the segment removal equipment;

[0035] Figure 3 This is a simplified schematic diagram illustrating the state of the tunnel lining segments during dismantling in the technical solution of this invention.

[0036] Explanation of icon numbers:

[0037] label name label name 1 Dismantling device 13 Support Platform 11 Mounting base 131 Lifting device 111 support wheel 132 escalator 12 Mounting bracket 133 armrest 121 First robotic arm group 14 Connection components 122 Second robotic arm assembly 15 Sliding support 123 Third robotic arm group 2 Soil-carrying device 124 Fourth robotic arm group 21 Soil-carrying components 125 telescopic pole 3 Segment 126 Connecting rod

[0038] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0040] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0041] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0042] In existing tunnel segment dismantling operations, manual scaffolding is often used to form temporary supports and working platforms, or mechanical equipment is used to provide supports and working platforms. The segments are then manually dismantled and transferred to transportation equipment, and transported to the hoisting point to complete the dismantling of the tunnel segments.

[0043] Existing dismantling methods are time-consuming, inefficient, and cannot guarantee the construction period. Furthermore, the construction environment is relatively harsh, and workers are prone to accidental injuries during the construction process.

[0044] In view of this, the present invention proposes a segment removal device, which aims to solve the technical problems of low removal efficiency and high safety risk of existing segment removal methods.

[0045] Please see Figures 1 to 2 This invention provides an embodiment of a tunnel segment removal device. The device includes a removal unit 1, a soil-carrying unit 2, a traction unit, and a control unit. The removal unit 1 includes a mounting base 11 movably disposed within the tunnel along a front-to-back direction. The mounting base 11 has a mounting bracket 12, and the mounting bracket 12 has multiple robotic arms. These robotic arms are spaced apart on the periphery of the mounting bracket 12 and are radially extendable along the tunnel. The robotic arms are detachably connected to multiple tunnel segments 3. The soil-carrying unit 2 is located in front of the mounting bracket 12 and includes two soil-carrying components 21 disposed along a left-to-right direction. Each soil-carrying component 21 has an upward-facing mounting groove, and the opposing sidewalls of the two mounting grooves are interconnected. The orientation of the two soil-carrying components 21 in the left-to-right direction is adjustable. The traction unit is movably disposed along a front-to-back direction and is connected to the mounting base 11 to drive the mounting base 11 to move along a front-to-back direction. The control unit is electrically connected to the multiple robotic arms and the traction unit.

[0046] In this embodiment, the control device controls the traction device to drive the mounting base 11 to move along the track inside the tunnel to the segment 3 removal position. Multiple robotic arms are controlled to extend and connect with the mating parts inside the segment 3. After the connection is completed, the multiple robotic arms are controlled to retract and remove the corresponding segment 3. Workers can dig out the loose soil around the tunnel after the segment 3 is removed into the mounting groove. The loose soil can be poured out from the corresponding through sidewalls of the two mounting grooves. The two soil-carrying components 21 can also be controlled to move the positions of the two mounting grooves in the left and right directions so that the two mounting grooves are merged into a soil-receiving groove. The loose soil is loaded into the soil-receiving groove and transported out of the tunnel along with the traction device. The traction device pulls the mounting base 11 to move outside the tunnel and removes the segment 3 and the loose soil in the soil-receiving groove that were transported out with the removal device 1. The dismantling process of segment 3 is automated by multiple robotic arms controlled by the control device according to the calculated trajectory, avoiding safety accidents caused by collapse during the dismantling of segment 3. After segment 3 is removed from the tunnel, workers can then enter the site to clear the loose soil. The process is highly efficient, requires no equipment, and can be completed by a single machine. After dismantling, segment 3 can be directly transported out of the tunnel by the traction device. All dangerous steps are completed by the equipment, which greatly reduces the probability of personnel injury or death caused by safety accidents and improves safety.

[0047] It should be noted that the traction device is a tractor, which is fixedly connected to the mounting base 11 to drive the mounting base 11 to move in the front-to-back direction. Specifically, the bottom of the mounting base 11 is provided with a rolling support wheel 111, which abuts against the bottom of the tunnel. In this embodiment, the bottom of the tunnel is provided with a track, and the support wheel 111 is engaged with the track and rolls along the track's extension direction, providing stronger guiding stability.

[0048] It is understood that in other embodiments, the tunnel can also be moved without a track at the bottom.

[0049] In this embodiment, all of the robotic arms are hydraulic robotic arms, controlled by a hydraulic controller to drive their extension and retraction. The hydraulic controller is located within the mounting base 11. Specifically, each hydraulic robotic arm includes a hydraulic cylinder and a piston rod. One end of the hydraulic cylinder is connected to the mounting bracket 12, and one end of the piston rod is movably mounted within the hydraulic cylinder, while the other end is used to connect with the tubular segment 3. In other embodiments, the robotic arms may also be electric robotic arms.

[0050] Furthermore, the bottom walls of the two mounting slots slope downwards towards each other. When collecting loose soil, the two mounting slots can be extended to the left and right to increase their coverage area, preventing loose soil from falling to the ground and causing inconvenience in sweeping. Loose soil falling into the mounting slots can slide along the slope of the slots. The two mounting slots act as guides, and a transport vehicle can be set up on one side of the two mounting slots to facilitate the removal of loose soil.

[0051] In one embodiment of the present invention, the dismantling device 1 includes multiple robotic arm groups, which are spaced apart circumferentially along the mounting bracket 12. Each robotic arm group includes multiple robotic arms spaced apart in the front-back direction. Since the tunnel segment 3 generally has a certain width in the front-back direction of the tunnel, in order to improve the stability during dismantling, the dismantling device 1 includes multiple robotic arm groups, each of which includes multiple robotic arms spaced apart in the front-back direction, to achieve multi-point support along the front-back direction of the tunnel segment 3, thereby improving the stability and load-bearing capacity of the support.

[0052] Furthermore, the included angle between two adjacent robotic arm groups is adjustable. Multiple tunnel segments 3 are typically arranged along the circumference of the tunnel. During dismantling, they need to be removed one by one from the tunnel wall. Therefore, two robotic arm groups are generally required to work together. By adjusting the included angle between the two robotic arm groups, the position of the robotic arm groups can be adjusted to align with different tunnel segments 3, achieving connection between different tunnel segments 3. The two robotic arm groups are respectively connected to two points along the circumference of the tunnel segment 3 to fix the tunnel segment 3 together and achieve dismantling. To facilitate dismantling, the upper tunnel segment 3 is usually dismantled simultaneously, or the lower tunnel segment 3 is dismantled simultaneously, to ensure the stability of the tunnel segment dismantling equipment and avoid eccentricity.

[0053] Please see Figure 3This is a schematic diagram illustrating the state changes of segment 3 during dismantling in the technical solution of this invention. Each ring of segment 3 within the tunnel generally has six segments, with two segments located at the center of the upper and lower ends of the tunnel, respectively. The other four segments are symmetrically distributed in pairs on the left and right sides of the tunnel, with two segments 3 on each side arranged vertically. In a specific embodiment of this invention, the plurality of robotic arm groups include a first robotic arm group 121, two second robotic arm groups 122, two third robotic arm groups 123, and two fourth robotic arm groups 124. The first robotic arm group 121 extends vertically; the two second robotic arm groups 122 are respectively located on the left and right sides of the first robotic arm group 121, forming an angle with the first robotic arm group 121; the two third robotic arm groups 123 are respectively located below the two second robotic arm groups 122, forming an angle with the second robotic arm groups 122; and the two fourth robotic arm groups 124 are respectively located below the two third robotic arm groups 123, forming an angle with the third robotic arm groups 123. The first robotic arm assembly 121 is lifted upwards and fixedly connected to the upper segment 3; the two second robotic arm assemblies 122 are respectively used to fix the upper ends of the two segments 3 on the left and right sides of the upper part of the tunnel; the two third robotic arm assemblies 123 are rotatably mounted on the mounting bracket 12 so that the angle between the third robotic arm assembly, the second robotic arm assembly 122 and the fourth robotic arm assembly 124 is adjustable. By adjusting the angle of the two third robotic arm assemblies, they can be fixedly connected to the lower ends of the two segments 3 on the left and right sides of the upper part of the tunnel, or they can be fixedly connected to the upper ends of the two segments 3 on the left and right sides of the lower part of the tunnel; the two fourth robotic arm assemblies 124 are respectively used to fix the lower ends of the two segments 3 on the left and right sides of the lower part of the tunnel.

[0054] By controlling the retraction and angle adjustment of the robotic arm assembly, the corresponding tunnel segment 3 is retracted and fixedly attached to the periphery of the mounting bracket 12. Generally, the three tunnel segments 3 located in the upper half of the tunnel are dismantled simultaneously, and the three tunnel segments 3 located in the lower half of the tunnel are dismantled simultaneously. After each set of dismantling actions is completed, the dismantling device 1 and the tunnel segment 3 are transported out of the tunnel together by the traction device. Then, the tunnel segment 3 is lifted off the robotic arm assembly by a crane to complete the dismantling. Finally, the dismantling device 1 is sent back to the dismantling position by the traction device to carry out the next set of dismantling actions.

[0055] It should be noted that, in order to improve the structural stability of the multiple robotic arms in each robotic arm group, each robotic arm group also includes a connecting rod 126. The connecting rod 126 extends in the front-back direction and is fixedly connected to the multiple robotic arms in the robotic arm group, so that the multiple robotic arms in each robotic arm group form a whole and have stronger structural stability.

[0056] In this configuration, telescopic rods 125 are connected to the connecting rods 126 of the two third robotic arm assemblies 123 and the two fourth robotic arm assemblies 124, respectively. The rotation of the third robotic arm assembly 123 is controlled by extending or retracting these telescopic rods 125. It is understood that the telescopic rods 125 can be either electrically operated or hydraulically operated.

[0057] Furthermore, the rotation range of the picking hydraulic cylinder can be adjusted according to the actual working conditions. It is only a change in the rotation range, without any other creative labor involved, and should also be within the scope of protection of this invention.

[0058] In one embodiment of the present invention, the demolition device 1 further includes a support platform 13, which is located on the front side of the mounting bracket 12 and above the soil-carrying device 2; a lifting device 131 is provided on the lower side of the support platform 13, which includes a drive motor, a guide chain and a hoisting component; the drive motor is fixedly installed on the lower side of the support platform 13; one end of the guide chain is connected to the drive motor, and the other end can move vertically under the drive of the drive motor; the hoisting component is fixedly connected to the other end of the guide chain.

[0059] It should be noted that, because the demolition device 1 has a mounting base 11 on its lower side, and in order to ensure the stability of the overall structure's center of gravity during demolition, multiple robotic arms are located directly above the mounting base 11. Therefore, the robotic arms cannot be used to demolish the tunnel segment 3 located at the lower end of the tunnel. In this embodiment, the demolition direction of the tunnel segment demolition equipment is from front to back. The front side of the mounting bracket 12 is also provided with a support platform 13. After the remaining five tunnel segments 3 in the tunnel have been demolished, the traction device is controlled to drive the mounting base 11 to move backward to avoid the tunnel segment 3 located at the lower end of the tunnel. The lifting device 131 on the lower side of the support platform 13 is used to demolish the tunnel segment 3 located at the lower end of the tunnel and transport it out of the tunnel together.

[0060] Specifically, by fixing the hoisting component to the tunnel segment 3, the drive motor is controlled to drive the other end of the guide chain to move upward, so as to lift the tunnel segment 3 at the lower end of the tunnel upward until it is higher than the inner wall of the tunnel segment 3, and finally complete the dismantling of the six tunnel segments 3 in one ring inside the tunnel.

[0061] In this embodiment of the invention, to facilitate the connection between the robotic arm assembly and the tube segment 3, the dismantling device 1 further includes multiple connecting components 14. These connecting components 14 are correspondingly disposed at the ends of the multiple robotic arm assemblies furthest from the mounting bracket 12. Multiple robotic arms in each robotic arm assembly are connected to the mounting portion inside the tube segment 3 via the connecting components 14. The telescopic ends of the multiple robotic arms in each robotic arm assembly are fixedly connected via the connecting components 14, and the multiple robotic arms in each robotic arm assembly are connected to the mounting portion inside the tube segment 3 via the connecting components 14.

[0062] Furthermore, the connecting assembly 14 includes a fixing member and a connecting member. The fixing member includes a fixing part and a transition part. One side of the fixing part is fixedly connected to one or more robotic arms of each robotic arm assembly, and the transition part is located on the other side of the fixing part. One end of the connecting member is rotatably connected to the transition part, and the other end is detachably connected to the mating part of the tunnel. The segment removal device achieves a detachable connection with the segment 3 by cooperating with the mounting part on the segment 3 through the connecting assembly 14. The rotatable connection between the fixing member and the connecting member allows the segment 3 to be retracted to a position as close as possible to the mounting bracket 12 after being removed, thus avoiding collision with the tunnel sidewall. The detachable connection between the connecting member and the mounting part of the segment 3 facilitates fixing the segment 3 to the robotic arm assembly or removing it from the robotic arm assembly.

[0063] In one embodiment of the present invention, the two sides of the support platform 13 are respectively connected to handrails 132, and the two handrails 132 extend downward to the left and right sides of the support frame respectively; wherein the handrails 133 of the handrails 132 are foldable. When the robotic arm assembly is connected to the installation part of the segment 3, the connecting component 14 needs to be manually fixed to the installation part of the segment 3. When the robotic arm assembly and the segment 3 are aligned, the worker can stand on the handrail 132 to carry out the work. After the connecting component 14 is connected to the installation part of the segment 3, the worker leaves the site. The control device controls the movement of each robotic arm assembly to remove the corresponding segment 3. When the segment 3 located in the upper part of the tunnel is removed, the corresponding loose soil needs to be removed manually. At this time, the worker can stand on the handrail 132 or the support platform 13 to work and directly pour the removed loose soil into the installation groove. The operation is convenient. The handrail 133 plays a role in protecting the worker. At the same time, in order to facilitate the movement of the segment removal equipment in the tunnel, the handrail 133 is foldable. When the worker does not need to work, the handrail 133 can be folded to avoid collision with the inner wall of the tunnel.

[0064] Since the tunnel segment 3 is generally quite heavy, the segment removal equipment needs to support the segment 3 during dismantling operations and transportation, thus requiring high stability. In one embodiment of the present invention, the dismantling device 1 further includes a plurality of movably arranged support parts, each of which is movable to abut against the inner wall of the tunnel; wherein, the plurality of support parts are movably installed on the periphery of the mounting base 11; and / or, the plurality of support parts are movably installed on the mounting bracket 12, the plurality of support parts being spaced apart along the periphery of the mounting bracket 12 and located on the front and / or rear sides of the plurality of robotic arms.

[0065] Furthermore, the plurality of support portions include a plurality of fixed support portions and a plurality of sliding support portions 15. The plurality of fixed support portions are spaced apart along the left-right direction on the lower side of the mounting base 11. The plurality of fixed support portions are telescopically movable along the up-down direction. When the plurality of fixed support portions are moved to the supported state, they abut against the lower sidewall of the tunnel. The plurality of sliding support portions 15 are spaced apart along the periphery of the mounting bracket 12. One end of the plurality of sliding support portions 15 is fixedly mounted on the mounting bracket 12, and the other end is telescopically movable along the radial direction of the tunnel. The other end of the sliding support portion 15 is provided with a roller that can be rolled along the front-back direction. When the plurality of sliding support portions 15 are moved to the supported state, the plurality of rollers abut against the inner wall of the tunnel.

[0066] In this embodiment, the stability of the segment removal equipment is improved by supporting the inner wall of the tunnel with multiple support parts. When the support is not needed, the multiple support parts can be retracted to avoid affecting the operation of the segment removal equipment. Specifically, multiple fixed support parts are arranged around the periphery of the mounting base 11. When the dismantling device 1 moves to the working position, it drives the multiple fixed support parts to move downward to the supporting state, so as to abut against the bottom wall of the tunnel, thereby supporting the mounting base 11 and improving stability. One end of the multiple sliding support parts 15 is mounted on the mounting bracket 12, and the other end is radially extendable along the tunnel. The other end of the multiple sliding support parts 15 is provided with rollers. When the sliding support parts 15 move to the supporting state, the rollers are used to abut against the side wall of the tunnel. On the one hand, when the dismantling device only carries the segment 3 on one side, the sliding support parts 15 on that side can be extended and abut against the side wall of the tunnel to prevent the dismantling device 1 from tilting to the side. At the same time, the rollers can be rolled on the inner wall of the tunnel so that when the segment dismantling equipment moves and transports the segment 3, the sliding support parts 15 can always be kept in the above-mentioned supporting state.

[0067] Multiple sliding support parts 15 can be provided on the front or rear side of multiple robotic arms. In a preferred embodiment of the present invention, since the demolition device 1 is relatively high, its center of gravity is relatively high when transporting the segment 3 located in the upper part of the tunnel. Multiple sliding support parts 15 are respectively provided on the front and rear side of the robotic arm to prevent the demolition device 1 from tilting forward or backward when transporting the segment 3, thus achieving greater stability.

[0068] It is understood that the plurality of sliding support portions 15 are symmetrically arranged along the periphery of the mounting bracket 12 to ensure the stability of the support. In some embodiments, they may also be arranged asymmetrically, which is not limited here.

[0069] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A segment removal device for removing multiple segments within a shield tunnel, with the tunnel's extension direction as the forward-backward direction, characterized in that... The pipe segment removing device comprises: a removing device, comprising a mounting seat movably arranged in the tunnel in the front-rear direction, the mounting seat being provided with a mounting bracket, the mounting bracket being provided with a plurality of mechanical arms, the plurality of mechanical arms being spaced apart and mounted on the circumferential side of the mounting bracket and being telescopically arranged in the radial direction of the tunnel, the plurality of mechanical arms being used to detachably and connectively connect with a plurality of pipe segments; a soil carrying device, provided on the front side of the mounting bracket, the soil carrying device comprising two soil carrying members arranged in the left-right direction, the two soil carrying members each being provided with an installation slot with an opening facing upward, and the side walls of the two installation slots being throughly arranged, the two soil carrying members being adjustable in the left-right direction; a traction device, movably arranged in the front-rear direction, the traction device being drivingly connected with the mounting seat to drive the mounting seat to move in the front-rear direction; and a control device, electrically connected with the plurality of mechanical arms and the traction device respectively. The removing device comprises a plurality of mechanical arm groups, the plurality of mechanical arm groups being spaced apart and arranged in the circumferential direction of the mounting bracket, each of the mechanical arm groups comprising a plurality of mechanical arms spaced apart and arranged in the front-rear direction. The removing device further comprises a plurality of support portions movably arranged, the plurality of support portions each having a support state in which the support portion is in abutment with the inner wall of the tunnel. The plurality of support portions are movably mounted on the circumferential side of the mounting seat; and / or The plurality of support portions are movably mounted on the mounting bracket, the plurality of support portions being spaced apart and arranged in the circumferential direction of the mounting bracket and being arranged on the front side and / or the rear side of the plurality of mechanical arms. The plurality of support portions comprise: a plurality of fixed support portions, spaced apart and arranged on the lower side of the mounting seat in the left-right direction, the plurality of fixed support portions being telescopically arranged in the up-down direction, the plurality of fixed support portions being in abutment with the lower side wall of the tunnel when the plurality of fixed support portions are in the support state; a plurality of sliding support portions, spaced apart and arranged in the circumferential direction of the mounting bracket, one end of the plurality of sliding support portions being fixedly mounted on the mounting bracket, the other end of the plurality of sliding support portions being telescopically arranged in the radial direction of the tunnel, the other end of the plurality of sliding support portions being provided with a plurality of rollers rotatably arranged in the front-rear direction, the plurality of rollers being in abutment with the inner wall of the tunnel when the plurality of sliding support portions are in the support state.

2. The pipe section removal apparatus of claim 1, wherein The bottom walls of the two installation slots are inclined in a direction towards each other from top to bottom.

3. The pipe section removal apparatus of claim 1, wherein, The included angle between two adjacent mechanical arm groups in the plurality of mechanical arm groups is adjustable.

4. The pipe section removal apparatus of claim 1, wherein, The removing device further comprises a plurality of connecting assemblies, the plurality of connecting assemblies being correspondingly arranged at one end of the plurality of mechanical arm groups away from the mounting bracket, the plurality of mechanical arms in each of the mechanical arm groups being connectively connected with the mounting portion on the inner side of the pipe segment through the connecting assembly.

5. The pipe section removal apparatus of claim 4, wherein, The connecting assembly comprises: a fixing member, comprising a fixing portion and a conversion portion, one side of the fixing portion being fixedly connected with the plurality of mechanical arms of each of the mechanical arm groups, the conversion portion being arranged at the other side of the fixing portion; and a connecting member, one end of the connecting member being rotatably connected with the conversion portion, the other end of the connecting member being used to detachably connect with the matching portion of the tunnel.

6. The pipe section removal apparatus of claim 1, wherein, The dismantling device further comprises a supporting platform arranged on the front side of the mounting bracket and above the earth carrying device; The lower side of the supporting platform is provided with a lifting device, which comprises: a driving motor fixedly installed on the lower side of the supporting platform; a guide chain having one end in driving connection with the driving motor and the other end movable up and down under the driving of the driving motor; and a hoisting member fixedly connected to the other end of the guide chain.

7. The pipe section removal apparatus of claim 6, wherein, Two handrails are connected to the two sides of the supporting platform respectively, and the two handrails respectively extend downward to the left and right sides of the supporting platform. The handrail part of the handrail is foldably arranged.

Images