Tunnel arch assembly trolley

Abstract

The present invention relates to the technical field of tunnel arch frame assembly, and specifically to a tunnel arch frame assembly trolley. The tunnel arch frame assembly trolley includes a trolley body, a walking mechanism is provided at the lower part of the trolley body, a first grasping mechanism for grasping and assembling the top arch frame is provided at the rear part of the trolley body, the first grasping mechanism includes a first sliding seat and a first manipulator, the first sliding seat is reciprocatingly mounted on the trolley body in the up-down direction, the first manipulator is swung around a central axis perpendicular to the front-back direction and is assembled on the first sliding seat; the left and right sides of the trolley body are respectively provided with second grasping mechanisms for grasping and assembling the side arch frames, the second grasping mechanism includes a second sliding seat, a second rotating frame and a second manipulator, the second sliding seat is reciprocatingly mounted on the trolley body in the up-down direction, the second rotating frame is rotated around a horizontal axis extending in the left-right direction and is assembled on the second sliding seat, and the second manipulator is connected to the second rotating frame through a second telescopic device.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel arch frame assembly, and in particular to a tunnel arch frame assembly trolley. Background Art

[0002] During TBM construction, steel arches are required to provide timely support behind the tunnel. Currently, the primary support method is manual support, which involves assembling steel arches in sections into a ring and then propping them up in the tunnel after the TBM has been constructed. This requires long hours of on-site work, and if a landslide occurs, casualties are likely to occur, posing a significant safety hazard. Furthermore, manual support is inefficient. Untimely and inconsistent support quality caused by manual support is a major cause of TBM landslides, severely hindering the widespread adoption of TBMs.

[0003] In order to solve the above problems, the Chinese invention patent application with application publication number CN110748361A discloses a segmented arch frame installation trolley, including a trolley body, a transfer docking device, a transfer jacking device and a supporting device. The trolley body moves in the tunnel through tracks. The supporting device includes a supporting frame for supporting the upper arch frame and the lower arch frame, and the supporting frame can move up and down on the top of the trolley body; the transfer jacking device is arranged on the top of the trolley body, which is used to transfer and lift the upper arch frame on the supporting frame so that the upper arch frame is close to the top wall of the tunnel; the transfer docking device is provided with two groups and is respectively located on the left and right sides of the trolley body. The transfer docking device is used to transfer and push the lower arch frame so that the lower arch frame is close to the side wall of the tunnel and is fixedly installed with the upper arch frame.

[0004] In the above technology, since the supporting frame is set on the top of the trolley body, it is necessary to first use a forklift to transfer the upper arch frame and the lower arch frame to the supporting frame, and then use the transfer jacking device to transfer the upper arch frame to the top wall of the tunnel, and use the transfer docking device to transfer the lower arch frame to the side wall of the tunnel, which will affect the support efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide a tunnel arch frame assembly trolley to solve the technical problem in the existing technology that when assembling the arch frame, the upper arch frame and the lower arch frame need to be transferred by a forklift to the supporting frame on the top of the trolley body, which affects the support efficiency.

[0006] To achieve the above-mentioned purpose, the technical solution of the tunnel arch assembly trolley of the present invention is:

[0007] The tunnel arch frame assembly trolley includes a trolley body. A walking mechanism is provided at the lower part of the trolley body, which defines that the trolley body moves forward in the tunnel. A first grasping mechanism is provided at the rear part of the trolley body for grasping and assembling the top arch frame. The first grasping mechanism includes a first sliding seat and a first manipulator. The first sliding seat moves back and forth in the up and down directions and is assembled on the trolley body. The first manipulator swings around a central axis perpendicular to the front and back directions and is assembled on the first sliding seat; the left and right sides of the trolley body are respectively provided with second grasping mechanisms for grasping and assembling the side arch frames. The second grasping mechanism includes a second sliding seat, a second rotating frame and a second manipulator. The second sliding seat moves back and forth in the up and down directions and is assembled on the trolley body. The second rotating frame rotates around a horizontal axis extending in the left and right directions and is assembled on the second sliding seat. The second manipulator is connected to the second rotating frame through a second telescopic device.

[0008] The beneficial effect is that the first grasping mechanism and the second grasping mechanism of the present invention are both assembled on the trolley body in an up-and-down reciprocating manner, so that the first grasping mechanism and the second grasping mechanism can both grasp the arch frame from the bottom of the tunnel and deliver it to the top and side of the tunnel. During this process, the top arch frame and the side arch frame are docked and assembled by the first manipulator swinging relative to the first sliding seat and the second manipulator rotating relative to the second sliding seat, avoiding the need to deliver the arch frame to the top of the trolley body, improving assembly efficiency, and at the same time, improving assembly quality and avoiding the occurrence of safety accidents.

[0009] As a further improvement, the first gripping mechanism includes a first rotating frame, which is rotated around a horizontal axis extending in the front-to-back direction and assembled on the first sliding seat, and the first manipulator is swingably assembled on the first sliding seat through the first rotating frame.

[0010] The beneficial effect is that such a design can make the first manipulator rotate relative to the first sliding seat to ensure that the top arch frame fits the top wall of the tunnel.

[0011] As a further improvement, the first rotating frame is provided with a first swing cylinder for driving the first manipulator to swing around a central axis perpendicular to the front-to-back direction.

[0012] The beneficial effect is that this design can adjust the angle of the first manipulator to ensure the docking accuracy of the side arch frame and the top arch frame.

[0013] As a further improvement, the first rotating frame is further provided with a second swing cylinder for driving the first manipulator to swing, and the central axis of the second swing cylinder is arranged perpendicular to the central axis of the first swing cylinder.

[0014] The beneficial effect is that this design can adjust the angle of the first manipulator to ensure the docking accuracy of the side arch frame and the top arch frame.

[0015] As a further improvement, the first rotating frame is provided with a first connecting arm, and at least two of the first robots are provided on the first connecting arm along its length direction; and / or the second rotating frame is provided with a second connecting arm, and at least two of the second robots are provided on the second connecting arm along its length direction.

[0016] The beneficial effect is that by providing at least two manipulators, the stability of the arch frame during clamping is ensured.

[0017] As a further improvement, the first manipulator is connected to the first rotating frame via a first telescopic device.

[0018] The beneficial effect is that such a design can ensure that the first manipulator delivers the top arch to the top wall of the tunnel.

[0019] As a further improvement, the second rotating frame is provided with a third swing cylinder for driving the second manipulator to swing around a central axis perpendicular to the left and right directions.

[0020] The beneficial effect is that this design can adjust the angle of the second manipulator to ensure the docking accuracy of the side arch frame and the top arch frame.

[0021] As a further improvement, the second rotating frame is further provided with a fourth swing cylinder for driving the second manipulator to swing, and the central axis of the fourth swing cylinder is arranged perpendicular to the central axis of the third swing cylinder.

[0022] The beneficial effect is that this design can adjust the second manipulator at two angles, further ensuring the docking accuracy of the side arch frame and the top arch frame.

[0023] As a further improvement, the tunnel arch assembly trolley also includes a third sliding seat, the first sliding seat is slidably assembled on the third sliding seat along the left and right directions, and the first sliding seat is assembled on the trolley body through the third sliding seat which reciprocates in the up and down directions.

[0024] The beneficial effect is that, with this design, when the first grasping mechanism does not grasp the middle position of the top arch frame, the first grasping mechanism can be moved left and right so that the top arch frame grasped by it can better avoid the side arch frame when rising.

[0025] As a further improvement, the walking mechanism is a walking track.

[0026] The beneficial effect is that the walking track can be adapted to complex road conditions in tunnels. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of a tunnel arch assembly trolley assembling a straight arch frame according to the present invention;

[0028] Figure 2for Figure 1 A schematic diagram of the structure of the first grabbing mechanism grabbing the top arch frame;

[0029] Figure 3 for Figure 1 A schematic structural diagram of the second gripping mechanism on the second slide rail;

[0030] Figure 4 It is a structural schematic diagram of assembling a curved arch frame by a tunnel arch frame assembly trolley according to the present invention.

[0031] In the figure: 11. trolley body; 12. walking track; 13. first grasping mechanism; 14. top arch frame; 15. third sliding seat; 16. first slide rail; 17. second grasping mechanism; 18. side arch frame; 19. second slide rail; 131. first sliding seat; 132. first rotating frame; 133. first rotary mechanism; 134. first swing cylinder; 135. second swing cylinder; 136. first connecting arm; 137. first telescopic device; 138. first manipulator; 139. first telescopic cylinder; 171. second sliding seat; 172. second rotating frame; 173. second rotary mechanism; 174. third swing cylinder; 175. fourth swing cylinder; 176. second connecting arm; 177. second telescopic device; 178. second manipulator; 179. second telescopic cylinder. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention and are not intended to limit the present invention. That is, the embodiments described herein are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and illustrated in the drawings herein may be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely intended to represent selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0034] It should be noted that relational terms such as "first" and "second" that may appear are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, terms such as "include," "comprise," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or device. In the absence of further restrictions, elements defined by the phrase "including a..." do not exclude the presence of other identical elements in the process, method, article, or device that includes the elements. In addition, the terms "front," "back," "up," "down," "left," and "right" are based on the orientation and positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate that the device or component referred to must have a specific orientation, and therefore should not be understood as limiting the present invention.

[0035] The features and performance of the present invention are further described in detail below with reference to the embodiments.

[0036] Example 1 of the tunnel arch assembly trolley of the present invention:

[0037] like Figure 1 As shown, the tunnel arch assembly trolley includes a trolley body 11, with a running mechanism disposed at the bottom thereof. Preferably, the running mechanism is a crawler track 12 to accommodate the complex road conditions within the tunnel. The trolley body 11 is defined as moving forward within the tunnel. A first gripping mechanism 13 is disposed at the rear of the trolley body 11 for gripping and assembling the top arch 14. Second gripping mechanisms 17 are disposed on the left and right sides of the trolley body 11, respectively, for gripping and assembling the side arches 18.

[0038] In this embodiment, a first slide rail 16 extending vertically is fixed to the rear of the trolley body 11, and two first slide rails 16 are arranged at intervals along the left and right directions; the tunnel arch assembly trolley also includes a third sliding seat 15 extending along the left and right directions, and the two ends of the third sliding seat 15 slide in the up and down directions on the two first slide rails 16 respectively, and a third slide rail is provided on the third sliding seat 15.

[0039] In this embodiment, second slide rails 19 extending vertically are fixed to the left and right sides of the trolley body 11 , respectively, and the second gripping mechanism 17 is slidably assembled on the corresponding second slide rails 19 .

[0040] like Figure 1 and Figure 2As shown, the first grasping mechanism 13 includes a first sliding seat 131, a first rotating frame 132 and a first manipulator 138. The relative inner sides of the first sliding seat 131 are respectively provided with first sliders. The first sliding seat 131 is assembled on the third slide rail by sliding along the left and right directions through the first sliders, that is, the first sliding seat 131 is assembled on the trolley body 11 by reciprocating movement in the up and down directions through the third sliding seat 15.

[0041] In this embodiment, the first rotating frame 132 is rotatably assembled on the first sliding seat 131 via a first rotating mechanism 133. The rotating axis of the first rotating frame 132 is a horizontal axis extending in the front-to-back direction. The first rotating mechanism 133 is an existing mature product and will not be described in detail here.

[0042] In this embodiment, the first manipulator 138 is swingably mounted on the first sliding seat 131 via the first rotating frame 132. Specifically, the first rotating frame 132 is provided with a first swing cylinder 134 for driving the first manipulator 138 to swing, and a second swing cylinder 135 for driving the first manipulator 138 to swing. The central axis of the second swing cylinder 135 is arranged perpendicular to the central axis of the first swing cylinder 134. The first swing cylinder 134 is arranged closer to the first rotary mechanism 133 than the second swing cylinder 135, and the central axis of the first swing cylinder 134 is perpendicular to the front-to-back direction.

[0043] In this embodiment, the first rotating frame 132 is provided with a first connecting arm 136, the length of which is parallel to the central axis of the first swing cylinder 134. Two first manipulators 138 are provided along the length of the first connecting arm 136 to ensure stability when the top arch 14 is clamped. The first manipulators 138 are driven to open and close by a first telescopic cylinder 139.

[0044] In this embodiment, the first manipulator 138 is connected to the first rotating frame 132 via a first telescopic device 137. The first telescopic device 137 includes a telescopic sleeve and a telescopic cylinder disposed in the telescopic sleeve, and the telescopic cylinder is used to drive the telescopic sleeve to extend and retract.

[0045] like Figure 1 and Figure 3 As shown, the second gripping mechanism 17 includes a second sliding seat 171, a second rotating frame 172 and a second manipulator 178. Second sliders are respectively provided on the opposite inner sides of the second sliding seat 171. The second sliding seat 171 is slidably assembled on the second slide rail 19 along the up and down directions through the second sliders.

[0046] In this embodiment, the second rotating frame 172 is rotatably assembled on the second sliding seat 171 via a second rotating mechanism 173. The rotation axis of the second rotating frame 172 is a horizontal axis extending in the left-right direction. The second rotating mechanism 173 is an existing mature product and will not be described in detail here.

[0047] In this embodiment, the second manipulator 178 is swingably mounted on the second sliding seat 171 via the second rotating frame 172. Specifically, the second rotating frame 172 is provided with a third swing cylinder 174 for driving the second manipulator 178 to swing, and a fourth swing cylinder 175 for driving the second manipulator 178 to swing. The central axis of the fourth swing cylinder 175 is arranged perpendicular to the central axis of the third swing cylinder 174. The third swing cylinder 174 is arranged closer to the second rotary mechanism 173 than the fourth swing cylinder 175, and the central axis of the third swing cylinder 174 is perpendicular to the left-right direction.

[0048] In this embodiment, the second rotating frame 172 is provided with a second connecting arm 176, the length of which is parallel to the central axis of the third swing cylinder 174. Two second manipulators 178 are provided along the length of the second connecting arm 176 to ensure stability when the side arch 18 is clamped. The second manipulators 178 are driven to open and close by a second telescopic cylinder 179.

[0049] In this embodiment, the second manipulator 178 is connected to the second connecting arm 176 via a second telescopic device 177. The first telescopic device 137 includes a telescopic sleeve and a telescopic cylinder disposed in the telescopic sleeve, and the telescopic cylinder is used to drive the telescopic sleeve to extend and retract.

[0050] like Figure 1 As shown, the tunnel arch frame assembly trolley is used to grab straight arch frames. Of course, the tunnel arch frame assembly trolley can also be used to grab curved arch frames, such as Figure 4 shown.

[0051] It should be noted that, in this embodiment, the first gripping mechanism 13 and the second gripping mechanism 17 have the same structure, but are installed at different positions on the trolley body 11 .

[0052] During operation, the tunnel arch assembly trolley travels forward and backward in the tunnel via the walking tracks 12. When the arch assembly is required, the third sliding seat 15 drives the first gripping mechanism 13 to descend to a set position along the first slide rail 16, and the two second gripping mechanisms 17 to descend to a set position along the second slide rail 19. The first manipulator 138 horizontally grasps the top arch 14. The third sliding seat 15 then drives the first gripping mechanism 13 to ascend to a set position along the first slide rail 16. The first swing cylinder 134 then drives the first manipulator 138 to swing 90 degrees. Finally, the first telescopic device 137 is extended to bring the top arch 14 into close contact with the tunnel ceiling. During the operation of the first gripping mechanism 13, the position of the first manipulator 138 can be fine-tuned by the second swing cylinder 135 and the first rotary mechanism 133. At the same time, the first sliding seat 131 can slide on the third sliding seat 15 to roughly adjust the position of the first manipulator 138, allowing the first manipulator 138 to grasp any position of the top arch, thereby improving applicability. The second manipulator 178 grasps the side arch 18 horizontally, and then the second grasping mechanism 17 first rises to the set position, and then the second rotary mechanism 173 drives the second manipulator 178 to rotate 90 degrees, so that the two second manipulators 178 are arranged vertically instead of horizontally. Then, the second telescopic device 177 is extended to make the side arch 18 close to the tunnel side wall. During the operation of the second grasping mechanism 17, the position of the second manipulator 178 can be fine-tuned by the third swing cylinder 174 and the fourth swing cylinder 175. At the same time, the second sliding seat 171 can slide on the second slide rail 19 to make a rough adjustment to the position of the second manipulator 178. Finally, the side arch 18 is docked with the end of the top arch 14 and fixed manually.

[0053] The tunnel arch frame assembly trolley of the present invention can quickly assemble the arch frame to achieve rapid support of the tunnel and reduce safety accidents caused by untimely and unstable quality of manual support; at the same time, it realizes the automation of arch frame assembly inside the tunnel, reduces the labor intensity of workers, and improves assembly efficiency.

[0054] Example 2 of the tunnel arch assembly trolley of the present invention:

[0055] The difference between this embodiment and embodiment 1 is that, in embodiment 1, the first gripping mechanism includes a first rotating frame, which is rotatably mounted on a first sliding seat, and the first manipulator is swingably mounted on the first sliding seat via the first rotating frame. In this embodiment, the first rotating frame is not provided, and the first manipulator is directly swingably mounted on the first sliding seat.

[0056] Example 3 of the tunnel arch assembly trolley of the present invention:

[0057] The difference between this embodiment and embodiment 1 is that, in embodiment 1, the swing of the manipulator is achieved by a swing cylinder. In this embodiment, the swing cylinder is replaced by a drive motor.

[0058] Example 4 of the tunnel arch assembly trolley of the present invention:

[0059] The difference between this embodiment and embodiment 1 is that, in embodiment 1, a connecting arm is provided on the rotating frame, and two manipulators are provided on the connecting arm. In this embodiment, no connecting arm is provided on the rotating frame, and only one manipulator is provided and directly connected to the rotating frame.

[0060] Example 5 of the tunnel arch assembly trolley of the present invention:

[0061] This embodiment differs from Embodiment 1 in that, whereas in Embodiment 1, the first manipulator is connected to the first rotating frame via a first telescopic device, this embodiment does not include a first telescopic device. Instead, the first slide rail is longer to enable the first manipulator to deliver the top arch to the tunnel ceiling.

[0062] Example 6 of the tunnel arch assembly trolley of the present invention:

[0063] This embodiment differs from Embodiment 1 in that, in Embodiment 1, the tunnel arch assembly trolley includes a third sliding seat, the first sliding seat being slidably assembled on the third sliding seat in the left-right direction, and the third sliding seat being slidably assembled on the first slide rail in the up-down direction. In this embodiment, a single first slide rail is provided and located in the middle of the trolley body, and the first sliding seat is directly slidably assembled on the first slide rail in the up-down direction.

[0064] Example 7 of the tunnel arch assembly trolley of the present invention:

[0065] The difference between this embodiment and embodiment 1 is that in embodiment 1, the traveling mechanism is a traveling track. In this embodiment, the traveling mechanism is a traveling wheel.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be based on the claims. Any equivalent structural changes made using the description and drawings of the present invention shall be included in the scope of protection of the present invention.

Claims

1. The tunnel arch assembly trolley includes a trolley body, the lower part of which is provided with a walking mechanism, which defines the trolley body moving forward in the tunnel, and is characterized in that: The rear part of the trolley body is provided with a first grasping mechanism for grasping and assembling the top arch frame, the first grasping mechanism includes a first sliding seat and a first manipulator, the first sliding seat moves back and forth in the up and down directions and is assembled on the trolley body, the first manipulator swings up and down around a central axis perpendicular to the front and rear directions and is assembled on the first sliding seat; the left and right sides of the trolley body are respectively provided with second grasping mechanisms for grasping and assembling the side arch frames, the second grasping mechanism includes a second sliding seat, a second rotating frame and a second manipulator, the second sliding seat moves back and forth in the up and down directions and is assembled on the trolley body, the second rotating frame rotates around a horizontal axis extending in the left and right directions and is assembled on the second sliding seat, and the second manipulator is connected to the second rotating frame through a second telescopic device that can be telescoped left and right.

2. The tunnel arch assembly trolley according to claim 1, characterized in that: The first gripping mechanism includes a first rotating frame, which is rotated around a horizontal axis extending in the front-to-back direction and assembled on the first sliding seat. The first manipulator is swingably assembled on the first sliding seat through the first rotating frame.

3. The tunnel arch assembly trolley according to claim 2, characterized in that: The first rotating frame is provided with a first swing cylinder for driving the first manipulator to swing around a central axis perpendicular to the front-rear direction.

4. The tunnel arch assembly trolley according to claim 3, characterized in that: The first rotating frame is further provided with a second swing cylinder for driving the first manipulator to swing, and the central axis of the second swing cylinder is arranged perpendicular to the central axis of the first swing cylinder.

5. The tunnel arch assembly trolley according to any one of claims 2 to 4, characterized in that: The first rotating frame is provided with a first connecting arm, and at least two of the first manipulators are provided on the first connecting arm along its length direction; and / or the second rotating frame is provided with a second connecting arm, and at least two of the second manipulators are provided on the second connecting arm along its length direction.

6. The tunnel arch assembly trolley according to any one of claims 2 to 4, characterized in that: The first manipulator is connected to the first rotating frame through a first telescopic device.

7. The tunnel arch assembly trolley according to any one of claims 1 to 4, characterized in that: The second rotating frame is provided with a third swing cylinder for driving the second manipulator to swing around a central axis perpendicular to the left and right directions.

8. The tunnel arch assembly trolley according to claim 7, characterized in that: The second rotating frame is further provided with a fourth swing cylinder for driving the second manipulator to swing, and the central axis of the fourth swing cylinder is arranged perpendicular to the central axis of the third swing cylinder.

9. The tunnel arch assembly trolley according to any one of claims 1 to 4, characterized in that: The tunnel arch assembly trolley also includes a third sliding seat, the first sliding seat is slidably assembled on the third sliding seat along the left and right directions, and the first sliding seat is assembled on the trolley body through the third sliding seat which reciprocates in the up and down directions.

10. The tunnel arch assembly trolley according to any one of claims 1 to 4, characterized in that: The walking mechanism is a walking track.

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