A tunnel and bell type precast bed component installation device and method

Abstract

The application provides a tunnel socket type prefabricated track bed component mounting device and method, and relates to the technical field of tunnel facility construction technology, which comprises a moving frame and a telescopic support, the telescopic support is connected with a cantilever rod at the end, the telescopic support is connected with the moving frame through an adjusting assembly, so that the cantilever rod can be adjusted in position in three axial directions relative to the moving frame, the cantilever rod is suspended below the adjusting assembly through the telescopic support, the cantilever rod can be inserted into a socket hole in the end face of the prefabricated track bed component and lift the prefabricated track bed component; aiming at the problem that the socket type track bed plate structure is inconvenient to install in the tunnel, the prefabricated track bed component is transported and adjusted, so that the prefabricated track bed component can be accurately positioned, the cantilever rod is inserted into the socket hole to lift the prefabricated track bed component, the cantilever rod can pre-clear the socket hole and cooperate with the insertion of the socket core rod, at the same time, the collision damage problem with the prefabricated track bed component is reduced, the installation efficiency is improved and the installation precision is improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, specifically to a device and method for installing precast track bed components for tunnels. Background Technology

[0002] Tunnel construction technology is rapidly developing towards intelligent construction techniques, prefabricated assembly of components, green and environmentally friendly materials, intelligent construction equipment, and data informatization. New industrialized construction technologies are gradually changing traditional construction methods. For subway tunnels, shield tunneling is typically the preferred method due to its high degree of mechanization, low construction safety risks, high efficiency, and high quality. Currently, the only part of shield tunnels that has not yet achieved prefabrication is the track bed structure between the prefabricated track slabs and tunnel segments.

[0003] Chinese patent (application number: 202211403696.3) proposes a tunnel socket-type track bed component, which establishes stability between adjacent prefabricated units through socket-type connection of prefabricated components. The prefabricated components are effectively formed into an integral track bed structure by grouting. However, during construction, it still relies on manual participation and the use of general equipment. The efficiency of transporting prefabricated track bed components is low. At the same time, the hoisting and transportation of prefabricated track bed components are prone to damage. When the mandrel is matched with the prefabricated track bed component, poorly formed positions inside the socket hole can easily block the mandrel, resulting in poor matching. The mandrel cannot smoothly and quickly enter the reserved socket hole, resulting in an unstable connection and affecting the overall structural quality of the assembled prefabricated track bed. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a tunnel socket-type precast track bed component installation device and method. This method involves transporting and adjusting the precast track bed components to ensure accurate positioning. A cantilever rod is inserted into the socket hole to lift the precast track bed component. The cantilever rod can pre-clear the socket hole and cooperate with the insertion of the socket core rod, thereby reducing collision damage to the precast track bed component, improving installation efficiency and accuracy.

[0005] The first objective of this invention is to provide a tunnel socket-type precast track bed component installation device, which adopts the following solution:

[0006] It includes a mobile frame and a telescopic support. The telescopic support is connected to a cantilever rod at its end. The telescopic support is connected to the mobile frame through an adjustment component so that the position of the cantilever rod can be adjusted relative to the mobile frame in three-axis directions. The cantilever rod is suspended below the adjustment component through the telescopic support. The cantilever rod can be inserted into the socket hole on the end face of the precast track bed component and lift the precast track bed component.

[0007] Furthermore, a grouting mechanism is installed on the mobile frame, with the output end of the grouting mechanism facing the precast track bed component below it, so as to output grout to fill the socket hole, between adjacent precast track bed components, and between the precast track bed component and the tunnel segment.

[0008] Furthermore, a gripping mechanism is installed on the mobile frame, the gripping mechanism is suspended below the adjustment assembly, and the end of the gripping mechanism is provided with a gripping part for engaging the insert mandrel.

[0009] Furthermore, the gripping mechanism is connected to the moving frame via an adjustment component, which drives the gripping part to adjust its position relative to the moving frame in three-axis directions.

[0010] Furthermore, the gripping part is a cylindrical structure with a C-shaped radial cross-section. The cylindrical structure is open at both ends in the axial direction and has an opening in the circumferential direction, with the opening located at the bottom end of the cylindrical structure.

[0011] Furthermore, the gripping mechanism has multiple gripping parts arranged at intervals, each connected to the shifting frame through a corresponding adjustment component, allowing for independent adjustment of the gripping part's position.

[0012] Furthermore, the telescopic support is connected to at least two cantilever rods at its end. The cantilever rods are hollow inside, with one end connected to the end of the telescopic support and the other end having an opening that communicates with the hollow interior.

[0013] Furthermore, the mobile frame includes a support frame and wheels, with the wheels arranged in pairs on the support frame. A vision component is connected to the support frame to acquire an image of the working position of the cantilever.

[0014] A second objective of the present invention is to provide a method of operation for using the tunnel socket-type precast track bed component installation device as shown in the first objective, comprising:

[0015] Adjust the position of the mobile frame above the installation location, and raise the cantilever to support the precast track bed components to be installed;

[0016] The position of the precast track bed component to be installed is adjusted by driving the cantilever rod through the telescopic bracket and adjustment component, so that the precast track bed component is in place, and the cantilever rod is removed from the precast track bed component;

[0017] The cantilever rod supports the next precast track bed component to be installed and moves it to the installation position, so that adjacent precast track bed components are connected by a core rod and a socket hole;

[0018] Precast track bed components are assembled sequentially along the tunnel direction.

[0019] Furthermore, grouting is performed on the assembled precast track bed components, with the grout filling the gaps between the socket and the socket core, as well as the gaps between adjacent precast track bed components and between the precast track bed components and the tunnel segments.

[0020] Compared with the prior art, the advantages and positive effects of this invention are:

[0021] (1) To address the problem that the current socket-type track bed structure is inconvenient to install in tunnels, the precast track bed components are transported and adjusted so that they can be accurately positioned. The cantilever rod is inserted into the socket hole to lift the precast track bed component. The cantilever rod can clear the socket hole in advance and cooperate with the rapid insertion of the socket core rod. At the same time, it reduces the problem of collision damage with the precast track bed components, improves installation efficiency and installation accuracy.

[0022] (2) One end of the cantilever rod can be inserted into the socket hole to apply load-bearing force. Compared with other hoisting methods, it can utilize the existing socket hole structure to reduce the damage to the precast track bed components caused by the hooking, clamping, and circling of the hoisting tools, avoid the setting of embedded parts required for the installation of precast track bed components, protect the integrity of the precast track bed components, and ensure that the accuracy after installation meets the requirements.

[0023] (3) A grouting mechanism is configured to fill the gaps between the precast track bed components after the socket is installed, stabilize the connection between the socket and the socket core, fill the gaps between adjacent precast track bed components, improve the overall integrity of the precast track bed components, fill the gaps between the precast track bed components and the tunnel segments, and improve the overall stability of the precast track bed structure. Grouting is carried out in a timely manner after the socket installation is completed, without the need for additional grouting equipment.

[0024] (4) A cylindrical gripping part is used, which is fitted onto the outside of the socket core rod from one end. During the fitting process, the obvious protruding structure on the surface of the socket core rod is scraped off to facilitate subsequent mating with the socket hole. An opening is provided at the lower end of the cylindrical gripping part, and the bottom part of the socket core rod can pass through the opening. After entering the socket hole, the gripping part is lowered so that the bottom of the socket core rod contacts the bottom of the socket hole first. The contact friction between the two allows the socket core rod to be smoothly pulled out from the gripping part, thereby improving the installation efficiency of the socket core rod.

[0025] (5) The equipment for installing precast track bed components in shield tunnels is highly integrated, which is conducive to the rapid construction of precast track bed components in an integrated manner; equipped with an intelligent identification operating system, it realizes intelligent automated assembly construction, improves the accuracy and efficiency of rapid construction, and greatly reduces the number of workers and reduces labor intensity. Attached Figure Description

[0026] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0027] Figure 1 This is a schematic diagram of the installation device for the tunnel socket-type precast track bed components in Embodiments 1 and 2 of the present invention.

[0028] Figure 2 This is a schematic diagram showing the relative positions of the movable frame and the precast track bed components in Embodiments 1 and 2 of the present invention.

[0029] Figure 3 This is a schematic diagram of the grouting mechanism installed on the mobile frame in Embodiments 1 and 2 of the present invention.

[0030] Figure 4 This is a schematic diagram of the cantilever rod being installed on the mobile frame via a telescopic bracket in embodiments 1 and 2 of the present invention.

[0031] Figure 5 This is a schematic diagram of the vision component installed on the mobile rack in Embodiments 1 and 2 of the present invention.

[0032] Figure 6 This is a schematic diagram showing that in embodiments 1 and 2 of the present invention, the gripping mechanism and the cantilever are both mounted on the mobile frame.

[0033] Figure 7 This is a schematic diagram showing the corresponding distribution of the socket core rod and socket hole in Embodiments 1 and 2 of the present invention.

[0034] Figure 8 This is a schematic diagram showing the corresponding distribution of the grouting mechanism and the socket hole in Embodiments 1 and 2 of the present invention.

[0035] Figure 9 This is a schematic diagram showing the corresponding distribution of the cantilever rod and the socket hole in Embodiments 1 and 2 of the present invention.

[0036] Figure 10 This is a schematic diagram showing the corresponding distribution of the gripping mechanism and the core rod in Embodiments 1 and 2 of the present invention.

[0037] Figure 11 This is a schematic diagram of the grouting mechanism and gripping mechanism installed on the mobile frame in Embodiments 1 and 2 of the present invention.

[0038] Figure 12 This is a schematic diagram of the gripping part and the core rod cooperating in Embodiments 1 and 2 of the present invention.

[0039] Among them, 1. transport vehicle; 2. mobile frame; 3. vision component; 4. telescopic support; 5. gripping part; 6. grouting mechanism; 7. precast track bed component; 8. component body; 9. socket core rod; 10. socket hole; 11. grouting hole; 12. grouting pipe; 13. tunnel segment; 14. gripping mechanism; 15. cantilever rod. Detailed Implementation

[0040] Example 1

[0041] In a typical embodiment of the present invention, such as Figures 1-12 As shown, a tunnel socket-type precast track bed component installation device is presented.

[0042] Currently, when installing the precast track bed component 7 in the tunnel, the transport of the precast track bed component 7 is prone to collision damage and equipment interference, resulting in structural defects of the precast track bed component 7. As a result, the strength and stability of the precast track bed component 7 after installation cannot meet the requirements. In addition, there is a problem of damage to the structure of the reserved socket hole 10 during the production and transport of the precast track bed component 7. Poor fit between the socket core rod 9 and the socket hole 10 leads to an unstable connection, affecting the quality of the assembled track bed.

[0043] Based on this, this embodiment provides a tunnel socket-type precast track bed component installation device, which can stably transport and adjust the position of the precast track bed component 7, so that it is accurately positioned and socketed. The cantilever rod 15 extends into the socket hole 10 to lift the precast track bed component 7. The cantilever rod 15 can pre-clear the socket hole 10 and cooperate with the insertion of the socket core rod 9, while reducing the collision damage to the precast track bed component 7, improving installation efficiency and installation accuracy.

[0044] The following is a detailed description of the above-mentioned tunnel socket-type precast track bed component installation device with reference to the accompanying drawings.

[0045] See Figure 1 The main body of the tunnel socket-type precast track bed component installation device is a mobile frame 2. Multiple functional modules are installed on the mobile frame 2 to realize the transfer, adjustment and installation of the precast track bed component 7 and the socket core rod 9. According to the installation requirements, a grouting mechanism 6 can also be installed on the mobile frame 2 to grout and reinforce the precast track bed component 7 after socket assembly.

[0046] The functional modules installed on the mobile frame 2 of the tunnel socket-type precast track bed component installation device include a transfer module, a gripping module, and a grouting module. The mobile frame 2 can move inside the tunnel. The mobile frame 2 includes a support frame as the main body and traveling wheels connecting the support frame. The traveling wheels contact the tunnel segment 13 and move along the tunnel segment 13. The functional modules are installed on the support frame. According to the track bed layout requirements, the mobile frame 2 moves along the tunnel direction inside the tunnel.

[0047] The transfer module consists of a telescopic bracket 4, a cantilever rod 15, and an adjustment assembly. The adjustment assembly is mounted on the mobile frame 2. The cantilever rod 15 is connected to the adjustment assembly via the telescopic bracket 4. The adjustment assembly is a two-axis moving mechanism in the horizontal plane, capable of adjusting the position of the telescopic bracket 4 in the X and Y directions. The telescopic bracket 4 is vertically arranged, suspending the cantilever rod 15 below the adjustment assembly. The telescopic bracket 4 can extend and retract in the vertical Z direction to adjust its position. Figure 1 , Figure 2 and Figure 4 With the combined action of the adjustment component and the telescopic support 4, the cantilever rod 15 can adjust its position relative to the moving frame 2 in the three-axis direction, thereby driving the precast track bed component 7 to adjust its position.

[0048] Understandably, the adjustment component combined with the telescopic support 4 can use an existing three-axis motion platform, using servo motors, hydraulics, pneumatics, etc. as power, which can meet the load-bearing requirements of transporting precast track bed components 7.

[0049] The cantilever rod 15 can be inserted into the socket 10 on the end face of the precast track bed component 7 and lift the precast track bed component 7. When the cantilever rod 15 lifts the precast track bed component 7, in order to improve its transportation stability, multiple cantilever rods 15 can be connected to the end of the telescopic bracket 4, corresponding to the multiple sockets 10 provided on the end face of the precast track bed component 7.

[0050] See Figure 4 , Figure 9 Alternatively, multiple telescopic supports 4 can be configured, with a cantilever rod 15 configured at the end of each telescopic support 4. The figure shows two cantilever rods 15 and telescopic supports 4 spaced apart. The telescopic support 4 can adjust the position of the cantilever rod 15 individually to fit the socket 10 on the precast track bed component 7.

[0051] In other embodiments, the telescopic bracket 4 can be directly installed on the mobile frame 2, and the horizontal position of the telescopic bracket 4 can be adjusted by changing the mobile frame 2 to drive the telescopic bracket 4.

[0052] Combination Figure 1 , Figure 11 The cantilever rod 15 is hollow inside. One end of the cantilever rod 15 is connected to the end of the telescopic bracket 4, and the other end is provided with an opening that connects to the hollow inside. The hollow structure can reduce the weight of the cantilever rod 15. When the cantilever rod 15 is inserted into the socket hole 10 for unblocking, impurities and particles inside the socket hole 10 can enter the hollow structure for temporary storage, thereby reducing the residue of impurities and particles in the socket hole 10 and facilitating the smooth entry of the socket core rod 9 into the socket hole 10.

[0053] The precast track bed component 7 comprises two parts: a main body 8 and a socket core rod 9. For example... Figure 1 In the structure shown, the socket core rod 9 is pre-assembled with the main body 8 of the precast track bed component 7. During the assembly of the precast track bed component 7, the socket core rod 9, pre-installed at the other end of the main body 8, is inserted into the socket hole 10 of the already installed precast track bed component 7. Therefore, a gripping module is not required. Figure 6 In the structure shown, the socket mandrel 9 and the main body 8 are independent structures. After installing the main body 8, the socket mandrel 9 needs to be inserted before installing the next main body 8. The correspondence between the socket mandrel 9 and the main body 8 is as follows: Figure 7 As shown.

[0054] like Figure 6 As shown, the gripping module consists of an adjustment component and a gripping mechanism 14. The gripping mechanism 14 is installed on the mobile frame 2 and is suspended below the adjustment component. The end of the gripping mechanism 14 is provided with a gripping part 5 for the insertion core rod 9 to cooperate with.

[0055] The gripping mechanism 14 is connected to the shifting frame through the adjustment component. The adjustment component has the same function as the adjustment component. The adjustment component can drive the gripping mechanism 14 to adjust its position. In this embodiment, the adjustment component drives the gripping part 5 to adjust its position relative to the moving frame 2 in the three-axis direction.

[0056] It is understandable that the positioning component can be directly configured as a three-axis motion platform. The gripping mechanism 14 includes a connecting rod and a gripping cylinder, wherein the gripping cylinder is installed at the end of the connecting rod as the gripping part 5, and the other end of the connecting rod is connected to the positioning component.

[0057] like Figure 10 , Figure 12 As shown, the gripping part 5 is a cylindrical structure with a C-shaped radial cross section. The cylindrical structure is open at both ends in the axial direction and has an opening in the circumferential direction. The opening is located at the bottom end of the cylindrical structure.

[0058] The gripping mechanism 14 has multiple gripping parts arranged at intervals, and each part is connected to the shifting frame through a corresponding adjustment component to independently adjust the position of the gripping part 5. Figure 10 Two spaced-apart gripping mechanisms 14 are provided, which can grip the socket core rod 9 respectively and adapt to the socket hole 10 on the precast track bed component 7.

[0059] It should be noted that the gripping part 5, which adopts a cylindrical structure, is sleeved on the outside of the socket core rod 9 from one end. During the sleeved process, the obvious protruding structure on the surface of the socket core rod 9 is scraped off to facilitate subsequent mating with the socket hole 10.

[0060] In addition, the lower end of the gripping part 5 of the cylindrical structure is provided with an opening, and the bottom part of the socket core rod 9 can pass through the opening. After entering the socket hole 10, the gripping part 5 is lowered so that the bottom of the socket core rod 9 first contacts the bottom of the socket hole 10. The contact friction between the two allows the socket core rod 9 to be smoothly pulled out from the gripping part 5, thereby improving the installation efficiency of the socket core rod 9.

[0061] like Figure 3 , Figure 8 As shown, the grouting module is connected to the mobile frame 2 and its position is adjusted along with the mobile frame 2. The grouting module mainly includes a grouting mechanism 6, wherein the output end of the grouting mechanism 6 is a grouting pipe 12. The grouting pipe 12 of the grouting mechanism 6 faces the precast track bed component 7 below it. The precast track bed component 7 is provided with a grouting hole 11 that connects to the socket hole 10. The grouting pipe 12 can output grout to fill the socket hole 10 and the spaces between adjacent precast track bed components 7.

[0062] After the precast track bed components 7 are assembled, the grouting mechanism 6 fills the gaps between the precast track bed components 7 with grout to ensure effective bonding between each precast track bed component 7, achieve the overall effect of the precast track bed components 7, improve the overall integrity of the component combination of the precast track bed components 7, achieve effective bonding between the precast track bed components 7 and the tunnel segments 13, and improve the overall stability of the precast track bed structure.

[0063] like Figure 5 As shown, a vision component 3 is connected to the support frame to acquire images of the working position of the cantilever 15. The vision component 3 can be a camera. After acquiring the image, the vision component 3 can send it to the controller for processing to identify the precast track bed components 7 and mark their operating positions. For example, it can identify the positions of the socket holes 10, grouting holes 11, etc. The controller processes the position information and controls the corresponding functional modules to perform actions.

[0064] Example 2

[0065] In another typical embodiment of the present invention, such as Figures 1-12 As shown, a working method is presented.

[0066] The installation device for precast track bed components using a tunnel socket type, as described in Example 1, includes the following steps:

[0067] Adjust the position of the mobile frame 2 above the installation location, and raise the cantilever 15 to support the precast track bed component 7 to be installed;

[0068] The position of the precast track bed component 7 to be installed is adjusted by driving the cantilever rod 15 through the telescopic bracket 4 and the adjustment component, so that the precast track bed component 7 is in place, and the cantilever rod 15 is removed from the precast track bed component 7.

[0069] The cantilever rod 15 supports the next precast track bed component 7 to be installed and moves it to the installation position, so that adjacent precast track bed components 7 are connected by the socket core rod 9 and the socket hole 10.

[0070] Precast track bed components 7 are assembled sequentially along the tunnel direction.

[0071] When the core rod 9 and the main body 8 of the precast track bed component 7 are pre-assembled, the precast track bed component 7 is transported to the designated location by the transport vehicle 1. The vision component 3 assists in identifying the precast track bed component 7, and the controller controls the transfer module to grab the main body 8 with the core rod 9. Upon reaching the installation position, the core rod 9 carried by the main body 8 is pushed into the socket hole 10 of the previous precast track bed component 7. After the construction and installation are completed, the installation of the next main body 8 with the core rod 9 on the transport vehicle 1 continues. After every two precast track bed components 7 are installed, the grouting mechanism 6 is activated to perform grouting.

[0072] When the core rod 9 and the main body 8 of the precast track bed component 7 are arranged independently, after the core rod 9 and the main body 8 are transported to the designated position by the transport vehicle 1, the vision component 3 assists in identifying the main body 8 and the core rod 9. The controller controls the gripping module to grip the core rod 9 and pushes it into the socket hole 10 of the previous precast track bed component 7 at the installation position. The installation of the core rod 9 is then completed. The transfer module grips the main body 8 and pushes it into the installation position. The socket hole 10 of the main body 8 is inserted into the previously installed core rod 9. The installation of the next identification main body 8 and core rod 9 above the transport vehicle 1 continues. After the installation of two precast track bed components 7 is completed, the grouting mechanism 6 is started to perform grouting.

[0073] The equipment for installing precast track bed components 7 in shield tunnels is highly integrated, which is conducive to the rapid construction of precast track bed components 7 in an integrated manner; equipped with an intelligent recognition operating system, it realizes intelligent and automated assembly construction, improves the accuracy of rapid construction, and significantly reduces the number of workers and reduces labor intensity.

[0074] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A tunnel socket-type precast track bed component installation device, characterized in that, The system includes a mobile frame and a telescopic support. A cantilever rod is connected to the end of the telescopic support. The telescopic support is connected to the mobile frame via an adjustment assembly, allowing the cantilever rod to be adjusted relative to the mobile frame in three axes. The cantilever rod is suspended below the adjustment assembly via the telescopic support. The cantilever rod can be inserted into the socket hole on the end face of the precast track bed component and lift the precast track bed component. A grouting mechanism is installed on the mobile frame, with its output end facing the precast track bed component below it, to output grout to fill the socket hole, between adjacent precast track bed components, and between the precast track bed component and the tunnel segment. The mobile frame is equipped with a gripping mechanism, which is suspended below the adjustment assembly. The end of the gripping mechanism is provided with a gripping part that provides a receiving mandrel for engagement. The gripping mechanism is connected to the moving frame via an adjustment component, which drives the gripping part to adjust its position relative to the moving frame in three-axis directions.

2. The tunnel socket-type precast track bed component installation device as described in claim 1, characterized in that, The gripping part is a cylindrical structure with a C-shaped radial cross-section. The cylindrical structure is open at both ends in the axial direction and has an opening in the circumferential direction, which is located at the bottom end of the cylindrical structure.

3. The tunnel socket-type precast track bed component installation device as described in claim 1, characterized in that, The gripping mechanism has multiple gripping parts arranged at intervals, and each part is connected to the shifting frame through a corresponding adjustment component to independently adjust the position of the gripping part.

4. The tunnel socket-type precast track bed component installation device as described in claim 1, characterized in that, The telescopic support is connected to at least two cantilever rods at its end. The cantilever rods are hollow inside. One end of the cantilever rod is connected to the end of the telescopic support, and the other end is provided with an opening that communicates with the hollow interior.

5. The tunnel socket-type precast track bed component installation device as described in claim 1, characterized in that, The mobile frame includes a support frame and wheels. The wheels are arranged in pairs on the support frame, and a vision component is connected to the support frame to acquire an image of the working position of the cantilever.

6. A method for operating the tunnel socket-type precast track bed component installation device as described in any one of claims 1-5, characterized in that, include: Adjust the position of the mobile frame above the installation location, raise the cantilever to support the precast track bed component to be installed; drive the cantilever to adjust the position of the precast track bed component to be installed through the telescopic bracket and adjustment component, so that the precast track bed component is in place, and then remove the cantilever from the precast track bed component; The cantilever rod supports the next precast track bed component to be installed and moves it to the installation position, so that adjacent precast track bed components are connected by a core rod and a socket hole; Precast track bed components are assembled sequentially along the tunnel direction.

7. The working method as described in claim 6, characterized in that, Grouting is performed on the assembled precast track bed components, and the grout fills the gap between the socket and the socket core, as well as the gap between adjacent precast track bed components and the gap between the precast track bed components and the tunnel segments.

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