A prefabricated parts installation vehicle for pipe corridors and tunnels

Abstract

The present invention discloses a vehicle for installing prefabricated parts in pipe corridors and tunnels, which relates to the technical field of pipe tunnel construction. The vehicle comprises a base, a walking unit, a driving unit, a hydraulic control unit, an energy supply unit and a lifting unit, wherein the driving unit is rotatably arranged at the front of the base, the lifting unit is arranged on the driving unit, the hydraulic control unit and the energy supply unit are arranged at the rear of the base, and the front of the base and the rear of the base are always kept balanced; the lifting unit comprises a six-directional motion mechanical arm and a gripper, the six-directional motion mechanical arm can extend and retract forward and backward, move up and down, rotate in the vertical plane and rotate in the horizontal plane, and the gripper can grab and fix the prefabricated parts; compared with the prior art, the installation vehicle in the present application greatly improves the construction efficiency of installing prefabricated parts in pipe corridors and tunnels, reduces the number of construction workers, and greatly improves construction safety.

Description

Technical Field

[0001] The present invention relates to the technical field of pipe tunnel construction, and in particular to a vehicle for constructing prefabricated parts in a pipe tunnel. Background Art

[0002] Underground utility corridors are public tunnels built beneath cities to centrally route municipal pipelines for electricity, communications, radio and television, water supply, and other services. They can alleviate increasingly severe urban issues such as land shortages and environmental degradation, and are a crucial foundation and fundamental guarantee for urban survival.

[0003] The horizontal interfaces of existing underground integrated pipeline corridors are mostly rectangular or circular. Due to the large number of municipal pipelines, different types of pipelines need to be placed separately. The existing layered structure of the pipeline corridor mainly adopts the form of placing linings on both sides, and then setting up partitions on the linings to separate the pipeline corridors up and down.

[0004] If the lining is cast in-situ in the tunnel, the confined space makes large-scale construction difficult, resulting in low construction efficiency. Furthermore, the accumulation of various formwork, building materials, and equipment within the tunnel poses a significant safety hazard and hinders subsequent cleaning. Prefabricating the lining and installing it in the tunnel after completion could address these issues. However, due to the large weight of each prefabricated liner and the limited space within the tunnel, installation within the tunnel is extremely challenging. Typically, a small crane capable of accessing the tunnel is used to lift and transport the prefabricated liner. Upon reaching the installation location, the liner is turned and manually adjusted before being lowered. Throughout the installation process, due to the prefabricated liner's weight and inertia, as well as the crane's performance and visibility, the liner frequently collides with the tunnel's inner walls or other components. This can lead to damage or breakage of the liner. In even more serious cases, the prefabricated liner can collide with workers, causing serious safety accidents. This is especially true for circular tunnels, where the prefabricated lining has an arc shape, and the lifting and installation angles are strictly restricted, making precise installation and control particularly difficult. This results in uncontrollable spacing between the curved prefabricated linings, which is basically unrepairable after installation.

[0005] Furthermore, underground utility corridors stretch for several kilometers and lack the same rapid ventilation as outdoor environments. Exhaust gases emitted by small cranes working for extended periods inside the corridors can seriously pollute the work environment and cause serious health hazards to workers. This phenomenon becomes more pronounced the deeper the work progresses, resulting in a decrease in work time and efficiency throughout the installation process. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a prefabricated component installation vehicle for pipe galleries and tunnels. This installation vehicle greatly improves the construction efficiency of installing prefabricated components inside pipe galleries and tunnels, reduces the number of construction workers, and greatly improves construction safety.

[0007] In order to solve the above technical problems, the present invention is solved through the following technical solutions: A prefabricated part installation vehicle in a pipeline corridor or tunnel, comprising a base, a traveling unit, a driving unit, a hydraulic control unit, an energy supply unit and a lifting unit, wherein the base is arranged on the traveling unit, and the driving unit, the hydraulic control unit and the energy supply unit are arranged on the base; wherein the driving unit is rotatably arranged at the front of the base, the lifting unit is arranged on the driving unit, the hydraulic control unit and the energy supply unit are arranged at the rear of the base, and the front and rear of the base are always kept balanced; the lifting unit comprises a six-directional motion robot arm and a gripper, the six-directional motion robot arm can extend and retract forward and backward, move up and down, rotate in the vertical plane and rotate in the horizontal plane, and the gripper can grab and fix the prefabricated parts; the energy supply unit comprises a detachable battery pack, which supplies power to other units; the hydraulic control unit comprises a hydraulic station, and the hydraulic station controls the movement of the lifting unit.

[0008] In the above technical method, preferably, the walking unit is a crawler-type walking mechanism, and the crawler-type walking mechanism includes a frame and crawlers located on both sides of the frame.

[0009] In the above technical method, preferably, the base is arranged on the frame, the base includes a front platform and a rear platform, the front platform is provided with a rotating platform, the driving unit is arranged on the rotating platform, the hydraulic control unit and the energy supply unit are arranged on the rear platform, and the front platform and the rear platform always maintain balance.

[0010] In the above technical method, preferably, a traction unhooking device is also provided on the vehicle frame.

[0011] In the above technical method, preferably, the rotating platform is provided with a cockpit slewing bearing fixed to the driving unit and a driving gear set A matched with the cockpit slewing bearing, and the driving gear set A is also engaged with an angle sensor A.

[0012] In the above technical method, preferably, the battery pack is provided with a cover, a conical positioning pin is provided at the bottom of the cover, a positioning hole that fits with the conical positioning pin is provided on the rear platform, and a lifting hole is also provided on the top of the cover.

[0013] In the above technical method, preferably, the driving unit includes a cockpit and an upper cover shell arranged on the top of the cockpit for installing a six-directional motion robotic arm.

[0014] In the above technical method, preferably, the six-directional motion robotic arm includes front and rear telescopic arms, upper and lower adjustment arms connected to the front and rear telescopic arms, a rotational adjustment arm connected to the upper and lower adjustment arms, and a horizontal adjustment arm connected to the rotational adjustment arm, the horizontal adjustment arm is connected to a gripper, and the front and rear telescopic arms are arranged on the upper cover shell.

[0015] In the above technical method, preferably, the upper cover shell includes a sliding cavity, the front and rear telescopic arms are in the sliding cavity, a telescopic cylinder is provided on the upper cover shell, the tail ends of the front and rear telescopic arms are provided with connecting blocks connected to the telescopic cylinder, the front and rear ends of the sliding cavity are also symmetrically provided with support rollers in contact with the front and rear telescopic arms, and a displacement sensor A is also provided on the upper cover shell.

[0016] In the above technical method, preferably, the front ends of the front and rear telescopic arms are provided with fixed plates, the upper and lower adjustment arms include lifting plates, wheel assemblies are provided on both sides of the lifting plates, the fixed plates are provided with sliding grooves and limit stops that cooperate with the wheel assemblies, the fixed plates are provided with telescopic cylinders connected to the lifting plates, and the lifting plates are also provided with displacement sensors B.

[0017] In the above technical method, preferably, the lifting plate is also provided with a rotary slewing bearing, the rotary adjustment arm includes a square tube, the square tube is provided with an organic base plate, the organic base plate is provided with the rotary slewing bearing and a driving gear group B matched with the rotary slewing bearing, and the driving gear group B is also engaged with an angle sensor B.

[0018] In the above technical method, preferably, the square tube also includes a vertical cavity, the horizontal adjustment arm includes an inner arm, the inner arm passes through the vertical cavity, a limiting rack is provided on the inner arm, a limiting tooth group matching the limiting rack is provided on the square tube, support rollers in contact with the inner arm are symmetrically provided at the upper and lower ends of the vertical cavity, a mounting plate is provided at the bottom of the inner arm, a horizontal slewing bearing and a driving gear group C matching the horizontal slewing bearing are provided on the mounting plate, and the driving gear group C is also engaged with an angle sensor C.

[0019] In the above technical method, preferably, the grabber includes a grabbing plate, the grabbing plate is connected to the horizontal slewing bearing, and a clamping assembly, a limiting assembly and a hook device are provided on the grabbing plate. The clamping assembly and the limiting assembly are arranged relative to each other, the hook device is used to lift the prefabricated part, and the clamping assembly and the limiting assembly are used to fix the prefabricated part.

[0020] In the above technical method, preferably, the grabbing plate is provided with an installation area for fixing the horizontal slewing bearing, the installation area is provided with a through hole, the hook device includes a hanging seat provided in the installation area, the hanging seat includes a lower pin seat and an upper pin seat, the lower pin seat is rotatably provided with a hook, the upper pin seat is rotatably provided with a hook cylinder, the hook cylinder is connected to the hook, and the hook passes through the through hole.

[0021] In the above technical method, preferably, the clamping assembly includes a main fixed seat arranged in the middle of the grabbing plate and a secondary fixed seat arranged at the edge of the grabbing plate, a pressure block is rotatably arranged on the secondary fixed seat, and a connecting cylinder A connected to the pressure block is arranged on the main fixed seat.

[0022] In the above technical method, preferably, two symmetrical clamping components are provided on the grabbing plate.

[0023] In the above technical method, preferably, the limiting assembly includes control assemblies respectively arranged on both sides of the grabbing plate, the control assembly includes a rocker arm seat and a cylinder seat, a connecting cylinder B is provided on the cylinder seat, a connecting plate is rotatably provided on the rocker arm seat, the connecting cylinder B is connected to the connecting plate, and a limiting plate is fixedly provided between the two connecting plates.

[0024] The installation vehicle described in this application can be used to install prefabricated components in underground tunnels and tunnels. The vehicle is electrically powered, drawing its energy from a battery pack, and can be safely used underground. The vehicle grasps prefabricated components using a six-way robotic arm and a gripper. The six-way robotic arm features vertical and horizontal rotation, vertical adjustment, and fore-and-aft adjustment. Combined with a steering cockpit, the six-way robotic arm also offers left-right adjustment. The gripper is removable from the six-way robotic arm, allowing the vehicle to grasp and install various prefabricated components by replacing the gripper with one corresponding to the shape of the prefabricated component. To optimize operation, the vehicle requires the cooperation of a transport vehicle and a transfer vehicle. The transport vehicle transports the prefabricated components within the underground space, while the transfer vehicle transfers the prefabricated components to the vehicle. The vehicle can operate in conjunction with the transfer vehicle or independently, with the linked installation vehicle connected to the transfer vehicle via a traction uncoupling mechanism. If the vehicle has an additional power source, the six-way robotic arm can independently lift and replace the battery pack.

[0025] Compared with the existing technology, this application does not require a large number of workers to set up formwork at the construction site when installing prefabricated parts, nor does it require stockpiling various construction equipment on site. The construction environment is cleaner and orderly management can be achieved, making construction safer and improving overall construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be discussed below. Obviously, the technical solutions described in conjunction with the drawings are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments and their drawings can be obtained based on the embodiments shown in these drawings without paying any creative work.

[0027] Figure 1 It is a three-dimensional schematic diagram of an installation vehicle of the present invention.

[0028] Figure 2 It is a side view of a vehicle in which the present invention is installed.

[0029] Figure 3 It is a front schematic diagram of an installation vehicle of the present invention.

[0030] Figure 4 It is a top view schematic diagram of the installation vehicle of the present invention.

[0031] Figure 5 It is a three-dimensional schematic diagram of the six-directional robotic arm of the present invention.

[0032] Figure 6 It is a front view of the six-directional robotic arm of the present invention.

[0033] Figure 7 It is a side view of the six-directional robotic arm of the present invention.

[0034] Figure 8 2. It is a top view schematic diagram of the six-directional robotic arm of the present invention.

[0035] Figure 9 It is a schematic diagram of the crawler-type walking mechanism of the present invention.

[0036] Figure 10 It is a three-dimensional schematic diagram of the base of the present invention.

[0037] Figure 11 It is a top view schematic diagram of the base of the present invention.

[0038] Figure 12 Schematic diagram of the angle sensor of the present invention.

[0039] Figure 13 It is a three-dimensional schematic diagram of the cockpit of the present invention.

[0040] Figure 14 It is a front schematic diagram of the cockpit of the present invention.

[0041] Figure 15 It is a three-dimensional schematic diagram of the front and rear telescopic arms of the present invention.

[0042] Figure 16 It is a front and side schematic diagram of the front and rear telescopic arms of the present invention.

[0043] Figure 17 It is a three-dimensional, frontal schematic diagram of the upper and lower adjusting arms of the present invention.

[0044] Figure 18 It is a three-dimensional schematic diagram of the rotary adjustment arm of the present invention.

[0045] Figure 19 It is a front view of the rotary adjustment arm of the present invention.

[0046] Figure 20 It is a side view of the rotary adjustment arm of the present invention.

[0047] Figure 21 It is a three-dimensional schematic diagram of the rotary adjustment arm and the horizontal adjustment arm of the present invention.

[0048] Figure 22 It is a side view of the rotary adjustment arm and the horizontal adjustment arm of the present invention.

[0049] Figure 23 It is a three-dimensional schematic diagram of the horizontal adjustment arm of the present invention.

[0050] Figure 24 It is a bottom view schematic diagram of the horizontal adjustment arm of the present invention.

[0051] Figure 25 It is a front and side schematic diagram of the grabber of the present invention.

[0052] Figure 26 Schematic diagrams of the grabber of the present invention in top view and perspective view.

[0053] Figure 27 It is a top view and a three-dimensional schematic diagram of the gripper limit assembly of the present invention.

[0054] Figure 28 It is a three-dimensional schematic diagram of the gripper pressing assembly of the present invention.

[0055] Figure 29 It is a structural schematic diagram of the traction decoupling device of the present invention.

[0056] Figure 30 It is a schematic diagram of the decomposition of the traction decoupling device of the present invention.

[0057] Figure 31 It is a schematic diagram of the peripheral cover of the battery pack of the present invention.

[0058] Figure 32 It is a schematic diagram of the exploded outer cover of the battery pack of the present invention. DETAILED DESCRIPTION

[0059] The following will provide a clear and complete description of the technical solutions of various embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments described in the present invention, all other embodiments derived by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Example 1: Figures 1 to 32 As shown, a prefabricated component installation vehicle for pipe galleries and tunnels includes a base 1, a travel unit 2, a driving unit 3, a hydraulic control unit 4, an energy supply unit 5, and a lifting unit 6. The travel unit 2 is a crawler-type travel mechanism comprising a plurality of frames 21 and crawler tracks 22 located on both sides of the frames. The crawler-type travel mechanism's drive device is located within the crawler tracks 22 and is electrically driven. A traction unhooking device 9 is also provided on the front frame 21.

[0061] The traction unhooking device 9 includes a housing 90, within which is disposed a buffer chamber 92. A telescopic device 93 is disposed within the buffer chamber 92. A joint assembly extending out of the housing 90 is mounted on the telescopic device 93. The joint assembly includes an extension housing 91, within which is disposed an extension shaft 94. A cover plate 941 is disposed on the top of the extension housing 91. A movable window 942 is disposed below the cover plate. Several upper pin seats 943 are uniformly arranged along the circumference of the cover plate 941. The extension shaft 94 is provided with several lower pin seats 944, extending out of the movable window 942 and uniformly and movably arranged along the circumference, that mate with the upper pin seats 943. A grab hook 945 is rotatably mounted on the upper pin seat 943. A connecting rod 946 is rotatably mounted on the lower pin seat 944, which is rotatably connected to the grab hook 945. A spring 947 is disposed between the cover plate 941 and the extension shaft 94. The housing 90 and the extension housing 91 are respectively provided with an outer adjustment window 95 and an inner adjustment window 911. The inner adjustment window 911 is provided with a removable stopper 912, which moves on the outer adjustment window 95. The telescopic device 93 is a hydraulic cylinder. A mounting plate 97 is provided at the bottom of the housing. A sliding bearing 98 is also provided within the buffer chamber 91, which cooperates with the extension shaft 94. The housing 91 is also provided with a collision prevention plate 99.

[0062] During use, the connector assembly is pushed outward by the telescopic device 93. When the connector assembly contacts the hook and the telescopic device 93 continues to operate, the connector assembly stops moving forward, while the extension shaft 94 continues to move, compressing the spring 947 and driving the hook 945 inward to grab the hook. To release the hook, the telescopic device 93 simply retracts, and the hook 945, under the action of the spring 947, moves outward, disengaging from the hook, and then returning to its normal state. The vehicle does not need to be moved during both the grabbing and releasing phases. After parking, the towing and unhooking device 9 can automatically pull or unhook.

[0063] The base 1 is fixedly mounted on the vehicle frame and includes a front platform 11 and a rear platform 12. The front platform 11 is provided with a rotating platform 111. The driving unit 3 includes a cockpit 31, which is provided on the rotating platform 111. The hoisting unit 6 is provided on the cockpit 31. The hydraulic control unit 4 is a hydraulic station, and a removable hydraulic station protective cover 41 is provided on the outside of the hydraulic control unit 4. The energy supply unit 5 includes a battery pack, which is provided with an inner cover 52 and an outer cover 51. The bottom of the outer cover 51 is provided with a tapered locating pin 55. The rear platform 12 is provided with a locating hole 121 that mates with the tapered locating pin 55. The top of the outer cover 51 is also provided with a hoisting plate 53, which is also provided with a hoisting hole 54. A reinforcing rib is provided between the hoisting plate 53 and the hoisting hole 54. A removable battery pack protective cover 56 is also provided on the outside of the energy supply unit 5. The hydraulic control unit 4 and the energy supply unit 5 are arranged on the rear platform 12. Since the hydraulic station and the battery pack assembly weigh several tons, the hydraulic control unit 4 and the energy supply unit 5 here also serve as counterweight assemblies to maintain the balance between the front platform 11 and the rear platform 12, so that the front platform and the rear platform always remain balanced when the installation vehicle is running or stopped.

[0064] The bottom of the cockpit 31 is equipped with a cockpit slewing bearing 31 fixed to the rotating platform 111 and a drive gear set A-35 that cooperates with the cockpit slewing bearing. The drive gear set A-35 also engages with an angle sensor A-8. A main support shaft 36 is also installed on the rotating platform 111. The cockpit 31 also includes a door 34 and an observation window 33.

[0065] Angle sensor A-8 includes a support base 81, on which an encoder frame 88 is mounted. The encoder 82 is mounted. The encoder frame comprises an upper frame 88 and a lower frame 89, with an elastic pad positioned between them. The support base 81 is connected to a speed measuring gear 83 via an encoder shaft. A shaft sleeve 84 is mounted on the encoder shaft, and a retaining ring 85 is mounted on the speed measuring gear 83. A bearing for the encoder shaft is positioned within the retaining ring 85. A movable flat key 86 is mounted on the shaft sleeve 84, and a positioning hole 87 is provided in the retaining ring 85 for the flat key 86. A micro-motor for controlling the flat key 86 is housed within the shaft sleeve 84. A removable mobile power supply is also located within the shaft sleeve 84 to power the micro-motor. The encoder is a magnetic encoder.

[0066] To save power, when encoder 82 is turned off, key 86 is controlled to disengage from positioning hole 87, disengaging retaining ring 85 from sleeve 84 so that they do not interfere with each other. At this point, encoder 82 is disengaged from speed gear 83. When encoder 82 is needed, key 86 is controlled to enter positioning hole 87, connecting retaining ring 85 to sleeve 84, thus connecting encoder 82 to speed gear 83. If key 86 can enter positioning hole 87, this indicates that speed gear 83 did not rotate while encoder 82 was off, or that the rotation was so small that it was smoothed out by key 86 entering positioning hole 87. If key 86 cannot enter all at once, speed gear 83 is slightly moved left or right until key 86 enters positioning hole 87. As long as key 86 enters positioning hole 87, the current state of speed gear 83 is consistent with the state before encoder 82 was turned off, and measurement errors will not occur.

[0067] The hoisting unit includes a six-directional motion robot arm 6 and a gripper 7. The six-directional motion robot arm includes a front and rear telescopic arm 61, an upper and lower adjustment arm 62 connected to the front and rear telescopic arm 61, a rotational adjustment arm 63 connected to the upper and lower adjustment arm 62, and a horizontal adjustment arm 64 connected to the rotational adjustment arm 63. The horizontal adjustment arm 64 is connected to the gripper 7. The top of the cockpit 31 is provided with an upper cover shell 35. The upper cover shell 35 is provided with a sliding cavity 36. The front and rear telescopic arm 61 is disposed in the sliding cavity 36.

[0068] The upper housing 35 is equipped with a telescopic cylinder 37. The rear ends of the front and rear telescopic arms 61 are equipped with connecting blocks 611 that connect to the telescopic cylinder 37. Support rollers 38 are symmetrically positioned at the front and rear ends of the sliding chamber 36, contacting the front and rear telescopic arms 61. Essentially, there are four support rollers 38 at each end, positioned two opposite each other. These rollers allow the front and rear telescopic arms 61 to move more smoothly within the sliding chamber 36. The upper housing 35 is also equipped with a displacement sensor A-39, located directly below the telescopic cylinder A-37. A fixed plate 612 is positioned at the front end of the front and rear telescopic arms 61, topped by a placement plate 613. Several hydraulic valve groups 619 are mounted on the placement plate 613, which are connected to the hydraulic station.

[0069] The upper and lower adjustment arms 62 include a lifting plate 621, with roller assemblies 622 positioned on either side. The fixed plate 612 is provided with a sliding slot 614 and a stopper 615 that cooperate with the roller assemblies 622. The placement plate 613 is provided with a telescopic cylinder B-616. The lifting plate 621 is provided with a through hole 623 and a fixing point 624 that cooperate with the telescopic cylinder B-616. The through hole 623 is used to limit the position of the telescopic cylinder B-616. The fixed plate 612 is also provided with a displacement sensor B-617 that cooperates with the telescopic cylinder B-616.

[0070] The lifting plate 622 is also provided with a rotating slewing support 625, and the rotating adjustment arm 63 includes a square tube 631. The square tube 631 is provided with an organic base plate 632, and the organic base plate 632 fixes the rotating slewing support 625. The organic base plate 632 is also provided with two vertical drive seats 635 arranged relative to the rotating slewing support 625. The vertical drive seat 635 is provided with a driving gear group B-636 that cooperates with the rotating slewing support 625, and one of the driving gear groups B-636 is also engaged with an angle sensor B-637, and the angle sensor B-637 is consistent with the angle sensor A-8.

[0071] The square tube 631 also includes a vertical cavity 638. The horizontal adjustment arm 64 includes an inner arm 641, which passes through the vertical cavity 638. The inner arm 641 is provided with a limit rack 649. The square tube 637 is provided with a limit tooth set 639 that cooperates with the limit rack 642. The limit tooth set 639 drives the inner arm 641 to slide up and down within the square tube 631 through rotation. Support rollers 38 are also symmetrically provided at the upper and lower ends of the vertical cavity 638, contacting the inner arm 641. Each end of the vertical cavity 638 is provided with four support rollers 38, each symmetrically arranged in pairs. The support rollers 38 allow the inner arm 641 to slide more smoothly within the vertical cavity 638.

[0072] The bottom of the inner arm 641 is provided with a mounting plate 642, which is mounted on a horizontal slewing bearing 643. The mounting plate 642 is also provided with a horizontal drive seat 644. A drive gear set C-645 is mounted within the drive seat 644 and engages with the horizontal slewing bearing 643. The drive gear set C-645 also engages with an angle sensor C-646. Angle sensor C-646 is identical to angle sensor A-8.

[0073] The overall rotation of the six-directional motion manipulator 6 is driven by the cockpit slewing bearing 31, which in turn drives the six-directional motion manipulator 6, which can rotate 360°. The front and rear telescopic arms 61 are driven by the telescopic cylinder 37 to move forward and backward within the sliding chamber 36, with the movement distance monitored by the displacement sensor A-39. The upper and lower adjustment arms 62 are driven by the telescopic cylinder B-616 to move up and down, with the movement distance detected by the displacement sensor B-617. The rotary adjustment arm 63 is driven by the rotary slewing bearing 625 to rotate. While theoretically capable of 360° rotation, only 180° is required in practice. The horizontal adjustment arm 64 is driven up and down by the inner arm 641.

[0074] The grabber includes a grabbing plate 71, which is connected to the horizontal slewing support 643. The grabbing plate 71 is provided with a clamping assembly 711, a limiting assembly 712 and a hook device 713. The clamping assembly 711 and the limiting assembly are arranged relative to each other 712. The hook device 713 is used to lift the prefabricated part. The clamping assembly 711 and the limiting assembly 712 are used to fix the prefabricated part.

[0075] The grabbing plate 71 is provided with an installation area 72 for fixing the horizontal slewing bearing 643, and the installation area 72 is provided with a through hole 73. The hook device 713 includes a hanging seat 7131 provided in the installation area, and the hanging seat 7131 includes a lower pin seat 7132 and an upper pin seat 7133. The lower pin seat 7133 is rotatably provided with a hook 7134, and the upper pin seat 7132 is rotatably provided with a hook cylinder 7135. The hook cylinder 7135 is connected to the hook 7134, and the hook 7134 passes through the through hole 73.

[0076] The clamping assembly 711 includes a main mounting seat 7111 disposed in the center of the gripping plate 71 and a secondary mounting seat 7112 disposed at the edge of the gripping plate 71. A pressure block 7113 is rotatably mounted on the secondary mounting seat 7112. The main mounting seat 7111 is provided with a connecting cylinder A-7114 connected to the pressure block 7113. The gripping plate 71 is provided with two symmetrical clamping assemblies 711.

[0077] The limiting assembly 712 includes control assemblies respectively arranged on both sides of the grabbing plate 71, and the control assembly includes a rocker arm seat 7122 and a cylinder seat 7123. A connecting cylinder B-7124 is provided on the cylinder seat 7123. A connecting plate 7125 is rotatably provided on the rocker arm seat 7122. The connecting cylinder B-7124 is connected to the connecting plate 7125. A limiting plate 7126 is fixedly provided between the two connecting plates 7125.

[0078] The grab plate 71 is driven by the horizontal slewing bearing 643 and can rotate 360 degrees. When in use, the clamping assembly 711 and the limiting assembly 712 are first opened. Then, the six-directional motion robot arm 6 is used to position the grab plate 71 above the prefabricated part so that the hook device 713 is aligned with the prefabricated part. The hook device 713 is then hooked to the prefabricated part. The hook cylinder 7135 is then used to push the hook 7134 to prevent the prefabricated part from falling. The six-directional motion robot arm 6 then moves the clamping assembly 711 and the limiting assembly 712 to the two ends of the prefabricated part. Then, the limiting plate 7126 and the pressure block 7113 are respectively clamped to the prefabricated part by the cylinder B-7124 and the cylinder A-7114.

[0079] The specific installation process for curved prefabricated components is as follows: a six-axis motion robot moves to a transfer vehicle or prefabricated component storage area. The six-axis motion robot then adjusts the gripper's hook to hook onto the prefabricated component's hook. The clamping and limiting assemblies are then activated, with the limiting assembly and the clamping assembly resting against the bottom of the curved prefabricated component. Once securely clamped, the six-axis motion robot positions the curved prefabricated component horizontally and then installs it into the inner wall of a pipe gallery or tunnel. This method allows for the installation of one prefabricated component per minute with high precision, resulting in a spacing of less than 5mm between prefabricated components.

Claims

1. A prefabricated component installation vehicle for pipe corridors and tunnels, characterized by: It includes a base, a traveling unit, a driving unit, a hydraulic control unit, an energy supply unit and a hoisting unit, wherein the base is arranged on the traveling unit, and the driving unit, the hydraulic control unit and the energy supply unit are arranged on the base; The driving unit is rotatably arranged at the front of the base, the hoisting unit is arranged on the driving unit, the hydraulic control unit and the energy supply unit are arranged at the rear of the base, and the front of the base and the rear of the base are always kept in balance; The hoisting unit includes a six-directional motion robot arm and a gripper, wherein the six-directional motion robot arm can perform forward and backward extension, upward and downward movement, vertical rotation and horizontal rotation, and the gripper can perform gripping and fixing of prefabricated parts; The grabber includes a grab plate connected to the horizontal slewing support, and a pressing assembly, a limiting assembly and a hook device are provided on the grab plate. The pressing assembly and the limiting assembly are arranged opposite to each other, the hook device is used to lift the prefabricated part, and the pressing assembly and the limiting assembly are used to fix the prefabricated part. The clamping assembly includes a main fixing seat arranged in the middle of the grabbing plate and a secondary fixing seat arranged at the edge of the grabbing plate, a pressing block is rotatably arranged on the secondary fixing seat, and a connecting cylinder A connected to the pressing block is provided on the main fixing seat; The limit assembly includes control assemblies respectively arranged on both sides of the grab plate, the control assembly includes a rocker arm seat and a cylinder seat, the cylinder seat is provided with a connecting cylinder B, the rocker arm seat is rotatably provided with a connecting plate, the connecting cylinder B is connected to the connecting plate, and a limit plate is fixedly provided between the two connecting plates; The energy supply unit includes a detachable battery pack, which supplies power to other units; The hydraulic control unit includes a hydraulic station, and the hydraulic station controls the movement of the hoisting unit.

2. A prefabricated component installation vehicle for pipe corridors and tunnels according to claim 1, characterized in that: The walking unit is a crawler-type walking mechanism, which includes a frame and crawlers located on both sides of the frame.

3. A prefabricated component installation vehicle for pipe corridors and tunnels according to claim 2, characterized in that: The base is arranged on the frame, and the base includes a front platform and a rear platform. A rotating platform is arranged on the front platform, the driving unit is arranged on the rotating platform, the hydraulic control unit and the energy supply unit are arranged on the rear platform, and the front platform and the rear platform always maintain balance.

4. A prefabricated component installation vehicle for pipe corridors and tunnels according to claim 2, characterized in that: The vehicle frame is also provided with a traction unhooking device.

5. The prefabricated component installation vehicle for pipe gallery and tunnel according to claim 3 is characterized by: The rotating platform is provided with a cockpit slewing bearing fixed to the driving unit and a driving gear set A matched with the cockpit slewing bearing. An angle sensor A is also engaged with the driving gear set A.

6. The prefabricated component installation vehicle for pipe corridors and tunnels according to claim 3 is characterized by: The battery pack is provided with a cover body, a conical positioning pin is provided at the bottom of the cover body, a positioning hole that fits with the conical positioning pin is provided on the rear platform, and a lifting hole is also provided on the top of the cover body.

7. The prefabricated component installation vehicle for pipe gallery and tunnel according to claim 5 is characterized by: The driving unit includes a cockpit and an upper cover shell arranged on the top of the cockpit for installing a six-directional motion mechanical arm.

8. The prefabricated component installation vehicle for pipe gallery and tunnel according to claim 7 is characterized by: The six-directional motion robotic arm includes front and rear telescopic arms, upper and lower adjustment arms connected to the front and rear telescopic arms, a rotating adjustment arm connected to the upper and lower adjustment arms, and a horizontal adjustment arm connected to the rotating adjustment arm. The horizontal adjustment arm is connected to a gripper, and the front and rear telescopic arms are arranged on the upper cover shell.

9. A prefabricated component installation vehicle for pipe corridors and tunnels according to claim 8, characterized in that: The upper cover shell includes a sliding cavity, the front and rear telescopic arms are in the sliding cavity, a telescopic cylinder is provided on the upper cover shell, and the tail ends of the front and rear telescopic arms are provided with connecting blocks connected to the telescopic cylinder. The front and rear ends of the sliding cavity are also symmetrically provided with support rollers in contact with the front and rear telescopic arms. A displacement sensor A is also provided on the upper cover shell.

10. A prefabricated component installation vehicle for pipe corridors and tunnels according to claim 9, characterized in that: The front ends of the front and rear telescopic arms are provided with fixed plates, the upper and lower adjustment arms include lifting plates, and wheel assemblies are provided on both sides of the lifting plates. The fixed plates are provided with sliding grooves and limit stops that cooperate with the wheel assemblies, and the fixed plates are provided with telescopic cylinders connected to the lifting plates. A displacement sensor B is also provided on the lifting plates.

11. A prefabricated component installation vehicle for pipe corridors and tunnels according to claim 10, characterized in that: The lifting plate is also provided with a rotary slewing bearing, the rotary adjustment arm includes a square tube, the square tube is provided with an organic base plate, the organic base plate is provided with the rotary slewing bearing and a driving gear group B matched with the rotary slewing bearing, and the driving gear group B is also engaged with an angle sensor B.

12. A prefabricated component installation vehicle for pipe corridors and tunnels according to claim 11, characterized in that: The square tube also includes a vertical cavity, and the horizontal adjustment arm includes an inner arm, which passes through the vertical cavity. A limit rack is provided on the inner arm, and a limit tooth group is provided on the square tube to cooperate with the limit rack. Support rollers in contact with the inner arm are also symmetrically provided at the upper and lower ends of the vertical cavity. A mounting plate is provided at the bottom of the inner arm, and a horizontal slewing bearing and a drive gear group C cooperating with the horizontal slewing bearing are provided on the mounting plate. The drive gear group C is also engaged with an angle sensor C.

13. The prefabricated component installation vehicle for pipe gallery and tunnel according to claim 1, characterized in that: The grabbing plate is provided with an installation area for fixing the horizontal slewing bearing, and the installation area is provided with a through hole. The hook device includes a hanging seat provided in the installation area, and the hanging seat includes a lower pin seat and an upper pin seat. The lower pin seat is rotatably provided with a hook, and the upper pin seat is rotatably provided with a hook cylinder. The hook cylinder is connected to the hook, and the hook passes through the through hole.

14. The prefabricated component installation vehicle for pipe gallery and tunnel according to claim 1, characterized in that: Two symmetrical pressing assemblies are arranged on the grabbing plate.

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