A full-automatic mechanical assembling device for assembling a tunnel lining steel ring

Abstract

The application discloses a kind of full-automatic mechanical assembling device for tunnel lining steel ring assembly, including assembling device ontology (1.1), assembling device ontology is set in tunnel, and assembling device ontology includes assembling mechanical arm (2.1) and trolley (2.2);The bottom of trolley is slidably installed on tunnel track (1.3), and assembling mechanical arm can be lightweight detachable installation on trolley and be slid to installation position along tunnel track by trolley;Lining steel ring unit piece (2.3) is set on assembling mechanical arm, and lining steel ring unit piece is movably attached to tunnel segment by assembling mechanical arm, so that several lining steel ring unit pieces can be assembled and cover the required repair area of tunnel segment.The application can solve the problem of inconvenient and low efficiency in the prior art of tunnel repair lining steel ring construction.

Description

TECHNICAL FIELD

[0001] The present application relates to a tunnel construction equipment, in particular to a full-automatic mechanical assembling device for assembling a lining steel ring in a tunnel. BACKGROUND

[0002] Subway tunnels are being built in more and more cities, and the tunnels built in the early stage have gradually changed from "circular" to "elliptical" due to tunnel settlement, construction of buildings on the ground, influence of other underground engineering and other factors. The tunnel segment repair method in the prior art is to install a lining steel ring inside the subway tunnel segment to strengthen the structural rigidity of the tunnel segment and prevent or reduce further deformation of the tunnel segment structure. The early lining steel ring is reinforced by workers entering the subway tunnel area, and today there are professional construction mechanical equipment to assist, but the construction mechanical equipment in the prior art has problems of high cost, complex hydraulic drive system, large size and weight, and complex operation.

[0003] Chinese patent ZL201310244732.0 discloses a tunnel reinforcing robot which can be used for assembling a lining steel ring, but the robot is large in size and heavy in weight, cannot be carried into the tunnel by manpower, is inconvenient to use in a narrow tunnel, the folding arm design operation and the hydraulic drive system are complex, and the construction efficiency is low, which causes the subway to be shut down for several days, affecting the operation of the subway and the travel of people. At the same time, the traditional lining steel ring is large in size and heavy in weight, further reducing the efficiency of tunnel repair. Therefore, it is necessary to provide a full-automatic mechanical assembling device for assembling a lining steel ring in a tunnel, which can solve the problems of inconvenience and low efficiency of lining steel ring construction in tunnel repair in the prior art. SUMMARY

[0004] The purpose of the present application is to provide a full-automatic mechanical assembling device for assembling a lining steel ring in a tunnel, which can solve the problems of inconvenience and low efficiency of lining steel ring construction in tunnel repair in the prior art.

[0005] The present application is implemented as follows:

[0006] A full-automatic mechanical assembling device for assembling a lining steel ring in a tunnel, comprising an assembling device body, the assembling device body is arranged in the tunnel, and the assembling device body comprises an assembling mechanical arm and a trolley; the bottom of the trolley is slidably installed on a tunnel track, the assembling mechanical arm is lightweight and detachably installed on the trolley and slid along the tunnel track to an installation position by the trolley; a lining steel ring unit piece is arranged on the assembling mechanical arm, and the lining steel ring unit piece is movably attached to a tunnel segment by the assembling mechanical arm, so that a plurality of lining steel ring unit pieces can be assembled and cover a required repair area of the tunnel segment.

[0007] The assembling mechanical arm comprises a large-rotation drive, an aluminum alloy telescopic arm, a small-rotation drive, a grabbing hand and a support; the bottom of the support is fixedly arranged on the trolley, one end of the aluminum alloy telescopic arm is rotatably mounted on the top of the support through the large-rotation drive, and the large-rotation drive is concentrically arranged with the tunnel; the grabbing hand is rotatably mounted on the other end of the aluminum alloy telescopic arm through the small-rotation drive, and the steel ring unit is arranged on the grabbing hand.

[0008] The aluminum alloy telescopic arm comprises a telescopic arm moving rod, a telescopic arm fixed rod and a telescopic assembly; the telescopic arm fixed rod is a hollow rod structure, the telescopic assembly is mounted on one end of the telescopic arm fixed rod, and one end of the telescopic arm moving rod is telescopically inserted into the telescopic arm fixed rod through the telescopic assembly; the other end of the telescopic arm moving rod extends to the outside of the other end of the telescopic arm fixed rod and is formed with a small-rotation drive mounting surface, and the small-rotation drive is mounted on the small-rotation drive mounting surface; the side of one end of the telescopic arm fixed rod is formed with a large-rotation drive mounting surface, and the large-rotation drive is mounted on the large-rotation drive mounting surface.

[0009] The end of the large-rotation drive mounting surface is formed with a counterweight arm mounting surface, and the counterweight arm is mounted on the counterweight arm mounting surface, so that the counterweight arm is coaxially arranged at one end of the aluminum alloy telescopic arm and synchronously rotates with the aluminum alloy telescopic arm.

[0010] The telescopic assembly comprises guide rails, sliding blocks, a screw nut pair and a first motor reducer component; a pair of guide rails are arranged in the telescopic arm fixed rod and located at the two sides of the telescopic arm moving rod, a plurality of sliding blocks are slidably sleeved on the pair of guide rails, and the plurality of sliding blocks are symmetrically connected to the two side surfaces of the telescopic arm moving rod; the first motor reducer component is fixedly mounted on one end of the telescopic arm fixed rod, one end of the screw nut pair is connected to the output end of the first motor reducer component through a shaft coupling, and the other end of the screw nut pair is movably inserted into one end of the telescopic arm moving rod.

[0011] The large-rotation drive comprises a large-rotation driver and a second motor reducer component; the output end of the second motor reducer component is connected to the input end of the large-rotation driver, the output end of the large-rotation driver is connected to the large-rotation drive mounting surface, and the large-rotation driver is mounted on the support.

[0012] The small-rotation drive comprises a small-rotation driver and a third motor reducer component; the output end of the third motor reducer component is connected to the input end of the small-rotation driver, the output end of the small-rotation driver is connected to the grabbing hand, and the small-rotation driver is mounted on the small-rotation drive mounting surface.

[0013] The grabbing hand comprises a grabbing hand fixed end, a grabbing hand hinge and a grabbing hand swing end; one end of the grabbing hand fixed end is connected with the output end of the small rotary driver, and one end of the grabbing hand swing end is swingably installed at the other end of the grabbing hand fixed end through the grabbing hand hinge; the other end of the grabbing hand swing end is connected with the inner lining steel ring unit piece.

[0014] A plurality of swing limiting telescopic rods are arranged between the other end of the grabbing hand swing end and the other end of the grabbing hand fixed end.

[0015] The other end of the grabbing hand swing end is in an arc surface structure and can be matched and attached to the inner wall of the inner lining steel ring unit piece; a lug mounting hole is formed in the middle of the arc surface structure, a lug is formed on the inner lining steel ring unit piece, the lug is inserted into the lug mounting hole and is fixed through a mounting bolt; a plurality of threaded holes are formed at the corners of the arc surface structure, so that the arc surface structure and the inner lining steel ring unit piece are connected through the fixing support bolt and the threaded holes.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] 1. The present application is provided with the assembling device body and the inner lining steel ring unit piece, and has the advantages of simple mechanical design structure, simple operation, low cost, light weight of the aluminum alloy material made assembling device body, and overall connection through bolts and the like, so that the device can be easily disassembled, and the manpower and disassembly are more convenient, light and labor-saving; the inner lining steel ring unit piece is designed in a block and light weight, which is convenient for installation and is conducive to improving the construction efficiency, construction safety and mechanization degree of the tunnel segment repair, and reducing the downtime of the subway in the tunnel.

[0018] 2. The present application is provided with the assembling device body, and the flexible movement of the inner lining steel ring unit piece is realized through the driving of the motor and the speed reducer, the mechanical self-locking ability is strong, the motion stability is high, the large rotary drive is concentrically arranged with the tunnel, the inner lining steel ring unit piece can be more conveniently and quickly rotated to the required repair position, and collision with the internal structure of the tunnel is avoided, the automatic assembly of the inner lining steel ring unit piece is realized, and thus the assembling and reinforcing efficiency of the inner lining steel ring unit piece is improved, the manpower and time consumption are reduced, and the cost is reduced and the efficiency is increased.

[0019] 3. The present application realizes the flexible adjustment of the five degrees of freedom of the inner lining steel ring unit piece through the axial sliding of the trolley along the tunnel, the rotation of the large rotary drive, the small rotary drive and the hinge in different directions, and the radial expansion and contraction of the telescopic arm, while ensuring the matching and attaching installation between the tunnel segment and the inner lining steel ring unit piece, the installation precision and efficiency are high. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a construction schematic view of a full-automatic mechanical assembling device for tunnel inner lining steel ring assembling.

[0021] Figure 2 is a perspective view of a full-automatic mechanical assembling device for assembling tunnel lining steel rings according to the present application;

[0022] Figure 3 is a perspective view of a mechanical arm of a full-automatic mechanical assembling device for assembling tunnel lining steel rings according to the present application;

[0023] Figure 4 is a perspective view of a telescopic arm of a full-automatic mechanical assembling device for assembling tunnel lining steel rings according to the present application;

[0024] Figure 5 is a perspective view of a large-rotation drive of a full-automatic mechanical assembling device for assembling tunnel lining steel rings according to the present application;

[0025] Figure 6 is a perspective view of a small-rotation drive and a grabbing hand of a full-automatic mechanical assembling device for assembling tunnel lining steel rings according to the present application;

[0026] Figure 7 is a top view of a grabbing hand of a full-automatic mechanical assembling device for assembling tunnel lining steel rings according to the present application;

[0027] Figure 8 is a side view of an arc surface structure of a full-automatic mechanical assembling device for assembling tunnel lining steel rings according to the present application;

[0028] Figure 9 is a connection diagram of a grabbing hand and a lining steel ring unit piece of a full-automatic mechanical assembling device for assembling tunnel lining steel rings according to the present application;

[0029] Figure 10 is an exploded view of a mechanical arm of a full-automatic mechanical assembling device for assembling tunnel lining steel rings according to the present application (the support is not shown).

[0030] In the figure, 1.1 is the assembling device body, 1.2 is a tunnel segment, 1.3 is a tunnel track, 1.4 is a tunnel internal structure, 2.1 is an assembling mechanical arm, 2.2 is a trolley, 2.3 is an inner lining steel ring unit piece, 3.1 is a large rotary drive, 3.2 is an aluminum alloy telescopic arm, 3.3 is a small rotary drive, 3.4 is a grabbing hand, 3.5 is a counterweight arm, 3.6 is a support, 4.1 is a small rotary drive mounting surface, 4.2 is a telescopic arm moving rod, 4.3 is a telescopic arm fixed rod, 4.4 is a guide rail, 4.5 is a sliding block, 4.6 is a screw nut pair, 4.7 is a shaft coupling, 4.8 is a first motor reducer component, 4.9 is a large rotary drive mounting surface, 4.10 is a counterweight arm mounting surface, 5.1 is a large rotary drive, 5.2 is a second motor reducer component, 6.1 is a small rotary drive, 6.2 is a third motor reducer component, 6.3 is a grabbing hand fixed end, 6.4 is a grabbing hand hinge, 6.5 is a grabbing hand swing end, 6.6 is a swing limiting telescopic rod, 7.1 is a lifting lug mounting hole, 7.2 is a threaded hole, 7.3 is an arc surface structure, 8.1 is a lifting lug, 8.2 is a mounting bolt, 8.3 is a fixed support bolt. DETAILED DESCRIPTION

[0031] The application will be further described below in conjunction with the drawings and specific embodiments.

[0032] Please refer to the drawings Figure 1 and the drawings Figure 2 An automatic mechanical assembling device for tunnel lining steel ring assembling, comprising an assembling device body 1.1, the assembling device body 1.1 is arranged in a tunnel, and the assembling device body 1.1 comprises an assembling mechanical arm 2.1 and a trolley 2.2; the bottom of the trolley 2.2 is slidably mounted on a tunnel track 1.3 through a track wheel, the assembling mechanical arm 2.1 is detachably mounted on the trolley 2.2 and slides to an installation position along the tunnel track 1.3 through the trolley 2.2; an inner lining steel ring unit piece 2.3 is arranged on the assembling mechanical arm 2.1, and the inner lining steel ring unit piece 2.3 is actively attached to a tunnel segment 1.2 through the assembling mechanical arm 2.1, so that several inner lining steel ring unit pieces 2.3 can be assembled and cover a required repair area of the tunnel segment 1.2.

[0033] Preferably, the trolley 2.2 can adopt a lightweight metal frame structure and be provided with track wheels matched with the tunnel track 1.3, so as to ensure flexible movement of the trolley 2.2 along the tunnel track 1.3 through the track wheels, thereby moving to the required repair area of the tunnel segment 1.2 and assisting automatic assembly of the inner lining steel ring unit piece 2.3 through the assembling mechanical arm 2.1, so as to achieve the purpose of reinforcing the tunnel segment 1.2. The inner lining steel ring unit piece 2.3 can adopt a lightweight small piece design, which is time-saving and labor-saving in installation, covers the required repair area of the tunnel segment 1.2 through splicing installation, and is beneficial to improving the tunnel repair and reinforcement construction efficiency.

[0034] The assembling mechanical arm 2.1 can be made of lightweight and high-strength materials such as aluminum alloy, and can be realized in a lightweight and detachable manner.

[0035] Please see the attached Figure 3 and attached Figure 10 , the assembled mechanical arm 2.1 includes large rotary drive 3.1, aluminum alloy telescopic arm 3.2, small rotary drive 3.3, grabbing hand 3.4 and support 3.6; the bottom of the support 3.6 is fixedly arranged on the trolley 2.2, one end of the aluminum alloy telescopic arm 3.2 is rotatably mounted on the top of the support 3.6 through the large rotary drive 3.1, and the large rotary drive 3.1 is arranged concentrically with the tunnel; the grabbing hand 3.4 is rotatably mounted on the other end of the aluminum alloy telescopic arm 3.2 through the small rotary drive 3.3, and the inner lining steel ring unit piece 2.3 is arranged on the grabbing hand 3.4.

[0036] The grabbing hand 3.4 is used for grabbing the inner lining steel ring unit piece 2.3, and the small rotary drive 3.3 is used for driving the inner lining steel ring unit piece 2.3 to swing slightly. The aluminum alloy telescopic arm 3.2 is used for controlling the inner lining steel ring unit piece 2.3 to extend to the inner wall of the tunnel segment 1.2, and the large rotary drive 3.1 is used for driving the aluminum alloy telescopic arm 3.2 to rotate with one end as the center. Since the large rotary drive 3.1 is arranged concentrically with the tunnel, the inner lining steel ring unit piece 2.3 on the other end of the aluminum alloy telescopic arm 3.2 can be rotated in the radial plane of the tunnel to the repair area.

[0037] The track wheel is used to meet the axial movement of the tunnel, the large rotary drive 3.1 is used to meet the circumferential movement of the inner lining steel ring unit piece 2.3 along the tunnel segment 1.2, the telescopic wall 3.2 is used to meet the radial movement of the inner lining steel ring unit piece 2.3, and the small rotary drive 3.3 is used to meet the small-angle swing adjustment of the inner lining steel ring unit piece 2.3. Four degrees of freedom are flexibly adjusted to ensure that the inner lining steel ring unit piece 2.3 can be moved and adjusted to completely fit the tunnel segment 1.2, which is conducive to assisting the efficient installation of the inner lining steel ring unit piece 2.3.

[0038] Please see the attached Figure 4 , the aluminum alloy telescopic arm 3.2 includes a telescopic arm moving rod 4.2, a telescopic arm fixed rod 4.3 and a telescopic assembly; the telescopic arm fixed rod 4.3 is a hollow rod structure, the telescopic assembly is installed at one end of the telescopic arm fixed rod 4.3, and one end of the telescopic arm moving rod 4.2 is telescopically inserted into the telescopic arm fixed rod 4.3 through the telescopic assembly; the other end of the telescopic arm moving rod 4.2 extends to the outside of the other end of the telescopic arm fixed rod 4.3 and is formed with a small rotary drive mounting surface 4.1, and the small rotary drive 3.3 is mounted on the small rotary drive mounting surface 4.1; the side of one end of the telescopic arm fixed rod 4.3 is formed with a large rotary drive mounting surface 4.9, and the large rotary drive 3.1 is mounted on the large rotary drive mounting surface 4.9.

[0039] The telescopic arm moving rod 4.2 is driven by the telescopic assembly to move telescopically relative to the telescopic arm fixed rod 4.3, and can avoid collision with the internal structure 1.4 of the tunnel during the rotation of the aluminum alloy telescopic arm 3.2 driving the steel ring unit piece 2.3, and can also adapt to the installation and reinforcement of tunnel segments 1.2 of different sizes.

[0040] Please refer to the accompanying drawings Figure 3 and the accompanying drawings Figure 4 The end of the large-rotation driving mounting surface 4.9 is formed with a counterweight arm mounting surface 4.10, and the counterweight arm 3.5 is mounted on the counterweight arm mounting surface 4.10, so that the counterweight arm 3.5 is coaxially arranged at one end of the aluminum alloy telescopic arm 3.2 and rotates synchronously with the aluminum alloy telescopic arm 3.2.

[0041] The counterweight arm 3.5 is used to reduce the rotation torque, reduce the motor load and motor power, and reduce the weight of the first motor reducer component 4.8 selected in the telescopic assembly.

[0042] Please refer to the accompanying drawings Figure 4 The telescopic assembly includes guide rails 4.4, sliding blocks 4.5, a screw-nut pair 4.6, and a first motor reducer component 4.8; a pair of guide rails 4.4 are arranged in the telescopic arm fixed rod 4.3 and located on both sides of the telescopic arm moving rod 4.2, a plurality of sliding blocks 4.5 are slidably sleeved on the pair of guide rails 4.4, and the plurality of sliding blocks 4.5 are symmetrically connected to the two side surfaces of the telescopic arm moving rod 4.2; the first motor reducer component 4.8 is fixedly installed at one end of the telescopic arm fixed rod 4.3, one end of the screw-nut pair 4.6 is connected to the output end of the first motor reducer component 4.8 through a shaft coupling 4.7, and the other end of the screw-nut pair 4.6 is movably inserted into one end of the telescopic arm moving rod 4.2.

[0043] Under the motor drive of the first motor reducer component 4.8, the screw of the screw-nut pair 4.6 is driven to rotate, and the nut of the screw-nut pair 4.6 can be fixedly installed on one end of the telescopic arm moving rod 4.2. Since the telescopic arm moving rod 4.2 is limited by the sliding blocks 4.5 and the guide rails 4.4 and cannot rotate, the rotation of the screw is converted into the linear motion of the nut along the screw by the nut, thereby realizing the outward pushing and recovery action of the telescopic arm moving rod 4.2 and ensuring the flexible telescopic function of the telescopic arm moving rod 4.2.

[0044] A reducer is configured for the motor to form the first motor reducer component 4.8, and the reducer is used to provide certain self-locking capability for the telescopic assembly, so that the state can be maintained in case of accidental power failure.

[0045] Please refer to the accompanying drawings Figure 5The large-rotation driving 3.1 comprises a large-rotation driver 5.1 and a second motor reducer component 5.2; the output end of the second motor reducer component 5.2 is connected with the input end of the large-rotation driver 5.1, the output end of the large-rotation driver 5.1 is connected with the large-rotation driving installation surface 4.9, and the shell of the large-rotation driver 5.1 is fixedly installed on the support 3.6.

[0046] Preferably, the large-rotation driver 5.1 can adopt a worm and gear assembly, has self-locking ability and transmission ability, is driven to rotate by the worm through the motor of the second motor reducer component 5.2, and drives the worm gear through the worm. The worm gear is connected with the large-rotation driving installation surface 4.9, so as to realize the rotation of the aluminum alloy telescopic arm 3.2; the motor is provided with a reducer to form the second motor reducer component 5.2, and the reducer is used to make the telescopic assembly have certain self-locking ability, so as to keep the state when the power is accidentally cut off.

[0047] Please refer to the attached drawings Figure 6 The small-rotation driving 3.3 comprises a small-rotation driver 6.1 and a third motor reducer component 6.2; the output end of the third motor reducer component 6.2 is connected with the input end of the small-rotation driver 6.1, the output end of the small-rotation driver 6.1 is connected with the grabbing hand 3.4, and the shell of the small-rotation driver 6.1 is fixedly installed on the small-rotation driving installation surface 4.1.

[0048] Preferably, the small-rotation driver 6.1 can adopt a worm and gear assembly, has self-locking ability and transmission ability, is driven to rotate by the worm through the motor of the third motor reducer component 6.2, and drives the worm gear through the worm. The worm gear is connected with the small-rotation driving installation surface 4.1, so as to realize the rotation of the grabbing hand 3.4; the motor is provided with a reducer to form the third motor reducer component 6.2, and the reducer is used to make the telescopic assembly have certain self-locking ability, so as to keep the state when the power is accidentally cut off.

[0049] Please refer to the attached drawings Figure 6 The grabbing hand 3.4 comprises a grabbing hand fixed end 6.3, a grabbing hand hinge 6.4 and a grabbing hand swing end 6.5; one end of the grabbing hand fixed end 6.3 is connected with the output end of the small-rotation driver 6.1, one end of the grabbing hand swing end 6.5 is swingably installed on the other end of the grabbing hand fixed end 6.3 through the grabbing hand hinge 6.4, and the other end of the grabbing hand swing end 6.5 is connected with the inner lining steel ring unit piece 2.3.

[0050] The grabbing hand fixed end 6.3 rotates with the small-rotation driver 6.1, drives the inner lining steel ring unit piece 2.3 to rotate synchronously, the grabbing hand swing end 6.5 can be sleeved on the grabbing hand hinge 6.4, and drives the inner lining steel ring unit piece 2.3 to swing relative to the grabbing hand hinge 6.4 to two sides, the swing direction is shown in the attached drawings Figure 6The flexible adjustment of the 5th freedom is realized as shown by the arrow direction, the multi-directional adjustment of the inner lining steel ring unit piece 2.3 is realized, so that the inner lining steel ring unit piece 2.3 is matched and installed on the inner wall of the inner lining steel ring unit piece 2.3, and the inner structure 1.4 inside the tunnel is avoided.

[0051] Please refer to the attached Figure 6 and the attached Figure 7 A plurality of swing limiting telescopic rods 6.6 are arranged between the other end of the swing end 6.5 of the grabbing hand and the other end of the fixed end 6.3 of the grabbing hand.

[0052] Preferably, the swing limiting telescopic rod 6.6 can be composed of two coaxial sleeves, and the length adjustment is realized by the relative expansion and contraction between the two sleeves. The swing limiting telescopic rod 6.6 can be symmetrically arranged in two, and when the swing end 6.5 of the grabbing hand swings, it synchronously expands and contracts with the change of the distance between the other end of the swing end 6.5 of the grabbing hand and the other end of the fixed end 6.3 of the grabbing hand, thereby improving the stability of the swing adjustment of the inner lining steel ring unit piece 2.3.

[0053] Please refer to the attached Figure 8 and the attached Figure 9 The other end of the swing end 6.5 of the grabbing hand is in an arc surface structure 7.3 and can be matched and attached to the inner wall of the inner lining steel ring unit piece 2.3. A lug mounting hole 7.1 is formed in the middle of the arc surface structure 7.3, a lug 8.1 is formed on the inner lining steel ring unit piece 2.3, the lug 8.1 is inserted into the lug mounting hole 7.1 and fixed by a mounting bolt 8.2; a plurality of threaded holes 7.2 are formed at the corners of the arc surface structure 7.3, so that the arc surface structure 7.3 and the inner lining steel ring unit piece 2.3 are connected through the fixed support bolt 8.3 through the threaded holes 7.2.

[0054] The arc surface structure 7.3 can be attached to the inner lining steel ring unit piece 2.3, which is conducive to improving the reliability of the setting of the inner lining steel ring unit piece 2.3 on the grabbing hand 3.4. The insertion and cooperation of the lug 8.1 and the lug mounting hole 7.1 and the rotation of the fixed support bolt 8.3 further improve the reliability of the setting of the inner lining steel ring unit piece 2.3 on the grabbing hand 3.4.

[0055] Please refer to the attached Figure 1 to the attached Figure 10 The installation and construction method of the present application is:

[0056] The assembling device body 1.1 can be carried to the subway platform by manpower, assembled on the subway platform, hoisted to the tunnel track 1.3 by hoisting equipment, and driven to the tunnel repair area along the tunnel track 1.3 by the track wheels. The assembling device body 1.1 can also be finely adjusted along the axis direction of the tunnel by the track wheels, facilitating the installation of the lining steel ring unit piece 2.3, and thereby reinforcing the tunnel segment 1.2. The connecting nodes of each component of the assembling device body 1.1 are all connected by bolts, which is convenient and fast for disassembly and assembly, and is conducive to the carrying and storage of the assembling device body 1.1.

[0057] The lifting lug 8.1 of the lining steel ring unit piece 2.3 is inserted into the lifting lug mounting hole 7.1, and the lining steel ring unit piece 2.3 is locked on the arc surface structure 7.3 by the mounting bolt 8.2. The lining steel ring unit piece 2.3 and the arc surface structure 7.3 are reinforced by the fixed support bolt 8.3 through the threaded hole 7.2, so as to prevent the lining steel ring unit piece 2.3 from deflecting, shifting or falling off.

[0058] The large rotary driver 5.1 is started to drive the aluminum alloy telescopic arm 3.2 to rotate the lining steel ring unit piece 2.3 in the tunnel, so that the lining steel ring unit piece 2.3 is rotated to the repair position of the tunnel segment 1.2. At the same time, the first motor reducer member 4.8 is started to drive the screw nut pair 4.6 to rotate, and the telescopic arm moving rod 4.2 is relatively telescopic with the telescopic arm fixed rod 4.3, so that the lining steel ring unit piece 2.3 does not collide with the internal structure 1.4 of the tunnel, and can be telescopically moved to be attached to the inner wall of the tunnel segment 1.2.

[0059] The construction personnel swing and adjust the grabbing hand hinge 6.4 to ensure reliable attachment between the lining steel ring unit piece 2.3 and the tunnel segment 1.2, so that the lining steel ring unit piece 2.3 can be installed on the tunnel segment 1.2. After installation is completed, the mounting bolt 8.2 and the fixed support bolt 8.3 are disassembled, and the connection between the grabbing hand 3.4 and the lining steel ring unit piece 2.3 is released.

[0060] The above steps are repeated to continue to install the next lining steel ring unit piece 2.3, until all the lining steel ring unit pieces 2.3 in the required repair area of the tunnel segment 1.2 are installed.

[0061] The above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the application. Therefore, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A fully automatic mechanical assembly device for assembling steel rings for tunnel lining, characterized in that: The assembly includes an assembly device body (1.1), which is installed inside the tunnel. The assembly device body (1.1) includes an assembly robotic arm (2.1) and a trolley (2.2). The bottom of the trolley (2.2) is slidably mounted on the tunnel track (1.3). The assembly robotic arm (2.1) can be lightweight and disassembled and mounted on the trolley (2.2). The trolley (2.2) slides along the tunnel track (1.3) to the installation position. The inner lining steel ring unit piece (2.3) is set on the assembly robotic arm (2.1). The inner lining steel ring unit piece (2.3) is movably attached to the tunnel segment (1.2) through the assembly robotic arm (2.1), so that several inner lining steel ring unit pieces (2.3) can be assembled and cover the required repair area of ​​the tunnel segment (1.2). The assembly robotic arm (2.1) includes a large slewing drive (3.1), an aluminum alloy telescopic arm (3.2), a small slewing drive (3.3), a gripper (3.4), and a support (3.6). The bottom of the support (3.6) is fixedly mounted on the trolley (2.2). One end of the aluminum alloy telescopic arm (3.2) is rotatably mounted on the top of the support (3.6) via the large slewing drive (3.1), and the large slewing drive (3.1) is concentrically mounted with the tunnel. The gripper (3.4) is rotatably mounted on the other end of the aluminum alloy telescopic arm (3.2) via the small slewing drive (3.3), and the inner steel ring unit piece (2.3) is mounted on the gripper (3.4). The aluminum alloy telescopic boom (3.2) includes a telescopic boom moving rod (4.2), a telescopic boom fixing rod (4.3), and a telescopic assembly; the telescopic boom fixing rod (4.3) is a hollow rod-shaped structure, and the telescopic assembly is installed at one end of the telescopic boom fixing rod (4.3). One end of the telescopic boom moving rod (4.2) is telescopically inserted into the telescopic boom fixing rod (4.3) through the telescopic assembly; the other end of the telescopic boom moving rod (4.2) extends to the outside of the other end of the telescopic boom fixing rod (4.3) and forms a small rotary drive mounting surface (4.1), and the small rotary drive (3.3) is installed on the small rotary drive mounting surface (4.1); a large rotary drive mounting surface (4.9) is formed on the side of one end of the telescopic boom fixing rod (4.3), and the large rotary drive (3.1) is installed on the large rotary drive mounting surface (4.9); The telescopic assembly includes guide rails (4.4), sliders (4.5), a lead screw and nut pair (4.6), and a first motor reducer component (4.8). A pair of guide rails (4.4) are respectively arranged inside the telescopic arm fixed rod (4.3) and located on both sides of the telescopic arm moving rod (4.2). Several sliders (4.5) are slidably sleeved on the pair of guide rails (4.4), and several sliders (4.5) are symmetrically connected on both sides of the telescopic arm moving rod (4.2). The first motor reducer component (4.8) is fixedly installed at one end of the telescopic arm fixed rod (4.3). One end of the lead screw and nut pair (4.6) is connected to the output end of the first motor reducer component (4.8) through a coupling (4.7), and the other end of the lead screw and nut pair (4.6) is movably inserted into one end of the telescopic arm moving rod (4.2). The small slewing drive (3.3) includes a small slewing driver (6.1) and a third motor reducer component (6.2); the output end of the third motor reducer component (6.2) is connected to the input end of the small slewing driver (6.1), the output end of the small slewing driver (6.1) is connected to the gripper (3.4), and the small slewing driver (6.1) is mounted on the small slewing drive mounting surface (4.1); The gripper (3.4) includes a gripper fixed end (6.3), a gripper hinge (6.4), and a gripper swing end (6.5); one end of the gripper fixed end (6.3) is connected to the output end of the small rotary drive (6.1), and one end of the gripper swing end (6.5) is swingably mounted on the other end of the gripper fixed end (6.3) through the gripper hinge (6.4); the other end of the gripper swing end (6.5) is connected to the inner steel ring unit piece (2.3); The other end of the gripper swing end (6.5) is an arc-shaped structure (7.3) that can fit against the inner wall of the inner steel ring unit piece (2.3). A lug mounting hole (7.1) is formed in the middle of the arc-shaped structure (7.3), and a lug (8.1) is formed on the inner steel ring unit piece (2.3). The lug (8.1) is inserted into the lug mounting hole (7.1) and fixed by the mounting bolt (8.2). Several threaded holes (7.2) are formed at the corners of the arc-shaped structure (7.3), so that the arc-shaped structure (7.3) and the inner steel ring unit piece (2.3) are connected by the fixed support bolt (8.3) through the threaded holes (7.2).

2. The fully automatic mechanical assembly device for assembling steel rings for tunnel linings according to claim 1, characterized in that: The end of the large slewing drive mounting surface (4.9) is formed with a counterweight arm mounting surface (4.10). The counterweight arm (3.5) is mounted on the counterweight arm mounting surface (4.10) so that the counterweight arm (3.5) is coaxially set at one end of the aluminum alloy telescopic arm (3.2) and rotates synchronously with the aluminum alloy telescopic arm (3.2).

3. The fully automatic mechanical assembly device for assembling steel rings for tunnel linings according to claim 1, characterized in that: The large slewing drive (3.1) includes a large slewing driver (5.1) and a second motor reducer component (5.2); the output end of the second motor reducer component (5.2) is connected to the input end of the large slewing driver (5.1), the output end of the large slewing driver (5.1) is connected to the large slewing drive mounting surface (4.9), and the large slewing driver (5.1) is mounted on a bracket (3.6).

4. The fully automatic mechanical assembly device for assembling steel rings for tunnel linings according to claim 1, characterized in that: A plurality of swing-limiting telescopic rods (6.6) are provided at intervals between the other end of the swing end (6.5) of the gripper and the other end of the fixed end (6.3) of the gripper.

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