Open concrete pouring lining trolley with mechanical arm

Abstract

The application discloses an open concrete pouring lining trolley with a mechanical arm and belongs to the technical field of tunnel lining. The trolley comprises a frame body, a lining formwork, pouring mechanical arms and hydraulic push rods. The frame body is fixedly connected with the lining formwork through the hydraulic push rods. An automatic moving mechanism is arranged below the frame body and used for automatically moving the frame body. The lining formwork comprises an arch part formwork and side wall formworks. The side wall formworks are left-right symmetrical, and the side wall formworks are movably connected with the arch part formwork. A plurality of rows of operation windows are formed in the lining formwork. A plurality of pouring mechanical arms are fixedly arranged on the frame body, one end of each of the pouring mechanical arms is connected with a concrete truck, the other end of each of the pouring mechanical arms extends into the operation window, a concrete conveying pipe is arranged at the center of each of the pouring mechanical arms, and an eccentric vibrating rod is arranged at the free end of each of the pouring mechanical arms and used for vibrating and compacting concrete. The application has the advantages of high automation, stable operation and high pouring efficiency.

Description

Technical Field

[0001] This invention belongs to the field of tunnel lining technology, and more specifically relates to an open concrete pouring lining trolley with a robotic arm. Background Technology

[0002] Currently, during tunnel secondary lining construction, lining trolleys are used for concrete pouring. During construction, the trolleys are positioned, supported at various points, and the ends are securely joined and sealed. A chute or automatic concrete placing boom is commonly used for layered, window-by-window pouring, completing the pouring process from the sidewalls to the arch, from bottom to top. Vibration is performed simultaneously with pouring, with secondary vibration applied to key areas. The layered pouring windows are 500*500mm in size, serving both vibration and observation purposes. Vibration is achieved using a combination of evenly distributed high-frequency attached vibrators on the lining trolley panel and manually inserted vibrators at the sidewall windows. The concrete pouring process is a closed-formwork process. When using chutes or automatic concrete placing booms for layered, window-by-window pouring, workers rely solely on manual insertion of vibrators through existing observation windows for vibration, measurement, and observation. Furthermore, the limited space behind the sidewall formwork and the dense reinforcement make thorough observation and compaction impossible. The pouring and vibration conditions for the arch are even more unfavorable compared to the sidewalls. In addition, the self-weight of concrete and the shrinkage deformation after final setting can easily cause the secondary lining concrete structure to be loose and void, which directly affects the quality of the secondary lining concrete. Summary of the Invention

[0003] In view of this, the present invention provides an open concrete pouring lining trolley with a robotic arm, which has the advantages of high automation, stable operation and high pouring efficiency.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] An open-type concrete pouring lining trolley with a robotic arm includes a frame, lining template, pouring robotic arm, and hydraulic push rod. The frame and the lining template are fixedly connected via the hydraulic push rod. An automatic moving mechanism is provided below the frame for automatically moving the frame. The lining template includes an arch template and side wall templates. The side wall templates are symmetrical and movably connected to the arch template. Multiple rows of working windows are provided on the lining template. Multiple pouring robotic arms are fixedly mounted on the frame. One end of each pouring robotic arm is connected to a concrete truck, and the other end extends into one of the working windows. A concrete delivery pipe is located at the center of each pouring robotic arm. An eccentric vibrator is provided at the free end of each pouring robotic arm to vibrate the concrete.

[0006] Furthermore, the frame includes a first support portion and a second support portion; the first support portion is disposed below the arch template and is used to support and move the arch template, and the second support portion is disposed between the two side wall templates and is used to support and move the side wall templates.

[0007] Furthermore, the arch template includes left and right side top plates and a middle top plate, with the side top plates rotatably connected to the top plate; a sliding rod is fixed at the free end of each side top plate; a sliding groove is provided on the upper side of the side wall template, and the sliding rod is slidably disposed in the sliding groove, connecting the arch template and the side wall template.

[0008] Furthermore, the sliding groove is connected to the side wall template via a hinge.

[0009] Furthermore, the frame is equipped with hydraulic support rods to support the sliding groove.

[0010] Furthermore, hydraulic opening and closing rods are provided on both sides of the working window, and the free ends of the hydraulic opening and closing rods on both sides are fixedly connected to the window sash.

[0011] Furthermore, the pouring robotic arm includes a base, a concrete delivery pipe, an eccentric vibrator, a bearing, a telescopic arm, and a movable arm; the base is fixedly connected to the frame; one end of the movable arm is rotatably connected to the base, and the other end is fixedly connected to the telescopic arm; the telescopic arm is fixedly connected to the inlet of the concrete delivery pipe; the eccentric vibrator is rotatably connected to the concrete delivery pipe, and a bearing is provided between the eccentric vibrator and the concrete delivery pipe.

[0012] Furthermore, the pouring robotic arm is equipped with a sensor to sense the concrete level and the moving distance of the pouring robotic arm.

[0013] Furthermore, a row of grouting pipes is provided directly above the arch template, and the grouting pipe openings are connected to the delivery pipes of the concrete truck.

[0014] Furthermore, multiple attached high-frequency vibrators are installed on the lining template to vibrate the concrete at high frequency.

[0015] The beneficial effects of this invention are as follows:

[0016] This invention provides an open-type concrete pouring lining trolley with a robotic arm. By setting up the pouring robotic arm, the working distance for concrete pouring is extended, and the number of working windows is reduced by half compared to the prior art. Furthermore, automatic pouring and vibration are carried out on the same device, supplemented by manual insertion vibrators and attached high-frequency vibrators, which can further avoid the formation of voids or cold joints, making the concrete pouring denser, and greatly reducing manual input and improving work efficiency. By setting the arch formwork and side wall formwork separately and pouring them separately, and setting up an automatic connection structure, the pouring working area is increased, and segmented demolding is achieved to ensure demolding quality. By using a hydraulic opening and closing rod to seal the working windows, concrete overflow is prevented, and small air bubbles formed during grouting are also prevented from entering and being eliminated by vibration. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the frame structure of the present invention.

[0020] Figure 3 This is a schematic diagram of the operation window of the present invention.

[0021] Figure 4 For the present invention Figure 1 Cross-sectional view at point A.

[0022] In the figure:

[0023] 1-Frame; 2-Lining formwork; 3-Pouring robotic arm; 4-Hydraulic push rod; 11-First support; 12-Second support; 21-Arch formwork; 22-Side wall formwork; 211-Side top plate; 212-Top plate; 213-Sliding rod; 221-Sliding groove; 23-Hinge; 223-Hydraulic support rod; 24-Work window; 241-Hydraulic opening and closing rod; 242-Window sash; 31-Base; 32-Concrete delivery pipe; 33-Eccentric vibrator; 34-Bearing; 35-Telescopic arm; 36-Moving arm; 37-Sensor; 38-Grouting pipe. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please see the appendix Figure 1 The present invention provides an open concrete pouring and lining trolley with a robotic arm, including a frame 1, a lining template 2, a pouring robotic arm 3 and a hydraulic push rod 4; the frame 1 and the lining template 2 are fixedly connected by the hydraulic push rod 4; an automatic moving mechanism is provided below the frame 1 for automatically moving the frame 1.

[0026] Please see the appendix Figure 2 The frame 1 includes a first support part 11 and a second support part 12; the lining template 2 includes an arch template 21 and a side wall template 22; the side wall template 22 is symmetrical from left to right and is movably connected to the arch template 21; the first support part 11 is disposed below the arch template 21 for supporting and moving the arch template 21, and the second support part 12 is disposed between the two side wall templates 22 for supporting and moving the side wall template 22.

[0027] The arch template 21 includes left and right side top plates 211 and a middle top plate 212, with the side top plates 211 rotatably connected to the top plate 212; a sliding rod 213 is fixed at the free end of each side top plate 211; a sliding groove 221 is provided on the upper side of the side wall template 22, and the sliding rod 213 can slide in the sliding groove 221 to connect the arch template 21 and the side wall template 22; the sliding groove 221 and the side wall template 22 are movably connected by a hinge 23; a hydraulic support rod 223 is provided on the frame 1 to support the sliding groove 221 when the sliding rod 213 and the sliding groove 221 are connected.

[0028] The arch grouting area is the first pouring area, and the left and right side wall grouting areas are the second pouring areas. After simultaneous pouring and vibration in the second pouring area, the arch formwork 21 is moved forward to the work area, and the arch formwork 21 is connected to the side wall formwork 22. When the arch formwork 21 is connected to the side wall formwork 22, the sliding groove 221 is flipped up by the hinge 23, and the sliding rod 213 is inserted into the sliding groove 221. After reaching the corresponding position, the hydraulic support rod 223 supports the sliding groove 221 and keeps it in a fixed position. When pouring the side walls, the sliding groove 221 is flipped down to prevent concrete or gravel from entering it.

[0029] Please see the appendix Figure 3 The lining template has multiple rows of working windows 24. Each working window 24 has a hydraulic opening and closing rod 241 on both sides. The free ends of the hydraulic opening and closing rods 241 on both sides are fixedly connected to the window sash 242. When pouring, the hydraulic opening and closing rods 241 drive the window sash 242 to open. After the work is completed, the hydraulic opening and closing rods 241 drive the window sash 242 to close, sealing the working window and preventing concrete from overflowing. It also prevents air from entering during grouting and forming small air bubbles that cannot be eliminated by vibration.

[0030] Please see the appendix Figure 1 , 4 Multiple pouring robotic arms 3 are fixedly mounted on the frame 1. One end of each pouring robotic arm 3 is connected to a concrete truck, and the other end extends into the working window 24 for grouting. Each pouring robotic arm 3 includes a base 31, a concrete delivery pipe 32, an eccentric vibrator 33, a bearing 34, a telescopic arm 35, and a movable arm 36. The concrete delivery pipe 32 is located at the center of the pouring robotic arm 3. The base 31 is fixedly connected to the frame 1. One end of the movable arm 36 is rotatably connected to the base, and the other end is fixedly connected to the telescopic arm 35. The telescopic arm 35 is fixedly connected to the opening of the concrete delivery pipe 32. The eccentric vibrator 33 is rotatably connected to the concrete delivery pipe 32, and a bearing 34 is located between the eccentric vibrator 33 and the concrete delivery pipe 32. When concrete is delivered into the pouring area through the concrete delivery pipe 32, the eccentric vibrator 33 vibrates the incoming concrete to eliminate air bubbles and prevent the formation of voids or honeycombs.

[0031] The pouring robot arm is equipped with a sensor 37, located about 1.5m from the pipe opening, to sense the concrete liquid level and the moving distance of the pouring robot arm; the sensing signal of the sensor 37 is transmitted to the robot arm controller to determine the height of the robot arm and whether the pouring vibration is in operation.

[0032] A row of grouting pipes 38 is provided directly above the arch template 21, and the grouting pipe openings can be connected to the delivery pipes of the concrete truck.

[0033] The lining template is also equipped with multiple attached high-frequency vibrators to vibrate the concrete at high frequency.

[0034] The working principle of this invention is as follows: When grouting in the second pouring zone, the grouting robotic arm 3 extends into the working window 24 of the side wall formwork 22. Grouting begins when the grouting robotic arm 3 extends downward to a distance above the arch line, and the concrete falls less than 2m. When the sensor 37 senses the concrete surface, grouting stops, and the eccentric vibrator is turned on and runs for 20-30 seconds to expel the gas in the concrete and to make the concrete uniformly mixed. After vibration, grouting continues. The grouting robotic arm 3 drives the concrete delivery pipe 32 to rise slowly, and keeps the pipe opening below the concrete liquid surface, so that the concrete slowly overflows. The rising speed of the grouting robotic arm 3 is the same as the rising speed of the concrete liquid surface to reduce the generation of air bubbles.

[0035] When the upper end of the eccentric vibrator 33 reaches the liquid level of the previous pour, i.e., the distance between the upper end of the eccentric vibrator 33 and the sensor 37, stop grouting and start the eccentric vibrator to run for 20-30 seconds, and then continue grouting to mix the concrete poured in the two pours evenly and avoid the formation of cold joints.

[0036] When the concrete level approaches the edge of the working window 24, the pouring robotic arm 3 is slowly withdrawn. The hydraulic opening and closing rod 241 drives the window sash 242 to close, and the upper-level working window 24 is opened, allowing the upper-level pouring robotic arm 3 to continue the work. During the pouring process, a person observes the pouring situation at the working window 24 and uses a manual immersion vibrator, while also activating an attached high-frequency vibrator to further prevent the formation of voids or honeycombs, resulting in a denser concrete pour.

[0037] After completing the pouring and vibration of the second pouring area, when the concrete level is close to the edge of the side wall formwork 22, the arch formwork 21 is moved forward to the work area, and the arch formwork 21 is spliced ​​and fixed with the side wall formwork 22. The pouring robot arm 3 extends from the grouting pipe 38 directly above the arch formwork 21 into the first pouring area a certain distance, and continues to complete the grouting and vibration of the area around the grouting pipe 38. Then the pouring robot arm 3 is withdrawn, and the connecting pipe of the concrete truck is directly connected to the grouting pipe 38 to pour concrete into the empty space above, thereby completing the pouring operation of this area.

[0038] When pouring concrete in a new area, the side wall formwork 22 moves and extends into place before pouring and vibration. After completion, the sliding groove 221 of the side wall formwork 22 flips up, and the left and right top plates 211 rotate and extend into place. The sliding rod is inserted into the sliding groove 221, and the second pouring area continues to be poured and vibrated. After the concrete solidifies, the hydraulic push rod 4 drives the side wall formwork 22 and the left and right top plates 211 to rotate towards the center to demold. Then, the side wall formwork 22 is moved to the next area to continue the work. Then, the arch formwork 21 is moved downward to demold the top plate 212, completing the pouring operation of this area.

[0039] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0040] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An open-type concrete pouring lining trolley with a robotic arm, characterized in that, It includes a frame (1), a lining template (2), a pouring robotic arm (3), and a hydraulic push rod (4); The frame (1) and the lining template (2) are fixedly connected by the hydraulic push rod (4); an automatic moving mechanism is provided below the frame (1) for automatically moving the frame (1). The lining template (2) includes an arch template (21) and a side wall template (22); the side wall template (22) is symmetrical from left to right, and the side wall template (22) is movably connected to the arch template (21); Multiple rows of working windows (24) are provided on the lining template. Multiple pouring robotic arms (3) are fixed on the frame (1). One end of each pouring robotic arm (3) is connected to a concrete truck, and the other end extends into the working window (24). A concrete conveying pipe (32) is provided in the center of each pouring robotic arm (3). An eccentric vibrator (33) is provided at the free end of each pouring robotic arm (3) to vibrate the concrete. The frame (1) includes a first support part (11) and a second support part (12); the first support part (11) is located below the arch template (21) and is used to support and move the arch template (21); the second support part (12) is located between the two side wall templates (22) and is used to support and move the side wall templates (22). The arch template (21) includes left and right side top plates (211) and a middle top plate (212), and the side top plates (211) are rotatably connected to the middle top plate (212); a sliding rod (213) is fixed at the free end of the side top plates (211); a sliding groove (221) is provided on the upper side of the side wall template (22), and the sliding rod (213) is slidably disposed in the sliding groove (221) to connect the arch template (21) and the side wall template (22); The arch grouting area is the first grouting area, and the left and right side wall grouting areas are the second grouting areas. After the grouting and vibration are completed in the second grouting area, the arch template (21) is moved forward to the work area and the arch template (21) is connected with the side wall template (22).

2. The open-type concrete pouring lining trolley with robotic arm according to claim 1, characterized in that, The sliding groove (221) and the side wall template (22) are movably connected by hinges (23).

3. The open-type concrete pouring lining trolley with robotic arm according to claim 2, characterized in that, The frame (1) is provided with a hydraulic support rod (223) to support the sliding groove (221).

4. The open-type concrete pouring lining trolley with a robotic arm according to claim 1, characterized in that, The working window (24) is provided with hydraulic opening and closing rods (241) on both sides, and the free ends of the hydraulic opening and closing rods (241) on both sides are fixedly connected to the window sash (242).

5. The open-type concrete pouring lining trolley with robotic arm according to claim 1, characterized in that, The pouring robot arm (3) includes a base (31), a concrete conveying pipe (32), an eccentric vibrator (33), a bearing (34), a telescopic arm (35), and a movable arm (36); the base (31) is fixedly connected to the frame (1); one end of the movable arm (36) is rotatably connected to the base, and the other end is fixedly connected to the telescopic arm (35); the telescopic arm (35) is fixedly connected to the opening of the concrete conveying pipe (32); the eccentric vibrator (33) is rotatably connected to the concrete conveying pipe (32), and a bearing (34) is provided between the eccentric vibrator (33) and the concrete conveying pipe (32).

6. The open-type concrete pouring lining trolley with robotic arm according to claim 1, characterized in that, The pouring robot arm is equipped with a sensor (37) to sense the concrete liquid level and the moving distance of the pouring robot arm.

7. The open-type concrete pouring lining trolley with robotic arm according to claim 1, characterized in that, A row of grouting pipes (38) is provided directly above the arch template (21), and the grouting pipe openings are connected to the delivery pipes of the concrete truck.

8. The open-type concrete pouring lining trolley with a robotic arm according to claim 1, characterized in that, The lining template is also equipped with multiple attached high-frequency vibrators to vibrate the concrete at high frequency.

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