Five-axis segment erector for tunnel construction teaching
By designing a five-axis pipe sheet assembly machine for tunnel construction, the problem of lack of a suitable teaching platform in the existing technology is solved, and the high accuracy and flexibility of pipe sheet assembly is achieved, and the construction efficiency and training effect are improved.
Patent Information
- Application Number
- CN202510037303.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-09
- Publication Date
- 2025-03-07
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing technology lacks a suitable experimental training platform for pipe segment assembly, which makes it difficult for tunnel construction units to effectively train high-skilled employees, and the internal structure of the existing pipe segment assembly machine is closed and cannot be directly used for teaching.
A five-axis pipe sheet assembly machine for tunnel construction is designed, adopting a multi-axis transmission structure and precise positioning system, combined with glass observation windows and wire management system, to achieve accurate grasping and placement of pipe sheets, which is convenient for teaching and training.
It realizes high-precision positioning and flexible adjustment of pipe sheet assembly, improves construction efficiency and overall quality, and provides a safe teaching platform to facilitate training personnel to learn and master the movement principles and attitude control of pipe sheets.
Smart Images
Figure CN119580558A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of tunnel engineering, and in particular to a five-axis segment assembling machine used for tunnel construction teaching. Background Art
[0002] The segment assembly machine is an advanced equipment used to assemble prefabricated segments in tunnel construction. It is often used in tunnel projects constructed by shield method. It is usually composed of a mechanical arm, a rotating platform, a translation mechanism, a grabbing device, a control system and other parts. As the main operating component, the mechanical arm has multiple joints and can achieve flexible movements; the rotating platform can make the mechanical arm rotate around the vertical axis to expand the operating range; the translation mechanism can drive the mechanical arm to move along the axis of the tunnel; the grabbing device is used to firmly grab the segments; the control system is responsible for the precise control and coordination of the movements of each part. At the same time, most of the current segment assembly is still based on manual remote control, which requires not only training of operators, but also a lot of work experience to effectively improve the assembly efficiency. However, there is currently no suitable assembly experimental training platform, and the purpose of employee skill training can only be achieved by relying on on-site learning. In order to further improve the work efficiency of employees, reduce the difficulty of assembly operation, and improve the efficiency of job training, it is necessary to develop a multi-axis segment assembly test bench to undertake the training task of highly skilled employees of subway construction units.
[0003] Since the internal structure of the segment assembly machine is encapsulated in the electrical cabinet, the functions are not open, and electrical debugging and maintenance require professionals. The assembly machine manufacturer does not want users to open the cabinet at will. Whether from the perspective of safety or equipment maintenance, the construction equipment cannot be directly used as a teaching platform. In the process of assembly skills training, it is precisely hoped that the trainees can learn and master the movement principle, attitude control, trajectory planning, etc. of the segment through participating in the work process of the assembly test bench. This is a teaching equipment that is urgently needed to be developed for tunnel construction equipment in my country. Therefore, we propose a five-axis segment assembly machine for tunnel construction for teaching. Summary of the invention
[0004] The purpose of the present invention is to provide a five-axis segment assembly machine for tunnel construction for teaching, so as to solve the problem that during the use of the five-axis segment assembly machine for tunnel construction for teaching proposed in the above background technology, it is necessary to perform a comprehensive simulation of the entire segment assembly machine, which leads to a higher degree of restoration required by the instrument, but there is currently no segment assembly machine for teaching purposes. To achieve the above-mentioned purpose, the present invention provides the following technical scheme: a five-axis segment assembly machine for tunnel construction, comprising a shell, a movable component is arranged on the top of the shell, a first slot is provided on the top of the shell, an embedded support plate is fixedly connected to the inner side of the shell, the top of the embedded support plate is fixedly connected to a bottom plate, the top of the bottom plate is fixedly connected to two support plates 1, the two support plates 1 are symmetrically distributed around the center point of the bottom plate, a limiting slot 1 is provided on one side of the support plate 1, the top of the support plate 1 is movably connected to two limit blocks 1, the two limit blocks 1 are distributed in a linear array, the top of the limit block 1 is fixedly connected to a horizontal plate 1, the top of the horizontal plate 1 is fixedly connected to two vertical plates 1, the two vertical plates 1 are symmetrically distributed around the center point of the bottom plate, a threaded rod 1 is movably connected inside the vertical plate 1, a movable block is arranged on the top of the horizontal plate 1, the vertical plate The top of the movable frame is provided with a motor, and the top of the movable frame is provided with a motor.
[0005] Further preferably, a third card slot is provided on one side of the housing, and a glass card slot is provided inside the third card slot.
[0006] Further preferably, a plurality of wire management plates are fixedly connected to one side of the housing, and the plurality of wire management plates are symmetrically distributed around the center point of the housing.
[0007] Further preferably, a cross bar 1 is fixedly connected to the interior of the shell, and a plurality of threading holes are opened inside the cross bar 1, and the plurality of threading holes are distributed in a linear array.
[0008] Further preferably, a limiting plate 1 is fixedly connected to the interior of the housing, and a limiting slot 2 is provided inside the limiting plate 1.
[0009] Further preferably, the interior of the second limiting slot is movably connected to a second limiting block, and one side of the second limiting block is fixedly connected to a control module.
[0010] Further preferably, the shell is fixedly connected to a vertical rod, a limiting slot three is provided inside the vertical rod, a limiting block three is movably connected inside the limiting slot three, and a power module is fixedly connected to the top of the limiting block three.
[0011] Further preferably, a cross bar 2 is fixedly connected to the interior of the shell, one side of the cross bar 2 is movably connected to a limiting block 4, one side of the limiting block 4 is fixedly connected to an operating module, and a universal wheel is arranged at the bottom of the shell.
[0012] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, through the structure of threaded rod one driven by motor one and round rod one, and the structure of threaded rod two driven by motor two and round rod two, it is possible to achieve precise movement of components such as cross plate one, cross plate two and moving blocks in different directions. By controlling the rotation of the motor, the position of each component can be accurately adjusted, and then the grabbing and placement positions of the pipe segments can be accurately located, meeting the strict requirements of tunnel pipe segment assembly for high-precision positioning, ensuring the seamless assembly of the pipe segments, and improving the overall quality of the tunnel lining. The moving component is combined with these multi-axis transmission structures inside it, so that the assembly machine can flexibly adjust its position within the limited space of tunnel construction. Whether it is moving horizontally along the tunnel axis or fine-tuning in the vertical direction and within a certain angle range, it can be achieved relatively conveniently, which is convenient for accurate assembly of pipe segments at different positions and angles, thereby improving construction efficiency.
[0013] In the present invention, a glass slot is provided in the third slot opened on one side of the shell, which is convenient for installing observation glass. During the tunnel construction process, the operator can observe the specific conditions of the segment assembly in real time through the glass, such as the docking conditions of the segments, whether the assembly positions are accurate, etc., without the need to frequently approach the equipment or rely on experience to judge, which helps to discover problems in time and make adjustments, thereby improving the accuracy and efficiency of construction.
[0014] In the present invention, a plurality of symmetrically distributed wire management boards fixed on one side of the housing and wire threading holes distributed in a linear array on the crossbar together constitute an effective line arrangement system. During the operation of the equipment, a large number of wires, signal lines and other types of cables can be sorted out by the wire management board, and then orderly passed through the threading holes and connected to the corresponding components, avoiding the lines from being tangled together in a disorderly manner, making the line layout inside the entire device clear and concise. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a schematic diagram of the three-dimensional main structure of the present invention; Figure 2 The cross-sectional structure of the present invention is shown in FIG. Figure 1 ; Figure 3 The cross-sectional structure of the present invention is shown in FIG. Figure 2 ; Figure 4 The cross-sectional structure of the present invention is shown in FIG. Figure 3 ; Figure 5 The cross-sectional structure of the present invention is shown in FIG. Figure 4 ; Figure 6 The cross-sectional structure of the present invention is shown in FIG. Figure 5 .
[0016] In the figure: 1, housing; 2, moving assembly; 201, first slot; 202, embedded support plate; 203, bottom plate; 230, support plate 1; 204, limit slot 1; 205, limit block 1; 206, horizontal plate 1; 207, vertical plate 1; 208, threaded rod 1; 288, moving block; 209, round rod 1; 210, motor 1; 211, horizontal plate 2; 212, vertical plate 2; 213, threaded rod 2; 214, round rod 2; 215, motor 2; 216, triangular support plate; 21 7. Fixed plate; 218. Telescopic rod; 219. Second card slot; 220. Rotating shaft; 221. Roller; 222. Embedded rubber pad; 3. Third card slot; 4. Glass card slot; 5. Cable management plate; 6. Crossbar 1; 7. Threading hole; 8. Limit plate 1; 9. Limit card slot 2; 10. Limit block 2; 11. Control module; 12. Vertical rod; 13. Limit card slot 3; 14. Limit block 3; 15. Power module; 16. Crossbar 2; 17. Limit block 4; 18. Operation module; 19. Universal wheel. DETAILED DESCRIPTION
[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technical personnel in this field without creative work are within the scope of protection of the present invention.
[0018] See also Figure 1 - Figure 6The present invention provides a technical solution: comprising a shell 1, a moving component 2 is arranged on the top of the shell 1, a first slot 201 is provided on the top of the shell 1, an embedded support plate 202 is fixedly connected to the inner side of the shell 1, a bottom plate 203 is fixedly connected to the top of the embedded support plate 202, two support plates 230 are fixedly connected to the top of the bottom plate 203, the two support plates 230 are symmetrically distributed around the center point of the bottom plate 203, a limiting slot 204 is provided on one side of the support plate 230, two limiting blocks 205 are movably connected to the top of the support plate 230, the two limiting blocks 205 are distributed in a linear array, a horizontal plate 206 is fixedly connected to the top of the limiting block 205, and two vertical plates 206 are fixedly connected to the top of the horizontal plate 206. The first plate 207 is a plate 207, two vertical plates 207 are symmetrically distributed with respect to the center point of the bottom plate 203, the vertical plate 207 is internally movably connected with a threaded rod 208, a moving block 288 is arranged on the top of the horizontal plate 206, a round rod 209 is fixedly connected to one side of the vertical plate 207, the round rod 209 and the threaded rod 208 completely penetrate the moving block 288, and a motor 210 is arranged on one end of the threaded rod 208, a horizontal plate 211 is fixedly connected to the bottom of the horizontal plate 206, and two vertical plates 212 are fixedly connected to the top of the housing 1, the two vertical plates 212 are symmetrically distributed with respect to the center point of the bottom plate 203, the vertical plates 212 are internally movably connected with a threaded rod 213, and the vertical plates 212 are internally movably connected with a round rod 2213. 14, the second threaded rod 213 and the second round rod 214 completely penetrate the second horizontal plate 211, one end of the second threaded rod 213 is provided with a second motor 215, the top of the moving block 288 is fixedly connected with a triangular support plate 216, the top of the triangular support plate 216 is fixedly connected with a fixed plate 217, the top of the fixed plate 217 is movably connected with a telescopic rod 218, the top of the telescopic rod 218 is provided with a second slot 219, one side of the second slot 219 is movably connected with a rotating shaft 220, the side surface of the rotating shaft 220 is fixedly connected with a roller 221, the top of the roller 221 is fixedly connected with an embedded rubber pad 222, and the moving component 2 arranged on the top of the shell 1 can enable the entire assembling machine to achieve a wide range of position movement on the working surface of the tunnel construction, such as along It moves forward and backward along the axial direction of the tunnel, which is convenient for assembling the pipe segments in different construction sections. It can cooperate with the corresponding tracks or other guiding devices in the tunnel construction site to ensure that the assembling machine accurately reaches the approximate area where the pipe segments need to be assembled. The motor 210 drives the threaded rod 208 to rotate. Due to the limiting effect of the round rod 209, the moving block 288 can move accurately in a straight line on the horizontal plate 206 along the round rod 209 and the threaded rod 208. Similarly, the motor 215 drives the threaded rod 213 to rotate, driving the horizontal plate 211 to move in the corresponding direction along the round rod 214 and the threaded rod 213 in the vertical plate 212. Through the coordinated work of the motor 210, the motor 215 and the corresponding transmission structure,The triangular support plate 216 can be precisely adjusted at different positions in the plane, thereby driving the top fixed plate 217, the telescopic rod 218 and related components for grabbing the pipe segment to reach the accurate pipe segment grabbing position, ensuring that the specified pipe segment can be accurately grabbed. At the same time, the position of the limit block 205 in the limit card slot 204 of the support plate 230 can be adjusted as needed, which is also helpful to further refine and fine-tune the grabbing position, adapt to the initial placement differences of pipe segments of different specifications, and improve the accuracy and versatility of grabbing. The telescopic rod 218 can be extended and retracted according to the actual size and shape of the pipe segment, so that it can better fit the surface of the pipe segment. The roller 221 connected to the top by the rotating shaft 220 can adapt to different angles of the pipe segment with the help of the flexibility of the rotating shaft 220. For example, when the pipe segment has a certain tilt angle, the roller 221 can rotate accordingly to fit the pipe segment to ensure full contact with the pipe segment. The embedded rubber on the roller 221 On the one hand, the rubber pad 222 increases the friction between the pipe segment and ensures a firm grip to prevent the pipe segment from slipping during lifting and moving; on the other hand, it plays a buffering role to avoid damage to the surface of the pipe segment. Through the cooperation of these components, the pipe segment can be grasped stably and losslessly, and the posture of the pipe segment can be fine-tuned within a certain range, which is convenient for subsequent precise assembly. The wire management board 5 on one side of the shell 1 and the threading holes 7 on the internal crossbar 6 together construct an orderly line layout system. After various cables such as control lines and power supply lines are led out from the corresponding equipment interfaces, they are first classified and sorted through the wire management board 5, so that lines with different functions are arranged separately to avoid mutual interference, and then the cables are guided to the corresponding component positions through the threading holes 7 to ensure that the line connection is stable and regular, and the signal transmission and power supply between the components are guaranteed to be normal. At the same time, it is also convenient for subsequent maintenance and repair work, and can quickly locate and troubleshoot line-related problems.
[0019] In this embodiment, Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, a third card slot 3 is provided on one side of the shell 1, a glass card slot 4 is provided inside the third card slot 3, a plurality of wire management plates 5 are fixedly connected to one side of the shell 1, and the plurality of wire management plates 5 are symmetrically distributed around the center point of the shell 1, a cross bar 6 is fixedly connected to the inside of the shell 1, a plurality of wire threading holes 7 are provided inside the cross bar 6, and the plurality of wire threading holes 7 are distributed in a linear array, a limiting plate 8 is fixedly connected to the inside of the shell 1, and a limiting card slot 9 is provided inside the limiting plate 8.
[0020] In this embodiment, Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the limiting slot 29 is internally movably connected to the limiting block 2 10, one side of the limiting block 2 10 is fixedly connected to the control module 11, the shell 1 is internally fixedly connected to the vertical rod 12, the vertical rod 12 is provided with a limiting slot 3 13, the limiting slot 3 13 is internally movably connected to the limiting block 3 14, the top of the limiting block 3 14 is fixedly connected to the power module 15, the shell 1 is internally fixedly connected to the cross bar 2 16, one side of the cross bar 2 16 is movably connected to the limiting block 4 17, one side of the limiting block 4 17 is fixedly connected to the operating module 18, and the shell 1 is provided with a universal wheel 19 at the bottom.
[0021] The use method and advantages of the present invention: When the five-axis segment assembly machine for tunnel construction is used, the working process is as follows: like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the moving component 2 arranged on the top of the shell 1 can enable the entire assembling machine to achieve a wide range of position movement on the working surface of the tunnel construction, such as moving forward and backward along the axial direction of the tunnel, so as to facilitate the assembly operation of the pipe segments in different construction sections. It can cooperate with the corresponding tracks or other guiding devices in the tunnel construction site to ensure that the assembling machine accurately reaches the approximate area where the pipe segments need to be assembled. The motor 210 drives the threaded rod 208 to rotate. Due to the limiting effect of the round rod 209, the moving block 288 can move accurately in a straight line on the horizontal plate 206 along the round rod 209 and the threaded rod 208. Similarly, the motor 215 drives the threaded rod 213 to rotate, driving the horizontal plate The second plate 211 moves in the corresponding direction along the round rod 214 and the threaded rod 213 in the vertical plate 212. Through the coordinated work of the motor 1 210, the motor 215 and the corresponding transmission structure, the triangular support plate 216 can be accurately adjusted in different positions in the plane, thereby driving the top fixed plate 217, the telescopic rod 218 and the related components for grabbing the pipe segment to reach the accurate pipe segment grabbing position, ensuring that the specified pipe segment can be accurately grabbed. At the same time, the position of the limit block 1 205 in the limit card slot 1 204 of the support plate 1 230 can be adjusted as needed, which also helps to further refine and fine-tune the grabbing position, adapt to the initial placement differences of pipe segments of different specifications, and improve the accuracy of grabbing. The telescopic rod 218 can be extended and retracted according to the actual size and shape of the pipe segment, so that it can better fit the surface of the pipe segment. The roller 221 connected to the top by the rotating shaft 220 can adapt to different angles of the pipe segment with the help of the flexibility of the rotating shaft 220. For example, when the pipe segment has a certain tilt angle, the roller 221 can rotate accordingly to fit the pipe segment to ensure full contact with the pipe segment. The embedded rubber pad 222 on the roller 221 increases the friction between the pipe segment and ensures a firm grip to prevent the pipe segment from slipping during lifting and moving. On the other hand, it plays a buffering role to avoid damage to the surface of the pipe segment. Through the cooperation of these components, the pipe segment can be The segments can be stably and non-destructively grasped, and the posture of the segments can be fine-tuned within a certain range, which is convenient for subsequent precise assembly. The wire management board 5 on one side of the shell 1 and the wire threading holes 7 on the internal crossbar 6 jointly construct an orderly line layout system. After various cables such as control lines and power supply lines are led out from the corresponding equipment interfaces, they are first classified and sorted through the wire management board 5, so that lines with different functions are arranged separately to avoid mutual interference, and then the cables are guided to the corresponding component positions through the wire threading holes 7 to ensure that the line connection is stable and regular, and to ensure the normal signal transmission and power supply between the components. At the same time, it is also convenient for subsequent maintenance and repair work, and can quickly locate and troubleshoot line-related problems.
[0022] The above shows and describes the basic principles, main features and advantages of the present invention. Technical personnel in this industry should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.
Claims
1. A five-axis segment assembly machine for teaching tunnel construction, comprising a housing (1), characterized in that: A moving component (2) is arranged on the top of the shell (1); a first card slot (201) is provided on the top of the shell (1); an embedded support plate (202) is fixedly connected to the inner side of the shell (1); a bottom plate (203) is fixedly connected to the top of the embedded support plate (202); two support plates (230) are fixedly connected to the top of the bottom plate (203); the two support plates (230) are symmetrically distributed around the center point of the bottom plate (203); a limiting card slot (204) is provided on one side of the support plate (230); and two limiting blocks (204) are movably connected to the top of the support plate (230). 05), the two limit blocks (205) are distributed in a linear array, the top of the limit block (205) is fixedly connected to a horizontal plate (206), the top of the horizontal plate (206) is fixedly connected to two vertical plates (207), the two vertical plates (207) are symmetrically distributed with the center point of the bottom plate (203), the vertical plates (207) are internally movably connected to a threaded rod (208), the top of the horizontal plate (206) is provided with a moving block (288), one side of the vertical plate (207) is fixedly connected to a round rod (209), the round rod (209) and the threaded rod (208) are completely interlaced. A motor (210) is provided at one end of the threaded rod (208) passing through the moving block (288), and the motor (210) is matched with the threaded rod (208). The bottom of the horizontal plate (206) is fixedly connected to the horizontal plate (211). The top of the housing (1) is fixedly connected to two vertical plates (212). The two vertical plates (212) are symmetrically distributed with respect to the center point of the bottom plate (203). The vertical plates (212) are internally movably connected to the threaded rod (213). The vertical plates (212) are internally movably connected to the round rod (214). The threaded rod (213) and the round rod (214) completely pass through the horizontal plate (211). The threaded rod (211) and the round rod (214) completely pass through the horizontal plate (211). A second motor (215) is provided at one end of (213); the top of the moving block (288) is fixedly connected to a triangular support plate (216); the top of the triangular support plate (216) is fixedly connected to a fixed plate (217); the top of the fixed plate (217) is movably connected to a telescopic rod (218); a second slot (219) is provided at the top of the telescopic rod (218); a rotating shaft (220) is movably connected to one side of the second slot (219); a roller (221) is fixedly connected to the side surface of the rotating shaft (220); and the top of the roller (221) is fixedly connected to an embedded rubber pad (222).
2. A five-axis segment assembly machine for tunnel construction teaching according to claim 1, characterized in that: A third card slot (3) is provided on one side of the housing (1), and a glass card slot (4) is provided inside the third card slot (3).
3. A five-axis segment assembly machine for tunnel construction teaching according to claim 1, characterized in that: A plurality of cable management plates (5) are fixedly connected to one side of the housing (1), and the plurality of cable management plates (5) are symmetrically distributed around the center point of the housing (1).
4. A five-axis segment assembly machine for tunnel construction teaching according to claim 1, characterized in that: A cross bar 1 (6) is fixedly connected to the interior of the housing (1), and a plurality of threading holes (7) are provided inside the cross bar 1 (6), wherein the plurality of threading holes (7) are distributed in a linear array.
5. The five-axis segment assembly machine for tunnel construction teaching according to claim 1, characterized in that: A limiting plate 1 (8) is fixedly connected to the interior of the housing (1), and a limiting slot 2 (9) is provided inside the limiting plate 1 (8).
6. A five-axis segment assembly machine for tunnel construction teaching according to claim 5, characterized in that: The second limiting slot (9) is internally movably connected to a second limiting block (10), and one side of the second limiting block (10) is fixedly connected to a control module (11).
7. The five-axis segment assembly machine for tunnel construction teaching according to claim 1, characterized in that: The housing (1) is fixedly connected to a vertical rod (12) inside, a limiting slot three (13) is provided inside the vertical rod (12), a limiting block three (14) is movably connected inside the limiting slot three (13), and a power module (15) is fixedly connected to the top of the limiting block three (14).
8. The five-axis segment assembly machine for tunnel construction teaching according to claim 1, characterized in that: A second crossbar (16) is fixedly connected to the interior of the housing (1), one side of the second crossbar (16) is movably connected to a fourth limit block (17), one side of the fourth limit block (17) is fixedly connected to an operating module (18), and a universal wheel (19) is provided at the bottom of the housing (1).