Tunnel steel arch hoisting and transferring frame and control system

Abstract

The invention provides a tunnel steel arch hoisting and transferring frame and a control system.The tunnel steel arch hoisting and transferring frame comprises a hoisting and transferring frame main body frame, a steel arch transferring channel is arranged in the Y-axis direction of the hoisting and transferring frame main body frame, and the steel arch transferring channel is divided into a steel arch transferring area and a steel arch storage rack transferring area; the hoisting transfer frame main body frame is respectively provided with a track beam on the left side and the right side of the top of the steel arch transfer channel, the steel arch hoisting devices are arranged in the steel arch transfer areas corresponding to the two track beams, and the steel arch storage rack hoisting devices are arranged in the steel arch storage rack transfer areas corresponding to the two track beams. Synchronous operation of hoisting, storing and transferring of the steel arches is achieved, safe transferring of the steel arches is achieved, and meanwhile the transferring efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of construction engineering, and in particular relates to a tunnel steel arch frame hoisting and transfer frame and a control system. Background Art

[0002] During the construction of a tunnel using the drill and blast method, a large number of steel arch frames need to be transported to the tunnel for assembly. After the welding of the steel arch frames is completed, the transportation process is not standardized, which can easily cause damage to the welding plates, resulting in uneven holes during assembly, affecting the construction quality. In addition, the stacked steel arch frames need to be reorganized, bundled, and shipped during transportation, and the efficiency of steel arch frame transportation is low. At present, the automated production and processing process of steel arch frames is mature, but the storage and transportation process of steel arch frames after processing is seriously lacking in corresponding industrial supporting facilities. Therefore, it is very necessary to invent an industrial supporting solution for the hoisting and transportation of tunnel steel arch frames, which can realize the simultaneous operation of hoisting, storage, and transportation of steel arch frames through the control of an automated system, and greatly improve the transportation efficiency while ensuring the safe transportation of steel arch frames. Summary of the invention

[0003] In view of this, the present invention aims to propose a tunnel steel arch frame hoisting and transfer frame and control system to solve the problems raised in the above background technology.

[0004] First, the contents of the tunnel steel arch hoisting and transfer frame are explained as follows:

[0005] A tunnel steel arch frame hoisting and transfer frame comprises a hoisting and transfer frame main frame, the main frame of the hoisting and transfer frame is a frame structure, a steel arch frame transfer channel is arranged in the Y-axis direction, the steel arch frame transfer channel is divided into a steel arch frame transfer area and a steel arch frame storage platform transfer area, the main frame of the hoisting and transfer frame is respectively provided with a track beam on the left and right sides of the top of the steel arch frame transfer channel, a steel arch frame hoisting device is arranged in the corresponding steel arch frame transfer area of ​​the two track beams, the steel arch frame scattered at one end of the steel arch frame transfer channel is transferred into the channel and stacked on the steel arch frame storage platform by the steel arch frame hoisting device, a steel arch frame storage platform hoisting device is arranged in the corresponding steel arch frame storage platform transfer area of ​​the two track beams, and the steel arch frame storage platform hoisting device is transferred to the other end of the channel by the steel arch frame storage platform hoisting device.

[0006] Further, the steel arch frame hoisting device includes a steel arch frame hoisting Y-axis motor transmission group, a steel arch frame hoisting X-axis motor transmission group and a steel arch frame hoisting mechanism;

[0007] The steel arch hoisting Y-axis motor transmission group includes:

[0008] Two Y-axis rail beam pulleys are each slidably connected to a rail beam, and each of the two Y-axis rail beam pulleys is matched with a Y-axis motor drive mechanism;

[0009] The steel arch frame hoists the track beam, and the two ends are connected and fixed with two Y-axis track beam pulleys;

[0010] The steel arch hoisting X-axis motor transmission group includes:

[0011] The X-axis rail beam pulley is slidably mounted on the steel arch frame hoisting rail beam, and the X-axis rail beam pulley is matched with the X-axis motor drive mechanism;

[0012] The steel arch hoisting mechanism comprises:

[0013] The main frame of the steel arch hoisting mechanism has one end connected and fixed to the X-axis track beam pulley, and the other end is provided with an X-axis track wheel, and the X-axis track wheel is slidably installed on the hoisting track beam;

[0014] The two lifting pulley mechanisms are symmetrically suspended at the left and right ends of the main frame of the lifting mechanism through each lifting wire rope. The main frame of the steel arch frame lifting mechanism is provided with a rope winding mechanism to make the two lifting wire ropes operate synchronously, driving the two lifting pulley mechanisms to rise and fall synchronously at the same speed; each lifting pulley mechanism is provided with a steel arch frame hook.

[0015] Further, the rope winding mechanism includes two fixed wheels, two fixed cable drums, and two hoisting wire winches. The two fixed wheels are symmetrically arranged at the left and right ends of the main frame of the steel arch frame hoisting mechanism. The two fixed cable drums are symmetrically arranged at the left and right ends of the main frame of the steel arch frame hoisting mechanism. The two hoisting wire winches are arranged one on the left and one on the right in the middle of the main frame of the steel arch frame hoisting mechanism. The main frame of the steel arch frame hoisting mechanism is provided with a hoisting drive mechanism, and the hoisting drive mechanism drives the two hoisting wire winches to rotate synchronously in opposite directions.

[0016] Two lifting steel wire ropes are symmetrically wound around the rope winding mechanism: the lifting steel wire rope on the left side is successively passed around the pulley of the left lifting pulley mechanism and the fixed pulley at the left end of the main frame of the steel arch frame lifting mechanism, and one end thereof is fixed to the fixed cable drum at the left end, and the other end thereof is fixed to the lifting steel wire winch on the left side; the lifting steel wire rope on the right side is successively passed around the pulley of the right lifting pulley mechanism and the fixed pulley at the right end of the main frame of the steel arch frame lifting mechanism, and one end thereof is fixed to the fixed cable drum at the right end, and the other end thereof is fixed to the lifting steel wire winch on the right side.

[0017] Furthermore, the hoisting drive mechanism comprises:

[0018] The hoisting drive motor is fixed to the main frame of the steel arch hoisting mechanism;

[0019] Two hoisting active helical gears are fixed to the output shaft of the hoisting drive motor, and the two hoisting wire winches are respectively connected to a hoisting driven helical gear. The two hoisting active helical gears are arranged between the two hoisting driven helical gears, and the two hoisting driven helical gears are respectively meshed with a hoisting active helical gear.

[0020] Furthermore, the hoisting pulley mechanism comprises:

[0021] Hoisting pulley mechanism housing;

[0022] A hoisting pulley is installed on the housing of the hoisting pulley mechanism, and the hoisting wire rope is wound around the hoisting pulley;

[0023] The hook pulley is installed on the housing of the lifting pulley mechanism. The hook pulley is wound with a hook wire rope. Both ends of the hook wire rope pass through the housing of the lifting pulley mechanism. A steel arch hook is respectively arranged at both ends of the hook wire rope.

[0024] Further, the steel arch storage platform hoisting device includes a steel arch storage platform hoisting Y-axis motor transmission group, a steel arch storage platform hoisting X-axis motor transmission group and a steel arch storage platform hoisting mechanism;

[0025] The steel arch frame storage platform hoisting Y-axis motor transmission group includes a square frame, one group of the square frame facing the frame is two platform hoisting track beams, arranged between the two track beams, and the other group of facing the frame is two frame rods, connected to the ends of the two platform hoisting track beams; two Y-axis hoisting track beam pulleys are respectively provided at the left and right ends of the square moving frame, and the square moving frame is slidably connected to the two track beams through the four Y-axis hoisting track beam pulleys, and at least one of the two Y-axis hoisting track beam pulleys at each end matches the platform hoisting Y-axis motor drive mechanism;

[0026] The steel arch storage platform hoisting X-axis motor transmission group includes two sets of platform hoisting X-axis motor drive mechanisms, and the two sets of platform hoisting X-axis motor drive mechanisms are respectively slidably connected to a platform hoisting track beam;

[0027] The steel arch storage platform hoisting mechanism includes:

[0028] The main frame of the gantry lifting mechanism is a square structure, which is slidably connected to the two gantry lifting track beams through the gantry lifting X-axis track wheels arranged at the four corners. At the same time, the main frame of the gantry lifting mechanism and the gantry lifting X-axis motor drive mechanism are connected and fixed. The gantry lifting X-axis motor drive mechanism drives the main frame of the gantry lifting mechanism to move along the gantry lifting track beam. A gantry lifting fixed rotating wheel is respectively provided at the four corners of the main frame of the gantry lifting mechanism. Each of the four gantry lifting fixed rotating wheels is wound with a gantry lifting wire rope. The lower ends of the four gantry lifting wire ropes are hanging down and each is provided with a gantry lifting hook. A gantry lifting driving mechanism is respectively arranged at the center of the left and right ends of the main frame of the gantry lifting mechanism to fix and wind the two gantry lifting wire ropes at the corresponding ends. The two gantry lifting driving mechanisms are actuated to synchronously wind or release the gantry lifting wire rope 4, so that the four hooks rise or fall synchronously at the same speed.

[0029] Furthermore, the platform hoisting drive mechanism includes:

[0030] The platform hoisting drive motor is fixedly connected to the main frame of the platform hoisting mechanism;

[0031] The gantry hoisting active helical gear is arranged on the main shaft of the gantry hoisting driving motor, the gantry hoisting active helical gear is meshed with the gantry hoisting driven helical gear A and the gantry hoisting driven helical gear B, the gantry hoisting driven helical gear A and the gantry hoisting driven helical gear B are respectively installed on the gantry hoisting mechanism main frame, wherein the gantry hoisting driven helical gear A is connected to the gantry hoisting wire winch A through the gantry hoisting transmission shaft A, and the gantry hoisting driven helical gear B is connected to the gantry hoisting wire winch B through the gantry hoisting transmission shaft B;

[0032] The upper ends of the two gantry hoisting steel wire ropes at each end of the main frame of the gantry hoisting mechanism are respectively fixed to the gantry hoisting steel wire winch A and the gantry hoisting steel wire winch B of the gantry hoisting drive mechanism at that end, and are respectively wound around the gantry hoisting steel wire winch A and the gantry hoisting steel wire winch B.

[0033] Furthermore, the gantry hoisting transmission shaft B is a hollow shaft, the inner diameter of which is consistent with the outer diameter of the gantry hoisting transmission shaft A, and the gantry hoisting transmission shaft A and the gantry hoisting transmission shaft B are nested and installed;

[0034] The gantry hoisting driven helical gear A and the gantry hoisting driven helical gear B are directly opposite to each other, the gantry hoisting active helical gear is located between the gantry hoisting driven helical gear A and the gantry hoisting driven helical gear B, and the gantry hoisting active helical gear drives the gantry hoisting driven helical gear A and the gantry hoisting driven helical gear B to rotate in opposite directions;

[0035] The winding directions of the gantry hoisting wire ropes on the gantry hoisting wire winch A and the gantry hoisting wire winch B at the same end of the gantry hoisting mechanism main frame are opposite.

[0036] The above content is an explanation of the technical solution of the hoisting and transporting frame. The control system for the hoisting and transporting frame in the present invention is explained as follows:

[0037] The control system for the tunnel steel arch hoisting and transfer frame includes a central controller, an analysis module, a steel arch hoisting module, a steel arch storage stand hoisting module, a proofreading module, an early warning module and a control module, and

[0038] The Y-axis motor drive mechanism of the steel arch frame hoisting device is provided with a Y-axis displacement sensor, the X-axis motor drive mechanism is provided with an X-axis displacement sensor, and the hoisting drive mechanism is provided with a hoisting displacement sensor, and the gantry hoisting Y-axis motor drive mechanism of the steel arch frame storage gantry hoisting device is provided with a gantry hoisting Y-axis displacement sensor, the gantry hoisting X-axis motor drive mechanism is provided with a gantry hoisting X-axis displacement sensor, and the gantry hoisting drive mechanism is provided with a gantry hoisting displacement sensor, and all of the above displacement sensors are electrically connected to the central controller;

[0039] The central controller determines the displacement of the steel arch frame by detecting the relative distance through the Y-axis, X-axis and the lifting displacement sensor in the steel arch frame lifting device, and determines the displacement of the steel arch frame storage platform through the Y-axis, X-axis and the lifting displacement sensor in the steel arch frame storage platform lifting device;

[0040] The analysis module pre-collects the steel arch frame size, the steel arch frame processing area coordinates, and the steel arch frame storage platform size data, pre-sets the steel arch frame storage loading area coordinates and the steel arch frame storage platform transfer area coordinates, receives the steel arch frame displacement information and the steel arch frame storage platform displacement information from the central controller, calculates and analyzes the travel route of the steel arch frame hoisting Y-axis motor transmission group, the steel arch frame hoisting X-axis motor transmission group, and the hoisting drive mechanism and the travel route of the steel arch frame storage platform hoisting Y-axis motor transmission group, the steel arch frame storage platform hoisting X-axis motor transmission group, and the platform hoisting drive mechanism, outputs the steel arch frame hoisting displacement theoretical value to the steel arch frame hoisting module, and outputs the steel arch frame storage platform hoisting displacement theoretical value to the steel arch frame storage platform hoisting module;

[0041] The steel arch hoisting module controls the Y-axis motor transmission group of the steel arch hoisting to translate along the Y-axis, controls the X-axis motor transmission group of the steel arch hoisting to translate along the X-axis, controls the hoisting drive mechanism to lower or lift the hook, and controls the above three groups of drive mechanisms to operate simultaneously until the displacement data detected by the Y-axis displacement sensor, the X-axis displacement sensor and the hoisting displacement sensor reach the theoretical value of the steel arch hoisting displacement, and each drive mechanism stops working respectively, and records the Y-axis coordinate and the X-axis coordinate at this time as the initial coordinate a;

[0042] The steel arch storage platform hoisting module controls the Y-axis motor transmission group of the steel arch storage platform hoisting to translate along the Y-axis, controls the X-axis motor transmission group of the steel arch storage platform hoisting to translate along the X-axis, controls the platform hoisting drive mechanism to lower or lift the hook, and controls the above three groups of drive mechanisms to operate simultaneously until the displacement data detected by the platform hoisting Y-axis displacement sensor, the platform hoisting X-axis displacement sensor and the platform hoisting displacement sensor reaches the theoretical displacement value of the steel arch storage platform hoisting, and each drive mechanism stops working respectively, and records the Y-axis coordinate and X-axis coordinate at this time as the initial coordinate b;

[0043] The proofreading module monitors the hoisting operation status of the steel arch frame and the steel arch frame storage platform in real time through the displacement sensor, records the motion coordinates of the steel arch frame hoisting and the motion coordinates of the steel arch frame storage platform, and proofreads the motion coordinates and the theoretical coordinates in real time, and outputs the calculated difference to the early warning module;

[0044] Early warning module: if the difference calculated by the proofreading module exceeds the early warning value, the early warning module sends an early warning message to the control module;

[0045] When the control module receives the early warning information, it stops the motor transmission group in the corresponding device and locks the control system through the steel arch frame hoisting module and the steel arch frame storage platform hoisting module to ensure the safety of the hoisted goods; when receiving the displacement adjustment information, it activates the control system and actively adjusts each drive mechanism to eliminate the displacement difference to normal operation.

[0046] Compared with the prior art, the tunnel steel arch hoisting and transfer frame described in the present invention has the following advantages:

[0047] In the present invention, the steel arch frame transfer channel is divided into a steel arch frame transfer area and a steel arch frame storage platform transfer area. The provision of the steel arch frame lifting device enables the scattered steel arch frames to be transferred into the channel and stacked on the steel arch frame storage platform. The steel arch frame storage platform lifting device transfers the steel arch frame storage platform with steel arch frames stacked in the steel arch frame transfer channel out, thereby achieving the lifting, neat stacking and transfer of scattered steel arch frames after production, avoiding collision and damage to the steel arch frames during manual transfer, and greatly improving the transfer efficiency while ensuring the safe transfer of the steel arch frames. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0049] Figure 1 Structural schematic diagram of the present invention

[0050] Figure 2 Schematic diagram of the steel arch frame and the steel arch frame storage stand hoisting and transporting working state of the present invention

[0051] Figure 3 Structural schematic diagram of the main frame of the hoisting transfer frame in the present invention

[0052] Figure 4 Schematic diagram of the working state of the local structure of the steel arch hoisting device in the present invention

[0053] Figure 5 Schematic diagram of the local structure of the steel arch hoisting Y-axis motor transmission group in the present invention

[0054] Figure 6 Partial cross-sectional view of the Y-axis motor drive mechanism of the present invention

[0055] Figure 7 Schematic diagram of the working state of the steel arch frame hoisting X-axis motor transmission group and the steel arch frame hoisting mechanism in the present invention

[0056] Figure 8 Partial cross-sectional view of the hoisting drive mechanism of the present invention

[0057] Fig. 9Schematic diagram of the partial structure of the hoisting pulley mechanism in the present invention

[0058] Fig.10 Schematic diagram of the working state of the local structure of the steel arch storage stand hoisting in the present invention

[0059] Fig.11 Schematic diagram of the partial structure of the Y-axis motor transmission group of the steel arch storage stand hoisting in the present invention

[0060] Fig.12 Schematic diagram of the partial structure of the X-axis motor transmission group and the steel arch storage platform hoisting mechanism of the present invention

[0061] Fig.13 A partial cross-sectional view of the gantry hoisting drive mechanism of the present invention.

[0062] Fig.14 Block diagram of the control system of the hoisting transfer rack of the present invention

[0063] Description of reference numerals:

[0064] 1. Hoist the main frame of the transfer rack;

[0065] 11. Bracket; 12. I-beam; 13. Track beam; 14. Fixing plate; 15. Fixing bolts;

[0066] 2. Steel arch hoisting Y-axis motor transmission group:

[0067] 21. Y-axis rail beam pulley; 22. Steel arch frame hoisting rail beam fixture; 23. Steel arch frame hoisting rail beam; 24. Y-axis motor drive mechanism; 241. Drive motor; 242. Y-axis motor drive mechanism main frame; 243. Y-axis displacement sensor; 244. Active helical gear; 245. Driven helical gear; 246. Large gear; 247. Transmission gear; 248. Transmission rail wheel; 249. Y-axis rail wheel; 2410. Limit rod; 2411. Connecting rod; 2412. Drive motor gear box; 3. Steel arch frame hoisting X-axis motor transmission group:

[0068] 31. X-axis motor drive mechanism; 311. X-axis displacement sensor;

[0069] 4. Steel arch hoisting mechanism;

[0070] 41. X-axis track wheel; 42. Main frame of steel arch hoisting mechanism; 43. Fixed rotating wheel; 44. Hoisting wire rope; 46. Fixed cable drum; 47. Hoisting drive mechanism; 471. Hoisting drive motor; 472. Hoisting drive motor mounting plate; 473. Hoisting displacement sensor; 474. Hoisting active helical gear; 475. Hoisting driven helical gear; 476. Hoisting transmission shaft; 48. Hoisting pulley mechanism; 481. Hoisting pulley; 482. Hoisting pulley mechanism bottom shell; 483. Hook pulley; 484. Hoisting pulley mechanism upper shell; 49. Hook wire rope; 410. Hoisting wire winch; 411. Steel arch hook;

[0071] 5. Steel arch storage rack hoisting Y-axis motor transmission group:

[0072] 51. Y-axis hoisting track beam pulley; 52. Platform hoisting track beam fixture; 53. Platform hoisting track beam; 54. Platform hoisting Y-axis motor drive mechanism; 541. Platform hoisting Y-axis displacement sensor; 55. Frame rod;

[0073] 6. Steel arch storage stand hoisting X-axis motor transmission group:

[0074] 61. X-axis motor drive mechanism for gantry hoisting; 611. X-axis displacement sensor for gantry hoisting;

[0075] 7. Steel arch storage stand hoisting mechanism:

[0076] 71. X-axis track wheel for gantry hoisting; 72. Main frame of gantry hoisting mechanism; 73. Fixed rotating wheel for gantry hoisting; 74. Steel wire rope for gantry hoisting; 75. Driving mechanism for gantry hoisting; 751. Driving motor for gantry hoisting; 752. Mounting plate for driving motor for gantry hoisting; 753. Displacement sensor for gantry hoisting; 754. Driving helical gear for gantry hoisting; 755. Driven helical gear A for gantry hoisting; 756. Driven helical gear B for gantry hoisting; 757. Transmission shaft A for gantry hoisting; 758. Steel wire capstan A for gantry hoisting; 759. Transmission shaft B for gantry hoisting; 7510. Steel wire capstan B for gantry hoisting; 7511. Lifting hook for gantry hoisting;

[0077] 8. Central control system. DETAILED DESCRIPTION

[0078] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0079] like Figure 1As shown, a tunnel steel arch frame hoisting and transfer frame includes a hoisting and transfer frame main frame 1, a steel arch frame hoisting Y-axis motor transmission group 2, a steel arch frame hoisting X-axis motor transmission group 3, a steel arch frame hoisting mechanism 4, a steel arch frame storage platform hoisting Y-axis motor transmission group 5, a steel arch frame storage platform hoisting X-axis motor transmission group 6, and a steel arch frame storage platform hoisting mechanism 7, wherein the steel arch frame hoisting Y-axis motor transmission group 2 is installed in the track beam 13 of the hoisting and transfer frame main frame 1, and is used to drive the steel arch frame hoisting X-axis motor transmission group 3 and the steel arch frame hoisting mechanism 4 to translate along the Y-axis, and the steel arch frame hoisting X-axis motor transmission group 3 is installed in the steel arch frame hoisting track beam 23 of the steel arch frame hoisting Y-axis motor transmission group 2 to drive the steel arch frame hoisting mechanism 4 to translate along the X-axis, and the steel arch frame hoisting mechanism 4 is fixedly connected to one end of the steel arch frame hoisting X-axis motor transmission group 3. The steel arch frame storage platform hoisting Y-axis motor transmission group 5 is installed in the track beam 13 of the hoisting and transfer frame main frame 1, and is used to drive the steel arch frame storage platform hoisting X-axis motor transmission group 6 and the steel arch frame storage platform hoisting mechanism 7 to translate along the Y-axis. The steel arch frame storage platform hoisting X-axis motor transmission group 6 is installed in the platform hoisting track beam 53 of the steel arch frame storage platform hoisting Y-axis motor transmission group 5, and is used to drive the steel arch frame storage platform hoisting mechanism 7 to translate along the X-axis. The steel arch frame storage platform hoisting mechanism 7 is fixedly connected to the steel arch frame storage platform hoisting X-axis motor transmission group 6.

[0080] The tunnel steel arch hoisting and transfer rack realizes the transfer of steel arch and steel arch storage rack, such as Figure 2 As shown, the steel arch frame hoisting mechanism 4 cooperates with the steel arch frame hoisting Y-axis motor transmission group 2 and the steel arch frame hoisting X-axis motor transmission group 3 to realize the automatic steel arch frame hoisting, storage and transportation. The steel arch frame storage platform hoisting mechanism 7 cooperates with the steel arch frame storage platform hoisting Y-axis motor transmission group 5 and the steel arch frame storage platform hoisting X-axis motor transmission group 6 to realize the automatic steel arch frame storage platform hoisting and transportation.

[0081] Lifting transfer rack main frame 1 Figure 3 As shown, it is a frame structure, including a number of brackets 11 arranged opposite to each other, each bracket 11 is connected to a fixed I-beam 2 at the top, and the bracket and the I-beam are connected to form a portal bracket, so that the main frame 1 of the entire lifting and transfer frame forms a steel arch frame transfer channel in the Y-axis direction, and two track beams 13 are provided, which are arranged on the left and right sides of the channel, and the track beam 13 is fixed to the bottom of the I-beam 2 by a fixing plate 14 and a fixing bolt 15.

[0082] The passage of the main frame 1 of the lifting and transfer frame is set up with two areas, namely the steel arch frame transfer area and the steel arch frame storage platform transfer area. Among them, a steel arch frame lifting device is set up in the steel arch frame transfer area, including the steel arch frame lifting Y-axis motor transmission group 2, the steel arch frame lifting X-axis motor transmission group 3 and the steel arch frame lifting mechanism 4. The three work together to lift and transfer the steel arch frames scattered at one end of the passage after production into the passage and stack them on the steel arch frame storage platform. The steel arch frame storage platform lifting device is set up in the steel arch frame storage platform transfer area, including the steel arch frame storage platform lifting Y-axis motor transmission group 5, the steel arch frame storage platform lifting X-axis motor transmission group 6 and the steel arch frame storage platform lifting mechanism 7. The three work together to lift the steel arch frame storage platform with stacked steel arch frames and transfer it to the other end of the passage. The I-beam 12 is fixed to the top of the bracket 11; the track beam 13 is installed at the bottom of the I-beam 12, and its direction is the same as the arrangement and installation direction of the bracket 11; the fixing plate 14 and the fixing bolts 15 are used to fix the I-beam 12 and the track beam 13.

[0083] Steel arch hoisting device Figure 4 As shown, including:

[0084] The two Y-axis track beam pulleys 21 are each slidably connected to a track beam 13. This structure is a common structure, and can be referred to as the overhead crane travel structure, so it will not be described in detail here. The steel arch frame hoisting track beam clamp 22 is fixed to the lower part of the Y-axis track beam pulley 21; the steel arch frame hoisting track beam 23 is fixed to the steel arch frame hoisting track beam clamp 22 at both ends. The steel arch frame hoisting track beam 23 and the Y-axis track beam pulley 21 are not limited to being connected and fixed by the steel arch frame hoisting track beam clamp 22, and other connection methods can also be adopted, such as U-shaped hoops for connection. The Y-axis track beam pulley 21 is provided with a fixed plate, and the fixed plate and the steel arch frame hoisting track beam 23 are connected and fixed by the U-shaped hoist. The Y-axis motor drive mechanism 24 is slidably connected to the two track beams 13 on both sides of the main frame 1 of the hoisting and transfer frame (not shown in the figure, can be referred to as Figure 1 , Figure 2 ), and is fixed on the steel arch frame hoisting track beam fixture 22, the two Y-axis track beam pulleys 21 are each matched with a Y-axis motor drive mechanism 24, the Y-axis motor drive mechanism 24 is slidably connected to the two track beams 13 on both sides of the main frame 1 of the hoisting transfer frame, and is fixed on the steel arch frame hoisting track beam fixture 22.

[0085] The X-axis track beam pulley is slidably mounted on the steel arch frame hoisting track beam 23 , and the X-axis track beam pulley matches the X-axis motor drive mechanism 31 .

[0086] The steel arch hoisting mechanism 4 includes a main frame 42 of the steel arch hoisting mechanism, one end of which is connected and fixed to the X-axis track beam pulley, and the other end is provided with an X-axis track wheel 41, and the X-axis track wheel 41 is slidably installed on the hoisting track beam 23. Two hoisting pulley mechanisms 48 are symmetrically suspended on the left and right ends of the main frame 42 of the hoisting mechanism through a hoisting wire rope 44, and the main frame 42 of the steel arch hoisting mechanism is provided with a rope winding mechanism to make the two hoisting wire ropes 44 work synchronously, driving the two hoisting pulley mechanisms 48 to rise synchronously and at the same speed, and to descend synchronously and at the same speed; each hoisting pulley mechanism 48 is provided with a steel arch hoisting hook 411.

[0087] The Y-axis motor drive mechanism 24 is as follows Figure 5 , Figure 6 As shown, it includes: a driving motor 241, fixed on the main frame 242 of the Y-axis motor driving mechanism; a driving bevel gear 244, meshing with the driven bevel gear 245, and the driving bevel gear 244 is fixedly connected to the output end of the driving motor 241; a large gear 246, fixedly connected to the driven bevel gear 245; a transmission gear 247, meshing with the large gear 246, and the transmission gear 247 is fixedly connected to the transmission track wheel 248; a Y-axis track wheel 249, slidably connected in the track beam 13, and fixedly connected to the main frame 242 of the Y-axis motor driving mechanism; a limiting rod 2410, fixed on both sides of the Y-axis track wheel 249 for limiting the displacement of the track wheel along the X-axis; a connecting rod 2411, one end of which is fixed to the outer shell of the driving motor gear box 2412, and the other end is used to be fixedly connected to the steel arch frame hoisting track beam fixture 22.

[0088] The steel arch frame hoisting X-axis motor transmission group 3 is composed of a single set of X-axis motor drive mechanism 31. The X-axis motor drive mechanism 31 is slidably connected in the steel arch frame hoisting track beam 23 and fixed on the steel arch frame hoisting mechanism main frame 42. The design principle of the X-axis motor drive mechanism 31 is the same as that of the Y-axis motor drive mechanism 24, which will not be repeated here.

[0089] Steel arch hoisting mechanism 4 Figure 7 As shown, it includes an X-axis track wheel 41, which is slidably connected in the steel arch frame hoisting track beam 23 and fixed on the steel arch frame hoisting mechanism main frame 42; a fixed rotating wheel 43, in which a hoisting wire rope 44 is wound, and is installed on one side of the two ends of the steel arch frame hoisting mechanism main frame 42; a fixed cable drum 46, in which one end of the hoisting wire rope 44 is fixedly connected, and is installed on the other side of the two ends of the steel arch frame hoisting mechanism main frame 42 corresponding to the fixed rotating wheel 43; a hoisting drive mechanism 47, which is fixed to the lower part of the steel arch frame hoisting mechanism main frame 42; a hoisting pulley mechanism 48, which is wound and connected with the hoisting wire rope 44 and the hook wire rope 49; a hoisting wire winch 410, which is fixedly connected to the other end of the hoisting wire rope 44, and is fixedly connected to the output end of the hoisting drive mechanism 47.

[0090] The hoisting drive mechanism 47 is as follows Figure 8 As shown, it includes: a hoisting drive motor 471, which is fixed on a hoisting drive motor mounting plate 472 and fixedly connected to the main frame 42 of the steel arch frame hoisting mechanism; a hoisting active bevel gear 474, which is meshed with a hoisting driven bevel gear 475, and the hoisting active bevel gear 474 is fixedly connected to the output end of the hoisting drive motor 471; a hoisting transmission shaft 476, one end of which is fixedly connected to the hoisting driven bevel gear 475, and the other end is fixedly connected to the hoisting wire winch 410.

[0091] Lifting pulley mechanism 48 Fig. 9 As shown, it includes a lifting pulley 481, a lifting wire rope 44 is wound inside the wheel, and is fixedly connected to the lifting pulley mechanism bottom shell 482 of the lifting pulley mechanism housing; a hook pulley 483, a hook wire rope 49 is wound inside the wheel, and is fixedly connected to the lifting pulley mechanism bottom shell 482; and a lifting pulley mechanism upper shell 484 is fixed to the upper part of the lifting pulley mechanism bottom shell 482. Both ends of the hook wire rope 49 are fixedly connected to the steel arch frame hook 411, and the steel arch frame hook 411 can pass through the steel arch frame bolt hole to realize lifting and transportation.

[0092] In the present invention, two hoisting steel wire ropes 44 are arranged symmetrically, one end of each hoisting steel wire rope 44 is fixedly connected to the fixed cable drum 46 on the corresponding side, and is successively wound around the hoisting pulley 481 and the fixed rotating wheel 43 of the hoisting pulley mechanism 48 on the corresponding side, and the other end is fixedly connected to the corresponding hoisting wire winch 410 and wound around the hoisting wire winch 410, and the two hoisting steel wire ropes 44 are wound in opposite directions on the hoisting wire winch 410. Under the action of the hoisting drive mechanism 47, the two hoisting wire winches 410 rotate in opposite directions, so that the two hoisting steel wire ropes 44 are synchronously extended and retracted at the same speed, driving the two hoisting pulley mechanisms 48 to rise and fall synchronously at the same speed and in the same direction, and then the two steel arch frame hooks 411 are synchronously raised and lowered at the same speed and in the same direction, so as to ensure the stable lifting of the steel arch frame.

[0093] Preferably, the steel arch hoisting operation process includes:

[0094] In the first step, the Y-axis motor driving mechanism 24 drives the steel arch frame hoisting mechanism 4 to move along the Y-axis to the target steel arch frame position;

[0095] In the second step, the X-axis motor driving mechanism 31 drives the steel arch frame hoisting mechanism 4 to move along the X-axis to the target steel arch frame position;

[0096] In the third step, the hoisting drive motor 471 reverses and drives the hoisting wire rope 44 to lower the steel arch frame hook 411 to the target steel arch frame height;

[0097] Step 4: The steel arch frame hook 411 passes through the steel arch frame bolt hole;

[0098] In the fifth step, the hoisting drive motor 471 rotates forward to drive the hoisting wire rope 44 to rise, driving the steel arch frame to rise to the set height;

[0099] In the sixth step, the X-axis motor driving mechanism 31 drives the steel arch frame hoisting mechanism 4 to move along the X-axis to the target X-axis position of the steel arch frame storage stand;

[0100] In the seventh step, the Y-axis motor driving mechanism 24 drives the steel arch frame hoisting mechanism 4 to move along the Y-axis to the target Y-axis position of the steel arch frame storage stand;

[0101] In the eighth step, the hoisting drive motor 471 reverses to drive the hoisting wire rope 44 to lower the steel arch frame to the target height of the steel arch frame storage platform;

[0102] In the ninth step, the steel arch frame hook 411 is separated from the steel arch frame bolt hole to carry out the next cycle of lifting operation;

[0103] It should be noted that the first, second and third steps can be implemented simultaneously, and the sixth, seventh and eighth steps can be implemented simultaneously, so as to maximize the efficiency of the steel arch frame hoisting, storage and transportation operations.

[0104] Steel arch storage rack lifting device Fig.10 As shown, it includes a steel arch frame storage platform hoisting Y-axis motor transmission group 5, a steel arch frame storage platform hoisting X-axis motor transmission group 6 and a steel arch frame storage platform hoisting mechanism 7. The structure of the steel arch frame storage platform hoisting Y-axis motor transmission group 5 is as shown in FIG. Fig.11 As shown, it includes: a Y-axis hoisting track beam pulley 51, which is slidably connected to the two track beams 13 on both sides of the main frame 1 of the hoisting and transfer frame; a platform hoisting track beam clamp 52, which is fixed to the lower part of the Y-axis hoisting track beam pulley 51, and the platform hoisting track beam clamp 52 can adopt the existing two beam connection clamps, or use a U-shaped hoop structure; a platform hoisting track beam 53, both ends of which are fixed to the platform hoisting track beam clamp 52; a platform hoisting Y-axis motor drive mechanism 54, which is slidably connected to the two track beams 13 on both sides of the main frame 1 of the hoisting and transfer frame, with the front end fixed to the platform hoisting track beam clamp 52, and the rear end fixed to another platform hoisting track beam clamp 52 through a frame rod 55.

[0105] The steel arch storage platform hoisting Y-axis motor transmission group 5 is fixedly connected by the Y-axis hoisting track beam pulley 51, the platform hoisting track beam 53, the platform hoisting Y-axis motor drive mechanism 54 and the frame rod 55 to form a quadrilateral frame structure, and the Y-axis hoisting track beam pulley 51 is arranged at the four corners of the quadrilateral frame structure.

[0106] The Y-axis motor drive mechanism 54 of the platform hoisting is the same as the Y-axis motor drive mechanism 24 in the steel arch hoisting device, and will not be described in detail here.

[0107] Steel arch storage rack hoisting X-axis motor transmission group 6 Fig.12 As shown, it is composed of a double set of gantry hoisting X-axis motor drive mechanism 61, the gantry hoisting X-axis motor drive mechanism 61 is slidably connected in the gantry hoisting track beam 53, and both ends are fixed on the gantry hoisting mechanism main frame 72. The design principle of the gantry hoisting X-axis motor drive mechanism 61 is the same as that of the Y-axis motor drive mechanism 24, which will not be repeated here.

[0108] Steel arch storage platform hoisting mechanism 7 Fig.12 As shown, it includes: a gantry hoisting X-axis track wheel 71, which is slidably connected in the gantry hoisting track beam 53 and fixed on the gantry hoisting mechanism main frame 72; a gantry hoisting fixed rotating wheel 73, a gantry hoisting wire rope 74 is wound around the wheel disc, and is installed at the four corners of the gantry hoisting mechanism main frame 72, that is, two gantry hoisting wire ropes 74 are respectively arranged on the left and right sides of the steel arch frame storage gantry hoisting mechanism, a total of four gantry hoisting wire ropes 74, and each of the four gantry hoisting wire ropes 74 corresponds to a gantry hoisting hook 7511, and the four gantry hoisting hooks 7511 correspond to the hooks at the four right angles of the square storage gantry for steel arch frame stacking; a gantry hoisting driving mechanism 75, which is respectively fixed on both sides of the gantry hoisting mechanism main frame 72.

[0109] The platform hoisting drive mechanism 75 is as follows Fig.13As shown, it includes: a gantry hoisting drive motor 751, which is fixed on a gantry hoisting drive motor mounting plate 752 and fixedly connected to the gantry hoisting mechanism main frame 72; a gantry hoisting active bevel gear 754, which is meshed with a gantry hoisting driven bevel gear A755 and a gantry hoisting driven bevel gear B756, and the gantry hoisting active bevel gear 754 is fixedly connected to the output end of the gantry hoisting drive motor 751; a gantry hoisting transmission shaft A757, one end of which is fixedly connected to the gantry hoisting driven bevel gear A755, and the other end of which is fixedly connected to the gantry hoisting wire winch A758; a gantry hoisting transmission shaft B759, one end of which is fixedly connected to the gantry hoisting driven bevel gear B756, and the other end of which is fixedly connected to the gantry hoisting wire winch B7510. The gantry hoisting transmission shaft B759 is a hollow shaft, and its inner diameter is consistent with the outer diameter of the gantry hoisting transmission shaft A757, and the gantry hoisting transmission shaft A757 is nested and installed with the gantry hoisting transmission shaft B759. The gantry hoisting driven helical gear A755 and the gantry hoisting driven helical gear B756 are arranged in opposite directions to realize reverse rotation when they are respectively engaged with the gantry hoisting active helical gear 754. One end of the two gantry hoisting steel wire ropes 74 on the left and right sides of the steel arch storage gantry hoisting mechanism 7 is fixedly connected to the gantry hoisting steel wire winch A758 and the gantry hoisting steel wire winch B7510B on the same side, and is wound around the gantry hoisting steel wire winch A758 and the gantry hoisting steel wire winch B7510B in opposite directions, and then each is wound around the corresponding gantry hoisting fixed rotating wheel 73, and the other end is fixedly connected to the gantry hoisting hook 7511. The gantry hoisting driving mechanisms 75 on both sides of the gantry hoisting mechanism main frame 72 operate simultaneously, and the gantry hoisting wire winches A758 and gantry hoisting wire winches B7510B on both sides rotate simultaneously, and the gantry hoisting wire winches A and gantry hoisting wire winches B7510B on the same side rotate in opposite directions, thereby realizing the synchronous extension and retraction of the four gantry hoisting wire ropes 74, driving the four gantry hoisting hooks 7511 to rise and fall synchronously and at the same speed, ensuring the stable hoisting of the steel arch storage gantry.

[0110] Preferably, the steel arch storage stand hoisting operation process includes:

[0111] In the first step, the Y-axis motor driving mechanism 54 of the platform hoisting drives the steel arch frame storage platform hoisting mechanism 7 to move along the Y-axis to the target steel arch frame storage platform position;

[0112] In the second step, the X-axis motor driving mechanism 61 of the platform hoisting drives the steel arch frame storage platform hoisting mechanism 7 to move along the X-axis to the target steel arch frame storage platform position;

[0113] In the third step, the two gantry hoisting drive motors 751 simultaneously reverse and drive the gantry hoisting wire rope 74 to be lowered, and the gantry hoisting hook 7511 is lowered to the target steel arch storage gantry height;

[0114] Step 4: four platform hoisting hooks 7511 pass through the hoisting shackles at the four corners of the target steel arch storage platform respectively;

[0115] In the fifth step, the two gantry hoisting drive motors 751 simultaneously rotate forward to drive the gantry hoisting wire ropes 74 to rise, and the hoisting steel arch storage gantry rises to the set height;

[0116] Step 6: the X-axis motor driving mechanism 61 of the platform hoisting drives the steel arch storage platform hoisting mechanism 7 to move along the X-axis direction to the target loading position;

[0117] In the seventh step, the gantry hoisting Y-axis motor driving mechanism 54 drives the steel arch storage gantry hoisting mechanism 7 to move along the Y-axis direction to the target loading position;

[0118] In the eighth step, the two gantry hoisting drive motors 751 simultaneously reverse and drive the gantry hoisting wire ropes 74 to lower the steel arch storage gantry to the target loading position;

[0119] In the ninth step, the platform hoisting hook 7511 is separated from the steel arch frame storage platform hoisting shackle to carry out the next cycle of hoisting operation;

[0120] It should be noted that during the hoisting operation of the steel arch storage platform, the first, second and third steps can be implemented simultaneously, and the sixth, seventh and eighth steps can be implemented simultaneously, so as to maximize the efficiency of the hoisting and transportation operation of the steel arch storage platform.

[0121] The above content is an explanation of the embodiment of the tunnel steel arch frame hoisting and transfer frame of the present invention. The present invention can adopt a manual operation mode, for example, using a remote control to control the motor of each driving mechanism, that is, a wireless communication module and a remote control wireless communication connection are set in each driving motor, and the action of each driving mechanism is manually controlled by the remote control to realize the hoisting, transfer and stacking of the steel arch frame, and the hoisting and transfer of the steel arch frame storage stand.

[0122] The present invention can also realize automatic operation through the following central control system 8, as described below:

[0123] A tunnel steel arch hoisting and transfer frame control system, such as Fig.14 As shown, it includes: a central controller, an analysis module, a steel arch frame hoisting module, a steel arch frame storage stand hoisting module, a proofreading module, an early warning module and a control module;

[0124] The Y-axis motor drive mechanism 24 of the steel arch frame hoisting device is provided with a Y-axis displacement sensor 243 on the main frame 242 of the Y-axis motor drive mechanism, the X-axis motor drive mechanism 31 is provided with an X-axis displacement sensor 311, and the hoisting drive motor mounting plate 472 of the hoisting drive mechanism 47 is provided with a hoisting displacement sensor 473, and the gantry hoisting Y-axis motor drive mechanism 54 in the steel arch frame storage gantry hoisting device is provided with a gantry hoisting Y-axis displacement sensor 541, the gantry hoisting X-axis motor drive mechanism 61 is provided with a gantry hoisting X-axis displacement sensor 611, and the gantry hoisting displacement sensor 753 is provided on the gantry hoisting drive motor mounting plate 752 of the gantry hoisting drive mechanism, and all of the above displacement sensors are electrically connected to the central controller;

[0125] Multiple displacement detection sensors can monitor the displacement changes of the steel arch frame and the steel arch frame storage platform during the lifting process in real time, and use the control system calibration module to calculate the difference between the actual displacement and the theoretical displacement in real time, and automatically adjust the control system to achieve the purpose of precise lifting.

[0126] The central controller determines the displacement of the steel arch frame through the relative distance detected by the Y-axis displacement sensor 243, the X-axis displacement sensor 311, and the hoisting displacement sensor 473 in the steel arch frame hoisting device, and determines the displacement of the steel arch frame storage stand through the stand hoisting Y-axis displacement sensor 541, the stand hoisting X-axis displacement sensor 611, and the stand hoisting displacement sensor 753 in the steel arch frame storage stand hoisting device;

[0127] The analysis module pre-collects the steel arch frame size, the steel arch frame processing area coordinates, and the steel arch frame storage platform size data, pre-sets the steel arch frame storage loading area coordinates and the steel arch frame storage platform transfer area coordinates, receives the steel arch frame displacement information and the steel arch frame storage platform displacement information from the central controller, calculates and analyzes the travel routes of the steel arch frame hoisting Y-axis motor transmission group 2, the steel arch frame hoisting X-axis motor transmission group 3, and the hoisting drive mechanism 47, as well as the travel routes of the steel arch frame storage platform hoisting Y-axis motor transmission group 5, the steel arch frame storage platform hoisting X-axis motor transmission group, and the platform hoisting drive mechanism 75, outputs the steel arch frame hoisting displacement theoretical value to the steel arch frame hoisting module, and outputs the steel arch frame storage platform hoisting displacement theoretical value to the steel arch frame storage platform hoisting module;

[0128] In the present invention, the size parameters of the steel arch frame and the coordinates of the loading area and the transfer area of ​​the steel arch frame storage platform are preset, and the analysis module is used to automatically calculate the theoretical displacement values ​​of each driving structure during the lifting of the steel arch frame and the steel arch frame storage platform. The lifting module of the control system automatically operates the lifting operations in the designated area, which greatly reduces manual processes and can significantly improve the shipping efficiency of the steel arch frame.

[0129] The steel arch frame hoisting module controls the Y-axis motor transmission group 2 of the steel arch frame hoisting to translate along the Y-axis, controls the X-axis motor transmission group 3 of the steel arch frame hoisting to translate along the X-axis, controls the hoisting drive mechanism 47 to lower or lift the hook, and controls the above three groups of drive mechanisms to operate simultaneously until the displacement data detected by the Y-axis displacement sensor 243, the X-axis displacement sensor 311 and the hoisting displacement sensor 473 reach the theoretical value of the steel arch frame hoisting displacement, and each drive mechanism stops working respectively, and records the Y-axis coordinate and the X-axis coordinate at this time as the initial coordinate a;

[0130] The steel arch hoisting module controls the steel arch hoisting operation process including:

[0131] In the first step, the Y-axis motor driving mechanism 24 drives the steel arch frame hoisting mechanism 4 to move along the Y-axis, and the Y-axis displacement sensor 243 detects that the steel arch frame moves to the target position.

[0132] In the second step, the X-axis motor driving mechanism 31 drives the steel arch frame hoisting mechanism 4 to move along the X-axis, and the X-axis displacement sensor 311 detects that the steel arch frame moves to the target position.

[0133] In the third step, the hoisting drive motor 471 reverses and drives the hoisting wire rope 44 to lower, and the hoisting displacement sensor 473 detects that the steel arch hook 411 has reached the target steel arch height;

[0134] Step 4: The steel arch frame hook 411 passes through the steel arch frame bolt hole;

[0135] In the fifth step, the hoisting drive motor 471 rotates forward to drive the hoisting wire rope 44 to rise, and the hoisting displacement sensor 473 detects that the steel arch frame rises to the set height;

[0136] In the sixth step, the X-axis motor driving mechanism 31 drives the steel arch frame hoisting mechanism 4 to move along the X-axis, and the X-axis displacement sensor 311 detects the target X-axis position of the steel arch frame storage stand;

[0137] In the seventh step, the Y-axis motor driving mechanism 24 drives the steel arch frame hoisting mechanism 4 to move along the Y-axis, and the Y-axis displacement sensor 243 detects the target Y-axis position of the steel arch frame storage stand;

[0138] In the eighth step, the hoisting drive motor 471 reverses to drive the hoisting wire rope 44 downward, and the hoisting displacement sensor 473 detects that the steel arch frame has descended to the target height of the steel arch frame storage platform;

[0139] In the ninth step, the steel arch frame hook 411 is separated from the steel arch frame bolt hole to carry out the next cycle of lifting operation;

[0140] It should be noted that the first, second and third steps can be implemented simultaneously, and the sixth, seventh and eighth steps can be implemented simultaneously, so as to maximize the efficiency of the steel arch frame hoisting, storage and transportation operations.

[0141] During the steel arch hoisting process, the Y-axis displacement sensor 243, the X-axis displacement sensor 311 and the hoisting displacement sensor 473 detect the relative distance to determine the displacement of the steel arch, so as to monitor the hoisting status of the steel arch in real time, and feed back the collected steel arch hoisting displacement data to the central controller.

[0142] The steel arch storage platform hoisting module controls the Y-axis motor transmission group 5 of the steel arch storage platform hoisting to translate along the Y-axis, controls the X-axis motor transmission group 6 of the steel arch storage platform hoisting to translate along the X-axis, controls the platform hoisting drive mechanism 75 to lower or lift the hook, and controls the above three groups of drive mechanisms to operate simultaneously until the platform hoisting Y-axis displacement sensor 541, the platform hoisting X-axis displacement sensor 611 and the platform hoisting displacement sensor 753 detect that the displacement data reaches the theoretical value of the steel arch storage platform hoisting displacement, and each drive mechanism stops working respectively, and records the Y-axis coordinate and X-axis coordinate at this time as the initial coordinate b;

[0143] The steel arch storage platform hoisting operation process includes:

[0144] In the first step, the gantry hoisting Y-axis motor driving mechanism 54 drives the steel arch storage gantry hoisting mechanism 7 to move along the Y-axis, and the gantry hoisting Y-axis displacement sensor 541 detects that the gantry hoisting moves to the target steel arch storage gantry position;

[0145] In the second step, the platform hoisting X-axis motor driving mechanism 61 drives the steel arch frame storage platform hoisting mechanism 7 to move along the X-axis, and the platform hoisting X-axis displacement sensor 611 detects that it moves to the target steel arch frame storage platform position;

[0146] In the third step, the two gantry hoisting drive motors 751 simultaneously reverse and drive the gantry hoisting wire rope 74 to be lowered, and the two gantry hoisting displacement sensors 753 detect that the gantry hoisting hook 7511 is lowered to the target steel arch storage gantry height;

[0147] Step 4: four platform hoisting hooks 7511 pass through the hoisting shackles at the four corners of the target steel arch storage platform respectively;

[0148] In the fifth step, the two gantry hoisting drive motors 751 simultaneously rotate forward to drive the gantry hoisting wire rope 74 to rise, and the two gantry hoisting displacement sensors 753 detect that the steel arch storage gantry rises to the set height;

[0149] In the sixth step, the gantry hoisting X-axis motor driving mechanism 61 drives the steel arch storage gantry hoisting mechanism 7 to move along the X-axis, and the gantry hoisting X-axis displacement sensor 611 detects that the gantry hoisting moves to the target loading position;

[0150] In the seventh step, the gantry hoisting Y-axis motor driving mechanism 54 drives the steel arch storage gantry hoisting mechanism 7 to move along the Y-axis, and the gantry hoisting Y-axis displacement sensor 541 detects that the gantry hoisting moves to the target loading position;

[0151] In the eighth step, the two gantry hoisting drive motors 751 simultaneously reverse and drive the gantry hoisting wire rope 74 to be lowered, and the two gantry hoisting displacement sensors 753 detect that the gantry hoisting hook 7511 has reached the target loading position;

[0152] In the ninth step, the platform hoisting hook 7511 is separated from the steel arch frame storage platform hoisting shackle to carry out the next cycle of hoisting operation;

[0153] It should be noted that the first, second and third steps can be implemented simultaneously, and the sixth, seventh and eighth steps can be implemented simultaneously, so as to maximize the efficiency of the steel arch storage platform hoisting and transportation operations.

[0154] It should be noted that the two gantry hoisting displacement sensors 753 detect the height changes of the gantry hoisting hooks 7511 on both sides in real time. Once the height difference exceeds ±3 cm, they will stop working immediately and report early warning information to the control system to prevent the steel arch storage gantry hoisting operation from overturning.

[0155] During the hoisting process of the steel arch storage platform, the Y-axis displacement sensor 541, the platform hoisting X-axis displacement sensor 611 and the platform hoisting displacement sensor 753 detect the relative distance to determine the displacement of the storage platform, so as to monitor the hoisting status of the steel arch storage platform in real time, and feed back the steel arch storage platform hoisting displacement data to the central controller.

[0156] The proofreading module monitors the hoisting operation status of the steel arch frame and the steel arch frame storage platform in real time through the Y-axis, X-axis and hoisting displacement sensors of the steel arch frame hoisting device and the Y-axis, X-axis and hoisting displacement sensors of the steel arch frame storage platform hoisting device, records the motion coordinates of the steel arch frame hoisting and the motion coordinates of the steel arch frame storage platform, and proofreads the motion coordinates and theoretical coordinates in real time, and outputs the calculated difference to the early warning module;

[0157] The early warning module receives the signal output by the proofreading module. If the calculated difference of the proofreading module exceeds the early warning value, the early warning module sends an early warning message to the control module.

[0158] When the control module receives the early warning information, it stops the motor transmission group in the corresponding device and locks the control system through the steel arch frame hoisting module and the steel arch frame storage platform hoisting module to ensure the safety of the hoisted goods; when receiving the displacement adjustment information, it activates the control system and actively adjusts each drive mechanism to eliminate the displacement difference to normal operation.

[0159] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A tunnel steel arch hoisting and transporting frame, characterized in that: The invention comprises a lifting and transfer frame main frame (1), wherein the lifting and transfer frame main frame (1) is a frame structure, and a steel arch frame transfer channel is arranged in the Y-axis direction, wherein the steel arch frame transfer channel is divided into a steel arch frame transfer area and a steel arch frame storage platform transfer area, wherein the lifting and transfer frame main frame (1) is respectively provided with a track beam (13) at the left and right sides of the top of the steel arch frame transfer channel, and steel arch frame lifting devices are arranged in the corresponding steel arch frame transfer areas of the two track beams (13), and steel arch frame scattered at one end of the steel arch frame transfer channel is transferred into the channel and stacked on the steel arch frame storage platform by the steel arch frame lifting device, and steel arch frame storage platform lifting devices are arranged in the corresponding steel arch frame storage platform transfer areas of the two track beams (13), and steel arch frame storage platform stacked with steel arch frames in the steel arch frame transfer channel is transferred to the other end of the channel by the steel arch frame storage platform lifting devices.

2. A tunnel steel arch hoisting and transporting frame according to claim 1, characterized in that: The steel arch frame hoisting device comprises a steel arch frame hoisting Y-axis motor transmission group (2), a steel arch frame hoisting X-axis motor transmission group (3) and a steel arch frame hoisting mechanism (4); The steel arch frame hoisting Y-axis motor transmission group (2) comprises: Two Y-axis rail beam pulleys (21), each slidably connected to a rail beam (13), and each of the two Y-axis rail beam pulleys (21) is matched with a Y-axis motor drive mechanism (24); The steel arch frame hoisting track beam (23) is connected and fixed at both ends to two Y-axis track beam pulleys (21); The steel arch frame hoisting X-axis motor transmission group (3) comprises: An X-axis rail beam pulley is slidably mounted on the steel arch frame hoisting rail beam (23), and the X-axis rail beam pulley matches the X-axis motor drive mechanism (31); The steel arch hoisting mechanism (4) comprises: A main frame (42) of the steel arch hoisting mechanism has one end connected and fixed to the X-axis track beam pulley and the other end is provided with an X-axis track wheel (41), and the X-axis track wheel (41) is slidably mounted on the hoisting track beam (23); Two lifting pulley mechanisms (48) are symmetrically suspended on the left and right ends of the lifting mechanism main frame (42) through a lifting steel wire rope (44), respectively. The steel arch frame lifting mechanism main frame (42) is provided with a rope winding mechanism to make the two lifting steel wire ropes (44) operate synchronously, driving the two lifting pulley mechanisms (48) to rise synchronously and at the same speed, and to descend synchronously and at the same speed; each lifting pulley mechanism (48) is provided with a steel arch frame hook (411).

3. A tunnel steel arch hoisting and transporting frame according to claim 2, characterized in that: The rope winding mechanism comprises two fixed wheels (43), two fixed cable drums (46), and two hoisting wire winches (410). The two fixed wheels (43) are symmetrically arranged at the left and right ends of the main frame (42) of the steel arch frame hoisting mechanism. The two fixed cable drums (46) are symmetrically arranged at the left and right ends of the main frame (42) of the steel arch frame hoisting mechanism. The two hoisting wire winches (410) are arranged one on the left and one on the right at the middle of the main frame (42) of the steel arch frame hoisting mechanism. The main frame (42) of the steel arch frame hoisting mechanism is provided with a hoisting drive mechanism (47). The hoisting drive mechanism (47) drives the two hoisting wire winches (410) to rotate synchronously in opposite directions. Two hoisting steel wire ropes (44) are symmetrically wound around the rope winding mechanism: the hoisting steel wire rope (44) on the left side is successively wound around the pulley of the hoisting pulley mechanism (48) on the left side and the fixed rotating wheel (43) at the left end of the main frame (42) of the steel arch frame hoisting mechanism, and then one end of the hoisting steel wire rope (44) is fixed to the left end fixed cable drum (46), and the other end of the hoisting steel wire rope (410) on the left side; the hoisting steel wire rope (44) on the right side is successively wound around the pulley of the hoisting pulley mechanism (48) on the right side and the fixed rotating wheel (43) at the right end of the main frame (42) of the steel arch frame hoisting mechanism, and then one end of the hoisting steel wire rope (44) is fixed to the right end fixed cable drum (46), and the other end of the hoisting steel wire rope (410) on the right side.

4. The tunnel steel arch hoisting and transporting frame according to claim 3 is characterized by: The hoisting drive mechanism (47) comprises: A hoisting drive motor (471) is fixed to the main frame (42) of the steel arch hoisting mechanism; Two hoisting driving bevel gears (474) are fixed to the output shaft of the hoisting driving motor (471), and the two hoisting wire winches (410) are respectively connected to a hoisting driven bevel gear (475). The two hoisting driving bevel gears (474) are arranged between the two hoisting driven bevel gears (475), and the two hoisting driven bevel gears (475) are respectively meshed with a hoisting driving bevel gear (474).

5. The tunnel steel arch hoisting and transporting frame according to claim 1 is characterized by: The hoisting pulley mechanism (48) comprises: Hoisting pulley mechanism housing; A hoisting pulley (481) is installed on a hoisting pulley mechanism housing, and a hoisting steel wire rope (44) is wound around the hoisting pulley (481); A hook pulley (483) is installed on a lifting pulley mechanism housing. A hook wire rope (49) is wound around the hook pulley (483). Both ends of the hook wire rope (49) pass through the lifting pulley mechanism housing. Both ends of the hook wire rope (49) are respectively provided with a steel arch hook (411).

6. The tunnel steel arch hoisting and transporting frame according to claim 1, characterized in that: The steel arch storage platform hoisting device comprises a steel arch storage platform hoisting Y-axis motor transmission group (5), a steel arch storage platform hoisting X-axis motor transmission group (6) and a steel arch storage platform hoisting mechanism (7); The steel arch storage platform hoisting Y-axis motor transmission group (5) comprises a square frame, one group of the square frame facing the frame is two platform hoisting track beams (53) arranged between the two track beams (13), and the other group of the square frame facing the frame is two frame rods (55) connected to the ends of the two platform hoisting track beams (53); two Y-axis hoisting track beam pulleys (51) are respectively arranged at the left and right ends of the square moving frame, and the square moving frame is slidably connected to the two track beams (13) through the four Y-axis hoisting track beam pulleys (51), and at least one of the two Y-axis hoisting track beam pulleys (51) at each end matches the platform hoisting Y-axis motor driving mechanism (54); The steel arch storage platform hoisting X-axis motor transmission group (6) includes two sets of platform hoisting X-axis motor drive mechanisms (61), and the two sets of platform hoisting X-axis motor drive mechanisms (61) are respectively slidably connected to a platform hoisting track beam (53); The steel arch storage platform hoisting mechanism (7) comprises: The main frame (72) of the platform hoisting mechanism is a square frame structure, and is slidably connected to two platform hoisting track beams (53) through platform hoisting X-axis track wheels (71) arranged at four corners. At the same time, the main frame (72) of the platform hoisting mechanism is connected and fixed to the platform hoisting X-axis motor driving mechanism (61). The platform hoisting X-axis motor driving mechanism (61) drives the main frame (72) of the platform hoisting mechanism to move along the platform hoisting track beam (53). The four corners of the main frame (72) of the platform hoisting mechanism are respectively provided with a platform hoisting fixed rotating wheel (73). The four platform hoisting fixed rotating wheels (73) are each wound with a platform hoisting wire rope (74), the lower ends of the four platform hoisting wire ropes (74) are all hanging down and each is provided with a platform hoisting hook (7511), and a platform hoisting driving mechanism (75) is respectively arranged at the center of the left and right ends of the platform hoisting mechanism main frame (72) to fix and wind the two platform hoisting wire ropes (74) at the corresponding ends, and the two platform hoisting driving mechanisms (75) are operated to synchronously wind or release the platform hoisting wire ropes (74), so that the four hooks are synchronously raised or lowered at the same speed.

7. The tunnel steel arch hoisting and transporting frame according to claim 1 is characterized by: The platform hoisting drive mechanism (75) comprises: A platform hoisting drive motor (751) is fixedly connected to a platform hoisting mechanism main frame (72); A gantry hoisting active bevel gear (754) is arranged on the main shaft of the gantry hoisting drive motor (751), the gantry hoisting active bevel gear (754) is meshed with a gantry hoisting driven bevel gear A (755) and a gantry hoisting driven bevel gear B (756), the gantry hoisting driven bevel gear A (755) and the gantry hoisting driven bevel gear B (756) are respectively installed on the gantry hoisting mechanism main frame (72), wherein the gantry hoisting driven bevel gear A (755) is connected to the gantry hoisting wire winch A (758) through the gantry hoisting transmission shaft A (757), and the gantry hoisting driven bevel gear B (756) is connected to the gantry hoisting wire winch B (7510) through the gantry hoisting transmission shaft B (759); The upper ends of two gantry hoisting steel wire ropes (74) at each end of the gantry hoisting mechanism main frame (72) are fixed to the gantry hoisting steel wire winch A (758) and the gantry hoisting steel wire winch B (7510) of the gantry hoisting drive mechanism (75) at the end, and are wound around the gantry hoisting steel wire winch A (758) and the gantry hoisting steel wire winch B (7510).

8. The tunnel steel arch hoisting and transporting frame according to claim 7 is characterized by: The gantry hoisting transmission shaft B (759) is a hollow shaft, the inner diameter of which is consistent with the outer diameter of the gantry hoisting transmission shaft A (757), and the gantry hoisting transmission shaft A (757) and the gantry hoisting transmission shaft B (759) are nested and installed; The platform hoisting driven helical gear A (755) and the platform hoisting driven helical gear B (756) are directly opposite to each other, the platform hoisting active helical gear (754) is located between the platform hoisting driven helical gear A (755) and the platform hoisting driven helical gear B (756), and the platform hoisting active helical gear (754) drives the platform hoisting driven helical gear A (755) and the platform hoisting driven helical gear B (756) to rotate in opposite directions; The winding directions of the gantry hoisting wire rope (74) on the gantry hoisting wire winch A (758) and the gantry hoisting wire winch B (7510) at the same end of the gantry hoisting mechanism main frame (72) are opposite.

9. A control system for a tunnel steel arch hoisting and transporting frame according to any one of claims 1 to 8, characterized in that: It includes a central controller, an analysis module, a steel arch hoisting module, a steel arch storage stand hoisting module, a proofreading module, an early warning module and a control module, as well as The Y-axis motor drive mechanism (24) of the steel arch frame hoisting device is provided with a Y-axis displacement sensor (243), the X-axis motor drive mechanism (31) is provided with an X-axis displacement sensor (311), the hoisting drive mechanism (47) is provided with a hoisting displacement sensor (473), and the platform hoisting Y-axis motor drive mechanism (54) of the steel arch frame storage platform hoisting device is provided with a platform hoisting Y-axis displacement sensor (541), the platform hoisting X-axis motor drive mechanism (61) is provided with a platform hoisting X-axis displacement sensor (611), and the platform hoisting drive mechanism is provided with a platform hoisting displacement sensor (753), and all the above displacement sensors are electrically connected to the central controller; The central controller determines the displacement of the steel arch frame by detecting the relative distance through the Y-axis, X-axis and the lifting displacement sensor in the steel arch frame lifting device, and determines the displacement of the steel arch frame storage platform through the Y-axis, X-axis and the lifting displacement sensor in the steel arch frame storage platform lifting device; The analysis module pre-collects data on steel arch frame size, steel arch frame processing area coordinates, and steel arch frame storage platform size, pre-sets steel arch frame storage loading area coordinates and steel arch frame storage platform transfer area coordinates, receives steel arch frame displacement information and steel arch frame storage platform displacement information from the central controller, calculates and analyzes the travel route of the steel arch frame hoisting Y-axis motor transmission group, steel arch frame hoisting X-axis motor transmission group, and hoisting drive mechanism, and the travel route of the steel arch frame storage platform hoisting Y-axis motor transmission group, steel arch frame storage platform hoisting X-axis motor transmission group, and platform hoisting drive mechanism, outputs the steel arch frame hoisting displacement theoretical value to the steel arch frame hoisting module, and outputs the steel arch frame storage platform hoisting displacement theoretical value to the steel arch frame storage platform hoisting module; The steel arch frame hoisting module controls the Y-axis motor transmission group of the steel arch frame hoisting to translate along the Y-axis, controls the X-axis motor transmission group of the steel arch frame hoisting to translate along the X-axis, controls the hoisting drive mechanism to lower or lift the hook, and controls the above three groups of drive mechanisms to operate simultaneously until the displacement data detected by the Y-axis displacement sensor, the X-axis displacement sensor and the hoisting displacement sensor reach the theoretical value of the steel arch frame hoisting displacement, and each drive mechanism stops working respectively, and records the Y-axis coordinate and the X-axis coordinate at this time as the initial coordinate a; The steel arch storage platform hoisting module controls the Y-axis motor transmission group of the steel arch storage platform hoisting to translate along the Y-axis, controls the X-axis motor transmission group of the steel arch storage platform hoisting to translate along the X-axis, controls the platform hoisting drive mechanism to lower or lift the hook, and controls the above three groups of drive mechanisms to operate simultaneously until the displacement data detected by the platform hoisting Y-axis displacement sensor, the platform hoisting X-axis displacement sensor and the platform hoisting displacement sensor reach the theoretical displacement value of the steel arch storage platform hoisting, and each drive mechanism stops working respectively, and records the Y-axis coordinate and the X-axis coordinate at this time as the initial coordinate b; The calibration module monitors the hoisting operation status of the steel arch frame and the steel arch frame storage platform in real time through the displacement sensor, records the motion coordinates of the steel arch frame hoisting and the motion coordinates of the steel arch frame storage platform, and calibrates the motion coordinates and the theoretical coordinates in real time, and outputs the calculated difference to the early warning module; The early warning module sends an early warning message to the control module when the difference calculated by the proofreading module exceeds the early warning value; When the control module receives the early warning information, it stops the operation of the motor transmission group in the corresponding device and locks the control system through the steel arch frame hoisting module and the steel arch frame storage platform hoisting module to ensure the safety of the hoisted goods; when it receives the displacement adjustment information, it activates the control system and actively adjusts each driving mechanism to eliminate the displacement difference to normal operation.

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