Gripping lifting appliance for steel lining segment and using method of gripping lifting appliance

Abstract

According to the grabbing lifting appliance for the steel lining segment and the using method of the grabbing lifting appliance, the problem that a vacuum suction cup of an existing erector cannot directly grab the steel segment is solved. The lifting appliance comprises a lifting appliance main body, a clamp device and a grabbing rod device, an arc-shaped shell at the top of the lifting appliance main body is matched with a vacuum chuck of an erector, an arc-shaped shell at the bottom of the lifting appliance main body is consistent with a steel lining segment in radian, and a plurality of long slotted holes are formed in the arc-shaped shell at the bottom of the lifting appliance main body; the fixed ends of the clamp device and the grabbing rod device are connected to the inner cavity of the lifting appliance main body, and the movable ends of the clamp device and the grabbing rod device extend out of the long notch and clamp the steel lining segment. The method comprises the following steps: after a vacuum chuck of an erector adsorbs the lifting appliance main body, controlling four rod pieces of the grabbing rod device to rotate downwards and be in a closed state, controlling a pair of clamp bodies of the clamp device to be in an open state, and after the lifting appliance main body is in contact with a steel lining segment, lifting the steel lining segment. Telescopic rods of the grabbing rod devices retract to drive the quadrilateral connecting rod mechanisms to stretch towards the two sides and abut against webs of the steel lining segments; and clamp bodies of the clamp devices are clamped on the two sides of the web plate.

Description

Technical Field

[0001] The invention relates to the technical field of shield tunnel segment installation construction, and in particular to a grabbing sling for a steel lining segment and a use method thereof. Background Art

[0002] The main function of the communication channel in a shield tunnel is to connect the double-track tunnels. When a disaster such as fire, flood or structural damage occurs in any tunnel, the staff in the tunnel can be transferred to another tunnel through the communication channel to achieve the function of emergency avoidance, so it is called an "escape channel"; moreover, it is convenient for rescue personnel to reach the communication channel from another tunnel, and then enter the tunnel where the accident occurred through the communication channel to achieve the purpose of rapid rescue.

[0003] Usually, the supporting assembly machine of the large-diameter shield machine uses a vacuum suction cup to grab the reinforced concrete segments, while the connecting channel is made of steel segments. The steel segments are all-steel open-hole masonry rings with holes on the inner ring surface. The interior is reinforced with multiple "T"-shaped webs. It is an open box girder structure. A single steel segment not only has a large curvature and large size, but also weighs approximately 1 to 3 tons, which makes it impossible for the vacuum suction cup of the assembly machine to directly grab the steel segments at the connecting channel. Summary of the invention

[0004] Aiming at the problem that the vacuum suction cup of the existing assembly machine cannot directly grab the steel pipe segment at the tunnel communication channel, the purpose of the present invention is to provide a grabbing and lifting device for steel lining pipe segments and a method for using the same.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a grabbing sling for steel lining pipe segments, which includes: a sling body, a clamp device and a grab rod device, the sling body is composed of two layers of arc-shaped shells arranged at intervals, and a plurality of webs vertically arranged and connected between the two layers of arc-shaped shells, which are welded together, the arc-shaped shell on the top of the sling body cooperates with the vacuum suction cup of the assembling machine, the arc-shaped shell at the bottom is consistent with the curvature of the steel lining pipe segment to be hoisted, and the arc-shaped shell at the bottom is provided with a plurality of long slots; the fixed ends of at least two pairs of clamp devices and at least two pairs of grab rod devices are connected to the inner cavity of the sling body, the number and positions of the clamp devices and the grab rod devices correspond to the number and positions of the long slots on the bottom arc-shaped shell, so that the moving ends of the clamp device and the grab rod device can extend out of the long slots and clamp the steel lining pipe segment to be hoisted.

[0006] The steel lining pipe segment grabbing sling of the present invention comprises a sling body, a clamp device and a grab rod device. The arc-shaped shell on the top of the sling body cooperates with the vacuum suction cup of the assembling machine, and the arc-shaped shell at the bottom is consistent with the curvature of the steel lining pipe segment to be hoisted, and the arc-shaped shell at the bottom is provided with a plurality of long slots; the fixed ends of at least two pairs of clamp devices and at least two pairs of grab rod devices are connected to the inner cavity of the sling body, and the long slots on the arc-shaped shell correspond to the number and position of the clamp devices and the grab rod devices, and the movement of the clamp devices The moving end extends out of the long slot and clamps the web of the steel lining segment to be hoisted, and the moving end of the grab rod device extends into the inner cavity of the steel lining segment to be hoisted and abuts against the webs on both sides. Under the joint action of the clamping force of the clamp device and the grab rod device, the steel lining segment is tightly adsorbed on the bottom of the vacuum suction cup of the assembling machine, and the assembly construction of the steel lining ring is completed in cooperation with the assembling machine. There is no need to modify the original structure of the assembling machine and the steel lining segment, thereby realizing the automated hoisting construction of the steel lining segment, improving construction efficiency, and ensuring construction safety.

[0007] Furthermore, at least two pairs of clamp devices and at least two pairs of grab bar devices are symmetrically arranged along the axis of the sling body, and the grab bar devices are arranged on the outside of the clamp devices.

[0008] Furthermore, the clamp device includes a driving motor connected to the ear plate on the top of the hanger body, a driving gear connected to the output shaft of the driving motor, and a pair of clamps hinged to the ear plate, the top ends of the pair of clamps are connected to the ear plate through a rotating shaft, and the bottom ends thereof can extend into the holes of the steel lining segment, the tops of the pair of clamps are provided with meshing convex teeth, and the convex teeth of at least one clamp are meshed with the driving gear, and the middle parts of the pair of clamps are provided with corresponding grooves near the top plate of the steel lining segment.

[0009] Furthermore, the bottom of the clamp is hollow, and an electromagnet assembly is installed in the hollow position.

[0010] Furthermore, a layer of rubber sheet is provided on one side of the pair of clamps close to the web of the steel lining segment.

[0011] Furthermore, the grab rod device includes a torque motor, a rotating rod, a driven rod, a main support rod, a connecting rod and a telescopic rod. The torque motor is connected to the side of the belly plate of the sling body, the fixed end of the rotating rod is connected to the output shaft of the torque motor, one end of the main support rod is pin-connected to the rotating end of the rotating rod, one end of the driven rod is pin-connected to the rotating rod and the telescopic rod, the other end of the driven rod is pin-connected to one end of the connecting rod, the other end of the connecting rod is pin-connected to the main support rod, the fixed end of the telescopic rod is connected to the rotating rod, and the movable end of the telescopic rod is pin-connected to the other end of the main support rod.

[0012] Furthermore, the sling body also includes a positioning ear plate arranged on the inner wall of the bottom arc-shaped shell, the cross-section of the positioning ear plate is L-shaped, and one end of the positioning ear plate is fixed to the arc-shaped shell. When the rotating end of the rotating rod of the grabbing rod device contacts the web of the steel lining segment, the other end of the positioning ear plate is against the top of the rotating rod.

[0013] Furthermore, the grab rod device also includes a limit block 1 connected to the connection between the rotating rod and the main support rod, and a limit block 2 connected to the connection between the driven rod and the connecting rod. The side of the limit block 1 and the limit block 2 away from the telescopic rod has a smooth bottom surface. When the telescopic rod of the grab rod device extending into the inner cavity of the steel lining pipe segment is contracted, the angle between the rods on both sides of the telescopic rod becomes smaller, and the bottom surfaces of the limit block 1 and the limit block 2 are abutted against the two webs of the steel lining pipe segment. The grab rod device also includes a limit block 3 connected to the end of the telescopic rod. The limit block 3 is set at an angle to the telescopic rod, and the limit block 3 is close to the connecting rod with a shorter length.

[0014] In addition, the present invention also provides a method for using a grabbing hanger for a steel lining segment, the steps of which are as follows: S1: Press the vacuum suction cup of the assembling machine on the top of the sling body, and draw vacuum until the vacuum suction cup absorbs the sling body; control the torque motor of the grabbing rod device to rotate in the direction of the center line, driving the rotating rod, the driven rod, the main support rod, and the connecting rod of the grabbing rod device to rotate downward and be in a retracted state; control the driving motor of the clamp device to rotate, driving a pair of clamp bodies to rotate in the opposite direction of the center line, so that the pair of clamp bodies are in an open state; S2: The assembling machine moves downward until the main body of the hoist contacts the upper surface of the steel lining segment to be hoisted, the open clamp body and the retracted grab rod device respectively extend into the inner cavity of the steel lining segment, the telescopic rod of the grab rod device contracts, driving the rotating rod, the driven rod, the main support rod and the connecting rod to open to both sides until they are against the web of the steel lining segment; the driving motor of the clamp device rotates in the opposite direction, driving a pair of clamp bodies to rotate in the center line direction until they contact the web, thus completing the grab connection between the grabbing hoist and the steel lining segment, and the assembling machine completes the assembly of the steel lining ring according to the assembly process of conventional concrete lining blocks.

[0015] The method for using the grabbing and slinging device for steel lining pipe segments of the present invention comprises the following steps: after the vacuum suction cup of the assembling machine adsorbs the main body of the sling, the torque motor of the grabbing rod device is controlled to rotate in the direction of the center line, driving the four rods of the grabbing rod device to rotate downward and be in a retracted state, controlling the driving motor of the clamp device to rotate, driving a pair of clamp bodies to rotate in the opposite direction of the center line, so that the pair of clamp bodies are in an open state, the assembling machine moves downward until the sling main body contacts the upper surface of the steel lining pipe segment to be hoisted, the telescopic rod of the grabbing rod device is contracted, driving the quadrilateral connecting rod mechanism to open to both sides, and finally until it contacts the web of the steel lining segment; the driving motor of the clamp device rotates in the opposite direction to drive a pair of clamp bodies to rotate in the direction of the center line until they contact the web, and this process is repeated to complete the lifting of the steel lining segment; under the joint action of the clamping force of the clamp device and the grab bar device, the steel lining segment is tightly adsorbed on the bottom of the vacuum suction cup of the assembling machine, and the assembling machine is cooperated to complete the assembly construction of the steel lining ring, without the need to modify the original structure of the assembling machine and the steel lining segment, thus realizing the automated lifting construction of the steel lining segment, improving the construction efficiency, and ensuring the construction safety.

[0016] Furthermore, the step S2 also includes, after a pair of clamp bodies contact the web of the steel lining segment, starting the electromagnet assembly of the clamp bodies, so that the electromagnet assemblies of the pair of clamp bodies are firmly adsorbed on both sides of the web; the step S2 also includes step S3: after the steel lining ring is assembled, the electromagnet assembly is closed, and the driving motor of the clamp device rotates in the opposite direction again, driving the pair of clamp bodies to open, and the telescopic rod of the grab rod device extends, driving the rotating rod, the driven rod, the main support rod, and the connecting rod to retract in the direction of the telescopic rod until they are away from the web of the steel lining segment, the assembling machine rises, driving the grabbing sling to detach from the steel lining segment, and the torque motor rotates, driving the grab rod device to be placed in the inner cavity of the sling body. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the clamp device in an open state in one embodiment of the grabbing and hanging device of the steel lining segment of the present invention; Figure 2 It is a schematic diagram of the clamping state of the clamp device in one embodiment of the grabbing and hanging device of the steel lining segment of the present invention; Figure 3 for Figure 1 AA section view; Figure 4 It is a structural schematic diagram of a grab bar device in one embodiment of the present invention; Figures 5 to 7 The present invention is a schematic diagram of various steps of a method for using a grabbing hanger for a steel lining segment according to an embodiment of the present invention.

[0018] The numbers in the figure are as follows: Steel lining segment 1; hole 1a; hanger body 10; arc-shaped shell 11; web 12; positioning ear plate 15; clamp device 20; ear plate 21; drive motor 22; drive gear 24; clamp 25; convex tooth 26; groove 27; electromagnet assembly 28; grab rod device 30; rotating rod 31; main support rod 32; driven rod 34; connecting rod 35; telescopic rod 33; limit block one 36; limit block two 37; limit block three 38. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. For the convenience of description, the "upper" and "lower" described below are consistent with the upper and lower directions of the drawings, but this cannot be a limitation of the technical solution of the present invention.

[0020] In this embodiment, the assembly construction of the steel lining ring at the communication channel of a tunnel project is taken as an example. Figures 1 to 7 The invention discloses a grabbing sling for steel lining segments, which comprises: a sling body 10, a clamp device 20 and a grab rod device 30. The sling body 10 is a steel structure, which is formed by welding two layers of arc-shaped shells 11 arranged at intervals, and a plurality of webs 12 arranged vertically and connected between the two layers of arc-shaped shells 11. The arc-shaped shell 11 at the top of the sling body 10 cooperates with the vacuum suction cup of the assembling machine, and the arc-shaped shell 11 at the bottom thereof is consistent with the curvature of the steel lining segment 1 to be hoisted, and the arc-shaped shell 11 at the bottom is provided with a plurality of long slots; the fixed ends of at least two pairs of clamp devices 20 and at least two pairs of grab rod devices 30 are connected to the inner cavity of the sling body 10, and the number and position of the clamp devices 20 and the grab rod devices 30 correspond to the number and position of the long slots on the bottom arc-shaped shell 11, so that the moving ends of the clamp devices 20 and the grab rod devices 30 can extend out of the long slots and clamp the steel lining segment 1 to be hoisted.

[0021] The grabbing sling of the steel lining pipe segment of the present invention comprises a sling body 10, a clamp device 20 and a grab rod device 30. The arc-shaped shell 11 on the top of the sling body 10 cooperates with the vacuum suction cup of the assembling machine, and the arc-shaped shell 11 at the bottom is consistent with the curvature of the steel lining pipe segment 1 to be hoisted, and the arc-shaped shell 11 at the bottom is provided with a plurality of long slots; the fixed ends of at least two pairs of clamp devices 20 and at least two pairs of grab rod devices 30 are connected to the inner cavity of the sling body 10, and the long slots on the arc-shaped shell 11 correspond to the number and position of the clamp devices 20 and the grab rod devices 30, and the clamp devices 20 and the grab rod devices 30 are connected to the inner cavity of the sling body 10. The moving end of the clamp device 20 extends out of the long slot and clamps the web 12 of the steel lining segment 1 to be hoisted, and the moving end of the grab rod device 30 extends into the inner cavity of the steel lining segment 1 to be hoisted and abuts against the webs 12 on both sides. Under the joint action of the clamping force of the clamp device 20 and the grab rod device 30, the steel lining segment 1 is tightly adsorbed on the bottom of the vacuum suction cup of the assembling machine, and the assembly construction of the steel lining ring is completed in cooperation with the assembling machine. There is no need to modify the original structure of the assembling machine and the steel lining segment 1, thereby realizing the automated hoisting construction of the steel lining segment 1, improving the construction efficiency, and ensuring the construction safety.

[0022] like Figure 1 and Figure 2 As shown, at least two pairs of clamp devices 20 and at least two pairs of grab rod devices 30 are symmetrically arranged along the axis of the hoist body 10, and the grab rod devices 30 are arranged on the outside of the clamp devices 20 (referring to the direction away from the axis). By setting multiple symmetrical lifting points, the force balance of the large-volume steel lining segment 1 is ensured, and the stability during the lifting process is improved.

[0023] like Figure 4 and Figure 5 As shown, the sling body 10 also includes a positioning ear plate 15 arranged on the inner wall of the bottom arc-shaped shell 11. The cross-section of the positioning ear plate 15 is L-shaped. One end of the positioning ear plate 15 is fixed to the arc-shaped shell 11. When the rotating end of the rotating rod 31 of the grab bar device 30 contacts the web 12 of the steel lining segment 1, the other end of the positioning ear plate 15 is against the top of the rotating rod 31, which is used to limit the rotation range of the rotating rod 31 and ensure the safe operation of the grab bar device 30.

[0024] like Figure 1 , Figure 2 and Figure 3As shown, there are four clamp devices 20 in this embodiment, and they are arranged opposite to each other in pairs. The clamp device 20 includes a driving motor 22 connected to the ear plate 21 at the top of the hanger body 10, a driving gear 24 connected to the output shaft of the driving motor 22, and a pair of clamps 25 hinged to the ear plate 21. The top ends of the pair of clamps 25 are connected to the ear plate 21 through a rotating shaft, and the bottom ends thereof can extend into the hole 1a of the steel lining segment 1. The tops of the pair of clamps 25 are provided with meshing convex teeth 26, and the convex teeth 26 of at least one clamp 25 are meshed with the driving gear 24. The middle parts of the pair of clamps 25 are provided with corresponding grooves 27 near the top plate of the steel lining segment 1. After the clamps 25 clamp the web 12 of the steel lining segment 1, it can avoid the middle parts of the clamps 25 from colliding with the top plate of the steel lining segment 1.

[0025] Please continue to refer to Figure 1 , Figure 2 and Figure 3 The bottom of the clamp 25 is hollow, and an electromagnet assembly 28 is installed in the hollow position, so that a pair of clamps 25 can be adsorbed on both sides of the web 12 of the steel lining segment 1 by magnetic attraction.

[0026] More preferably, a layer of rubber sheet (not shown in the figure) is provided on one side of the pair of clamps 25 close to the web 12 of the steel lining segment 1 to prevent damage between the clamps 25 and the steel lining segment 1 due to collision.

[0027] like Figure 4 and Figure 5 As shown, there are four grabbing rod devices 30 in this embodiment, and they are arranged opposite to each other in pairs. The grabbing rod device 30 includes a torque motor, a rotating rod 31, a driven rod 34, a main support rod 32, a connecting rod 35 and a telescopic rod 33. The torque motor is connected to the side of the web 12 of the sling body 10. The fixed end of the rotating rod 31 is connected to the output shaft of the torque motor. One end of the main support rod 32 is pin-connected to the rotating end of the rotating rod 31. One end of the driven rod 34 is pin-connected to the rotating rod 31 and the telescopic rod 33. The other end of the driven rod 34 is pin-connected to one end of the connecting rod 35. The other end of 35 is connected to the main support rod 32 with a pin, and the rotating rod 31, the main support rod 32, the driven rod 34 and the connecting rod 35 are connected with a pin to form a quadrilateral connecting rod 35 mechanism. The fixed end of the telescopic rod 33 is connected to the rotating rod 31, and the movable end of the telescopic rod 33 is connected to the other end of the main support rod 32 with a pin. By controlling the telescopic movement of the telescopic rod 33, the quadrilateral connecting rod 35 mechanism is driven to extend or shorten, so that the grabbing rod device 30 can be extended into the inner cavity of the steel lining pipe and supported on the webs 12 on both sides.

[0028] like Figure 4As shown, the grab rod device 30 also includes a limit block 1 36 connected to the connection between the rotating rod 31 and the main support rod 32, and a limit block 2 37 connected to the connection between the driven rod 34 and the connecting rod 35. The side of the limit block 1 36 and the limit block 2 37 away from the telescopic rod 33 has a smooth bottom surface. When the telescopic rod 33 of the grab rod device 30 extending into the inner cavity of the steel lining pipe segment 1 is contracted, the angle between the rods on both sides of the telescopic rod 33 becomes smaller, and the bottom surfaces of the limit block 1 36 and the limit block 2 37 are against the two webs 12 of the steel lining pipe segment 1, so that the grab rod device 30 grasps the steel lining pipe segment 1 while avoiding collision with the web 12.

[0029] like Figure 4 As shown, the grab rod device 30 also includes a limit block 38 connected to the end of the telescopic rod 33. The limit block 38 is set at an angle to the telescopic rod 33, and the limit block 38 is close to the shorter connecting rod 35. The limit block 38 is used to prevent the bottom end of the telescopic rod 33 from colliding with the sling body 10 or the inner wall of the steel lining segment 1.

[0030] In order to prevent the grab bar device 30 from loosening due to vibration or other reasons, a locking structure is also provided on the telescopic rod 33 to prevent the telescopic rod 33 from retreating under the action of external force, thereby ensuring the safety during the hoisting process of the steel lining segment 1. The specific structure of the locking structure is the existing technical content and will not be repeated here.

[0031] Combine the following Figures 5 to 7 The method for using the grabbing and lifting device of the steel lining segment 1 of the present invention is described, and the specific steps are as follows: S1: Press the vacuum suction cup (not shown in the figure) of the assembling machine on the top of the sling body 10, and evacuate until the vacuum suction cup absorbs the sling body 10; Figure 6 As shown, the torque motor controlling the grab bar device 30 rotates toward the centerline direction, driving the rotating rod 31, the driven rod 34, the main support rod 32, and the connecting rod 35 of the grab bar device 30 to rotate downward and be in a retracted state; Figure 1 and Figure 6 As shown, the driving motor 22 of the clamp device 20 is controlled to rotate, driving a pair of clamps 25 to rotate in the opposite direction along the center line, so that the pair of clamps 25 are in an open state; S2: Figure 7As shown, the assembling machine moves downward until the hoist body 10 contacts the upper surface of the steel lining segment 1 to be hoisted, the open clamp 25 and the retracted grab rod device 30 are respectively extended into the inner cavity of the steel lining segment 1, and the telescopic rod 33 of the grab rod device 30 contracts, driving the rotating rod 31, the driven rod 34, the main support rod 32, and the connecting rod 35 to open to both sides until they are against the web 12 of the steel lining segment 1; the driving motor 22 of the clamp device 20 rotates in the opposite direction, driving a pair of clamps 25 to rotate in the center line direction until they contact the web 12, and the electromagnet assembly 28 of the clamp 25 is started, so that the electromagnet assembly 28 of the pair of clamps 25 is firmly adsorbed on both sides of the web 12, thereby completing the grab connection between the grabbing hoist and the steel lining segment 1, and the assembling machine completes the assembly of the steel lining ring according to the conventional concrete lining block assembly process.

[0032] The method for using the grabbing sling of the steel lining pipe segment of the present invention is as follows: after the vacuum suction cup of the assembling machine adsorbs the sling body 10, the torque motor of the grabbing rod device 30 is controlled to rotate in the direction of the center line, driving the four rods of the grabbing rod device 30 to rotate downward and be in a retracted state, and the driving motor 22 of the clamp device 20 is controlled to rotate, driving a pair of clamps 25 to rotate in the opposite direction of the center line, so that the pair of clamps 25 are in an open state, and the assembling machine moves downward until the sling body 10 contacts the upper surface of the steel lining pipe segment 1 to be hoisted, and the telescopic rod 33 of the grabbing rod device 30 is contracted, driving the quadrilateral connecting rod mechanism to open to both sides, until until it abuts against the web 12 of the steel lining segment 1; the driving motor 22 of the clamp device 20 rotates in the opposite direction to drive a pair of clamps 25 to rotate in the center line direction until they contact the web 12, and this process is repeated to complete the lifting of the steel lining segment 1; under the joint action of the clamping force of the clamp device 20 and the grab rod device 30, the steel lining segment 1 is tightly adsorbed on the bottom of the vacuum suction cup of the assembling machine, and the assembling machine is cooperated to complete the assembly construction of the steel lining ring, without modifying the original structure of the assembling machine and the steel lining segment 1, thereby realizing the automated lifting construction of the steel lining segment 1, improving the construction efficiency, and ensuring the construction safety.

[0033] like Figure 5 As shown, step S2 also includes step S3 after the step S2: after the steel lining ring is assembled, the electromagnet assembly 28 is turned off, and the driving motor 22 of the clamp device 20 rotates in the opposite direction again, driving the pair of clamps 25 to open, and the telescopic rod 33 of the grab rod device 30 is extended, driving the rotating rod 31, the driven rod 34, the main support rod 32, and the connecting rod 35 to retract in the direction of the telescopic rod 33 until they are away from the web 12 of the steel lining segment 1, and the assembling machine rises, driving the grabbing sling to detach from the steel lining segment 1, and the torque motor rotates, driving the grabbing rod device 30 to be placed in the inner cavity of the sling body 10.

[0034] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of the claims.

Claims

1. A grabbing and lifting device for steel lining segments, characterized in that: It includes: The hanger body, clamp device and grab rod device, the hanger body is composed of two layers of arc-shaped shells arranged at intervals, and multiple webs arranged vertically and connected between the two layers of arc-shaped shells and welded together, the arc-shaped shell on the top of the hanger body cooperates with the vacuum suction cup of the assembling machine, the arc-shaped shell at the bottom is consistent with the curvature of the steel lining segment to be hoisted, and the arc-shaped shell at the bottom is provided with a plurality of long slots; the fixed ends of at least two pairs of clamp devices and at least two pairs of grab rod devices are connected to the inner cavity of the hanger body, the number and positions of the clamp devices and the grab rod devices correspond to the number and positions of the long slots on the bottom arc-shaped shell, so that the movable ends of the clamp devices and the grab rod devices can extend out of the long slots and clamp the steel lining segment to be hoisted.

2. The grabbing and lifting device for steel lining segments according to claim 1 is characterized in that: At least two pairs of clamp devices and at least two pairs of grabbing rod devices are symmetrically arranged along the axis of the sling body, and the grabbing rod devices are arranged on the outside of the clamp devices.

3. The grabbing and lifting device for steel lining segments according to claim 1 is characterized in that: The clamp device includes a driving motor connected to the ear plate at the top of the hanger body, a driving gear connected to the output shaft of the driving motor, and a pair of clamps hinged to the ear plate, the top ends of the pair of clamps are connected to the ear plate through a rotating shaft, and the bottom ends of the pair of clamps can extend into the holes of the steel lining segment, the tops of the pair of clamps are provided with meshing convex teeth, and the convex teeth of at least one clamp are meshed with the driving gear, and the middle part of the pair of clamps is provided with corresponding grooves near the top plate of the steel lining segment.

4. The grabbing and lifting device for steel lining segments according to claim 3 is characterized in that: The bottom of the clamp is hollow, and an electromagnet assembly is installed in the hollow position.

5. The grabbing and lifting device for steel lining segments according to claim 3 is characterized in that: A layer of rubber sheet is provided on one side of a pair of clamps close to the web of the steel lining segment.

6. The grabbing and lifting device for steel lining segments according to claim 1 is characterized in that: The grab rod device includes a torque motor, a rotating rod, a driven rod, a main support rod, a connecting rod and a telescopic rod. The torque motor is connected to the side of the web of the sling body, the fixed end of the rotating rod is connected to the output shaft of the torque motor, one end of the main support rod is pin-connected to the rotating end of the rotating rod, one end of the driven rod is pin-connected to the rotating rod and the telescopic rod, the other end of the driven rod is pin-connected to one end of the connecting rod, the other end of the connecting rod is pin-connected to the main support rod, the fixed end of the telescopic rod is connected to the rotating rod, and the movable end of the telescopic rod is pin-connected to the other end of the main support rod.

7. The grabbing and lifting device for steel lining segments according to claim 6 is characterized in that: The sling body also includes a positioning ear plate arranged on the inner wall of the bottom arc-shaped shell. The cross-section of the positioning ear plate is L-shaped. One end of the positioning ear plate is fixed to the arc-shaped shell. When the rotating end of the rotating rod of the grabbing rod device contacts the web of the steel lining segment, the other end of the positioning ear plate abuts against the top of the rotating rod.

8. The grabbing and lifting device for steel lining segments according to claim 1 is characterized in that: The grab rod device also includes a limit block 1 connected to the connection between the rotating rod and the main support rod, and a limit block 2 connected to the connection between the driven rod and the connecting rod. The side of the limit block 1 and the limit block 2 away from the telescopic rod has a smooth bottom surface. When the telescopic rod of the grab rod device extending into the inner cavity of the steel lining pipe segment is contracted, the angle between the rods on both sides of the telescopic rod becomes smaller, and the bottom surfaces of the limit block 1 and the limit block 2 are against the two webs of the steel lining pipe segment. The grab rod device also includes a limit block 3 connected to the end of the telescopic rod. The limit block 3 is set at an angle to the telescopic rod, and the limit block 3 is close to the connecting rod with a shorter length.

9. The method for using the grabbing and slinging device for steel lining segments according to any one of claims 1 to 8, characterized in that: Here are the steps: S1: Press the vacuum suction cup of the assembling machine on the top of the sling body, and draw vacuum until the vacuum suction cup absorbs the sling body; control the torque motor of the grabbing rod device to rotate in the direction of the center line, driving the rotating rod, the driven rod, the main support rod, and the connecting rod of the grabbing rod device to rotate downward and be in a retracted state; control the driving motor of the clamp device to rotate, driving a pair of clamp bodies to rotate in the opposite direction of the center line, so that the pair of clamp bodies are in an open state; S2: The assembling machine moves downward until the main body of the hoist contacts the upper surface of the steel lining segment to be hoisted, the open clamp body and the retracted grab rod device respectively extend into the inner cavity of the steel lining segment, the telescopic rod of the grab rod device contracts, driving the rotating rod, the driven rod, the main support rod and the connecting rod to open to both sides until they are against the web of the steel lining segment; the driving motor of the clamp device rotates in the opposite direction, driving a pair of clamp bodies to rotate in the center line direction until they contact the web, thus completing the grab connection between the grabbing hoist and the steel lining segment, and the assembling machine completes the assembly of the steel lining ring according to the assembly process of conventional concrete lining blocks.

10. The method for using the grabbing and slinging device for steel lining segments according to claim 9, characterized in that: The step S2 also includes that after a pair of clamp bodies contact the web of the steel lining segment, the electromagnet assembly of the clamp bodies is started, so that the electromagnet assemblies of the pair of clamp bodies are firmly adsorbed on both sides of the web; after the step S2, step S3 is also included: after the steel lining ring is assembled, the electromagnet assembly is closed, and the driving motor of the clamp device rotates in the opposite direction again, driving the pair of clamp bodies to open, and the telescopic rod of the grab rod device extends, driving the rotating rod, the driven rod, the main support rod, and the connecting rod to retract in the direction of the telescopic rod until they are away from the web of the steel lining segment, the assembling machine rises, driving the grabbing sling to detach from the steel lining segment, and the torque motor rotates, driving the grab rod device to be placed in the inner cavity of the sling body.

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