Inverted arch precast block assembling device

Abstract

The invention discloses an inverted arch precast block assembling device, which comprises a walking device, an inverted arch precast block assembling device, a supporting device and an inverted arch precast block assembling device, the walking device comprises a walking assembly and an inverted arch precast block placing assembly, and the inverted arch precast block placing assembly comprises an arc-shaped track, a plurality of balls embedded in the arc-shaped track and an air floating assembly; the lifting hook assembly comprises a main hook body, a rotating mechanism fixedly connected with the upper surface of the main hook body, a laser positioner arranged at the lower end of the main hook body and a guiding device, and the guiding device is used for detecting the distance and angle deviation between the grabbing hook and the lifting hole, so that the main hook body is moved and rotated, and the hook tip of the grabbing hook directly faces the lifting hole; and the claw hooks are driven to be inserted into the hoisting holes and closed, and the inverted arch precast block is hoisted and moved to the mounting position. Through the combination of the arc-shaped track, the balls and the air floating assembly, friction generated when the inverted arch precast block is placed on the walking device can be reduced, friction and abrasion in the transportation process can also be reduced, and the hoisting accuracy of the lifting hook assembly on the inverted arch precast block can be improved through the laser positioner and the guiding device.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel inverted arch prefabricated blocks, and more specifically, to an inverted arch prefabricated block assembling device. Background Art

[0002] In tunnel construction, the invert is an important part of the tunnel structure, and its construction quality directly affects the stability and service life of the tunnel. Traditional invert construction mostly adopts the method of pouring concrete on site, which has many disadvantages. On the one hand, on-site pouring requires a lot of formwork construction and dismantling work, which not only consumes a lot of manpower, material resources and time, but also has low construction efficiency, which seriously affects the progress of the project. On the other hand, on-site pouring is greatly affected by the construction environment and human factors. The pouring quality of concrete is difficult to guarantee, and it is easy to have quality problems such as honeycomb, rough surface, insufficient strength, etc., and the later maintenance cost is high.

[0003] With the development of prefabricated assembly technology, the assembly construction of prefabricated inverted arch blocks has gradually become a new trend. However, the existing prefabricated inverted arch block assembly devices still have many shortcomings. The positioning accuracy of some devices is not high enough, resulting in deviations of prefabricated blocks during the lifting process, affecting the splicing progress of the entire construction process. The degree of automation of some devices is low, and a large amount of manual assistance is required, which not only increases the labor intensity, but also makes human operation errors prone. The patent with the authorization announcement number CN110847938B, named Prefabricated Inverted Arch Block Assembly Equipment and Method, discloses a two-axle sliding vehicle and a hoist with a complex structure and cumbersome operation. Summary of the invention

[0004] The present invention provides an assembling device for an inverted arch prefabricated block. The combination of an arc track with a ball bearing and an air flotation component can reduce the friction when placing the inverted arch prefabricated block on a walking device, and can also reduce the friction and wear during transportation. The laser positioner and the guide device can improve the hoisting accuracy of the hook component for the inverted arch prefabricated block, thereby efficiently and accurately completing the hoisting and assembling work of the inverted arch prefabricated block.

[0005] In order to achieve these purposes and other advantages of the present invention, a prefabricated invert block assembly device is provided, comprising: The walking device comprises a walking assembly and an inverted arch prefabricated block placing assembly arranged on the walking assembly, wherein the inverted arch prefabricated block placing assembly comprises: A curved track is matched with the curved surface of the prefabricated inverted arch block, and a plurality of balls are embedded in the curved track; The air flotation component comprises: an air flotation source for generating an air source; an air flotation cavity arranged inside the arc track and connected to the air flotation source, and air holes connected to the air flotation cavity are evenly distributed on the surface of the arc track; A hook assembly, which is used to lift the inverted arch prefabricated block on the inverted arch prefabricated block placement assembly, and the hook assembly comprises: The main hook body has a grab hook at its lower end, and the grab hook is opened and closed to grab and release the hoisting hole on the invert prefabricated block; A rotating mechanism, which is fixedly connected to the upper surface of the main hook body and is used to rotate the main hook body; A laser locator is arranged at the lower end of the main hook body, so that the laser beam emitted by the laser locator coincides with the center line of the grab hook, and whether the grab hook is aligned with the hoisting hole on the invert prefabricated block is determined according to the data measured by the laser locator; The guide device comprises a guide arm and an infrared sensor arranged on the guide arm, wherein the infrared sensor is used to detect the distance and angle deviation between the grab hook and the lifting hole, wherein the guide arm is arranged on the main hook body in a telescopic manner, and according to the data detected by the infrared sensor, the main hook body is moved and rotated so that the hook tip of the grab hook faces the lifting hole, the grab hook is driven to be inserted into the lifting hole and closed, and the inverted arch prefabricated block is lifted and moved to the installation position.

[0006] Preferably, the guide arm specifically comprises: Two guide rods are vertically arranged, and one end of the two guide rods is respectively arranged on two opposite sides of the main hook body in a telescopic manner; An annular rod, which is horizontally arranged and fixedly arranged on the other ends of the two guide rods, and the laser emitted by the laser locator is located at the center of the annular rod; Wherein, four infrared sensors are arranged at equal intervals on the annular rod.

[0007] Preferably, a mounting groove is respectively arranged on two opposite side surfaces of the main hook body, an electric push rod is fixedly arranged in each mounting groove, and the end of each electric push rod is fixedly connected to the end of one of the guide rods.

[0008] Preferably, it also includes a track frame, in which a plurality of arc tracks are arranged, each arc track is provided with a ball groove, a plurality of balls are embedded in each ball groove, a plurality of air flotation cavities are arranged inside the arc tracks on both sides of the ball groove, and the air holes are distributed on the upper surface of each air flotation cavity; wherein each air flotation cavity is connected to the air flotation source.

[0009] Preferably, the track frame and the arc track are both made of high-strength aluminum alloy.

[0010] Preferably, the rotating mechanism adopts a slewing support bearing, the inner ring of the slewing support bearing is fixedly connected to the main hook body, and the outer ring of the slewing support bearing is fixedly connected to a suspension arm of a suspension mechanism.

[0011] Preferably, a shock absorbing device is further provided between the walking assembly and the inverted arch prefabricated block placement assembly, and the shock absorbing device is a rubber shock absorbing pad.

[0012] Preferably, the main hook body is provided with a grab hook at its lower end, and the specific arrangement is as follows: a pneumatic clamp cylinder is fixedly arranged below the main hook body, and the grab hook includes two clamps, each clamp is fixedly connected to the piston of a pneumatic clamp cylinder, and opens and closes under the drive of the pneumatic clamp cylinder, wherein the laser locator is located above the center position of the two clamps.

[0013] Preferably, the main hook body is made of high-strength alloy steel, and the guide arm is made of aluminum alloy.

[0014] The present invention has at least the following beneficial effects: First, the present invention is provided with an inverted arch prefabricated block placement assembly on the walking assembly, and the inverted arch prefabricated block placement assembly comprises: an arc track and an air flotation assembly, the arc track is adapted to the arc surface of the inverted arch prefabricated block, and the arc track is embedded with balls, which reduces the friction when the inverted arch prefabricated block is placed on the walking device, so that the inverted arch prefabricated block can move and position more smoothly on the arc track. The air source generated by the air flotation assembly forms an air cushion layer through the air flotation cavity and the air hole, further reducing friction and wear, and can also buffer and adjust the placement position of the inverted arch prefabricated block to a certain extent, thereby improving the placement efficiency and stability. Therefore, the present invention combines the arc track with the balls and the air flotation assembly, on the one hand, reduces the friction when the inverted arch prefabricated block is placed on the inverted arch prefabricated block placement assembly, and improves the placement efficiency. On the other hand, it also reduces the pressure of the inverted arch prefabricated block on the entire walking device, effectively reduces the wear and damage of the inverted arch prefabricated block when it is transported in the tunnel, and facilitates the walking device to transport the inverted arch prefabricated block to the position to be spliced, thereby improving the construction quality and progress.

[0015] Second, the laser beam emitted by the laser locator of the hook assembly coincides with the center line of the grab hook. The operator can intuitively judge the alignment of the grab hook and the lifting hole on the inverted arch prefabricated block based on the measurement data of the laser locator, thereby achieving preliminary accurate positioning. The guide arm is retractable, so that the infrared sensor can detect the distance and angle deviation between the grab hook and the lifting hole in real time, so that the main hook body can be moved and rotated according to the data measured by the infrared sensor, thereby accurately adjusting the position of the grab hook so that the hook tip is facing the lifting hole, driving the grab hook to be inserted into the lifting hole and closed, so as to lift the inverted arch prefabricated block, greatly improving the lifting accuracy and realizing the automation of the lifting process.

[0016] Third, the guide arm adopts the structure of two retractable guide rods and annular rods. Four infrared sensors are set on the annular rods at equal intervals to obtain detection data from multiple angles. It can fully detect the deviation between the grab hook and the lifting hole, so as to accurately adjust the position of the grab hook. The opening and closing structure of the grab hook can stably grab and release the lifting hole, combined with precise positioning and adjustment, to ensure the reliability of the lifting process.

[0017] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a side structural schematic diagram of a walking device in an inverted arch prefabricated block assembling device of the present invention; Figure 2 It is a side structural schematic diagram of a hook assembly (with the grab hook opened) in the invert prefabricated block assembly device of the present invention; Figure 3 It is a side structural schematic diagram of a hook assembly (with the grab hook closed) in the inverted arch prefabricated block assembly device of the present invention; Figure 4 It is a top view structural schematic diagram of the guide device in the inverted arch prefabricated block assembly device of the present invention; Figure 5 It is a side structural schematic diagram of an inverted arch prefabricated block in the inverted arch prefabricated block assembling device of the present invention; Figure 6 It is a structural schematic diagram of a V-shaped embedding groove in a ball groove on an arc-shaped track in an inverted arch prefabricated block assembling device of the present invention. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0020] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0021] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial sources unless otherwise specified; in the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected, set, or detachably connected, set, or connected and set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood in specific circumstances. The orientation or position relationship indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0022] like Figure 1 to Figure 6 As shown, an embodiment of the present invention provides an inverted arch prefabricated block assembly device, comprising: The walking device comprises a walking assembly 1 and an inverted arch prefabricated block placing assembly 3 arranged on the walking assembly, wherein the inverted arch prefabricated block placing assembly 3 comprises: A curved track 301 is matched with the curved surface of the inverted arch prefabricated block 4, and a plurality of balls 302 are embedded in the curved track 301; The air flotation component includes: an air flotation source 304 for generating an air source; an air flotation cavity 303, which is arranged inside the arc track 301 and is connected to the air flotation source 304, and air holes connected to the air flotation cavity 303 are evenly distributed on the surface of the arc track 301; A hook assembly 5 is used to lift the inverted arch prefabricated block 4 on the inverted arch prefabricated block placement assembly 3, and the hook assembly 5 includes: The main hook body 501 has a grab hook 503 at its lower end, and the grab hook 503 is opened and closed to grab and release the hoisting hole 401 on the invert prefabricated block 4; A rotating mechanism 502, which is fixedly connected to the upper surface of the main hook body 501 and is used to rotate the main hook body 501; A laser locator 505 is arranged at the lower end of the main hook body 501, so that the laser beam emitted by the laser locator 505 coincides with the center line of the grab hook 503, and according to the data measured by the laser locator 505, it is determined whether the grab hook 503 is aligned with the hoisting hole 401 on the invert prefabricated block 4; The guide device 510 includes a guide arm and an infrared sensor 509 arranged on the guide arm, wherein the infrared sensor 509 is used to detect the distance and angle deviation between the grab hook 503 and the lifting hole 401, wherein the guide arm is arranged on the main hook body 501 in a telescopic manner, and according to the data detected by the infrared sensor 509, the main hook body 501 is moved and rotated so that the hook tip of the grab hook 503 faces the lifting hole 401, and the grab hook 503 is driven to be inserted into the lifting hole 401 and closed, so that the arch prefabricated block 4 is lifted and moved to the installation position.

[0023] In the above embodiment, the walking assembly 1 can adopt a crawler walking chassis to ensure that the walking device can stably walk in the tunnel or stably walk on the assembled inverted arch prefabricated block 4, and bear the weight of the inverted arch prefabricated block 4. The inverted arch prefabricated block placement assembly 3 is installed above the walking assembly, and the arc track 301 is precisely designed according to the arc surface of the inverted arch prefabricated block 4, and can be made of high-strength wear-resistant steel, and fits tightly with the arc surface of the inverted arch prefabricated block 4. For example, the arc track 301 is evenly inlaid with balls 302 with a diameter of 2 to 3 cm, and the balls 302 are made of high-hardness bearing steel. The spacing of the balls 302 is 4 to 5 cm, and the balls 302 are installed in the ball 302 groove to ensure that the balls 302 can roll freely and will not fall off. The setting of the balls 302 can effectively reduce the friction of the prefabricated block moving on the track. For the air flotation assembly, an air flotation source 304 of model AF-100 can be selected, which can generate a stable high-pressure gas source, and the working pressure can reach 0.8MPa. The air flotation chamber 303 can be designed as an arc structure that matches the arc track 301, or it can be set to a structure with a trapezoidal cross section, which is connected to the air flotation source 304 through a pipeline. Air holes with a diameter of 5 mm are evenly opened on the surface of the arc track 301, and about 80 air holes are distributed on the arc track 301 per square meter, so as to ensure that a uniform and stable air cushion layer is formed on the surface of the arc track 301, so that the inverted arch prefabricated block 4 placed on the arc track 301 can be suspended under the action of air flotation, further reducing the movement resistance. In addition, when the inverted arch prefabricated block 4 is placed on the arc track 301, under the action of the ball 302 and air flotation, and under the gravity of the inverted arch prefabricated block 4 itself, the inverted arch prefabricated block 4 is easy to automatically adjust the position, saving time and effort. When the walking assembly moves in the tunnel or on the already laid inverted arch prefabricated blocks 4, if it encounters unstable ground, when the walking assembly bumps, the inverted arch prefabricated blocks 4 can reduce the friction with the arc track 301 under the action of the ball bearings 302 and air flotation, thereby reducing the wear of the inverted arch prefabricated blocks 4. Therefore, the inverted arch prefabricated block placement assembly 3 set in this embodiment can conveniently transport the inverted arch prefabricated blocks 4 to the position to be spliced.

[0024] For the hook assembly 5, the hook assembly 5 is fixedly connected to the arm of the hanger mechanism, and the hook assembly 5 can move in all directions under the action of the hanger mechanism. The embodiment of the present invention mainly improves the hook assembly 5, and the existing technology is used for the hanger mechanism, as long as the function can be achieved. In order to ensure that the main hook body 501 can bear the weight of the inverted arch prefabricated block 4, the main hook body 501 can be forged with high-strength alloy steel. The grab hook 503 is set to a double-petal structure, and the opening size of the grab hook 503 can be set according to the size of the lifting hole 401 on the inverted arch prefabricated block 4 to ensure that the lifting hole 401 can be tightly grasped. The laser beam emitted by the laser locator 505 of the hook assembly 5 coincides with the center line of the grab hook 503. The construction personnel can judge whether the grab hook 503 is aligned with the lifting hole 401 on the inverted arch prefabricated block 4 based on the data measured by the laser locator 505, thereby realizing the initial accurate positioning of the grab hook 503. The guide arm is extended, so that the infrared sensor 509 arranged on the guide arm detects the distance and angle deviation between the grab hook 503 and the hoisting hole 401 in real time, so as to move and rotate the main hook body 501 according to the data measured by the infrared sensor 509, thereby accurately adjusting the position of the grab hook 503, so that the hook tip of the grab hook 503 faces the hoisting hole 401, and drives the grab hook 503 to be inserted into the hoisting hole 401 and closed, so as to hoist the invert prefabricated block 4, which greatly improves the hoisting accuracy and realizes the automation of the hoisting process. The distance deviation between the grab hook 503 and the hoisting hole 401 refers to the distance deviation between the central axis of the grab hook 503 and the central axis of the hoisting hole 401, and the angle deviation refers to the angle of the hook tip of the grab hook 503 facing the hoisting hole 401.

[0025] In one specific embodiment, the guide arm specifically includes: Two guide rods 507 are vertically arranged, and one end of the two guide rods 507 is respectively telescopically arranged on two opposite sides of the main hook body 501; The annular rod 508 is horizontally arranged and fixedly disposed on the other ends of the two guide rods 507, and the laser emitted by the laser locator 505 is located at the center of the annular rod 508; Wherein, four infrared sensors 509 are arranged on the annular rod 508 at equal intervals.

[0026] Specifically, a mounting groove is respectively arranged on two opposite side surfaces of the main hook body 501 , and an electric push rod 506 is fixedly arranged in each mounting groove. The end of each electric push rod 506 is fixedly connected to the end of one of the guide rods 507 .

[0027] In the above embodiment, four infrared sensors 509 are evenly distributed on the annular rod 508, and the circumference of the plane where the annular rod 508 is located is equally divided into four areas. This layout ensures that the infrared sensor 509 can cover a range of 360° around the grab hook 503. When there is a position deviation between the grab hook 503 and the hoisting hole 401, the infrared sensors 509 at different positions will generate different detection data due to different distances from the hoisting hole 401. Therefore, this embodiment can detect the distance deviation and angle deviation between the grab hook 503 and the hoisting hole 401 in real time from multiple directions, obtain more comprehensive data, and greatly improve the accuracy and reliability of detection compared to a single sensor. For example, if the distance deviation to the left is 5 cm and the angle deviation to the left is 3 °, it can be moved to the right by 5 cm first, and then the main hook body 501 can be rotated to the right by the rotating mechanism 502, so that the hook tip of the grab hook 503 can be accurately aligned with the hoisting hole 401, thereby improving the accuracy of the hoisting positioning of the inverted arch prefabricated block 4. The specific process is as follows: the central axis of the grab hook 503 and the central axis of the hanging hole 401 are first preliminarily positioned by the laser locator 505. Then the guide rod 507 is extended, and the hanging hole 401 is located in the annular rod 508. According to the data measured by the four infrared sensors, the distance deviation and angle deviation between the grab hook 503 and the hanging hole 401 are determined. It should be noted that in order to determine the distance deviation and angle deviation between the grab hook 503 and the hanging hole 401, it is necessary to obtain the data measured by the four infrared sensors 509 when the hook tip of the grab hook 503 is facing the hanging hole 401 in advance, and then compare the data measured by the four infrared sensors 509 with the standard data to obtain the distance deviation and angle deviation.

[0028] In one specific embodiment, it also includes a track frame 2, in which a plurality of arc tracks 301 are arranged, each arc track 301 is provided with a ball groove 306, a plurality of balls 302 are embedded in each ball groove 306, a plurality of air flotation cavities 303 are arranged inside the arc track 301 on both sides of the ball groove 306, and the air holes are distributed on the upper surface of each air flotation cavity 303; wherein each air flotation cavity 303 is connected to the air flotation source 304. The track frame 2 and the arc track 301 are both made of high-strength aluminum alloy.

[0029] In the above embodiment, only one ball groove or two ball grooves can be provided on each arc track 301, and the specific setting can be made according to the actual situation. A plurality of V-shaped inlay grooves 305 are arranged in each ball groove, and a ball 302 is inlaid in each V-shaped inlay groove 305. The track frame 2 can be a rectangular frame structure, and a plurality of arc tracks 301 are arranged in the three-dimensional frame. The track frame 2 can also limit the inverted arch prefabricated blocks 4 on the arc track 301. The arc track 301 can be set to 4 or 6, which can accommodate two inverted arch prefabricated blocks 4. The track frame 2 and the arc track 301 are both made of high-strength aluminum alloy, which has the advantages of light weight, high strength, corrosion resistance, etc., and can effectively reduce the overall weight of the walking device 1, while ensuring that it is not affected by the humid environment of the tunnel during long-term use. A ball 302 groove is provided on each arc track 301, and the width and depth of the ball 302 groove can be determined according to the size of the ball 302. The ball 302 preferably has a diameter of 2 cm. As for the air flotation chamber 303, each air flotation chamber 303 is connected to a pipeline, and then connected to the air flotation source 304 through the pipeline. The pipeline adopts a high-strength rubber pipeline, and a valve and a pressure gauge are arranged on the pipeline to facilitate the control and monitoring of the pressure and flow of the air source.

[0030] It should be noted that due to the high dust and humidity in the tunnel environment, in order to ensure that the air flotation components can work normally, some sealing designs need to be made during the specific settings. For example, when the air flotation cavity is connected to the air flotation source through a pipe, the connection between the pipe and the air flotation cavity, and the connection between the pipe and the air flotation source, all need to use high-performance sealing rings or sealants to prevent dust and water vapor from entering the air flotation cavity. For the air flotation source, compressed air that has been dried and filtered is preferred as the air flotation source. Therefore, the air flotation source should be equipped with a high-performance air compressor, a dryer and a precision filter to form a compressed air supply system to remove moisture and dust particles in the compressed air so that the air quality meets the use requirements of the air flotation system. In order to protect the pores, they need to be cleaned regularly, and a micro filter can be installed on the pores. The pore size of the filter should be smaller than the diameter of the dust particles to prevent dust from entering the pores.

[0031] In one specific embodiment, the rotating mechanism 502 adopts a slewing bearing, the inner ring of the slewing bearing is fixedly connected to the main hook body 501, and the outer ring of the slewing bearing is fixedly connected to the arm of a hanger mechanism.

[0032] In the above embodiment, a suitable slewing bearing is selected according to the weight, size and other parameters of the inverted arch prefabricated block 4. For example, for the inverted arch prefabricated block 4 weighing about 8 tons, a slewing bearing with a load capacity of 10 tons and a diameter of 80 cm can be selected. Since the hoisting holes 401 of the inverted arch prefabricated block 4 are usually set to 2 or 4, the hook assemblies 5 are also set to 2 or 4. If there are two hoisting holes 401, two hook assemblies 5 are required to jointly carry the 8-ton inverted arch prefabricated block 4, and a slewing bearing with a load capacity of 5 tons can be selected.

[0033] In one specific embodiment, a shock absorbing device 6 is further provided between the walking assembly and the inverted arch prefabricated block 4 placement assembly 3, and the shock absorbing device 6 is a rubber shock absorbing pad.

[0034] In the above embodiment, the rubber shock-absorbing pad is laid on the entire connection surface of the walking assembly and the inverted arch prefabricated block placement assembly 3, so that the two are completely in contact through the rubber shock-absorbing pad, which can minimize the vibration transmission, but it is necessary to ensure the flatness and uniformity of the rubber shock-absorbing pad to ensure uniform load bearing. The walking assembly and the inverted arch prefabricated block placement assembly 3 can be fixedly connected by bolts.

[0035] In one specific embodiment, the main hook body 501 is provided with a grab hook 503 at its lower end, and the specific arrangement is as follows: a pneumatic clamp cylinder 504 is fixedly provided below the main hook body 501, and the grab hook 503 includes two clamps, each of which is fixedly connected to the piston of a pneumatic clamp cylinder 504, and opens and closes under the drive of the pneumatic clamp cylinder 504, wherein the laser locator 505 is located above the center position of the two clamps.

[0036] In the above embodiment, a pneumatic clamping claw cylinder 504 of model MHL2-20D can be selected. The cylinder has a high clamping force and response speed, and the maximum clamping force can reach 500N, which can meet the requirements of the grab hook 503 for grabbing the inverted arch prefabricated block 4. The two clamping claws of the grab hook 503 are made of wear-resistant, high-strength alloy steel to improve its wear resistance and corrosion resistance. The shape of the clamping claw is designed according to the shape of the hoisting hole 401 of the inverted arch prefabricated block 4, and is arc-shaped, which can fit well with the inner wall of the hoisting hole 401 to ensure the stability of grabbing. Exemplarily, the length of the clamping claw is 0.3 meters and the thickness is 0.05 meters.

[0037] It should be noted that, in the specific implementation, for the processing of the arc track 301, a suitable material, namely a high-strength aluminum alloy material, is selected. The CNC machine tool is used for milling, grinding and other processing techniques to accurately process the shape of the arc track. During the processing, the dimensional accuracy and surface quality of the arc track are guaranteed by precise programming and tool path control. After the arc track is processed, the air flotation cavity is processed inside the arc track by using processes such as electric spark machining, electrolytic machining or precision boring. For the air holes of the air flotation cavity, drilling, electric spark perforation and other methods can be used for processing to ensure the dimensional accuracy and position accuracy of the air holes. The main hook body 501 is forged with high-strength alloy steel, and the two clamping claws of the grab hook 503 are made of wear-resistant, high-strength alloy steel. These two components can be integrally formed during manufacturing, and then undergo milling, grinding and other processing techniques. The above only provides some processing methods, and this embodiment does not make specific limitations, as long as the structure designed in this embodiment can be realized by using existing technology.

[0038] The working process of the inverted arch prefabricated block assembly device is as follows: S1, open the air flotation assembly, and place the inverted arch prefabricated block 4 on the inverted arch prefabricated block placement assembly 3 of the walking device; S2, starting the walking device, the walking device walking on the already laid inverted arch prefabricated blocks 4, the walking assembly 1 drives the inverted arch prefabricated block placement assembly 3 to move to the vicinity of the position to be assembled; S3. Move the hook assembly 5 close to the inverted arch prefabricated block 4 through the hanger mechanism, turn on the laser locator 505, obtain the relative position of the laser locator 505 and the hanging hole 401 on the inverted arch prefabricated block 4 according to the data measured by the laser locator 505, preliminarily judge the alignment of the grab hook 503 and the hanging hole 401, and roughly adjust the position of the main hook body 501; on the same horizontal plane, when the data measured by the laser locator 505 is the shortest, it means that the laser emitted by the laser locator 505 is facing the highest point of the hanging hole 401.

[0039] S4. When the grab hook 503 approaches the hanging hole 401, the guide device 510 starts to work. The guide rod 507 is extended so that the hanging hole 401 is located in the four infrared sensors 509 on the annular rod 508. The four infrared sensors 509 detect the distance deviation and angle deviation between the grab hook 503 and the hanging hole 401 in real time, and feed the data back to the control system. The control system moves the main hook body 501 according to the data detected by the infrared sensor 509, and controls the rotating mechanism 502 to drive the main hook body 501 to rotate, so that the hook tip of the grab hook 503 faces the hanging hole 401; S5. When the grab hook 503 is precisely aligned with the lifting hole 401, the pneumatic clamping claw cylinder 504 is started to drive the two clamping claws to close, tightly grasp the lifting hole 401 on the inverted arch prefabricated block 4, and complete the grasping action of the prefabricated block; S6. The boom of the hanger mechanism drives the main hook body 501 and the captured inverted arch prefabricated block 4 to rise through the slewing support bearing, lifts the inverted arch prefabricated block 4 from the inverted arch prefabricated block placement assembly 3, and then moves it to the top of the installation position. The boom slowly descends to lift the inverted arch prefabricated block 4 to the installation position.

[0040] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0041] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An inverted arch prefabricated block assembly device, characterized in that: include: The walking device comprises a walking assembly and an inverted arch prefabricated block placing assembly arranged on the walking assembly, wherein the inverted arch prefabricated block placing assembly comprises: A curved track is matched with the curved surface of the prefabricated inverted arch block, and a plurality of balls are embedded in the curved track; The air flotation component comprises: an air flotation source for generating an air source; an air flotation cavity arranged inside the arc track and connected to the air flotation source, and air holes connected to the air flotation cavity are evenly distributed on the surface of the arc track; A hook assembly, which is used to lift the inverted arch prefabricated block on the inverted arch prefabricated block placement assembly, and the hook assembly comprises: The main hook body has a grab hook at its lower end, and the grab hook is opened and closed to grab and release the hoisting hole on the invert prefabricated block; A rotating mechanism, which is fixedly connected to the upper surface of the main hook body and is used to rotate the main hook body; A laser locator is arranged at the lower end of the main hook body, so that the laser beam emitted by the laser locator coincides with the center line of the grab hook, and whether the grab hook is aligned with the hoisting hole on the invert prefabricated block is determined according to the data measured by the laser locator; The guide device comprises a guide arm and an infrared sensor arranged on the guide arm, wherein the infrared sensor is used to detect the distance and angle deviation between the grab hook and the lifting hole, wherein the guide arm is arranged on the main hook body in a telescopic manner, and according to the data detected by the infrared sensor, the main hook body is moved and rotated so that the hook tip of the grab hook faces the lifting hole, the grab hook is driven to be inserted into the lifting hole and closed, and the inverted arch prefabricated block is lifted and moved to the installation position.

2. The inverted arch prefabricated block assembly device according to claim 1, characterized in that: The guide arm specifically comprises: Two guide rods are vertically arranged, and one end of the two guide rods is respectively arranged on two opposite sides of the main hook body in a telescopic manner; An annular rod, which is horizontally arranged and fixedly arranged on the other ends of the two guide rods, and the laser emitted by the laser locator is located at the center of the annular rod; Wherein, four infrared sensors are arranged at equal intervals on the annular rod.

3. The inverted arch prefabricated block assembly device according to claim 2, characterized in that: A mounting groove is respectively arranged on two opposite side surfaces of the main hook body, an electric push rod is fixedly arranged in each mounting groove, and the end of each electric push rod is fixedly connected to the end of one of the guide rods.

4. The inverted arch prefabricated block assembly device according to claim 1, characterized in that: It also includes a track frame, in which a plurality of arc tracks are arranged, each arc track is provided with a ball groove, a plurality of balls are embedded in each ball groove, a plurality of air flotation cavities are arranged inside the arc track on both sides of the ball groove, and the air holes are distributed on the upper surface of each air flotation cavity; wherein each air flotation cavity is connected to the air flotation source.

5. The inverted arch prefabricated block assembly device according to claim 4, characterized in that: The track frame and the arc track are both made of high-strength aluminum alloy.

6. The inverted arch prefabricated block assembly device according to claim 1, characterized in that: The rotating mechanism adopts a slewing support bearing, the inner ring of the slewing support bearing is fixedly connected to the main hook body, and the outer ring of the slewing support bearing is fixedly connected to the arm of a hanger mechanism.

7. The inverted arch prefabricated block assembly device according to claim 1, characterized in that: A shock absorbing device is also arranged between the walking assembly and the inverted arch prefabricated block placement assembly, and the shock absorbing device is a rubber shock absorbing pad.

8. The inverted arch prefabricated block assembly device according to claim 1, characterized in that: The main hook body has a grab hook at its lower end, and the specific arrangement is as follows: a pneumatic clamp cylinder is fixedly arranged below the main hook body, and the grab hook includes two clamps, each of which is fixedly connected to the piston of a pneumatic clamp cylinder and opens and closes under the drive of the pneumatic clamp cylinder, wherein the laser locator is located above the center position of the two clamps.

9. The inverted arch prefabricated block assembly device according to claim 8, characterized in that: The main hook body is made of high-strength alloy steel, and the guide arm is made of aluminum alloy.

Images