System for lagging jack transfer, lagging jack trolley and lagging jack transfer method

Abstract

The invention discloses a system for lagging jack transfer, a lagging jack trolley and a lagging jack transfer method, and relates to the technical field of tunnel engineering equipment. In the first aspect, the system for transferring the lagging jack comprises a rack, a transferring grabbing and lifting structure and a transferring sliding frame are arranged on the top face of the rack, the transferring grabbing and lifting structure comprises a grabbing arm and a grabbing arm guiding piece which are in sliding connection with each other, and the transferring sliding frame comprises a storage frame and a storage frame guiding piece which are in sliding connection with each other; the grabbing arm guiding piece and the storage frame guiding piece are arranged in parallel, and at least one storage frame is arranged on each of the two opposite sides of the transferring grabbing and lifting structure. The grabbing arm comprises a sliding mechanism connected with the grabbing arm guiding piece in a sliding mode, the sliding mechanism is provided with a rear grabbing arm and a front grabbing arm which are arranged in a back-to-back mode, and the front grabbing arm is arranged towards the tunnel face of the tunnel. On the second aspect, the lagging jack trolley comprises the system for lagging jack transfer. And thirdly, an arch center transferring method is provided. The stability of the lagging jack in the transfer process can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel engineering equipment, and in particular to a system for arch frame transportation, an arch frame trolley and an arch frame transportation method. Background Art

[0002] In the process of building construction, especially tunnel construction, the installation of arch frame is an important support work. At present, the existing arch frame transportation method is mainly to transport the arch frame to the tunnel face by large equipment such as loaders and cranes. This method has some problems in actual operation.

[0003] Firstly, the traditional lifting method requires a larger operating space. For some construction sites with limited space, such as narrow tunnels, the operation of large equipment is greatly restricted.

[0004] Secondly, the traditional lifting method has low accuracy and it is difficult to place the arch frame accurately at the predetermined position. It often requires multiple adjustments, wasting time and manpower.

[0005] Furthermore, large equipment has high operating costs and is more complicated to maintain.

[0006] The existing arch frame transfer equipment, as described in the Chinese patent application with publication number CN116557045B, can only place the arch frame on a fixed storage rack during the transfer process. The arch frame is prone to shaking, which poses certain safety hazards. In addition, due to the limitation of the grab arm size and length, there is a problem of difficulty in grabbing and transferring the arm frame. Summary of the invention

[0007] The object of the present invention is to provide a system, an arch frame trolley and an arch frame transfer method for arch frame transfer, which can effectively provide stability during the arch frame transfer process.

[0008] In order to solve the above technical problems, the present invention adopts the following solutions:

[0009] In the first aspect, a system for transporting an arch frame is applicable to a folding arch frame and a segmented arch frame, and includes a platform, wherein a transport grabbing structure and a transport slide are provided on the top surface of the platform, wherein the transport grabbing structure includes a front grabbing arm and a rear grabbing arm, and the transport slide is used to transfer the arch frame on which the rear grabbing arm is placed into the grabbing range of the front grabbing arm. Its function is that, through the setting of the front grabbing arm and the rear grabbing arm and the setting of the transport slide, the transport slide can be used to assist the movement of the arch frame, thereby realizing the action of transporting the arch frame to the front grabbing arm without rotating the front grabbing arm and the rear grabbing arm. Since the front grabbing arm and the rear grabbing arm do not need to rotate, the width of the tunnel no longer limits the length of the front grabbing arm and the rear grabbing arm, so the length of the front grabbing arm and the rear grabbing arm can be designed to be longer, thereby increasing the maximum distance of the transport arch frame, and the arch frame can be moved to an arch erecting area far from the platform for arch erection. Furthermore, the transport and grabbing structure includes grab arms that are slidably connected to each other and grab arm guides for moving the grab arms. The grab arms include a sliding mechanism that is slidably connected to the grab arm guides. The sliding mechanism is provided with a rear grab arm and a front grab arm that are arranged back to back. The front grab arm is used to be arranged toward the tunnel face. The sliding mechanism is plate-shaped. The front grab arm and the rear grab arm themselves use common mechanical arms in tunnel engineering equipment. The basic structure of the front grab arm and the rear grab arm themselves to realize the grabbing, pitching, telescopic, and steering functions is the existing technology and will not be described in detail. Its function is that, as the length of the tunnel will gradually become larger than the width of the tunnel during construction, the arch frame must be transferred from the rear side of the platform through the entire platform to the front side of the platform before and after the arch frame is transferred. If a single robotic arm is used to grab the arch frame, place the arch frame on the storage rack, and the robotic arm rotates 360° to grab the arch frame, the robotic arm will be parallel to the width of the tunnel during the rotation of the robotic arm. If the robotic arm is too long, it cannot rotate smoothly. If the robotic arm is too short, the structural strength of the robotic arm itself may not be sufficient to grab the heavier arch frame, which is more dangerous and inconvenient to place the arch frame in front of the platform far away, limiting the construction scope. By setting the front grab arm and the rear grab arm, the rear grab arm of the arch frame can be grabbed, stored, and the front grab arm can be grabbed again without rotating the front grab arm or the rear grab arm 360°. While ensuring the completion of the transportation of the arch frame, the size of the front grab arm can be designed to be long enough to meet the requirements of construction safety and construction scope, and the rotation function of the rear grab arm and the front grab arm itself is only used to fine-tune the placement angle of the arch frame and is not directly used for the transportation of the arch frame; by setting the front grab arm and the rear grab arm on the sliding mechanism, the front grab arm and the rear grab arm can be driven to move forward and backward in the tunnel at the same time by moving a sliding mechanism on the grab arm guide, which can effectively save space on the top surface of the platform, give the front grab arm a larger lateral swing space, facilitate the adjustment of the position of the arch frame, and effectively save energy.

[0010] Furthermore, the transfer slide includes a storage rack that is slidably connected to each other and a storage rack guide for moving the storage rack. The storage rack itself adopts the existing technology and will not be described in detail. The driving device that drives the grabbing arm to move on the grabbing arm guide and drives the storage rack to move on the storage rack guide both adopts the existing technology, such as a motor, a hydraulic cylinder, etc.; the connection mechanism between the driving device and the grabbing arm or the storage rack adopts the existing technology, such as a gear chain mechanism, a gear rack mechanism, a worm gear mechanism, and a telescopic rod mechanism; the sliding connection structure between the grabbing arm and the grabbing arm guide and the sliding connection structure between the storage rack and the storage rack guide both adopt the existing technology and will not be described in detail. Its function is that, through the arrangement of the storage rack and the storage rack guide, the storage rack can move in a direction parallel to the grabbing arm guide, so that the arch frame can move while contacting the grabbing arm and the storage rack at the same time, thereby enhancing the stability of the arch frame during transportation.

[0011] Furthermore, at least one storage rack is provided on each of the two opposite sides of the transport and grabbing structure. The grabbing arm guide and the storage rack guide are both in the shape of a straight track. The moving path of the grabbing arm on the grabbing arm guide is arranged in parallel with the moving path of the storage rack on the storage rack guide. Its function is to maintain the balance of the left and right sides of the arch frame by symmetrically arranging multiple storage racks on the left and right sides of the transport and grabbing structure.

[0012] Furthermore, the rear grab arm and the front grab arm both include a clamping head for clamping the arch frame and a telescopic arm disposed between the clamping head and the sliding mechanism, and the number of sections, length and cross-sectional area of ​​the telescopic arm of the front grab arm are greater than the number of sections, length and cross-sectional area of ​​the telescopic arm of the rear grab arm. The purpose is that, through the design of the size relationship between the front grab arm and the rear grab arm, the front grab arm can have better structural strength and extension distance.

[0013] Furthermore, a pitch mechanism is provided between the telescopic arm and the sliding mechanism to drive the telescopic arm to perform a pitching action. When the rear grab arm and the front grab arm are both at the lowest height, the clamping heads of the rear grab arm and the front grab arm are at the same height. The pitch mechanism and the clamping head themselves adopt the existing technology and are not described in detail. Its function is to ensure that the rear grab arm can be placed on the arch frame on the storage rack and can be grabbed by the front grab arm through the design of the height of the clamping heads on the rear grab arm and the front grab arm.

[0014] Furthermore, a dislocation arm is provided between the clamping head of the front gripping arm and the telescopic arm, and the height difference between the end of the dislocation arm connected to the clamping head and the gripping arm guide is smaller than the height difference between the end of the dislocation arm connected to the telescopic arm and the gripping arm guide. Its function is that, through the design of the dislocation arm, the lowest height of the clamping head on the rear gripping arm is the same as the lowest height of the clamping head on the front gripping arm.

[0015] Furthermore, a downwardly curved guide rod is provided at one end of the storage rack facing away from the face, and its function is to facilitate the rear grab arm to move the arch frame to the middle of the storage rack through the setting of the guide rod.

[0016] Furthermore, the rotation angle of the rear grabbing arm and the front grabbing arm on the horizontal plane is lower than 180°.

[0017] In a second aspect, an arch trolley comprises the above-mentioned system for arch transport.

[0018] In a third aspect, a method for arch transport is applied to the above-mentioned system for arch transport, and comprises the following steps in sequence:

[0019] Step S1, grab the raised arch frame with the rear grab arm;

[0020] Step S2, the sliding mechanism drives the rear grabbing arm and the arch frame on the rear grabbing arm to move to the storage rack, and places the arch frame on the storage rack;

[0021] Step S3, the sliding mechanism drives the front grabbing arm to move to the storage rack and grab the arch frame on the storage rack;

[0022] Step S4: The sliding mechanism drives the front grab arm and the arch frame on the front grab arm to move, and transports the arch frame to a corresponding placement position at the tunnel face.

[0023] Furthermore, the method further comprises the following steps:

[0024] Between step S2 and step S3, before the rear grasping arm places the arch frame on the storage rack and before the rear grasping arm releases the arch frame, the rear grasping arm moves synchronously with the arch frame and the storage rack toward the palm face; its function is that during this process, the arch frame is supported by a total of three supporting points, namely the rear grasping arm and the storage racks on the left and right sides of the rear grasping arm, and the supporting structure is stable. The storage racks mainly provide upward supporting force for the arch frame, and the rear grasping arm mainly prevents the arch frame from sliding left and right and falling.

[0025] Or / and between step S2 and step S3, when the front grasping arm clamps the arch frame placed on the storage rack and before lifting the arch frame off the storage rack, the front grasping arm moves synchronously with the arch frame and the storage rack toward the palm face; its function is that, during this process, the arch frame is supported by a total of three supporting points of the front grasping arm and the storage racks on the left and right sides of the front grasping arm, and the supporting structure is stable. The storage racks mainly provide upward supporting force for the arch frame, and the front grasping arm mainly prevents the arch frame from sliding left and right and falling.

[0026] Or between step S2 and step S3, when the arch frame is placed on the storage rack and the front grabbing arm and the rear grabbing arm are not in contact with the arch frame, the storage rack drives the arch frame to move toward the tunnel face.

[0027] The present invention has the beneficial effects:

[0028] 1. Through the arrangement of the storage rack and the storage rack guide, the storage rack can be moved in a direction parallel to the grab arm guide, so that the arch frame can move while being in contact with the grab arm and the storage rack at the same time, thereby enhancing the stability of the arch frame during transportation;

[0029] 2. As the length of the tunnel will gradually become larger than the width of the tunnel during construction, the arch frame must be transported from the rear side of the platform through the entire platform to the front side of the platform. If a single robotic arm is used to grab the arch frame, place the arch frame on the storage rack, and then the robotic arm rotates 360° to grab the arch frame for transportation, the robotic arm will be parallel to the width of the tunnel during the rotation of the robotic arm. If the robotic arm is too long, it will not be able to rotate smoothly. If the robotic arm is too short, the structural strength of the robotic arm itself may not be sufficient to grab the heavier arch frame, which is more dangerous and inconvenient to place the arch frame in front of the platform far away, limiting the scope of construction. By setting the front grab arm and the rear grab arm, the rear grab arm of the arch frame can be grabbed, stored, and the front grab arm can be grabbed again without rotating the front grab arm or the rear grab arm 360°. While ensuring the completion of the transportation of the arch frame, the size of the front grab arm can be designed to be long enough to meet the requirements of construction safety and construction scope. The rotation function of the rear grab arm and the front grab arm itself is only used to fine-tune the placement angle of the arch frame, and is not directly used for the transportation of the arch frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the three-dimensional structure of Example 1;

[0031] Figure 2 It is a schematic diagram of the three-dimensional structure of the transport and grabbing structure in Example 1;

[0032] Figure 3 This is a schematic diagram of the three-dimensional structure of the transfer slide in Example 1.

[0033] Figure numerals: 1. platform; 2. transport and grabbing structure; 3. transport slide; 4. grab arm; 5. grab arm guide; 6. storage rack; 7. storage rack guide; 8. sliding mechanism; 9. rear grab arm; 10. front grab arm; 11. telescopic arm; 12. offset arm; 13. guide rod; 15. clamping head. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0035] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inside", "outside", "front", "back", "top", "bottom" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0036] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed", "opened", "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] Example 1

[0038] In a first aspect, a system for arch transport, such as Figure 1 As shown, it includes a platform 1, and a transfer grabbing structure 2 and a transfer slide 3 are provided on the top surface of the platform 1, wherein the transfer grabbing structure 2 includes a front grab arm 10 and a rear grab arm 9, and the transfer slide 3 is used to transfer the arch frame on which the rear grab arm 9 is placed into the grabbing range of the front grab arm 10. Through the arrangement of the front grab arm 10 and the rear grab arm 9 and the arrangement of the transfer slide 3, the arch frame can be assisted to move by the transfer slide 3, so as to realize the action of transporting the arch frame to the front grab arm 10 without rotating the front grab arm 10 and the rear grab arm 9. Since the front grab arm 10 and the rear grab arm 9 do not need to rotate, the width of the tunnel no longer limits the length of the front grab arm 10 and the rear grab arm 9, so the length of the front grab arm 10 and the rear grab arm 9 can be designed to be longer, thereby increasing the maximum distance of the transfer arch frame, and the arch frame can be moved to the arch erection area far away from the platform 1 for arch erection.

[0039] Specifically, Figure 2As shown, the transport and grabbing structure 2 includes a grab arm 4 slidably connected to each other and a grab arm guide 5 for moving the grab arm 4. The grab arm 4 includes a sliding mechanism 8 slidably connected to the grab arm guide 5. The sliding mechanism 8 is provided with a rear grab arm 9 and a front grab arm 10 that are arranged back to back. The front grab arm 10 is used to be arranged toward the tunnel face. The front grab arm 10 and the rear grab arm 9 themselves use common mechanical arms in tunnel engineering equipment. The basic structure of the front grab arm 10 and the rear grab arm 9 themselves to realize the grabbing, pitching, telescopic, and steering functions is the existing technology and will not be described in detail. Its function is that, as the length of the tunnel will gradually become larger than the width of the tunnel during construction, the arch frame must be transferred from the rear side of the platform 1 through the entire platform 1 to the front side of the platform 1 before and after the arch frame is transferred. If a single robotic arm is used to grab the arch frame, place the arch frame on the storage rack 6, and the robotic arm rotates 360° to grab the arch frame for transportation, the robotic arm will be parallel to the width of the tunnel during the rotation of the robotic arm. If the robotic arm is too long, it cannot rotate smoothly. If the robotic arm is too short, the structural strength of the robotic arm itself may not be sufficient to grab the heavier arch frame, which is more dangerous and inconvenient to place the arch frame in front of the platform 1 far away, limiting the construction scope. By setting the front grab arm 10 and the rear grab arm 9, it is possible to realize the grabbing, storage and re-grabbing of the front grab arm 10 of the arch frame without rotating the front grab arm 10 or the rear grab arm 9 360°. While ensuring the completion of the transportation of the arch frame, the size of the front grab arm 10 can be designed to be long enough to meet the requirements of construction safety and construction scope. The rotation function of the rear grab arm 9 and the front grab arm 10 itself is only used to fine-tune the placement angle of the arch frame, and is not directly used for the transportation of the arch frame.

[0040] Specifically, Figure 1As shown, the transport slide 3 includes a storage rack 6 that is slidably connected to each other and a storage rack guide 7 for moving the storage rack 6. The grab arm 4 moves on the grab arm guide 5 along the extension direction of the grab arm guide 5, and the storage rack 6 moves on the storage rack guide 7 along the extension direction of the storage rack guide 7. The storage rack 6 itself adopts the existing technology and will not be described in detail. The storage rack 6 is a frame body with a crossbeam for supporting the arch frame on the top. The driving device for driving the grab arm 4 to move on the grab arm guide 5 and the storage rack 6 to move on the storage rack guide 7 both adopts a motor; the connection mechanism between the driving device and the grab arm 4 or the storage rack 6 adopts a gear chain mechanism; the sliding connection structure between the grab arm 4 and the grab arm guide 5 and the sliding connection structure between the storage rack 6 and the storage rack guide 7 both adopt the existing technology and will not be described in detail. The rear end of the platform 1 is provided with a lifting mechanism for lifting the arch frame to a height that can be clamped by the rear grab arm 9. The lifting mechanism adopts the existing technology and will not be described in detail. Its function is that, through the setting of the storage rack 6 and the storage rack guide 7, the storage rack 6 can be moved in a direction parallel to the grab arm guide 5, so that the arch frame can move while contacting the grab arm 4 and the storage rack 6 at the same time, thereby enhancing the stability of the arch frame during transportation.

[0041] Specifically, Figure 1 As shown, at least one storage rack 6 is provided on each of the two opposite sides of the transport and grabbing structure 2. The grab arm guide 5 and the storage rack guide 7 both use linear guide rails. The moving path of the grab arm 4 on the grab arm guide 5 is arranged in parallel with the moving path of the storage rack 6 on the storage rack guide 7. By symmetrically arranging a plurality of storage racks 6 on the left and right sides of the transport and grabbing structure 2, the balance of the left and right sides of the arch can be maintained.

[0042] Specifically, Figure 2 As shown, the rear grab arm 9 and the front grab arm 10 both include a clamping head 15 for clamping the arch frame and a telescopic arm 11 provided between the clamping head 15 and the sliding mechanism 8, and the number of sections, length and cross-sectional area of ​​the telescopic arm 11 of the front grab arm 10 are greater than the number of sections, length and cross-sectional area of ​​the telescopic arm 11 of the rear grab arm 9. Its function is that, through the design of the size relationship between the front grab arm 10 and the rear grab arm 9, the front grab arm 10 can have better structural strength and extension distance.

[0043] Specifically, Figure 2 As shown, a pitch mechanism is provided between the telescopic arm 11 and the sliding mechanism 8 for driving the telescopic arm 11 to perform a pitching action. When the rear grab arm 9 and the front grab arm 10 are both at the lowest height, the clamping heads 15 of the rear grab arm 9 and the front grab arm 10 are at the same height. The pitch mechanism and the clamping head 15 themselves adopt the existing technology and are not described in detail. The pitch mechanism adopts a pitch cylinder. Its function is to ensure that the rear grab arm 9 can be placed on the arch frame of the storage rack 6 and can be grabbed by the front grab arm 10 through the design of the height of the clamping head 15 on the rear grab arm 9 and the front grab arm 10.

[0044] Specifically, Figure 2 As shown, a dislocation arm 12 is provided between the clamping head 15 of the front grabbing arm 10 and the telescopic arm 11, and the height difference between the end of the dislocation arm 12 connected to the clamping head 15 and the grabbing arm guide 5 is smaller than the height difference between the end of the dislocation arm 12 connected to the telescopic arm 11 and the grabbing arm guide 5. Its function is that, through the design of the dislocation arm 12, the lowest height of the clamping head 15 on the rear grabbing arm 9 is the same as the lowest height of the clamping head 15 on the front grabbing arm 10.

[0045] Specifically, Figure 3 As shown, the storage rack 6 is provided with a downwardly bent guide rod 13 at one end facing away from the face. Its function is to facilitate the rear grab arm 9 to move the arch frame to the storage rack 6 middle part through the setting of the guide rod 13.

[0046] In a second aspect, an arch trolley comprises the above-mentioned system for arch transport.

[0047] In a third aspect, a method for arch transport is applied to the above-mentioned system for arch transport, and comprises the following steps in sequence:

[0048] Step S1, using the rear grab arm 9 to grab the raised arch frame;

[0049] Step S2, the sliding mechanism 8 drives the rear grab arm 9 and the arch frame on the rear grab arm 9 to move to the storage rack 6, and places the arch frame on the storage rack 6;

[0050] Step S3, the sliding mechanism 8 drives the front grabbing arm 10 to move to the storage rack 6, and grabs the arch frame on the storage rack 6;

[0051] Step S4: The sliding mechanism 8 drives the front grab arm 10 and the arch frame on the front grab arm 10 to move, and transports the arch frame to a corresponding placement position at the tunnel face.

[0052] The following steps are also included:

[0053] Between step S2 and step S3, before the rear grab arm 9 places the arch frame on the storage rack 6 and before the rear grab arm 9 releases the arch frame, the rear grab arm 9 moves synchronously with the arch frame and the storage rack 6 toward the tunnel face.

[0054] The working principle of this embodiment is described as follows: when the rear grab arm 9 places the arch frame on the storage rack 6 and before the rear grab arm 9 releases the arch frame, the rear grab arm 9 moves toward the face synchronously with the arch frame and the storage rack 6, the rear grab arm 9 and the storage rack 6 jointly support the arch frame to move, with high stability.

[0055] Example 2

[0056] A method for arch transport, applied to the above-mentioned system for arch transport, comprises the following steps in sequence:

[0057] Step S1, using the rear grab arm 9 to grab the raised arch frame;

[0058] Step S2, the sliding mechanism 8 drives the rear grab arm 9 and the arch frame on the rear grab arm 9 to move to the storage rack 6, and places the arch frame on the storage rack 6;

[0059] Step S3, the sliding mechanism 8 drives the front grabbing arm 10 to move to the storage rack 6, and grabs the arch frame on the storage rack 6;

[0060] Step S4: The sliding mechanism 8 drives the front grab arm 10 and the arch frame on the front grab arm 10 to move, and transports the arch frame to a corresponding placement position at the tunnel face.

[0061] The following steps are also included:

[0062] Between step S2 and step S3 , when the front gripping arm 10 clamps the arch frame placed on the storage rack 6 and before lifting the arch frame away from the storage rack 6 , the front gripping arm 10 moves synchronously with the arch frame and the storage rack 6 toward the tunnel face.

[0063] The working principle of this embodiment is described as follows: when the front grab arm 10 clamps the arch frame placed on the storage rack 6 and before lifting the arch frame away from the storage rack 6, the front grab arm 10 moves toward the palm face synchronously with the arch frame and the storage rack 6, the front grab arm 10 and the storage rack 6 jointly support the arch frame to move, with high stability.

[0064] The rest of the structure and working principle are the same as those of Example 1.

[0065] Example 3

[0066] A method for arch transport, applied to the above-mentioned system for arch transport, comprises the following steps in sequence:

[0067] Step S1, using the rear grab arm 9 to grab the raised arch frame;

[0068] Step S2, the sliding mechanism 8 drives the rear grab arm 9 and the arch frame on the rear grab arm 9 to move to the storage rack 6, and places the arch frame on the storage rack 6;

[0069] Step S3, the sliding mechanism 8 drives the front grabbing arm 10 to move to the storage rack 6, and grabs the arch frame on the storage rack 6;

[0070] Step S4: The sliding mechanism 8 drives the front grab arm 10 and the arch frame on the front grab arm 10 to move, and transports the arch frame to a corresponding placement position at the tunnel face.

[0071] The following steps are also included:

[0072] Between step S2 and step S3, when the arch frame is placed on the storage rack 6 and the front grab arm 10 and the rear grab arm 9 are not in contact with the arch frame, the storage rack 6 drives the arch frame to move toward the tunnel face.

[0073] The rest of the structure and working principle are the same as those of Example 1.

[0074] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. According to the technical essence of the present invention, within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the present invention.

Claims

1. A system for arch transport, comprising a stand (1), characterized in that: The top surface of the platform (1) is provided with a transfer and lifting structure (2) and a transfer slide (3), wherein the transfer and lifting structure (2) comprises a front grabbing arm (10) and a rear grabbing arm (9), and the transfer slide (3) is used to transfer the arch frame on which the rear grabbing arm (9) is placed into the grabbing range of the front grabbing arm (10).

2. A system for arch transport according to claim 1, characterized in that: The transport and grabbing structure (2) comprises a grab arm (4) and a grab arm guide (5) for moving the grab arm (4); the grab arm (4) comprises a sliding mechanism (8) slidably connected to the grab arm guide (5); a rear grab arm (9) and a front grab arm (10) are arranged in opposite directions to each other on the sliding mechanism (8); the front grab arm (10) is arranged to face the tunnel face.

3. A system for arch transport according to claim 1, characterized in that: The transfer slide (3) comprises a storage rack (6) and a storage rack guide (7) for moving the storage rack (6).

4. A system for arch transport according to claim 3, characterized in that: At least one storage rack (6) is respectively provided on two opposite sides of the transfer and lifting structure (2).

5. According to a system for transporting an arch frame as described in claim 4, the rear grabbing arm (9) and the front grabbing arm (10) both include a clamping head (15) for clamping the arch frame and a telescopic arm (11) arranged between the clamping head (15) and the sliding mechanism (8).

6. A system for arch transport according to claim 5, characterized in that: A pitching mechanism for driving the telescopic arm (11) to perform a pitching action is provided between the telescopic arm (11) and the sliding mechanism (8); when the rear gripping arm (9) and the front gripping arm (10) are both at the lowest height, the clamping heads (15) of the rear gripping arm (9) and the front gripping arm (10) are at the same height.

7. A system for arch transport according to claim 6, characterized in that: A dislocation arm (12) is provided between the clamping head (15) and the telescopic arm (11) of the front grabbing arm (10), and the height difference between one end of the dislocation arm (12) connected to the clamping head (15) and the grabbing arm guide (5) is smaller than the height difference between one end of the dislocation arm (12) connected to the telescopic arm (11) and the grabbing arm guide (5).

8. An arch trolley, characterized in that: A system for arch transport comprising any one of claims 1-7.

9. An arch transport method, characterized in that: A system for arch transport as claimed in any one of claims 2 to 8, comprising the following steps in sequence: Step S1, using the rear grab arm (9) to grab the raised arch frame; Step S2, the sliding mechanism (8) drives the rear grabbing arm (9) and the arch frame on the rear grabbing arm (9) to move to the transfer slide (3), and places the arch frame on the transfer slide (3); Step S3, enabling the front grabbing arm (10) to grab the arch frame on the storage rack (6); Step S4, the sliding mechanism (8) drives the front grabbing arm (10) and the arch frame on the front grabbing arm (10) to move, and moves the arch frame to the arch erecting area to erect the arch.

10. The arch transport method according to claim 9, characterized in that: The following steps are also included: Between step S2 and step S3, before the rear grab arm (9) places the arch frame on the storage rack (6) and before the rear grab arm (9) releases the arch frame, the rear grab arm (9) moves synchronously with the arch frame and the storage rack (6) toward the tunnel face; or / and between step S2 and step S3, when the front grab arm (10) clamps the arch frame placed on the storage rack (6) and before the arch frame is lifted off the storage rack (6), the front grab arm (10) moves synchronously with the arch frame and the storage rack (6) toward the tunnel face; Or between step S2 and step S3, when the arch frame is placed on the storage rack (6) and the front grab arm (10) and the rear grab arm (9) are not in contact with the arch frame, the storage rack (6) drives the arch frame to move toward the palm face to the front grab arm (10).

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