Segmented lagging jack transfer method and system

Abstract

The invention discloses a segmented arch frame transferring method and system, and relates to the technical field of tunnel engineering equipment, the segmented arch frame transferring system comprises a rack, a lifting mechanism device, an arch frame transferring frame assembly, a middle vertical arch arm frame and a side vertical arch arm frame, the arch frame transferring frame assembly comprises two arch frame transferring assemblies which are arranged on the rack in parallel in a sliding mode in the tunnel direction, and the two arch frame transferring assemblies are arranged on the rack; each of the two arch frame transfer assemblies comprises a self-transmission component; the two arch frame transferring assemblies transfer segmented arch frames on the lifting mechanism device to the rear ends of the two arch frame transferring assemblies, and the segmented arch frames are conveyed to the front ends of the two arch frame transferring assemblies through the self-conveying component. The device layout and the operation process are optimized, the construction efficiency and the automation level are remarkably improved, and meanwhile the occupied space of the device and the complexity of construction organization are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel engineering equipment, and more specifically to the technical field of a segmented arch frame transport method and system. Background Art

[0002] In tunnel construction, the transportation and installation of arch frames are key construction steps and directly affect the construction efficiency and safety of the entire cycle. The existing patents disclose the following:

[0003] The patent discloses the following contents: a segmented arch frame installation trolley, a trolley body; a supporting device, arranged at the rear of the trolley body, including a receiving frame, the receiving frame is used to receive the segmented arch frame; a transport jacking device, including a first slide rail arranged below the supporting frame along the direction from the front to the rear of the trolley body and a lifting strut sliding along the first slide rail, the transport jacking device is used to transport the upper arch frame on the receiving frame to the installation area at the front of the vehicle and lift it to the installation height; a transport docking device, including a second slide rail arranged on one side of the trolley body and parallel to the first slide rail, a docking mechanical arm translated on the second slide rail, the docking mechanical arm is used to remove the lower arch frame from the receiving frame and dock it with the upper arch frame. The present invention solves the problem of complex structure of the existing arch frame installation machine.

[0004] In addition, in the current technology, a loader is used to transport the segmented arch frame to the tunnel face one by one, and then the middle and two side arch arms of the integrated unit are used to grab the arch frame one by one for erection. The transportation of this arch frame mainly relies on manual or simple mechanical assistance, and has the following defects:

[0005] 1. Low transfer efficiency: In this technical route, the arch frame is transported to the tunnel face in sections and spliced ​​at the tunnel face in the tunnel. It needs to be transported multiple times, and the construction efficiency is low. In addition, the arch frame transfer operation in this technical route cannot be synchronized with the slag discharge in the tunnel. The arch frame transfer will affect the slag discharge channel, and the arch frame needs to be placed on the tunnel face without slag. After the slag discharge is completed, the arch frame transfer can be carried out.

[0006] 2. Poor construction environment: The installation and splicing position of the arch frame is close to the bottom of the tunnel face. The construction environment in the tunnel is complex, and the installation and splicing operations below the tunnel face are inconvenient. Summary of the invention

[0007] The purpose of the present invention is to solve the above technical problems, and provide a segmented arch frame transfer method and system. The solution of this patent is mainly aimed at the synchronous transfer system and method of the segmented arch frame, which transfers the arch frame in segments, and transfers the arch frame from the ground to the platform section by section, so that three sections of the arch frame are placed side by side on the arch frame transfer rack. This technical route uses the upper space of the platform to store the arch frame, does not affect the slag discharge channel, and can be operated in parallel with other processes, saving operation time. If the arch frame is to be installed, the other three vertical arch arms of the integrated machine are used to splice and install the segmented arch frame.

[0008] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0009] One aspect of the present invention provides a segmented arch transport method, comprising the following steps:

[0010] S1, the arch frame transfer rack assembly located above the slag discharge channel slides to the bottom of the segmented arch frame lifted at the rear end of the rack, and then the segmented arch frame is transported to the front end of the rack through the self-transmission component of the arch frame transfer rack assembly;

[0011] S2, in the front stage of the arch erection process preparation, the middle arch erection arm frame moves to the bottom of the segmented arch frame placed on the arch frame transfer rack (350), grabs the first segmented arch frame and sends it to the position close to the tunnel face, and at the same time, the gripper of the side arch assembly on one side moves to the position above the first segmented arch frame to carry out arch frame handover, and the middle arch erection arm frame and the side arch assembly on one side form an "X"-shaped handover arm frame posture;

[0012] S3. Similarly, the second segmented arch frame placed on the arch frame transfer rack is handed over to the side arch assembly on the other side, and the middle arch arm frame then grabs the third segmented arch frame, so that the arch frame installation is completed through the coordinated movement of the side arch assembly on one side, the side arch assembly on the other side and the middle arch arm frame.

[0013] In one embodiment, the segmented arch frame is lifted to a position corresponding to the height of the arch frame transfer rack assembly on the upper part of the platform by a lifting mechanism device, and then the arch frame transfer rack assembly slides to the bottom of the segmented arch frame at the rear end of the platform, and the lifting mechanism device lowers the segmented arch frame onto the arch frame transfer rack assembly, places the segmented arch frame on the arch frame transfer rack assembly, and then transports it to the front end of the platform by the self-transmitting component of the arch frame transfer rack assembly.

[0014] In one embodiment, the number of segmented arch frames is three, and a hook plate installed on the chain drives the first segmented arch frame placed on the arch frame transfer rack to move from the rear end of the frame to the front end of the frame; similarly, the second segmented arch frame and the third segmented arch frame are transferred to the arch frame transfer rack assembly in turn in this way and stored at the front end of the frame.

[0015] In one embodiment, in step S2, when the gripper of the side arch assembly on one side grabs the side arch frame, the grabbing pressure of the side arch assembly on one side is detected, and as the grabbing pressure of the side arch assembly on one side gradually increases, the pressure of the middle arch arm grabbing the side arch frame gradually decreases; the arch frame handover range of the arm motion actuator of the side arch arm and the middle arch arm is set, and during the handover process, it is automatically diagnosed whether there is an abnormality in the arm position. If there is an abnormality, the dynamic compensation mechanism of the side arch arm and the middle arch arm is triggered to achieve position correction.

[0016] Another aspect of the present invention provides a segmented arch frame transfer system for executing the above-mentioned segmented arch frame transfer method, comprising a platform, a lifting mechanism device, an arch frame transfer rack assembly, a middle arch arm rack and a side arch arm rack;

[0017] The lifting mechanism device is arranged at the rear side of the platform and is used to lift the position of the segmented arch frame;

[0018] The arch frame transfer rack assembly includes two arch frame transfer assemblies which are arranged on the platform in parallel and sliding along the tunnel direction, and the two arch frame transfer assemblies each include a self-transmission component; the two arch frame transfer assemblies transfer the segmented arch frames on the lifting mechanism device to the rear ends of the two arch frame transfer assemblies, and transport them to the front ends of the two arch frame transfer assemblies through the self-transmission components;

[0019] The middle vertical arch arm frame is slidably arranged between the two arch frame transfer assemblies on the top front side of the platform, and is used to grab the segmented arch frames at the front ends of the two arch frame transfer assemblies;

[0020] The side arch arm comprises two side arch assemblies which are arranged in parallel on the left and right sides of the outside of the platform along the tunnel direction. Each side arch assembly comprises a sliding track and a mechanical arm to be clamped which moves along the sliding track. Each side arch assembly is used to grasp the corresponding segmented arch frame transmitted by the middle arch arm and can adjust the posture of the segmented arch frame.

[0021] Specifically, the overall arch frame is divided into three sections of segmented arch frames, which are lifted to appropriate heights by lifting mechanisms respectively, and then transferred to the arch frame transfer rack through the overall movement of the arch frame transfer rack to the rear end of the platform and cooperated with the lifting mechanism assembly, and then transported from the rear end to the front end through the self-transmitting components of the arch frame transfer rack to the front section of the platform, and the first and second sections of the segmented arch frames are transferred to the two side arch arms on the left and right sides respectively through the middle arch arm, and the middle arch arm grabs the third section of the segmented arch frame, and the positions and postures of the three sections of the arch frame are adjusted by the middle arch arm and the two side arch arms, and the three sections of the segmented arch frame are spliced ​​into an overall arch frame by welding.

[0022] In one embodiment, each arch frame transfer assembly includes a sliding base track arranged on a platform along the longitudinal direction of the tunnel, a middle sliding assembly slidably connected to the base track, a sliding power system driving the middle sliding assembly to move along the base track, an arch frame transfer rack fixedly arranged on the middle sliding assembly, and a transfer power system driving a self-transporting component to rotate, and the self-transporting component is sleeved on the arch frame transfer rack along the longitudinal direction of the tunnel;

[0023] The sliding power system includes a sliding sprocket chain assembly arranged between the sliding base track and the middle sliding assembly, and a sliding motor reducer drive for driving the sliding sprocket chain assembly to move;

[0024] The middle sliding assembly includes a sliding bracket weldment, a sliding roller assembly slidably clamped on the sliding base track, the sliding roller assembly is fixedly mounted on the sliding bracket weldment, and the arch frame transfer rack is fixedly mounted on the sliding bracket weldment;

[0025] The transfer power system includes a transfer motor reducer drive, and the self-transporting component includes a transfer sprocket chain assembly and a hook plate arranged on the transfer sprocket chain assembly. The transfer sprocket chain assembly is installed on the arch frame transfer rack. The transfer motor reducer drives the transfer sprocket chain assembly to rotate, and the transfer motor reducer drive is installed on the arch frame transfer rack.

[0026] Specifically, the middle sliding assembly drives the sprocket through the sliding motor reducer and the chain installed and fixed on the sliding base track, thereby driving the middle sliding assembly to slide along the front and back direction of the platform. The arch frame transfer rack is installed and fixed on the middle sliding assembly by bolts, and the transfer power system is installed and fixed on the arch frame transfer rack by bolts. As the middle sliding assembly slides along the front and back direction of the platform, the arch frame transfer rack is driven to slide along the front and back direction of the platform, realizing the segmented arch frame of the upper platform operated by the lifting mechanism device.

[0027] The sliding power system is installed on the sliding bracket weldment, the sliding roller assembly is installed on the sliding bracket weldment, and is assembled and nested in the base track for sliding.

[0028] In one embodiment, the lifting mechanism device includes a first lifting assembly and a second lifting assembly symmetrically arranged on two rear end vertical beams of the platform, and the first lifting assembly and the second lifting assembly are used to adjust the height of the segmented arch frame.

[0029] Specifically, the first lifting assembly and the second lifting assembly are assembled on the two vertical beams at the rear end of the platform by bolts on the left and right sides.

[0030] In one embodiment, the first lifting assembly and the second lifting assembly have the same structure, and both the first lifting assembly and the second lifting assembly include a vertical lifting assembly and an L-shaped swing arm assembly that rises and falls with the vertical lifting assembly, and each vertical lifting assembly is installed on the rear end vertical beam of the corresponding platform;

[0031] The vertical lifting assembly includes a vertically arranged chain mounting frame, a sprocket chain assembly sleeved on the chain mounting frame, and a hydraulic motor driving mechanism (the hydraulic motor can be replaced by an electric motor) for driving the sprocket chain assembly to rotate;

[0032] The L-shaped swing arm assembly includes a lifting connection installed on the outside of the sprocket chain assembly, a slewing support installed on the lifting connection, and an L-shaped swing arm. The L-shaped swing arm is installed on the lifting connection by the slewing swinging mode of the slewing support. At least two groups of guide roller assemblies cooperating with the chain mounting frame are arranged on the inner side of the lifting connection.

[0033] Specifically, the L-shaped swing arm assembly is assembled to the vertical lifting assembly through rollers, and the L-shaped swing arm assembly is driven by the hydraulic motor and the operation of the sprocket chain assembly to move up and down on the vertical lifting assembly. The L-shaped swing arm assembly is driven to rotate by the slewing support, driving the L-shaped swing arm to rotate and swing, thereby lifting the arch frame up and down.

[0034] In one embodiment, the L-shaped swing arm includes a longitudinal support column arranged along the longitudinal direction of the tunnel and a transverse support column fixedly connected to the longitudinal support column, the end of the transverse support column is fixedly connected to the slewing support, the rotation center line of the slewing support is parallel to the longitudinal support column, and a reinforcing diagonal brace is arranged between the transverse support column and the longitudinal support column.

[0035] In one embodiment, each guide roller assembly includes a main guide wheel group slidably connected to the chain mounting frame and a secondary guide wheel group slidably connected to the chain mounting frame, and the secondary guide wheel group is mounted on the main guide wheel group.

[0036] In one embodiment, the middle vertical arch arm frame includes a sliding track arranged on the top of the platform and located between the two arch frame transfer assemblies, and an arch frame grabbing arm arranged on the sliding track, and the direction of the sliding track is consistent with the extension direction of the tunnel.

[0037] Specifically, the middle vertical arch arm has the functions of sliding and adjusting the pitch posture of the arm, and the grabber of the arch arm can perform rotation, swing and other actions as required.

[0038] The beneficial effects of the present invention are as follows:

[0039] 1. The invention has a reasonable design, optimizes the equipment layout and operation process, significantly improves the construction efficiency and automation level, and reduces the space occupied by the equipment and the complexity of the construction organization. The system has strong adaptability, can meet the construction needs of complex tunnel sections, improve construction quality and safety, reduce labor and equipment costs, and provide an efficient, economical and safe solution for tunnel construction.

[0040] 2. Spatial collaborative optimization: The "X"-shaped handover posture significantly improves the efficiency and flexibility of the mechanical arm in achieving arch handover in the limited working space environment of the tunnel through a three-dimensional cross-handover method. At the same time, the cross-arm posture is proposed for arch handover for the first time. This posture can disperse the force on the arm and avoid single-point load concentration on the arm. It combines mechanical optimization with spatial adaptability design to reduce the risk of structural deformation. It solves the problem of arm interference and load imbalance in traditional handover.

[0041] 3. The arm posture is adjustable. Based on the changes in the center of gravity of arches of different specifications and sizes, the adjustable arm posture can adapt to the grabbing requirements of side arches of different specifications, avoiding the poor adaptability problem caused by fixed angle intersections.

[0042] 4. The side arch boom and the middle arch boom are controlled by pressure sensors and torque closed loop. At the moment when the side arch boom grabs the side arch, the middle arch boom performs a "soft release" action synchronously to achieve seamless load transfer and eliminate the risk of vibration or side arch slippage caused by traditional hard separation. The process efficiency is improved, and the two booms operate in parallel during the boom handover process, avoiding the waiting time for the other boom to operate after one boom is completed during the handover process.

[0043] 5. Add a safety mechanism and a dual-channel safety locking device to detect that when the gripping force of the handover grip of the middle arch arm is insufficient, the side arch arm will not loosen the grip.

[0044] 6. The arm is based on the tunnel section profile size, and the arm action actuator arch handover range is set. During the handover process, the arm posture abnormality is automatically diagnosed, and the dynamic compensation mechanism can be triggered to achieve position correction, thereby improving the handover efficiency.

[0045] 7. Improve transfer efficiency: The segmented transfer system significantly improves the transfer efficiency of the arch frame, reduces the waiting time and steps for the construction process, and shortens the construction period.

[0046] 8. Improve the construction environment: The optimized transfer method reduces the manual construction operations in the tunnel, improves the construction site environment, and increases the convenience of the construction process.

[0047] 9. Reduce construction costs: avoid additional excavation, earth piling and support processes, reduce material waste and reduce construction costs.

[0048] 10. Improve construction safety: reduce construction operations in the tunnel, reduce the safety risks of construction workers, and improve the safety of the construction process.

[0049] 11. Improve construction quality: By precisely controlling the transportation and installation of the arch frame, the accuracy and quality of the arch frame installation are improved, ensuring the stability and reliability of the tunnel construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 It is a structural schematic diagram of a segmented arch transport system of the present invention;

[0052] Figure 2 yes Figure 1 A directional view of

[0053] Figure 3 It is a structural schematic diagram of the arch frame transfer arm;

[0054] Figure 4 yes Figure 3 axonometric drawing;

[0055] Figure 5 It is a structural schematic diagram of the arch transfer rack assembly;

[0056] Figure 6 yes Figure 4 axonometric drawing;

[0057] Figure 7 It is a schematic diagram of the initial lifting of the segmented arch frame of the present invention;

[0058] Figure 8 It is a schematic diagram of the initial lifting of the segmented arch frame of the present invention to the highest position;

[0059] Fig. 9 It is a structural schematic diagram of the first segmented arch frame being transferred to the arch frame transfer rack assembly of the present invention;

[0060] Fig.10 It is a structural schematic diagram of the three-segmented arch frames of the present invention being transferred to an arch frame transfer rack assembly;

[0061] Fig.11 yes Figure 8 A directional view of

[0062] Reference numerals: 100 - platform, 200 - lifting mechanism device, 300 - arch frame transfer rack assembly, 400 - middle arch arm frame, 500 - side arch arm frame;

[0063] 210-vertical lifting assembly, 220-L-type swing arm assembly;

[0064] 221-lifting connector, 222-slewing support, 223-L-shaped swing arm, 224-guide roller assembly;

[0065] 310-sliding power system, 320-base track, 330-transportation power system, 340-middle sliding assembly, 350-arch transfer rack;

[0066] 311-slip sprocket chain assembly, 312-slip motor reducer drive;

[0067] 331-transport motor reducer drive, 332-transport sprocket chain assembly, 333-hook plate;

[0068] 341-sliding bracket weldment, 342-sliding roller assembly. DETAILED DESCRIPTION

[0069] In order to make the technical problems, technical solutions and technical effects of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0070] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0071] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0072] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0073] Example 1

[0074] like Figures 1 to 11 As shown, this embodiment provides a segmented arch frame transfer system, including a platform 100, a lifting mechanism device 200, an arch frame transfer rack assembly 300, a middle arch arm frame 400 and a side arch arm frame 500;

[0075] The lifting mechanism device 200 is arranged at the rear side of the platform 100 and is used to lift the position of the segmented arch frame;

[0076] The arch transfer rack assembly 300 includes two arch transfer assemblies slidably arranged on the platform 100 in parallel along the tunnel direction, and both arch transfer assemblies include self-transmission components; the two arch transfer assemblies transfer the segmented arch on the lifting mechanism device 200 to the rear ends of the two arch transfer assemblies, and transport them to the front ends of the two arch transfer assemblies through the self-transmission components;

[0077] The middle vertical arch arm frame 400 is slidably disposed between the two arch frame transfer assemblies on the top front side of the platform 100, and is used to grasp the segmented arch frames at the front ends of the two arch frame transfer assemblies;

[0078] The side arch arm 500 includes two side arch assemblies arranged in parallel on the left and right sides of the outside of the platform 100 along the tunnel direction. Each of the side arch assemblies includes a sliding track and a mechanical arm to be clamped that moves along the sliding track. Each side arch assembly is used to grasp the corresponding segmented arch frame transmitted from the middle arch arm 400, and can adjust the posture of the segmented arch frame.

[0079] Specifically, the overall arch frame is divided into three sections of segmented arch frames, which are lifted to appropriate heights by the lifting mechanism device 200 respectively, and then moved to the rear end of the platform 100 by the arch frame transfer rack 300 and cooperated with the lifting mechanism device 200 to transfer the segmented arch frames to the arch frame transfer rack 300, and then transported from the rear end to the front end by the self-transmitting component of the arch frame transfer rack 300 to the front end of the platform 100, and the first and second sections of the segmented arch frames are transferred to the two side arch assemblies on the left and right sides respectively by the middle arch arm frame 400, and the middle arch arm frame 400 grabs the third section of the segmented arch frame, and the position and posture of the three sections of the segmented arch frame are adjusted by the middle arch arm frame 400 and the two side arch assemblies, and the three sections of the segmented arch frame are spliced ​​into an overall arch frame by welding.

[0080] Spatial collaborative optimization: The "X"-shaped handover posture significantly improves the efficiency and flexibility of the mechanical arm in achieving arch handover in the limited working space environment of the tunnel through a three-dimensional cross-handover method. At the same time, the cross-arm posture is proposed for arch handover for the first time. This posture can disperse the force on the arm and avoid single-point load concentration on the arm. It combines mechanical optimization with spatial adaptability design to reduce the risk of structural deformation. It solves the problem of arm interference and load imbalance in traditional handover.

[0081] The arm posture is adjustable. Based on the changes in the center of gravity of arch frames of different specifications and sizes, the adjustable arm posture can adapt to the grabbing requirements of side arches of different specifications, avoiding the poor adaptability problem caused by fixed-angle intersections.

[0082] The side arch boom and the middle arch boom are controlled by pressure sensors and torque closed loop. At the moment when the side arch boom grabs the side arch, the middle arch boom performs a "soft release" action synchronously to achieve seamless load transfer and eliminate the risk of vibration or side arch slippage caused by traditional hard separation. The process efficiency is improved, and the two booms operate in parallel during the boom handover process, avoiding the waiting time for the other boom to operate after one boom is completed during the handover process.

[0083] A safety mechanism is added, and a dual-channel safety locking device is added to detect that when the gripping force of the handover grip of the middle arch arm is insufficient, the side arch arm will not loosen the grip.

[0084] The boom is based on the tunnel section profile size, and the arch handover range of the boom action actuator is set. During the handover process, the boom posture abnormality is automatically diagnosed, and the dynamic compensation mechanism can be triggered to achieve position correction, thereby improving the handover efficiency.

[0085] Example 2

[0086] This embodiment is further optimized on the basis of embodiment 1, specifically:

[0087] Each arch frame transfer assembly includes a sliding base track 320 arranged on the platform 100 along the longitudinal direction of the tunnel, a middle sliding assembly 340 slidably connected to the base track 320, a sliding power system 310 driving the middle sliding assembly 340 to move along the base track 320, an arch frame transfer rack 350 fixedly arranged on the middle sliding assembly 340, and a transfer power system 330 driving the self-transmission component to rotate, and the self-transmission component is sleeved on the arch frame transfer rack 350 along the longitudinal direction of the tunnel;

[0088] The sliding power system 310 includes a sliding sprocket chain assembly 311 disposed between the sliding base track 320 and the middle sliding assembly 340, and a sliding motor reducer drive 312 driving the sliding sprocket chain assembly 311 to move;

[0089] The arch transfer rack 350 is fixedly mounted on the middle sliding assembly 340;

[0090] The transfer power system 330 includes a transfer motor reducer drive 331, and the self-transporting component includes a transfer sprocket chain assembly 332 and a hook plate 333 arranged on the transfer sprocket chain assembly 332, the transfer sprocket chain assembly 332 is installed on the arch transfer rack 350, the transfer motor reducer drive 331 drives the transfer sprocket chain assembly 332 to rotate, and the transfer motor reducer drive 331 is installed on the arch transfer rack 350.

[0091] The middle sliding assembly 340 includes a sliding bracket weldment 341 and a sliding roller assembly 342 slidably clamped on the sliding base track 320 . The sliding roller assembly 342 is fixedly mounted on the sliding bracket weldment 341 , and the arch transfer rack 350 is fixedly mounted on the sliding bracket weldment 341 .

[0092] Specifically, the middle sliding assembly 340 drives the sprocket through the sliding motor reducer 312, and the chain installed and fixed on the sliding base track 320 cooperates to drive, thereby driving the middle sliding assembly 340 to slide along the front and back direction of the platform 100. The arch frame transfer rack 350 is installed and fixed on the middle sliding assembly 340 by bolts, and the transfer power system 330 is installed and fixed on the arch frame transfer rack 350 by bolts. As the middle sliding assembly 340 slides along the front and back direction of the platform 100, the arch frame transfer rack 350 is driven to slide along the front and back direction of the platform 100, and the segmented arch frame of the upper platform 100 operated by the lifting mechanism device 200 is taken over.

[0093] The sliding power system 310 is installed on the sliding bracket weldment 341 , and the sliding roller assembly 342 is installed on the sliding bracket weldment 341 and assembled and nested in the base track 320 for sliding.

[0094] Example 3

[0095] This embodiment is further optimized on the basis of Embodiment 1 or 2, specifically:

[0096] The lifting mechanism device 200 includes a first lifting assembly and a second lifting assembly symmetrically arranged on two rear end vertical beams of the platform 100, and the first lifting assembly and the second lifting assembly are used to adjust the height of the segmented arch frame.

[0097] Specifically, the first lifting assembly and the second lifting assembly are assembled on the two vertical beams at the rear end of the platform 100 by bolts on the left and right.

[0098] The first lifting assembly and the second lifting assembly have the same structure. Both the first lifting assembly and the second lifting assembly include a vertical lifting assembly 210 and an L-shaped swing arm assembly 220 that rises and falls with the vertical lifting assembly 210. Each vertical lifting assembly 210 is installed on the rear end vertical beam of the corresponding platform 100.

[0099] The vertical lifting assembly 210 includes a vertically arranged chain mounting frame, a sprocket chain assembly sleeved on the chain mounting frame, and a hydraulic motor driving mechanism for driving the sprocket chain assembly to rotate. The hydraulic motor can be replaced by an electric motor;

[0100] The L-shaped swing arm assembly 220 includes a lifting connection 221 installed on the outside of the sprocket chain assembly, a swivel support 222 installed on the lifting connection 221, and an L-shaped swing arm 223. The L-shaped swing arm 223 is installed on the lifting connection 221 by the swivel support 222. At least two groups of guide roller assemblies 224 that cooperate with the chain mounting frame are arranged on the inner side of the lifting connection 221.

[0101] Specifically, the L-shaped swing arm assembly 220 is assembled to the vertical lifting assembly 210 through rollers, and driven by a hydraulic motor and the operation of a sprocket chain assembly, the L-shaped swing arm assembly 220 is driven to move up and down on the vertical lifting assembly 210. The L-shaped swing arm assembly 220 is driven to rotate by a slewing support, driving the L-shaped swing arm to rotate and swing, thereby lifting the arch frame to move up and down.

[0102] Example 4

[0103] This embodiment is further optimized on the basis of embodiment 3, specifically:

[0104] The L-shaped swing arm includes a longitudinal support column arranged along the longitudinal direction of the tunnel and a transverse support column fixedly connected to the longitudinal support column. The end of the transverse support column is fixedly connected to the slewing support 222. The rotation center line of the slewing support is parallel to the longitudinal support column. A reinforcing diagonal brace is arranged between the transverse support column and the longitudinal support column.

[0105] Each guide roller assembly 224 includes a main guide wheel assembly slidably connected to the chain mounting frame and a secondary guide wheel assembly slidably connected to the chain mounting frame, and the secondary guide wheel assembly is mounted on the main guide wheel assembly.

[0106] Example 5

[0107] This embodiment is further optimized on the basis of embodiment 3, specifically:

[0108] The middle vertical arch arm frame 400 includes a sliding track arranged on the top of the platform 100 and located between two arch frame transfer components, and an arch frame grabbing arm arranged on the sliding track. The direction of the sliding track is consistent with the extension direction of the tunnel.

[0109] Specifically, the middle vertical arch arm 400 has the functions of sliding and adjusting the pitch posture of the arm, and the gripper of the arch arm can perform rotation, swing and other actions as required.

[0110] Example 6

[0111] A segmented arch transport method comprises the following steps:

[0112] S1, the arch frame transfer rack assembly 300 located above the slag discharge channel slides to the bottom of the segmented arch frame lifted at the rear end of the platform 100, and then the segmented arch frame is transported to the front end of the platform 100 through the self-transmission component of the arch frame transfer rack assembly 300;

[0113] S2. In the front stage of the arch erection process, the middle arch erection arm frame 400 moves to the bottom of the segmented arch frame placed on the arch frame transfer rack 350, grabs the first segmented arch frame and sends it to the position close to the tunnel face, and at the same time, the gripper of the side arch assembly on one side moves to the position above the first segmented arch frame to carry out arch frame handover, and the middle arch erection arm frame 400 and the side arch assembly on one side form an "X"-shaped handover arm frame posture;

[0114] When the gripper of the side arch assembly on one side grabs the side arch frame, the grabbing pressure of the side arch assembly on one side is detected. As the grabbing pressure of the side arch assembly on one side gradually increases, the pressure of the middle arch arm frame 400 grabbing the side arch frame gradually decreases. The arch frame handover range of the arm frame action actuator of the side arch assembly and the middle arch arm frame 400 is set, and during the handover process, it is automatically diagnosed whether there is any abnormality in the arm frame position. If there is any abnormality, the dynamic compensation mechanism of the side arch assembly and the middle arch arm frame 400 is triggered to achieve position correction.

[0115] S3, similarly, the second segmented arch frame placed on the arch frame transfer rack 350 is handed over to the side arch assembly on the other side, and the middle arch arm frame 400 then grabs the third segmented arch frame, so that the arch frame installation is completed through the coordinated movement of the side arch assembly on one side, the side arch assembly on the other side and the middle arch arm frame 400. Figure 2 shown.

[0116] In step S1, the segmented arch frame is lifted to a position corresponding to the height of the arch frame transfer rack assembly 300 on the upper part of the platform 100 by the lifting mechanism device 200, and then the arch frame transfer rack assembly 300 slides to the bottom of the segmented arch frame at the rear end of the platform 100, and the lifting mechanism device 200 lowers the segmented arch frame onto the arch frame transfer rack assembly 300, places the segmented arch frame on the arch frame transfer rack assembly 300, and then transports it to the front end of the platform 100 by the self-transmitting component of the arch frame transfer rack assembly 300.

[0117] There are three segmented arches, and the hook plate 333 installed on the chain drives the first segmented arch placed on the arch transfer rack 350 to move from the rear end of the platform 100 to the front end of the platform 100; similarly, the second segmented arch and the third segmented arch are sequentially transferred to the arch transfer rack assembly 300 in this way and stored at the front end of the platform 100. The transfer process is as follows Figures 7 to 11 shown.

[0118] This solution has the function of spatial collaborative optimization: the "X"-shaped handover posture significantly improves the operational efficiency and flexibility of the robotic arm in realizing arch handover in the limited working space environment of the tunnel through the three-dimensional space cross-handover method. At the same time, the cross-arm posture is proposed for the first time for arch handover. This posture can disperse the force of the arm and avoid single-point load concentration on the arm. It combines mechanical optimization with spatial adaptability design to reduce the risk of structural deformation. It solves the problem of arm interference and load imbalance in traditional handover.

[0119] The arm posture is adjustable. Based on the changes in the center of gravity of arch frames of different specifications and sizes, the adjustable arm posture can adapt to the grabbing requirements of side arches of different specifications, avoiding the poor adaptability problem caused by fixed-angle intersections.

[0120] The side arch boom and the middle arch boom are controlled by pressure sensors and torque closed loop. At the moment when the side arch boom grabs the side arch, the middle arch boom performs a "soft release" action synchronously to achieve seamless load transfer and eliminate the risk of vibration or side arch slippage caused by traditional hard separation. The process efficiency is improved, and the two booms operate in parallel during the boom handover process, avoiding the waiting time for the other boom to operate after one boom is completed during the handover process.

[0121] A safety mechanism is added, and a dual-channel safety locking device is added to detect that when the gripping force of the handover grip of the middle arch arm is insufficient, the side arch arm will not loosen the grip.

[0122] The boom is based on the tunnel section profile size, and the arch handover range of the boom action actuator is set. During the handover process, the boom posture abnormality is automatically diagnosed, and the dynamic compensation mechanism can be triggered to achieve position correction, thereby improving the handover efficiency.

Claims

1. A segmented arch transport method, characterized in that: The steps include: S1, the arch frame transfer rack assembly (300) located above the slag discharge channel slides to the bottom of the segmented arch frame lifted at the rear end of the platform (100), and then the segmented arch frame is transported to the front end of the platform (100) through the self-transmission component of the arch frame transfer rack assembly (300); S2, in the front stage of the arch erection process preparation, the middle arch erection arm frame (400) moves to the bottom of the segmented arch frame placed on the arch frame transfer rack (350), grabs the first segmented arch frame and sends it to the position close to the tunnel face, and at the same time, the gripper of the side arch assembly on one side moves to the position above the first segmented arch frame to carry out arch frame handover, and the middle arch erection arm frame (400) and the side arch assembly on one side form an "X"-shaped handover arm frame posture; S3. Similarly, the second segmented arch frame placed on the arch frame transfer rack (350) is handed over to the side arch assembly on the other side, and the middle arch arm frame (400) then grabs the third segmented arch frame, so that the arch frame installation is completed through the coordinated movement of the side arch assembly on one side, the side arch assembly on the other side and the middle arch arm frame (400).

2. A segmented arch transport method according to claim 1, characterized in that: In step S1, the segmented arch frame is lifted to a position corresponding to the height of the arch frame transfer rack assembly (300) on the upper part of the platform (100) by the lifting mechanism device (200), and then the arch frame transfer rack assembly (300) slides to the bottom of the segmented arch frame at the rear end of the platform (100), and the lifting mechanism device (200) lowers the segmented arch frame onto the arch frame transfer rack assembly (300), and the segmented arch frame is placed on the arch frame transfer rack assembly (300), and then transported to the front end of the platform (100) by the self-transmitting component of the arch frame transfer rack assembly (300).

3. A segmented arch transport method according to claim 2, characterized in that: There are three segmented arch frames, and the first segmented arch frame placed on the arch frame transfer rack (350) is driven to move from the rear end of the platform (100) to the front end of the platform (100) through a hook plate (333) installed on the chain; similarly, the second segmented arch frame and the third segmented arch frame are transferred to the arch frame transfer rack assembly (300) in turn and stored at the front end of the platform (100).

4. A segmented arch transport method according to claim 1, characterized in that: In step S2, when the gripper of the side arch assembly on one side grasps the side arch frame, the grasping pressure of the side arch assembly on one side is detected, and as the grasping pressure of the side arch assembly on one side gradually increases, the pressure of the middle arch arm frame (400) grasping the side arch frame gradually decreases; the arch frame handover range of the arm frame action actuator of the side arch assembly and the middle arch arm frame (400) is set, and whether there is an abnormality in the arm frame position during the handover process is automatically diagnosed. If there is an abnormality, the dynamic compensation mechanism of the side arch assembly and the middle arch arm frame (400) is triggered to achieve position correction.

5. A segmented arch transport system, used to perform a segmented arch transport method according to any one of claims 1 to 4, characterized in that: It comprises a platform (100), a lifting mechanism device (200), an arch frame transfer rack assembly (300), an intermediate arch arm frame (400) and a side arch assembly; The lifting mechanism device (200) is arranged at the rear side of the platform (100) and is used to lift the position of the segmented arch frame; The arch transfer rack assembly (300) comprises two arch transfer assemblies which are arranged on the platform (100) in parallel and slidingly along the tunnel direction, and the two arch transfer assemblies each comprise a self-transferring member; the two arch transfer assemblies transfer the segmented arch on the lifting mechanism device (200) to the rear ends of the two arch transfer assemblies, and transport them to the front ends of the two arch transfer assemblies through the self-transferring member; The intermediate vertical arch arm frame (400) is slidably arranged between the two arch frame transfer assemblies on the top front side of the platform (100) and is used to grasp the segmented arch frames at the front ends of the two arch frame transfer assemblies; The side arch assembly comprises two side arch assemblies arranged in parallel on the left and right sides of the outside of the platform (100) along the tunnel direction, each of the side arch assemblies comprises a sliding track and a mechanical arm to be clamped moving along the sliding track, and each of the side arch assemblies is used to grasp the corresponding segmented arch frame transmitted by the middle arch arm frame (400), and can adjust the posture of the segmented arch frame.

6. A segmented arch transport system according to claim 5, characterized in that: Each of the arch frame transfer assemblies comprises a sliding base track (320) arranged on the platform (100) along the longitudinal direction of the tunnel, a middle sliding assembly (340) slidably engaged on the base track (320), a sliding power system (310) driving the middle sliding assembly (340) to move along the base track (320), an arch frame transfer rack (350) fixedly arranged on the middle sliding assembly (340), and a transfer power system (330) driving the self-transmitting component to rotate, wherein the self-transmitting component is sleeved on the arch frame transfer rack (350) along the longitudinal direction of the tunnel, and the arch frame transfer rack (350) is fixedly installed on the middle sliding assembly (340).

7. A segmented arch transport system according to claim 6, characterized in that: The sliding power system (310) comprises a sliding sprocket chain assembly (311) arranged between the sliding base track (320) and the middle sliding assembly (340), and a sliding motor reducer drive (312) for driving the sliding sprocket chain assembly (311) to move; The middle sliding assembly (340) comprises a sliding bracket weldment (341), a sliding roller assembly (342) slidably clamped on the sliding base track (320), the sliding roller assembly (342) is fixedly mounted on the sliding bracket weldment (341), and the arch transfer rack (350) is fixedly mounted on the sliding bracket weldment (341).

8. The segmented arch transport system according to claim 7, characterized in that: The transfer power system (330) includes a transfer motor reducer drive (331), the self-transporting component includes a transfer sprocket chain assembly (332) and a hook plate (333) arranged on the transfer sprocket chain assembly (332), the transfer sprocket chain assembly (332) is installed on the arch transfer rack (350), the transfer motor reducer drive (331) drives the transfer sprocket chain assembly (332) to rotate, and the transfer motor reducer drive (331) is installed on the arch transfer rack (350).

9. The segmented arch transport system according to claim 5, characterized in that: The lifting mechanism device (200) comprises a first lifting assembly and a second lifting assembly symmetrically arranged on two rear end vertical beams of the platform (100), and the first lifting assembly and the second lifting assembly are used to adjust the height of the segmented arch frame; the first lifting assembly and the second lifting assembly have the same structure, and both the first lifting assembly and the second lifting assembly comprise a vertical lifting assembly (210) and an L-shaped swing arm assembly (220) that rises and falls with the vertical lifting assembly (210), and each of the vertical lifting assemblies (210) is installed on the rear end vertical beam of the corresponding platform (100).

10. The segmented arch transport system according to claim 5, characterized in that: The intermediate vertical arch arm frame (400) comprises a sliding track arranged on the top of the platform (100) and located between the two arch frame transfer assemblies, and an arch frame grabbing arm arranged on the sliding track, and the direction of the sliding track is consistent with the extension direction of the tunnel.

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