Segmental arch transfer method and system

Abstract

The application discloses a segmented arch frame transfer method and system, relates to the technical field of tunnel engineering equipment, and comprises a rack, a lifting mechanism device, an arch frame storage rack assembly, an intermediate vertical arch arm frame and a side vertical arch arm frame. The arch frame storage rack assembly comprises two arch frame storage components which are arranged in parallel and slide on the rack along the tunnel direction. The two arch frame storage components each comprise a self-transmission component. The two arch frame storage components transfer the segmented arch frame on the lifting mechanism device to the rear end of the two arch frame storage components, and then the segmented arch frame is transported to the front end of the two arch frame storage components through the self-transmission components. The application optimizes the equipment layout and operation process, significantly improves the construction efficiency and automation level, and reduces the equipment occupied space and the complexity of construction organization.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel engineering equipment, more particularly to the technical field of segmented arch transfer method and system. BACKGROUND

[0002] In tunnel construction, the transfer and installation of arches are key construction steps and directly affect the construction efficiency and safety of the entire cycle period. The existing patent discloses the following content:

[0003] The patent discloses the following content: a segmented arch installation trolley, a trolley body; a supporting device arranged at the tail of the trolley body, including a receiving frame for receiving a segmented arch; a transfer jacking device including a first sliding rail arranged below the receiving frame along the direction from the head of the trolley body to the tail, and a lifting strut sliding along the first sliding rail, the transfer jacking device being used to transfer the upper segment arch on the receiving frame to the installation area at the head and jacked to the installation height; a transfer docking device including a second sliding rail arranged on one side of the trolley body and parallel to the first sliding rail, and a docking mechanical arm translating on the second sliding rail, the docking mechanical arm being used to take down the lower segment arch from the receiving frame and dock with the upper segment arch. The present application solves the problem of complex structure of the existing arch installation machine.

[0004] In addition, in the current technology, segmented arches are transported to the working face one by one by using a loader, and then the arches are grabbed one by one by the middle and two side vertical arch arm frames of an integrated machine set to stand up. This arch transfer mainly relies on manual or simple mechanical assistance, which has the following defects:

[0005] 1. Low transfer efficiency: In this technical route, the arches are transported to the working face one by one and spliced at the working face in the tunnel, which requires multiple transportation and has low construction efficiency. Moreover, the arch transfer operation cannot be synchronized and parallel with the hole out of the slag, the arch transfer will affect the out of the slag channel, and the arches placed at the working face need to be placed in the state of no slag at the working face. After the slag is out, the arch transfer is carried out.

[0006] 2. Poor construction environment: The installation and splicing position of the arches is close to the bottom of the working face, and the construction environment in the tunnel is complex, making it inconvenient to install and splice at the bottom of the working face. SUMMARY

[0007] The present application aims at solving the above technical problems, and provides a segmented arch transfer method and system. The technical scheme of the present application is mainly a synchronous transfer system and method for segmented arches, which transfers the arches segment by segment from the ground to the rack, so that three segmented arches are placed side by side on the arch storage rack. This technical route utilizes the upper space of the rack to store the arches, does not affect the slag discharge channel, can be parallel to other processes, and saves operation time. If the arch installation is performed, the other three vertical arch arms of the all-in-one machine are used to splice and install the segmented arches.

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

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

[0010] S1, the arch storage rack assembly located above the slag discharge channel is slid to below the segmented arch lifted at the rear end of the rack, and then the segmented arch is transported to the front end of the rack through the self-transporting member of the arch storage rack assembly;

[0011] S2, before the vertical arch process is prepared, the middle vertical arch arm is moved to below the segmented arch placed on the arch storage rack (350), the first segmented arch is grabbed and sent to near the working face, and the gripper of the side vertical arch assembly on one side is moved to the position above the first segmented arch to transfer the arch, so that the middle vertical arch arm and the side vertical arch assembly on one side form an "X" type transfer arm posture;

[0012] S3, the second segmented arch placed on the arch storage rack is transferred to the side vertical arch assembly on the other side, and the third segmented arch is grabbed by the middle vertical arch arm, so that the side vertical arch assembly on one side, the side vertical arch assembly on the other side and the middle vertical arch arm are cooperatively moved to complete the arch installation.

[0013] In one embodiment, the segmented arch is lifted to a position corresponding to the height of the arch storage rack assembly on the upper part of the rack by the lifting mechanism device, then the arch storage rack assembly is slid to below the segmented arch at the rear end of the rack, the segmented arch is lowered to the arch storage rack assembly by the lifting mechanism device, the segmented arch is placed on the arch storage rack assembly, and then the segmented arch is transported to the front end of the rack by the self-transporting member of the arch storage rack assembly.

[0014] In one embodiment, the number of segmented arches is three, and the first segmented arch placed on the arch storage rack is transported from the rear end of the rack to the front end of the rack by the hook plate installed on the chain. Similarly, the second segmented arch and the third segmented arch are sequentially transferred to the arch storage rack assembly in this way and stored at the front end of the rack.

[0015] In one embodiment, in step S2, the grasping pressure of the side arch assembly on one side is detected when the gripper of the side arch assembly on one side grasps the side arch frame, and as the grasping pressure of the side arch assembly on one side gradually increases, the pressure of the intermediate arch frame gripper gradually decreases; the arch frame transfer range of the arch frame action executor of the side arch arm and the intermediate arch arm is set, and whether the position of the arch frame action executor is abnormal during the transfer process is automatically diagnosed, and if abnormal, the dynamic compensation mechanism of the side arch arm and the intermediate arch arm is triggered to realize position correction.

[0016] Another aspect of the present application provides a segmented arch transfer system for performing the segmented arch transfer method described above, comprising a rack, a lifting mechanism device, an arch transfer rack assembly, an intermediate arch arm and a side arch arm;

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

[0018] The arch transfer rack assembly comprises two arch transfer assemblies arranged side by side along the tunnel direction and arranged on the rack, and each of the two arch transfer assemblies comprises a self-transfer member; the two arch transfer assemblies transfer the segmented arch on the lifting mechanism device to the rear end of the two arch transfer assemblies, and transport the segmented arch to the front end of the two arch transfer assemblies through the self-transfer member;

[0019] The intermediate arch arm is arranged between the two arch transfer assemblies on the top front side of the rack and is used to grasp the segmented arch at the front end of the two arch transfer assemblies;

[0020] The side arch arm comprises two side arch assemblies arranged side by side along the tunnel direction and arranged on the left and right sides outside the rack, each side arch assembly comprises a sliding track and a mechanical arm moving along the sliding track, and each side arch assembly is used to grasp the corresponding segmented arch transferred by the intermediate arch arm and can adjust the posture of the segmented arch.

[0021] Specifically, the whole arch is divided into three segmented arches, the three segmented arches are lifted to appropriate heights by the lifting mechanism device, the segmented arches are transferred to the arch transfer rack through the overall movement of the arch transfer rack to the rear end of the rack and the cooperation of the lifting mechanism device, the segmented arches are transported from the rear end to the front end through the self-transfer member of the arch transfer rack, the first and second segmented arches are transferred to the two side arch arms on the left and right sides through the intermediate arch arm, the third segmented arch is grasped by the intermediate arch arm, the position and posture of the three segmented arches are adjusted through the intermediate arch arm and the two side arch arms, and the three segmented arches are spliced into the whole arch through welding.

[0022] In one embodiment, each arch storage assembly comprises a sliding base track arranged on the gantry in the longitudinal direction of the tunnel, a middle sliding assembly slidingly connected to the sliding base track, a sliding power system driving the middle sliding assembly to move along the sliding base track, an arch storage rack fixedly arranged on the middle sliding assembly, and a rotating power system driving the self-transporting member to rotate, the self-transporting member being sleeved on the arch storage rack in the longitudinal direction of the tunnel.

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

[0024] The middle sliding assembly comprises a sliding support weldment and a sliding roller assembly slidingly connected to the sliding base track, the sliding roller assembly being fixedly mounted on the sliding support weldment, and the arch storage rack being fixedly mounted on the sliding support weldment.

[0025] The rotating power system comprises a rotating motor reducer drive, and the self-transporting member comprises a rotating sprocket chain assembly and a hook plate arranged on the rotating sprocket chain assembly, the rotating sprocket chain assembly being mounted on the arch storage rack, the rotating motor reducer drive driving the rotating sprocket chain assembly to rotate, and the rotating motor reducer drive being mounted on the arch storage rack.

[0026] Specifically, the middle sliding assembly is driven to slide along the front-rear direction of the gantry by a sliding motor reducer drive sprocket and a chain fixedly mounted on the sliding base track. The arch storage rack is fixedly mounted on the middle sliding assembly by bolts, and the rotating power system is fixedly mounted on the arch storage rack by bolts. As the middle sliding assembly slides along the front-rear direction of the gantry, the arch storage rack slides along the front-rear direction of the gantry, thereby realizing the receiving of the segmented arches by the lifting mechanism device.

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

[0028] In one embodiment, the lifting mechanism device comprises a first lifting assembly and a second lifting assembly symmetrically arranged on two rear end vertical beams of the gantry, the first lifting assembly and the second lifting assembly being used to adjust the height of the segmented arches.

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

[0030] In one embodiment, the first lifting assembly and the second lifting assembly are identical in structure, and each of the first lifting assembly and the second lifting assembly comprises a vertical lifting assembly and an L-shaped swing arm assembly which is lifted along with the vertical lifting assembly, and each vertical lifting assembly is installed on the rear end vertical beam of the corresponding rack;

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

[0032] The L-shaped swing arm assembly comprises a lifting connecting piece which is installed on the outer side of the sprocket chain assembly, a rotary support which is installed on the lifting connecting piece, and an L-shaped swing arm which is installed on the lifting connecting piece in a rotary swing manner through the rotary support, and the inner side of the lifting connecting piece is provided with at least two groups of guide roller assemblies which cooperate with the chain mounting rack.

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

[0034] In one embodiment, the L-shaped swing arm comprises a longitudinal support column which is arranged along the longitudinal direction of the tunnel, and a transverse support column which is fixedly connected with the longitudinal support column, the end of the transverse support column is fixedly connected with the rotary support, the rotation center line of the rotary 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 comprises a main guide roller set which is slidingly clamped on the chain mounting rack, and a secondary guide roller set which is slidingly clamped on the chain mounting rack and is installed on the main guide roller set.

[0036] In one embodiment, the intermediate vertical arch arm frame comprises a sliding track which is arranged on the top of the rack and between the two arch frame rotating assembly components, and an arch frame grabbing arm which is arranged on the sliding track, and the direction of the sliding track is consistent with the extension direction of the tunnel.

[0037] Specifically, the intermediate vertical arch arm frame has the functions of sliding and arm frame pitch attitude adjustment, and the grabber of the arch frame grabbing arm can perform rotary yawing and other actions as required.

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

[0039] 1. This invention features a rational design that optimizes equipment layout and workflow, significantly improving construction efficiency and automation while reducing equipment space requirements and the complexity of construction organization. The system is highly adaptable, capable of meeting the construction needs of complex tunnel cross-sections, improving construction quality and safety, and reducing labor and equipment costs, thus providing an efficient, economical, and safe solution for tunnel construction.

[0040] 2. Spatial Collaborative Optimization: The "X"-shaped handover posture, through a three-dimensional spatial cross-handover method, significantly improves the operational efficiency and flexibility of the robotic arm in the limited working space of a tunnel for arch frame handover. Simultaneously, a cross-boom posture is proposed for the first time for arch frame handover. This posture disperses the force on the boom, avoiding single-point load concentration. Combined with mechanical optimization and spatial adaptability design, it reduces the risk of structural deformation. This solves the problems of boom interference and load imbalance in traditional handover methods.

[0041] 3. Adjustable boom posture: Based on the changes in the center of gravity of arches of different specifications and sizes, the adjustable boom posture can adapt to the grasping needs of side arches of different specifications, avoiding the poor adaptability problem caused by fixed angle handover.

[0042] 4. The side-mounted and intermediate-mounted booms are controlled via pressure sensors and a closed-loop torque mechanism. The intermediate-mounted boom simultaneously performs a "soft release" action the instant the side-mounted boom grips the side arch, achieving seamless load transfer and eliminating the risks of vibration or side arch slippage caused by traditional hard release methods. This improves process efficiency; during boom handover, both booms operate in parallel, avoiding the waiting time required for one boom to complete its operation before the other can begin.

[0043] 5. Add a safety mechanism, including a dual-channel safety locking device, so that the side arch boom will not release the gripper when the gripping force of the intermediate arch boom handover is insufficient.

[0044] 6. The boom's cross-sectional dimensions are used to set the archway handover range for the boom actuators. During the handover process, abnormal boom posture is automatically diagnosed, triggering a dynamic compensation mechanism to correct position deviations and improve handover efficiency.

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

[0046] 8. Improved construction environment: The optimized transportation method reduces manual construction operations inside the tunnel, improves the construction site environment, and enhances the convenience of the construction process.

[0047] 9. Reduced construction costs: It avoids the need for additional excavation, soil piling, and support procedures, reducing material waste and lowering construction costs.

[0048] 10. Improved construction safety: Reduced construction operations within the tunnel, reduced safety risks for construction personnel, improved safety during the construction process.

[0049] 11. Improved construction quality: Precise control of the transfer and installation of the arch frame, improved precision and quality of the arch frame installation, ensuring the stability and reliability of the tunnel construction. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0051] Figure 1 is a structural schematic diagram of a segmented arch frame transfer system of the present application;

[0052] Figure 2 is a front view of Figure 1

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

[0054] Figure 4 is an axonometric view of Figure 3

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

[0056] Figure 6 is an axonometric view of Figure 4

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

[0058] Figure 8 is a schematic diagram of the initial lifting of the segmented arch frame of the present application up to the highest point;

[0059] Figure 9 is a structural schematic diagram of the transfer of the first segment of the segmented arch frame of the present application to the arch frame transfer rack assembly;

[0060] Figure 10 is a structural schematic diagram of the transfer of the three segments of the segmented arch frame of the present application to the arch frame transfer rack assembly;

[0061] Figure 11 is a front view of Figure 8

[0062] ​​​​Reference numerals: 100-stand, 200-lifting mechanism device, 300-arch transfer frame assembly, 400-intermediate arch arm, 500-side arch arm;

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

[0064] 221-lifting connecting piece, 222-rotary support, 223-L-shaped swing arm, 224-guiding roller assembly;

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

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

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

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

[0069] To make the technical problems, technical solutions and technical effects of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0070] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0071] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", etc. are only used to distinguish 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 "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting 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, an intermediate arch support 400, and a side arch support 500.

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

[0076] The arch frame transfer assembly 300 includes two arch frame transfer components that are slidably arranged side by side on the platform 100 along the tunnel direction. Each arch frame transfer component includes a self-transferring component. The two arch frame transfer components transfer the segmented arch frame on the lifting mechanism device 200 to the rear end of the two arch frame transfer components and transport it to the front end of the two arch frame transfer components through the self-transferring component.

[0077] The intermediate arch arm 400 is slidably positioned between the two arch frame transfer components on the top front side of the platform 100, and is used to grab the segmented arch frame at the front end of the two arch frame transfer components.

[0078] The side arch boom 500 includes two side arch components arranged side by side on the left and right sides of the platform 100 along the tunnel direction. Each side arch component includes a sliding track and a mechanical arm with a gripper that moves along the sliding track. Each side arch component is used to grab the corresponding segmented arch frame transmitted from the middle arch boom 400 and can adjust the posture of the segmented arch frame.

[0079] Specifically, the overall arch frame is divided into three segmented arch frames. The three segmented arch frames are lifted to appropriate heights by the lifting mechanism 200. Then, the entire arch frame is moved to the rear end of the platform 100 by the arch frame transfer rack 300, and the segmented arch frames are transferred to the arch frame transfer rack 300 in cooperation with the lifting mechanism 200. The arch frame transfer rack 300 is then transported from the rear end to the front end by its self-transferring component, and transported to the front section of the platform 100. The first and second segmented arch frames are transferred to the two side arch components on the left and right sides by the intermediate arch support arm 400. The intermediate arch support arm 400 grabs the third segmented arch frame. The position and posture of the three segmented arch frames are adjusted by the intermediate arch support arm 400 and the two side arch components. The three segmented arch frames are then spliced ​​together into an overall arch frame by welding.

[0080] Space coordination optimization: The "X" type transfer posture crosses through three-dimensional space, significantly improving the operation efficiency and flexibility of the mechanical arm in the limited operation space of the tunnel. At the same time, the cross-type arm posture is used for arch transfer for the first time, which can disperse the load of the arm to avoid single-point load concentration. Combined with mechanical optimization and space adaptability design, the risk of structural deformation is reduced. The problems of arm interference and load imbalance in traditional transfer are solved.

[0081] The arm posture can be adjusted. Based on the change of the center of gravity of arches of different specifications and sizes, the adjustable arm posture can adapt to the grabbing needs of arches of different specifications, avoiding the poor adaptability caused by fixed-angle transfer.

[0082] The side-erect arch arm and the middle-erect arch arm are controlled by pressure sensors and torque closed loop. At the moment when the side-erect arch arm grabs the side arch, the middle-erect arch arm performs a "soft release" action simultaneously, realizing seamless load transfer and eliminating the vibration or side arch sliding risk caused by traditional hard separation. The process efficiency is improved. During the arm transfer process, the two arms work in parallel, avoiding the waiting time after one arm operation and then the other arm operation.

[0083] Safety mechanism is added. When the grabbing force of the middle-erect arch arm transfer gripper is insufficient, the side-erect arch arm will not loosen the gripper.

[0084] The arm relies on the profile size of the tunnel section to set the arch transfer range of the arm actuator. During the transfer process, the arm posture anomaly is automatically diagnosed, and the dynamic compensation mechanism is triggered to realize position correction. The transfer efficiency is improved.

[0085] Embodiment 2

[0086] This embodiment is further optimized based on embodiment 1, specifically:

[0087] Each arch transfer assembly includes a sliding base track 320 arranged longitudinally along the tunnel on the gantry 100, a middle sliding assembly 340 slidingly connected to the base track 320, a sliding driving system 310 driving the middle sliding assembly 340 to move along the base track 320, an arch transfer rack 350 fixedly arranged on the middle sliding assembly 340, and a rotation driving system 330 driving the self-rotation member to rotate, and the self-rotation member is sleeved on the arch transfer rack 350 along the longitudinal direction of the tunnel;

[0088] The sliding driving system 310 includes 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 driving the sliding sprocket chain assembly 311 to move;

[0089] The arch storage frame 350 is fixedly installed on the middle sliding assembly 340.

[0090] The rotating force system 330 comprises a rotating motor reducer drive 331, a rotating member comprising a rotating sprocket chain assembly 332 and a hook plate 333 arranged on the rotating sprocket chain assembly 332, the rotating sprocket chain assembly 332 is installed on the arch storage frame 350, the rotating motor reducer drive 331 drives the rotating sprocket chain assembly 332 to rotate, and the rotating motor reducer drive 331 is installed on the arch storage frame 350.

[0091] The middle sliding assembly 340 comprises a sliding bracket weldment 341 and a sliding roller assembly 342 slidably connected to the sliding base track 320, the sliding roller assembly 342 is fixedly installed on the sliding bracket weldment 341, and the arch storage frame 350 is fixedly installed on the sliding bracket weldment 341.

[0092] Specifically, the middle sliding assembly 340 is driven to slide along the front and rear directions of the gantry 100 by the sliding motor reducer 312 driving the sprocket and the chain cooperating with the driving installed and fixed on the sliding base track 320. The arch storage frame 350 is fixedly installed on the middle sliding assembly 340 by bolts, and the rotating force system 330 is fixedly installed on the arch storage frame 350 by bolts. With the middle sliding assembly 340 sliding along the front and rear directions of the gantry 100, the arch storage frame 350 is driven to slide along the front and rear directions of the gantry 100, and the segmented arches carried by the lifting mechanism device 200 are realized to rotate onto the gantry 100.

[0093] The sliding force 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 is nested and fitted to slide in the base track 320.

[0094] Embodiment 3

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

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

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

[0098] The first lifting assembly and the second lifting assembly are identical in structure, and each of the first lifting assembly and the second lifting assembly comprises a vertical lifting assembly 210 and an L-shaped swing arm assembly 220 which is lifted along with the vertical lifting assembly 210, and each vertical lifting assembly 210 is installed on the rear end vertical beam of the corresponding gantry 100;

[0099] The vertical lifting assembly 210 comprises a vertically arranged chain mounting rack, a sprocket chain assembly arranged on the chain mounting rack, and a hydraulic motor driving mechanism for driving the sprocket chain assembly to rotate. The hydraulic motor can be replaced by a motor.

[0100] The L-shaped swing arm assembly 220 comprises a lifting connecting piece 221 installed on the outer side of the sprocket chain assembly, a rotary support 222 installed on the lifting connecting piece 221, and an L-shaped swing arm 223 which is installed on the lifting connecting piece 221 in a rotary swing manner through the rotary support 222. The inner side of the lifting connecting piece 221 is provided with at least two groups of guide roller assemblies 224 matched with the chain mounting rack.

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

[0102] Embodiment 4

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

[0104] The L-shaped swing arm comprises a longitudinal support column arranged along the longitudinal direction of the tunnel and a transverse support column fixedly connected with the longitudinal support column, the end of the transverse support column is fixedly connected with the rotary support 222, the center line of rotation of the rotary 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.

[0105] Each guide roller assembly 224 comprises a main guide wheel set which is slidingly clamped on the chain mounting rack and a secondary guide wheel set which is slidingly clamped on the chain mounting rack, and the secondary guide wheel set is installed on the main guide wheel set.

[0106] Embodiment 5

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

[0108] The intermediate vertical arch arm frame 400 comprises a sliding rail arranged on the top of the gantry 100 and located between the two arch frame lifting assemblies, and an arch frame grabbing arm arranged on the sliding rail, and the direction of the sliding rail is consistent with the extension direction of the tunnel.

[0109] Specifically, the intermediate arch arm support 400 has the functions of sliding and arm support pitch adjustment, and the gripper of the arch support arm can rotate and swing as required.

[0110] Embodiment 6

[0111] A segmented arch transfer method, comprising the following steps:

[0112] S1, the arch transfer rack assembly 300 located above the deslagging channel is slid to below the segmented arch lifted at the rear end of the rack 100, and then the segmented arch is transported to the front end of the rack 100 by the self-transporting member of the arch transfer rack assembly 300.

[0113] S2, before the preparation of the first segment of the arch, the intermediate arch arm support 400 moves to below the segmented arch placed on the arch transfer rack 350, the first segment of the segmented arch is grabbed and sent to the position close to the working face, and the gripper of the side arch assembly on one side moves to the position above the first segment of the segmented arch to perform arch transfer, the intermediate arch arm support 400 and the side arch assembly on one side form an "X" type transfer arm support posture.

[0114] When the gripper of the side arch assembly on one side grabs the side arch, 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 intermediate arch arm support 400 grabbing the side arch gradually decreases; the arch transfer range of the arm action actuator of the side arch assembly and the intermediate arch arm support 400 is set, and whether the arm position is abnormal during the transfer process is automatically diagnosed, if there is an abnormality, the dynamic compensation mechanism of the side arch assembly and the intermediate arch arm support 400 is triggered to realize position correction.

[0115] S3, the second segment of the segmented arch placed on the arch transfer rack 350 is transferred to the side arch assembly on the other side in the same way, and the third segment of the segmented arch is grabbed by the intermediate arch arm support 400, so that the arch 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 intermediate arch arm support 400. The transfer posture is shown in Figure 2 .

[0116] In step S1, the segmented arch is lifted to a position corresponding to the height of the arch transfer rack assembly 300 on the upper part of the rack 100 by the lifting mechanism device 200, then the arch transfer rack assembly 300 is slid to below the segmented arch at the rear end of the rack 100, the segmented arch is lowered to the arch transfer rack assembly 300 by the lifting mechanism device 200, the segmented arch is placed on the arch transfer rack assembly 300, and then the segmented arch is transported to the front end of the rack 100 by the self-transporting member of the arch transfer rack assembly 300.

[0117] The number of segmented arches is three, and the first segmented arch placed in the arch transfer rack 350 is driven to move from the rear end of the gantry 100 to the front end of the gantry 100 through the hook plate 333 installed on the chain; 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 gantry 100. The switching process is as shown in Figures 7 to 11

[0118] This scheme has a space coordination optimization function: the "X" type transfer posture is transferred through three-dimensional space intersection, which significantly improves the operation efficiency and flexibility of the mechanical arm in realizing arch transfer in the limited working space environment of the tunnel. At the same time, the cross-type arm posture is used for arch transfer for the first time, which can disperse the load of the arm and avoid single-point load concentration. Combined with mechanical optimization and space adaptability design, the risk of structural deformation is reduced. The problems of arm interference and load imbalance in traditional transfer are solved.

[0119] The arm posture is adjustable, and based on the change of the center of gravity of arches of different specifications and sizes, the adjustable arm posture can adapt to the grasping needs of arches of different specifications, avoiding the poor adaptability problem caused by fixed-angle transfer.

[0120] The side arch arm and the middle arch arm are controlled by pressure sensors and torque closed loop, and at the moment when the side arch arm grasps the side arch, the middle arch arm synchronously performs a "soft release" action, realizing seamless load transfer and eliminating the vibration or side arch sliding risk caused by traditional hard separation. The process efficiency is improved, and the arm transfer process is parallel operation of the two arms, avoiding the waiting time after one arm operation and then the operation of the other arm.

[0121] A safety mechanism is added, and a double-channel safety locking device is added, which detects the insufficient grasping force of the middle arch arm transfer gripper, and the side arch arm will not loosen the gripper.

[0122] The arm relies on the tunnel section contour size to set the arch transfer range of the arm action executor, automatically diagnoses the abnormal arm posture during the transfer process, triggers the dynamic compensation mechanism, and realizes position correction. Improve the transfer efficiency.​

Claims

1. A method for transporting segmented arch frames, characterized in that, Comprising the following steps: The segmented arch transfer system for performing the method comprises a rack (100), an arch transfer rack assembly (300), an intermediate vertical arch arm (400), and a side vertical arch assembly; the arch transfer rack assembly (300) comprises two arch transfer assemblies arranged side by side and sliding in the tunnel direction on the rack (100), each of the two arch transfer assemblies comprises a self-moving component, a sliding base track (320) arranged longitudinally in the tunnel and on the rack (100), a middle sliding component (340) slidingly connected to the base track (320), and an arch transfer rack (350) fixedly arranged on the middle sliding component (340); the intermediate vertical arch arm (400) is slidingly arranged between the two arch transfer assemblies on the top front side of the rack (100); The side vertical arch assembly comprises two side vertical arch assemblies arranged side by side and outside the left and right sides of the rack (100) in the tunnel direction; The transfer method comprises the following steps: S1, the arch transfer rack assembly (300) located above the deslagging channel is slid to below the segmented arch lifted at the rear end of the rack (100), and then the segmented arch is transported to the front end of the rack (100) by the self-moving component of the arch transfer rack assembly (300); S2, before the preparation of the front segment, the intermediate vertical arch arm (400) moves to below the segmented arch placed on the arch transfer rack (350), the first segmented arch is grabbed and sent to near the working face, and the gripper of the side vertical arch assembly on one side moves to the position above the first segmented arch to perform arch transfer, the intermediate vertical arch arm (400) and the side vertical arch assembly on one side form an "X" type transfer arm posture; S3, the second segmented arch placed on the arch transfer rack (350) is transferred to the side vertical arch assembly on the other side in the same way, and the third segmented arch is grabbed by the intermediate vertical arch arm (400) to complete the arch installation through the coordinated movement of the side vertical arch assembly on one side, the side vertical arch assembly on the other side, and the intermediate vertical arch arm (400).

2. The method of claim 1, wherein, In step S1, the segmented arch is lifted to a position corresponding to the height of the arch transfer rack assembly (300) on the upper part of the rack (100) by the lifting mechanism device (200), then the arch transfer rack assembly (300) slides to below the segmented arch at the rear end of the rack (100), the segmented arch is lowered onto the arch transfer rack assembly (300) by the lifting mechanism device (200), the segmented arch is placed on the arch transfer rack assembly (300), and then the segmented arch is transported to the front end of the rack (100) by the self-moving component of the arch transfer rack assembly (300).

3. The method of claim 2, wherein, The number of segmented arches is three, the first segmented arch placed on the arch transfer rack (350) is driven to move from the rear end of the rack (100) to the front end of the rack (100) by the hook plate (333) installed on the chain, and the second segmented arch and the third segmented arch are sequentially transferred to the arch transfer rack assembly (300) in the same way and stored at the front end of the rack (100).

4. The method of claim 1, wherein, In step S2, the grasping pressure of the side arch assembly on one side is detected when the gripper of the side arch assembly on one side grasps the side arch, and as the grasping pressure of the side arch assembly on one side gradually increases, the grasping pressure of the intermediate arch jib (400) gradually decreases; the arch transfer range of the side arch assembly and the jib action executor of the intermediate arch jib (400) is set, and whether the position of the jib is abnormal during the transfer process is automatically diagnosed; if there is an abnormality, the dynamic compensation mechanism of the side arch assembly and the intermediate arch jib (400) is triggered to realize position correction.

5. A segmented arch transfer system for performing a segmented arch transfer method according to any one of claims 1 to 4, characterized in that, The lifting mechanism device (200) is arranged on the rear side of the gantry (100) and is used to lift the position of the segmented arch; 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 are conveyed to the front ends of the two arch transfer assemblies through the self-transporting member; Each side arch assembly includes a sliding track and a mechanical arm moving along the sliding track, and each side arch assembly is used to grasp the corresponding segmented arch transferred by the intermediate arch jib (400) and can adjust the posture of the segmented arch.

6. A segmented arch transfer system as claimed in claim 5, wherein, Each arch transfer assembly includes a sliding power system (310) driving the movement of the middle sliding assembly (340) along the base track (320) and a transfer power system (330) driving the rotation of the self-transporting member, the self-transporting member is longitudinally sleeved on the arch transfer frame (350) along the tunnel, and the arch transfer frame (350) is fixedly installed on the middle sliding assembly (340).

7. A segmented arch transfer system according to claim 6, wherein, The sliding power system (310) includes a sliding sprocket and chain assembly (311) arranged between the sliding base track (320) and the middle sliding assembly (340) and a sliding motor reducer drive (312) driving the movement of the sliding sprocket and chain assembly (311). The middle sliding assembly (340) includes a sliding support weldment (341) and a sliding roller assembly (342) slidingly connected to the sliding base track (320), the sliding roller assembly (342) is fixedly installed on the sliding support weldment (341), and the arch transfer frame (350) is fixedly installed on the sliding support weldment (341).

8. A segmented arch transfer system according to claim 7, wherein, The transfer power system (330) includes a transfer motor reducer drive (331), the self-transporting member includes a transfer sprocket and chain assembly (332) and a hook plate (333) arranged on the transfer sprocket and chain assembly (332), the transfer sprocket and chain assembly (332) is installed on the arch transfer frame (350), the transfer motor reducer drive (331) drives the rotation of the transfer sprocket and chain assembly (332), and the transfer motor reducer drive (331) is installed on the arch transfer frame (350).

9. The segmented arch transfer system of claim 5, wherein, 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 rack (100), and the first lifting assembly and the second lifting assembly are used for adjusting the height of the segmented arch frame; the first lifting assembly and the second lifting assembly are identical in structure, and each of the first lifting assembly and the second lifting assembly comprises a vertical lifting assembly (210) and an L-shaped swing arm assembly (220) which is lifted along with the vertical lifting assembly (210), and each vertical lifting assembly (210) is installed on the rear end vertical beam of the corresponding rack (100).

10. The segmented arch transfer system of claim 5, wherein, The intermediate vertical arch arm frame (400) comprises a sliding track arranged on the top of the rack (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 tunnel extension direction.

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