A side arch transfer method and arch transfer system

Abstract

The application discloses a side arch transfer method and an arch transfer system, and relates to the technical field of tunnel engineering equipment, comprising a rack, a lifting mechanism device, an arch transfer arm frame, an arch transfer storage frame, an intermediate vertical arch arm frame and a side vertical arch arm frame. The whole arch is segmented and transferred, and is divided into three segmented arches. The segmented arches are transferred to the rack from the ground segment by segment, so that the three segmented arches are placed side by side on the arch transfer storage frame. The technical route utilizes the upper space of the rack to store the arches, does not affect the slag discharge channel, can be parallel with other processes, and saves operation time. If the arch installation is performed, the intermediate vertical arch arm frame and the side vertical arch arm frames on the two sides are used for segmented arch splicing and installation.

Description

TECHNICAL FIELD

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

[0002] In tunnel construction, the excavation of the working face, the anchoring rod operation, the transfer and installation of the arch, the welding of the mesh, the spraying, the pumping and other construction processes are realized through the cooperation of different machines on the integrated machine set to achieve the excavation, the anchoring rod operation, the transfer and installation of the arch, the welding of the mesh, the spraying, the pumping and other parallel operations. In tunnel construction, the transfer and installation of the arch are key construction steps and directly affect the construction efficiency and safety of the entire cycle.

[0003] In the prior art, the transfer and installation of the folded prefabricated arch are mainly used. Due to the parallel process and the limitation of the space in the hole, if the total arc length of the folded arch is designed to be consistent with the total arc length of the section of the initial support of the upper track, the two side segments of the folded arch cannot be fully unfolded and sent to the support surface in the hole. If the total arc length of the folded arch is designed to be less than the total arc length of the initial support of the upper track, the folded arch can be unfolded, but since the total arc length of the arch is less than the total arc length of the support, after the folded arch is fully unfolded, the total length of the arch does not reach the total arc length of the support of the upper track. Therefore, the position of the arch foot of the previous process needs to be left with soil support, and the soil on both sides needs to be removed in the subsequent process, and a small support leg arch needs to be added to reach the total arc length of the support. This increases the process time of excavation and support, reduces the efficiency, and increases the cost.

[0004] In addition, in the current technology, a loader is used to transport the segmented arch to the working face segment by segment, and the middle and both sides of the integrated machine set are used to grab the arch segment by segment to erect the arch. The transfer of such an arch mainly relies on manual or simple mechanical assistance, which has the following defects:

[0005] 1. Low transfer efficiency: In this technical route, the arch is transported to the working face segment by segment 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 with the parallel operation of the hole, the arch transfer will affect the outflow channel, and the arch needs to be placed on the working face in the state of no residue. After the outflow is completed, the arch transfer is performed.

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

[0007] 3. Increased cost: The low transfer efficiency increases the number of processes, resulting in increased construction cost. SUMMARY

[0008] The present application aims at solving the above technical problems, and provides a side arch transfer method and an arch transfer system.

[0009] In order to achieve the above-mentioned purpose, the present application specifically adopts the following technical solutions:

[0010] The first aspect of the present application provides a side arch transfer method, comprising the following steps:

[0011] S1, transporting the side arch from the rear end of the gantry to the front end of the gantry through the arch storage rack assembly located above the tapping channel;

[0012] S2, before the preparation of the vertical arch process, moving the intermediate vertical arch arm frame on the gantry to below the side arch, then lifting the side arch through the mechanical arm gripper of the intermediate vertical arch arm frame, and delivering the side arch to the position close to the working face;

[0013] S3, moving the mechanical arm gripper of the side vertical arch arm frame to a position above the intermediate vertical arch arm frame capable of grabbing the side arch, and forming an "X" type transfer arm frame posture between the side vertical arch arm frame and the intermediate vertical arch arm frame;

[0014] S4, under the "X" type transfer arm frame posture, the gripper of the side vertical arch arm frame first grabs the side arch, and then the intermediate vertical arch arm frame releases the side arch, thereby completing the transfer of the side arch.

[0015] In one embodiment, in step S4, while the gripper of the side vertical arch arm frame is grabbing the side arch on the intermediate vertical arch arm frame, the gripping pressure of the side vertical arch assembly on one side is detected through a pressure sensor, and as the gripping pressure of the side vertical arch arm frame gradually increases, the gripping pressure of the intermediate vertical arch arm frame on the side arch gradually decreases; the arch transfer range of the arm frame action executor of the side vertical arch arm frame and the intermediate vertical arch arm frame is set, and whether the position of the arm frame is abnormal during the transfer process is automatically diagnosed (through the position sensor position information, the processor judges whether the position is abnormal), if there is an abnormality, the dynamic compensation mechanism of the side vertical arch arm frame and the intermediate vertical arch arm frame is triggered to realize position correction.

[0016] Specifically, the present application divides the whole arch into three segments, i.e., a first side arch, a second side arch and an intermediate arch, and transfers the segmented arches to the gantry one segment at a time from the ground, so that the three segments of arches are placed side by side on the arch storage rack. This technical route utilizes the upper space of the gantry to store the arches, does not affect the tapping channel, can be parallel to other processes, and saves operation time; if the arch installation is performed, the three segments of arches are spliced and installed by the intermediate vertical arch arm frame and the side vertical arch arm assemblies on both sides, specifically as follows:

[0017] The transport process is as follows: the lifting mechanism device vertically lifts the first side arch to the height position of the hand component of the arch transfer arm frame on the upper part of the rack, the segmented arch is grabbed by the hand component and is retracted, pitched and retreated for recovery, and the segmented arch is placed on the arch storage frame assembly designed on the two sides of the rack; the first side arch is transported to the front end of the rack through the chain wheel and chain of the arch storage frame assembly; similarly, the second side arch and the middle arch are sequentially and side by side transported to the arch storage frame assembly and stored at the front end of the rack for subsequent vertical stand working conditions.

[0018] Before the preparation of the vertical arch process, the middle vertical arch arm frame moves to the rack below the first side arch, the first side arch is grabbed and sent to the vicinity of the working face, the side vertical arch arm frame includes two side vertical arch components on the left and right sides of the arch storage frame assembly, and the hand of the left side vertical arch component moves to the position above the first side arch to hand over the first side arch, and the middle vertical arch arm frame and the left side vertical arch component form an X-shaped transfer arm frame posture; similarly, the second side arch is handed over to the right side vertical arch component, and the middle vertical arch arm frame grabs the middle arch, and the left side vertical arch component, the right side vertical arch component and the middle vertical arch arm frame cooperatively move to complete the butt joint and installation of the arch.

[0019] The whole arch is segmented and transported, and is divided into three segmented arches, the segmented arches are transported to the rack from the ground one by one, and the three segmented arches are placed side by side on the arch storage frame, so that the arches are stored in the upper space of the rack, the slag discharge channel is not affected, parallel operation with other processes can be realized, and operation time is saved; if the arches are installed, the middle vertical arch arm frame and the side vertical arch arm frame are used for segmented arch splicing and installation.

[0020] The two aspects of the present application provide an arch transfer system for performing the above-mentioned side arch transfer method, which comprises a rack, a lifting mechanism device, an arch transfer arm frame, an arch storage frame, a middle vertical arch arm frame and a side vertical arch arm frame.

[0021] The lifting mechanism device is arranged on the rear side of the rack and is used for lifting the position of the segmented arch;

[0022] The arch storage frame comprises two arch storage components arranged side by side on the rack in the tunnel direction and is used for transporting and temporarily storing the segmented arch;

[0023] The middle vertical arch arm frame is slidably arranged between the two arch storage components on the top front side of the rack;

[0024] The arch transfer arm frame is slidably arranged between the two arch storage components on the top rear side of the rack and is used for placing the segmented arch on the lifting mechanism device on the two arch storage components;

[0025] The side-erecting arch arm frame comprises two side-erecting arch assemblies arranged side by side on the left and right sides outside the frame along the tunnel direction, each side-erecting arch assembly comprises a sliding track and a mechanical arm moving along the sliding track, and each side-erecting arch assembly is used for grabbing a corresponding segmented arch frame delivered by the middle-erecting arch arm frame and adjusting the posture of the segmented arch frame.

[0026] Specifically, the whole arch frame is divided into three segmented arch frames, the three segmented arch frames are lifted to a suitable height by the lifting mechanism device, then placed on the arch frame transfer frame by the arch frame transfer arm frame, transported to the front end of the frame by the arch frame transfer frame, the first segment and the second side arch frame are handed over to the two side-erecting arch arm frames on the left and right sides by the middle-erecting arch arm frame, the middle-erecting arch arm frame grabs the middle arch frame, the position and posture of the three segmented arch frames are adjusted by the middle-erecting arch arm frame and the two side-erecting arch arm frames, and the three segmented arch frames are spliced into the whole arch frame by welding.

[0027] In an embodiment, the lifting mechanism device comprises a first lifting assembly and a second lifting assembly symmetrically arranged on the two rear end vertical beams of the frame, and the first lifting assembly and the second lifting assembly are used for adjusting the height of the segmented arch frame.

[0028] Specifically, the first lifting assembly and the second lifting assembly are assembled on the two vertical beams at the rear end of the frame by bolts.

[0029] In an embodiment, the first lifting assembly and the second lifting assembly are the same 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 lifting along with the vertical lifting assembly, and each vertical lifting assembly is installed on the rear end vertical beam of the corresponding frame.

[0030] The vertical lifting assembly comprises a vertically arranged chain mounting rack, a chain wheel and chain assembly sleeved on the chain mounting rack, and a hydraulic motor driving mechanism driving the chain wheel and chain assembly to rotate (the hydraulic motor can be replaced by a motor);

[0031] The L-shaped swing arm assembly comprises a lifting connecting piece installed on the outer side of the chain wheel and chain assembly, a rotary support installed on the lifting connecting piece, and an L-shaped swing arm, the L-shaped swing arm is installed on the lifting connecting piece in a rotary swing manner through the rotary support, and at least two groups of guide roller assemblies matched with the chain mounting rack are arranged on the inner side of the lifting connecting piece.

[0032] Specifically, the L-shaped swing arm assembly is assembled to the vertical lifting assembly through the rollers, and the L-shaped swing arm assembly is driven to move up and down on the vertical lifting assembly through the operation of the hydraulic motor driving and the chain wheel and 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 up and down.

[0033] In one embodiment, 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 a rotary support, the rotary 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.

[0034] In one embodiment, each guide roller assembly comprises a main guide roller set slidingly connected with the chain mounting rack, and a secondary guide roller set slidingly connected with the chain mounting rack, the secondary guide roller set is mounted on the main guide roller set.

[0035] In one embodiment, the intermediate vertical arch arm frame comprises a sliding rail arranged on the top of the rack and between the two arch frame transfer assemblies, and an arch frame grab arm arranged on the sliding rail, the direction of the sliding rail is consistent with the extension direction of the tunnel.

[0036] Specifically, the intermediate vertical arch arm frame has the functions of sliding and adjusting the pitch posture of the arm frame, and the grab hand of the arch frame grab arm can perform rotary yawing and other actions as required.

[0037] In one embodiment, the arch frame transfer arm frame comprises a base assembly slidingly mounted on the sliding rail, a large arm assembly connected with the base assembly through a rotary pair, a small arm assembly movably connected with the large arm assembly through a rotary pair, and a grab hand assembly movably connected at the end of the small arm assembly.

[0038] Specifically, the arch frame transfer arm frame is assembled on the sliding trolley of the sliding rail of the intermediate vertical arch arm frame through bolts, and can slide together with the sliding trolley of the intermediate vertical arch arm frame. The large arm assembly is driven by an oil cylinder and can adjust the pitch and yawing actions. The small arm assembly has telescopic action with the embedded oil cylinder. The grab hand assembly is driven by an oil cylinder based on the small arm assembly and has the pitch action, and the grab hand assembly has the rotary and yawing actions.

[0039] In one embodiment, each arch frame transfer assembly comprises a driving assembly and an arch frame transfer frame, the arch frame transfer frame comprises a horizontal mounting rack arranged horizontally along the tunnel direction, and a plurality of support legs arranged at the bottom of the horizontal mounting rack, and the bottom of each support leg is detachably mounted on the top of the rack.

[0040] The driving assembly comprises a horizontal sprocket and chain assembly mounted on the horizontal mounting rack, and a horizontal hydraulic motor driving mechanism for driving the horizontal sprocket and chain assembly to rotate, and a plurality of hook plates for hanging the segmented arch are arranged on the horizontal chain of the horizontal sprocket and chain assembly.

[0041] Specifically, the two arch storage assemblies are bolted to the gantry upper beam plane respectively. The driving assembly is composed of a horizontal chain wheel and chain assembly and a horizontal hydraulic motor driving mechanism. The horizontal chain wheel and chain assembly is driven to rotate by the horizontal hydraulic motor driving mechanism, and the hook plate installed on the horizontal chain drives the segmented arch placed on the arch storage frame to move from the rear end of the gantry to the front end of the gantry.

[0042] The beneficial effects of the present application are as follows:

[0043] The present application has reasonable design, optimizes equipment layout and operation process, significantly improves construction efficiency and automation level, and reduces equipment space occupation and construction organization complexity. The system has strong adaptability, can meet the construction requirements of complex tunnel section, improve construction quality and safety, reduce labor and equipment cost, and provides an efficient, economic and safe solution for tunnel construction.

[0044] 2. Space coordination optimization: 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 operation space environment of the tunnel. At the same time, the cross-type boom posture is used for arch transfer for the first time, which can disperse the stress of the boom and avoid single-point load concentration of the boom. Combined with mechanical optimization and space adaptability design, the risk of structural deformation is reduced. The problems of boom interference and load imbalance in traditional transfer are solved.

[0045] 3. Adjustable boom posture: based on the change of the center of gravity of arches of different specifications and sizes, the adjustable boom posture can adapt to the grabbing needs of arches of different specifications, avoiding the poor adaptability caused by fixed-angle transfer.

[0046] 4. Side and middle arch booms are controlled by pressure sensors and torque closed loop, and the middle arch boom performs a "soft release" action at the moment when the side arch boom grabs the side arch, 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 boom transfer process is parallel operation of the two booms, avoiding the waiting time after one boom operation and then the other boom operation.

[0047] 5. Safety mechanism is added, and a double-channel safety locking device is added. When the grabbing force of the middle arch boom is insufficient, the side arch boom will not loosen the grabber.

[0048] 6. The boom is set according to the contour size of the tunnel section, and the arch transfer range of the boom action executor is set. In the transfer process, the abnormality of the boom posture is automatically diagnosed, the dynamic compensation mechanism is triggered, the position is corrected, and the transfer efficiency is improved.

[0049] 7. Improve the efficiency of transportation: through the segmented transportation system, the transportation efficiency of the arch is significantly improved, the construction waiting process time and steps are reduced, and the construction period is shortened.

[0050] 8. Improve the construction environment: the optimized transportation mode reduces the manual construction operation in the tunnel, improves the construction site environment, and improves the convenience of the construction process.

[0051] 9. Reduce construction cost: avoid additional excavation and support procedures, reduce material waste, and reduce construction cost.

[0052] 10. Improve construction safety: reduce construction operations in the tunnel, reduce the safety risk of construction personnel, and improve the safety of the construction process.

[0053] 11. Improve construction quality: by precisely controlling the transportation and installation of the arch, the precision and quality of the arch installation are improved, and the stability and reliability of the tunnel construction are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0054] 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. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0055] Figure 1 is a structural schematic diagram of an arch transportation system of the present application;

[0056] Figure 2 is a front view of Figure 1 ;

[0057] Figure 3 is a structural schematic diagram of an arch transfer arm;

[0058] Figure 4 is a structural schematic diagram of a lifting mechanism device;

[0059] Figure 5 is a partial structural schematic diagram of Figure 4 ;

[0060] Figure 6 is a structural schematic diagram of an arch storage rack;

[0061] Figure 7 is a schematic diagram of the initial lifting of the segmented arch of the present application;

[0062] Figure 8 is a schematic diagram of the initial lifting of the segmented arch of the present application to the highest;

[0063] Figure 9 is a structural schematic diagram of the first side arch frame being transferred to the arch frame storage frame of the present application;

[0064] Figure 10 is a structural schematic diagram of the three-section segmented arch frame being transferred to the arch frame storage frame of the present application;

[0065] Reference signs: 100-lifting mechanism device, 200-arch frame transfer arm frame, 300-arch frame storage frame assembly, 400-intermediate arch arm frame, 500-side arch arm frame, 600-rack;

[0066] 110-vertical lifting assembly, 120-L-shaped swing arm assembly;

[0067] 121-lifting connecting piece, 122-rotary support, 123-L-shaped swing arm, 124-guiding roller assembly;

[0068] 210-base assembly, 220-large arm assembly, 230-small arm assembly, 240-gripper assembly;

[0069] 310-driving assembly, 320-arch frame storage frame. DETAILED DESCRIPTION

[0070] In order 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 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 drawings herein can be arranged and designed in various different configurations.

[0071] Therefore, the following detailed description of the embodiments of the present application provided in the 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.

[0072] It should be noted that similar reference signs 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 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.

[0073] In the description of the embodiments of the present application, it should be noted that the terms "inner", "outer", "upper", and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0074] Embodiment 1

[0075] The present embodiment provides a side arch transfer method, comprising the following steps:

[0076] S1, transporting the side arch from the rear end of the rack 600 to the front end of the rack 600 by the arch transfer rack assembly 300 located above the tapping channel;

[0077] S2, before the preparation of the vertical arch process, first move the intermediate vertical arch arm frame 400 on the rack 600 to below the side arch, then use the mechanical arm gripper of the intermediate vertical arch arm frame 400 to lift the side arch, and deliver the side arch to the position close to the working face;

[0078] S3, move the mechanical arm gripper of the side vertical arch arm frame 500 to a position above the intermediate vertical arch arm frame 400 that can grab the side arch, and make the side vertical arch arm frame 500 and the intermediate vertical arch arm frame 400 form an "X" type transfer arm frame posture;

[0079] S4, under the "X" type transfer arm frame posture, the gripper of the side vertical arch arm frame 500 first grabs the side arch, then the intermediate vertical arch arm frame 400 releases the side arch, thereby completing the transfer of the side arch; while the gripper of the side vertical arch arm frame 500 is grabbing the side arch on the intermediate vertical arch arm frame 400, the grabbing pressure of the side vertical arch assembly on one side is detected, as the grabbing pressure of the side vertical arch arm frame 500 gradually increases, the grabbing pressure of the intermediate vertical arch arm frame 400 on the side arch gradually decreases; the arch transfer range of the arm frame actuator of the side vertical arch arm frame 500 and the intermediate vertical arch arm frame 400 is set, and whether the arm frame position is abnormal during the transfer process is automatically diagnosed, if abnormal, the dynamic compensation mechanism of the side vertical arch arm frame 500 and the intermediate vertical arch arm frame 400 is triggered to realize position correction.

[0080] Specifically, the present scheme divides the whole arch into three segments, i.e. the first side arch, the second side arch and the intermediate arch, and transfers the segmented arches to the rack one segment at a time from the ground, so that the three segments of arches are placed side by side on the arch transfer rack, this technical route uses the upper space of the rack to store the arches, does not affect the tapping channel, can be parallel to other processes, and saves operation time; if the arch installation is performed, the three segments of arches are spliced and installed by the intermediate vertical arch arm frame and the side vertical arch arm assemblies on both sides, as follows:

[0081] In the process of transportation, the lifting mechanism device 100 vertically lifts the first side arch to the height position of the gripper assembly 240 of the arch transfer arm 200 on the upper part of the rack 600, grabs the segmented arch through the gripper assembly 240, and performs extension, pitching and backward retraction to place the segmented arch on the arch storage rack assembly 300 designed on the two sides of the rack 600; the first side arch is transported to the front end of the rack 600 through the chain wheel and chain of the arch storage rack assembly 300; similarly, the second side arch and the middle arch are sequentially and side by side transported to the arch storage rack assembly 300 in this way, and stored to the front end of the rack 600 for subsequent vertical arch working conditions;

[0082] Before the preparation of the vertical arch process, the intermediate vertical arch arm 400 moves to the lower part of the first side arch on the rack 600, and the first side arch is grabbed and sent to the vicinity of the working face. The side vertical arch arm 500 includes two side vertical arch assemblies located on the left and right sides of the arch storage rack assembly 300. At the same time, the gripper of the left side vertical arch assembly moves to the position above the first side arch to hand over the first side arch. The intermediate vertical arch arm 400 and the left side vertical arch assembly form an "X" type of transfer arm posture. Similarly, the second side arch is handed over to the right side vertical arch assembly. The intermediate vertical arch arm 400 grabs the middle arch again, and through the coordinated movement of the left side vertical arch assembly, the right side vertical arch assembly and the intermediate vertical arch arm 400, the butt joint and installation of the arch are completed.

[0083] Space coordination optimization: the "X" type of transfer posture is transferred through three-dimensional space intersection, which significantly improves the operation efficiency and flexibility of the mechanical arm in the limited operation space environment of the tunnel. At the same time, the cross type of arm posture is first proposed for arch transfer. This posture can disperse the load of the arm to avoid single-point load concentration of the arm. 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.

[0084] Adjustable arm posture: 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.

[0085] The side vertical arch arm and the intermediate vertical arch arm are controlled through pressure sensor and torque closed loop. At the moment when the side vertical arch arm grabs the side arch, the intermediate vertical arch arm synchronously performs "soft release" action to realize seamless load transfer and eliminate the vibration or side arch sliding risk caused by traditional hard separation. The process efficiency is improved. In the process of arm transfer, the two arms work in parallel to avoid the waiting time after one arm operation in the transfer process.

[0086] The safety mechanism is added, the double-channel safety locking device is added, and when the grabbing force of the intermediate vertical arch arm frame transfer gripper is insufficient, the side vertical arch arm frame will not loosen the gripper.

[0087] The arm frame relies on the tunnel section contour size to set the arch frame transfer range of the arm frame action executor, automatically diagnoses the abnormal arm frame pose during the transfer process, can trigger a dynamic compensation mechanism, and realizes position correction. The transfer efficiency is improved.

[0088] Embodiment 2

[0089] As shown in Figures 1 to 10 , the embodiment provides an arch frame transfer system, which comprises a rack 600, a lifting mechanism device 100, an arch frame transfer arm 200, an arch frame storage assembly 300, an intermediate vertical arch arm frame 400, and a side vertical arch arm frame 500.

[0090] The lifting mechanism device 100 is arranged at the rear side of the rack 600 and is used to lift the position of the segmented arch frame.

[0091] The arch frame storage assembly 300 comprises two arch frame storage components arranged side by side on the rack 600 in the tunnel direction and is used to transfer and temporarily store the segmented arch frame.

[0092] The intermediate vertical arch arm frame 400 is slidingly arranged between the two arch frame storage components at the top front side of the rack 600.

[0093] The arch frame transfer arm 200 is slidingly arranged between the two arch frame storage components at the top rear side of the rack 600 and is used to place the segmented arch frame on the lifting mechanism device 100 on the two arch frame storage components.

[0094] The side vertical arch arm frame 500 comprises two side vertical arch components arranged side by side on the left and right sides of the rack 600 outside the tunnel direction, each side vertical arch component comprises a sliding track and a mechanical arm moving along the sliding track, and each side vertical arch component is used to grab the corresponding segmented arch frame transferred by the intermediate vertical arch arm frame 400 and can adjust the posture of the segmented arch frame.

[0095] Specifically, the whole arch frame is divided into three segmented arch frames, the three segmented arch frames are lifted to appropriate heights by the lifting mechanism device 100, are placed on the arch frame storage assembly 300 by the arch frame transfer arm 200, are transported to the front end of the rack 600 by the arch frame storage assembly 300, are transferred to the two side vertical arch components on the left and right sides by the intermediate vertical arch arm frame 400, the intermediate vertical arch arm frame 400 grabs the middle arch frame, the positions and postures of the three segmented arch frames are adjusted by the intermediate vertical arch arm frame 400 and the two side vertical arch components, and the three segmented arch frames are spliced into the whole arch frame in the form of welding.

[0096] Embodiment 3

[0097] This embodiment is further optimized on the basis of Embodiment 2, specifically:

[0098] The lifting mechanism device 100 comprises a first lifting assembly and a second lifting assembly symmetrically arranged on the two rear end vertical beams of the gantry 600, and the first lifting assembly and the second lifting assembly are used for adjusting the height of the segmented arch.

[0099] The first lifting assembly and the second lifting assembly are the same in structure, and each of the first lifting assembly and the second lifting assembly comprises a vertical lifting assembly 110 and an L-shaped swing arm assembly 120 which is lifted along with the vertical lifting assembly 110, and each vertical lifting assembly 110 is installed on the rear end vertical beam of the corresponding gantry 600.

[0100] The vertical lifting assembly 110 comprises a vertically arranged chain mounting rack, a chain wheel and chain assembly sleeved on the chain mounting rack, and a hydraulic motor driving mechanism for driving the chain wheel and chain assembly to rotate. The hydraulic motor can be replaced by a motor.

[0101] The L-shaped swing arm assembly 120 comprises a lifting connecting piece 121 installed on the outer side of the chain wheel and chain assembly, a rotary support 122 installed on the lifting connecting piece 121, and an L-shaped swing arm 123 installed on the lifting connecting piece 121 through the rotary swing of the rotary support 122. The inner side of the lifting connecting piece 121 is provided with at least two groups of guide roller assemblies 124 matched with the chain mounting rack.

[0102] Specifically, the first lifting assembly and the second lifting assembly are assembled on the two vertical beams at the rear end of the gantry 600 through bolts. The L-shaped swing arm assembly 120 is assembled to the vertical lifting assembly 110 through rollers, and is driven to move up and down on the vertical lifting assembly 110 through the operation of the hydraulic motor driving and the chain wheel and chain assembly. The L-shaped swing arm assembly 120 is driven to rotate by the rotary support, and the L-shaped swing arm is swung to lift the arch to move up and down.

[0103] Embodiment 4

[0104] This embodiment is further optimized on the basis of Embodiment 3, specifically:

[0105] 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 122, 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.

[0106] Each guide roller assembly 124 comprises a main guide wheel set slidably clamped on the chain mounting rack and a secondary guide wheel set slidably clamped on the chain mounting rack, and the secondary guide wheel set is installed on the main guide wheel set.

[0107] Embodiment 5

[0108] This embodiment is further optimized on the basis of Embodiment 3, specifically:

[0109] The intermediate vertical arch arm frame 400 includes a sliding rail arranged on the top of the gantry 600 and between the two arch frame transfer assemblies, and an arch frame grabbing arm arranged on the sliding rail, the sliding rail being in the same direction as the tunnel extension direction.

[0110] Specifically, the intermediate vertical arch arm frame 400 has the functions of sliding and arm frame pitch adjustment, and the grab hand of the arch frame grabbing arm can perform actions such as turning and yawing as required.

[0111] Embodiment 6

[0112] This embodiment is further optimized on the basis of Embodiment 5, specifically:

[0113] The arch frame transfer arm frame 200 includes a base assembly 210 slidingly installed on the sliding rail, a large arm assembly 220 connected with the base assembly 210 through a rotary pair, a small arm assembly 230 movably connected with the large arm assembly 220 through a rotary pair, and a grab hand assembly 240 movably connected at the end of the small arm assembly 230.

[0114] Specifically, the arch frame transfer arm frame 200 is assembled on the sliding trolley of the sliding rail of the intermediate vertical arch arm frame 400 through bolts, and can slide together with the sliding trolley of the intermediate vertical arch arm frame 400. The large arm assembly 220 is driven by an oil cylinder and can adjust the pitch and yaw actions. The small arm assembly 230 has a telescopic action with an embedded oil cylinder. The grab hand assembly 240 is driven by an oil cylinder based on the small arm assembly 230 and has a pitch action, and the grab hand assembly 240 has a turning and yawing action.

[0115] Embodiment 7

[0116] This embodiment is further optimized on the basis of Embodiment 6, specifically:

[0117] Each arch frame transfer assembly includes a driving assembly 310 and an arch frame transfer frame 320, and the arch frame transfer frame 320 includes a horizontal mounting frame arranged horizontally along the tunnel direction and a plurality of supporting legs arranged at the bottom of the horizontal mounting frame, and each supporting leg is detachably mounted on the top of the gantry 600.

[0118] The driving assembly 310 includes a horizontal sprocket and chain assembly mounted on the horizontal mounting frame, and a horizontal hydraulic motor driving mechanism for driving the horizontal sprocket and chain assembly to rotate, and the horizontal chain of the horizontal sprocket and chain assembly is uniformly distributed with a plurality of hook plates for hanging the segmented arch frame.

[0119] Specifically, two arch storage components are bolted to the beam plane of the rack 600 respectively.

[0120] The driving assembly 310 is composed of a horizontal sprocket chain assembly and a horizontal hydraulic motor driving mechanism. The horizontal sprocket chain assembly is driven by the horizontal hydraulic motor driving mechanism to rotate, and the hook plate installed on the horizontal chain drives the segmented arch placed on the arch storage rack 320 to move from the rear end of the rack to the front end of the rack.

Claims

1. A method of transferring a side arch, characterized in that, It comprises the following steps: The arch transfer system for performing the side arch transfer method comprises a rack (600), a lifting mechanism device (100), an arch transfer arm (200), an arch transfer storage assembly (300), an intermediate vertical arch arm (400), and a side vertical arch arm (500); The lifting mechanism device (100) is arranged at the rear side of the rack (600) and is used to lift the position of the segmented arch; The arch transfer storage assembly (300) comprises two arch transfer storage components arranged side by side along the tunnel direction on the rack (600) and is used to transfer and temporarily store the segmented arch; The intermediate vertical arch arm (400) is slidingly arranged between the two arch transfer storage components at the front side of the top of the rack (600); The side vertical arch arm (500) comprises two side vertical arch components arranged side by side along the tunnel direction outside the left and right sides of the rack (600), each of the side vertical arch components comprises a sliding track and a mechanical arm with a clamping claw moving along the sliding track, and each of the side vertical arch components is used to grab the corresponding segmented arch delivered by the intermediate vertical arch arm (400) and can adjust the posture of the segmented arch; The arch transfer arm (200) is slidingly arranged between the two arch transfer storage components at the rear side of the top of the rack (600) and is used to place the segmented arch on the lifting mechanism device (100) on the two arch transfer storage components; The side arch transfer method comprises the following steps: S1, the arch transfer storage assembly (300) located above the deslagging channel is used to transport the side arch from the rear end of the rack (600) to the front end of the rack (600); S2, before the preparation of the vertical arch process, the intermediate vertical arch arm (400) on the rack (600) is moved to below the side arch, the mechanical arm grab of the intermediate vertical arch arm (400) is used to grab the side arch, and the side arch is delivered to the position close to the working face; S3, the mechanical arm grab of the side vertical arch arm (500) is moved to the position above the intermediate vertical arch arm (400) capable of grabbing the side arch, and the side vertical arch arm (500) and the intermediate vertical arch arm (400) form an "X" type intersection arm posture; S4, in the "X" type intersection arm posture, the grab of the side vertical arch arm (500) first grabs the side arch, and then the intermediate vertical arch arm (400) releases the side arch, so as to complete the intersection of the side arch.

2. The lateral arch transfer method of claim 1, wherein, In step S4, while the grab of the side vertical arch arm (500) grabs the side arch on the intermediate vertical arch arm (400), the grabbing pressure of the side vertical arch component on one side is detected, the grabbing pressure of the intermediate vertical arch arm (400) gradually decreases with the gradual increase of the grabbing pressure of the side vertical arch arm (500); the arch intersection range of the arm action actuators of the side vertical arch arm (500) and the intermediate vertical arch arm (400) is set, whether there is an abnormality in the position of the arm during the intersection process is automatically diagnosed, if there is an abnormality, the dynamic compensation mechanism of the side vertical arch arm (500) and the intermediate vertical arch arm (400) is triggered, and the position is corrected.

3. An archway transfer system for performing the lateral archway transfer method of claim 1, wherein, The intermediate arch arm frame (400) comprises a sliding track arranged on the top of the gantry (600) and between the two arch frame transfer assemblies, and an arch frame grabbing arm arranged on the sliding track.

4. An arch frame transfer system according to claim 3, wherein, The arch frame transfer arm frame (200) comprises a base assembly (210) slidably arranged on the sliding track, a large arm assembly (220) connected to the base assembly (210) through a revolute pair, a small arm assembly (230) movably connected to the large arm assembly (220) through a revolute pair, and a gripper assembly (240) movably connected to the end of the small arm assembly (230).

5. An arch transfer system according to claim 3, wherein, Each of the arch frame transfer assemblies comprises a driving assembly (310) and an arch frame transfer frame (320), the arch frame transfer frame (320) comprises a horizontal mounting frame arranged horizontally along the tunnel direction, and a plurality of supporting legs arranged at the bottom of the horizontal mounting frame, and the bottom of each of the supporting legs is detachably mounted on the top of the gantry (600). The driving assembly (310) comprises a horizontal sprocket chain assembly mounted on the horizontal mounting frame, and a horizontal hydraulic motor driving mechanism for driving the horizontal sprocket chain assembly to rotate, and a plurality of hook plates for hooking the segmented arch are arranged on the horizontal chain of the horizontal sprocket chain assembly.

6. An arch transfer system according to claim 3, wherein, The lifting mechanism device (100) comprises a first lifting assembly and a second lifting assembly symmetrically arranged on the two rear end vertical beams of the gantry (600), and the first lifting assembly and the second lifting assembly are used for adjusting the height of the segmented arch.

7. An arch frame transfer system according to claim 6, wherein, The first lifting assembly and the second lifting assembly are the same in structure, and each of the first lifting assembly and the second lifting assembly comprises a vertical lifting assembly (110) and an L-shaped swing arm assembly (120) which rises and falls with the vertical lifting assembly (110), and each of the vertical lifting assemblies (110) is mounted on the corresponding rear end vertical beam of the gantry (600). The vertical lifting assembly (110) comprises a vertically arranged chain mounting frame, a sprocket chain assembly arranged on the chain mounting frame, and a hydraulic motor driving mechanism for driving the sprocket chain assembly to rotate. The L-shaped swing arm assembly (120) comprises a lifting connecting piece (121) mounted on the outer side of the sprocket chain assembly, a rotary support (122) mounted on the lifting connecting piece (121), and an L-shaped swing arm (123), the L-shaped swing arm (123) is mounted on the lifting connecting piece (121) through the rotary swing of the rotary support (122), and at least two groups of guide roller assemblies (124) matched with the chain mounting frame are arranged on the inner side of the lifting connecting piece (121).

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