Steel lining tailor-welding and lining integrated trolley

Abstract

The invention belongs to the technical field of air compression energy storage, and particularly provides a steel lining tailor-welding lining integrated trolley which comprises a needle beam assembly, a steel tile splicing assembly, a steel pipe joint assembling assembly, an intelligent welding assembly and a secondary lining assembly. The needle beam assembly comprises a needle beam main beam and a needle beam portal; the needle beam main beam is used for walking in the cavern; the needle beam portal can move in the longitudinal direction of the needle beam main beam. The steel tile assembling assembly, the steel pipe joint assembling assembly, the intelligent welding assembly and the secondary lining assembly are sequentially arranged on the needle beam portal in the longitudinal direction of the needle beam main beam. By means of the equipment, the processes of steel tile assembling and rounding, steel pipe joint assembling, longitudinal seam and circular seam welding, automatic positioning, automatic rounding and the like are integrated, full-process flow line construction of the manual gas storage chamber steel lining can be completed on one piece of equipment, the number of used equipment is greatly reduced, the labor intensity of workers is reduced, the construction efficiency is improved, the construction period is shortened, and the labor intensity of workers is reduced. And the construction cost is saved.

Description

Technical Field

[0001] The present invention belongs to the technical field of compressed air energy storage, and relates to an integrated trolley for steel lining welding and lining construction of a steel lining sealing layer for an artificial gas storage chamber. Background Art

[0002] As an important part of a compressed air energy storage power station, the gas storage device is not only a key link to ensure the safe and stable operation of the system, but also an important factor affecting the economy of the power station. Compared with the current unlined gas storage caverns such as salt cavern type and abandoned mine type, the underground lined chamber has received more attention due to its wide site selection range and high applicable pressure. In the underground lined chamber, the sealing performance is a key issue in the operation of the chamber. Since the leakage rate of conventional concrete cannot meet the gas storage requirements, currently, the sealing performance of the gas storage cavern is mainly ensured by a polymer material sealing layer and a steel lining sealing layer.

[0003] Currently, there are very few devices on the market that can meet the full-process automation construction of the steel lining sealing layer. Generally, the assembly, pipe group alignment and welding of steel tiles are mainly completed by manual cooperation with auxiliary tools such as scaffolding, sky anchors, hydraulic jacks, electric hoists, and winches. The construction efficiency is low and the construction period is long. A few enterprises have started to develop steel lining sealing layer construction equipment, but most of them have single functions and low intelligence levels. Similar to the steel lining sealing layer construction equipment, there are pressure steel pipe construction equipment in the field of water conservancy and hydropower. There are patents and products related to the problems of circularization, assembly, welding, etc. of pressure steel pipes.

[0004] The invention patent with the publication number CN114393361A provides an alignment trolley applied to the on-site welding process of water conservancy and hydropower pressure steel pipes, belonging to the technical field of steel pipe welding, and is used to solve the problem of low welding efficiency of water conservancy and hydropower pressure steel pipes. It includes a circularizing component and several connecting rods. One end of several connecting rods is provided with an adjusting component. The circularizing component includes two first trolley rings. Several circumferentially distributed first connecting plates are fixed between the two first trolley rings. A first adjusting screw is screwed on the first connecting plate. The lower end of the first adjusting screw is fixed with a first pressing piece, the upper end of the first adjusting screw is fixed with a first rotating block, and a first pressing rod is fixed above the first rotating block. The side of one of the first trolley rings is fixed to the other end of several connecting rods, and several moving components are arranged on the connecting rods; through the cooperation of the circularizing component and the adjusting component, the present invention can adjust the butt joint of two steel pipes, facilitate the welding of steel pipes, and improve the welding efficiency of water conservancy and hydropower pressure steel pipes.

[0005] The utility model patent with the publication number CN215617933 provides a multi-functional assembly platform for large-diameter penstocks. The multi-functional assembly platform greatly improves the assembly, welding, and roundness correction efficiency of penstocks, and avoids the need to continuously install and remove temporary support platforms for assisting the assembly and welding of penstocks during the assembly and welding of penstocks. Since the assembly, welding, and roundness correction of penstocks are repetitive and continuous tasks, the existence of the assembly platform improves the installation stability of the assembly and welding of penstocks, thereby improving the construction quality. There are several manned platforms on the assembly structure, and the operators assemble and weld the penstocks on the manned platforms; the top-rounding device is assembled on the manned platform and can effectively perform the roundness correction work on the penstocks. The assembly structure of the present utility model has a simple structure form, requires a single type of material, is convenient and fast to manufacture, has strong operability and practicability, effectively guarantees the construction efficiency of the assembly, welding, and roundness correction of penstocks, and thus reduces the installation cost.

[0006] Although the above-mentioned construction equipment can solve the problems related to the assembly, alignment, roundness correction, welding, etc. of penstocks in the tunnel, they all have the problems of single functional structure and low intelligence level, and cannot completely solve the problem of full-process automatic construction of penstocks or steel linings in the cavern. Summary of the Invention

[0007] The present invention provides a steel lining assembly, welding, and lining integrated trolley, which includes a needle beam assembly, a steel tile assembly assembly, a steel pipe joint alignment assembly, an intelligent welding assembly, and a secondary lining assembly; The needle beam assembly includes a needle beam main beam and a needle beam gantry; the needle beam main beam is used to travel inside the cavern; the needle beam gantry is movably installed on the needle beam main beam, and the needle beam gantry can be displaced along the longitudinal direction of the needle beam main beam; The steel tile assembly assembly, the steel pipe joint alignment assembly, the intelligent welding assembly, and the secondary lining assembly are sequentially arranged on the needle beam gantry along the longitudinal direction of the needle beam main beam; The steel tile assembly assembly is used to realize the function of assembling and rounding the split arc-shaped steel tiles; The steel pipe joint alignment assembly is used to realize the assembly and alignment of adjacent steel pipe joints; The intelligent welding assembly is used to realize the welding of the circumferential welds between adjacent steel pipe joints; The secondary lining assembly is used to support the inside of the steel plate after the steel plate assembly and welding are completed, and then perform secondary concrete pouring on the area enclosed between the steel plate and the primary support layer of the cavern at the end.

[0008] Further, the needle beam main beam includes a main beam body, main beam legs, sliding tracks, and a winch; The main beam body is arranged as a truss structure, and a top platform is provided on the upper end surface of the main beam body, and a plurality of main beam legs are connected to the lower end surface of the main beam body at intervals; On both the upper and lower end faces of the main beam body, a set of sliding tracks is provided. Each set of sliding tracks consists of two pieces arranged at intervals, and the sliding direction of each single-piece sliding rail is parallel to the length direction of the main beam body. The fixed end of the winch is fixedly connected to the main beam body, and the driving end of the winch is connected to the needle beam gantry, which is used to realize the traction movement between the main body of the needle beam and the needle beam gantry.

[0009] Furthermore, each single-piece main beam leg includes a main beam leg oil cylinder and a main beam leg base. One end of the main beam leg oil cylinder is connected to the main beam body, and the other end of the main beam leg oil cylinder is connected to the main beam leg base. The end face of the main beam leg base that is used to contact the chamber surface is set as an arc surface structure.

[0010] Furthermore, the needle beam gantry includes a gantry beam body, gantry legs, sliding wheel sets, and traction pulley sets. The gantry beam body is set as a truss structure. There are two sets of gantry legs located at both ends of the gantry beam body respectively. Each set of gantry legs includes a gantry leg oil cylinder and a gantry leg base. One end of the gantry leg oil cylinder is connected to the gantry leg base, and the other end of the gantry leg oil cylinder is connected to the gantry beam body. The end face of the gantry leg base that is used to contact the chamber is set as an arc surface structure. The sliding wheel sets are arranged between the main beam body and the gantry beam body, and the sliding wheel sets are in contact with the sliding tracks. Through the rolling movement of the sliding wheel sets and the sliding tracks, the relative movement between the main beam of the needle beam and the needle beam gantry is realized. There are two sets of traction pulley sets located at both ends of the gantry beam body respectively. The two sets of traction pulley sets are respectively arranged in one-to-one correspondence with the two sets of winches. Each set of traction pulley sets cooperates with each set of winches to realize the traction movement between the main beam of the needle beam and the needle beam gantry.

[0011] Furthermore, the steel tile assembling assembly includes a first grasping manipulator, a rotating disk, and a first connecting frame. The lower end face of the first connecting frame is connected to the gantry beam body in the needle beam gantry, and a rotary drive assembly is installed on the upper end face of the first connecting frame. The driving end of the rotary drive assembly is fixedly connected to the rotating disk, and the rotating disk rotates relative to the first connecting frame through the drive of the rotary drive assembly. On the rotating disk, there are multiple sets of first grasping manipulators for grasping arc-shaped steel tiles. The multiple sets of first grasping manipulators are respectively arranged in a circumferential array along the rotating disk and all extend towards the periphery of the rotating disk.

[0012] Furthermore, each single first grasping manipulator includes a magnetic adsorbing body, a clamping jaw, a telescopic oil cylinder, and a connecting support. One end of the connecting support is installed on the slewing disc, and a telescopic oil cylinder is installed at the other end of the connecting support. At least two telescopic oil cylinders are arranged at intervals. The fixed ends of the two telescopic oil cylinders are both connected to the connecting support, and the driving ends of the two telescopic oil cylinders are simultaneously connected to the magnetic body, and are used to drive the magnetic body to extend or retract relative to the slewing disc. At least two groups of clamping jaws are arranged at intervals on the end of the magnetic body far from the connecting support.

[0013] Furthermore, the steel pipe joint alignment assembly includes a second connecting frame, a steel pipe transfer module and a radial circularity adjustment module arranged on the second connecting frame; The second connecting frame is installed on the gantry beam of the needle beam gantry; The steel pipe transfer module is used to longitudinally transfer the steel pipes assembled on the steel tile assembly to the steel pipe joint alignment assembly, and adjust the longitudinal alignment gap between adjacent two steel pipe joints to meet the welding requirements; The radial circularity adjustment module is used to perform radial circularity adjustment on the steel pipe joint after circularity is completed; The second connecting frame is used to connect the steel pipe transfer module, the radial circularity adjustment module and the needle beam gantry.

[0014] Furthermore, multiple groups of the steel pipe transfer modules are arranged in a circumferential distribution. A single group of the steel pipe transfer modules includes a second grasping manipulator and a sliding track; The structure of the second grasping manipulator is the same as that of the first grasping manipulator, and a single piece of the second grasping manipulator and a single piece of the first grasping manipulator are arranged in a staggered manner; The second grasping manipulator is slidably installed on the sliding track, and after grasping the steel pipe, the second grasping manipulator moves longitudinally along the sliding track.

[0015] Furthermore, the sliding track includes a first gear, a straight rack, a track main body and a chute; The straight rack is arranged on the track main body; The first gear is installed on the chute, and the first gear meshes with the straight rack; The chute is installed on the second connecting frame.

[0016] Furthermore, multiple groups of the radial circularity adjustment modules are arranged in a circumferential array, and the multiple groups of the radial circularity adjustment modules and the multiple groups of the steel pipe transfer modules are arranged in a staggered manner.

[0017] Furthermore, a single group of the radial circularity adjustment modules includes a support roller frame, a first support oil cylinder and a third grasping manipulator; The first support oil cylinder is connected to the second connecting frame, and a third grasping manipulator is installed at the other end of the first support oil cylinder; A third gripping manipulator is installed on the third gripping manipulator, and the third gripping manipulator is used for radially circularizing the steel pipe joints completed by the circular grouping.

[0018] Furthermore, the intelligent welding assembly includes a third connecting frame, and a welding robot, a seam pressing device, an annular rack and a rack installation track arranged on the third connecting frame; A plurality of the welding robots are arranged in a circumferential array for welding the circumferential welds between adjacent two steel pipes; A plurality of the seam pressing devices are arranged in a circumferential array for further precisely adjusting the position of the butt circumferential weld of adjacent steel pipe joints; The rack installation track is arranged in a ring-shaped structure with grooves, and the annular rack is embedded in the grooves of the rack installation track; The third connecting frame is installed on the needle beam gantry, and the third connecting frame connects the rack installation track with the steel pipe joint assembly.

[0019] Furthermore, a single welding robot includes a welding torch, a robotic arm, a first traveling trolley and a wire reel; A second gear meshing with the annular rack is arranged on the first traveling trolley; The wire reel is arranged on the first traveling trolley for storing and conveying welding wire to provide welding wire for the welding torch; One end of the robotic arm is hinged to the first traveling trolley, and a welding torch is installed at the other end of the robotic arm. The welding torch realizes displacement in all positions within a certain range in space through the drive of the robotic arm.

[0020] Furthermore, a single seam pressing device includes a second traveling trolley, a fourth gripping manipulator and a pressing roller installed on the second traveling trolley; a third gear meshing with the annular rack is arranged at the bottom of the second traveling trolley; the fourth gripping manipulator is used for gripping the steel pipe joint on the inner surface and longitudinally adjusting the gap at the weld; the pressing roller is rotatably connected to the second traveling trolley for flattening the radial offset at the weld.

[0021] Furthermore, the secondary lining assembly includes a fourth connecting frame, and an end form installation device and a radial support module installed on the fourth connecting frame; A plurality of the radial support modules are arranged in a circumferential array. One ends of the plurality of radial support modules are fixedly connected to the fourth connecting frame, and the other ends of the plurality of radial support modules extend towards the periphery of the fourth connecting frame; The end form installation device is used for plugging and applying concrete to the area enclosed by the steel plate and the primary support layer of the chamber at the end; The fourth connecting frame is used for connecting the secondary lining assembly with the needle beam gantry.

[0022] Furthermore, the end die mounting device includes an end template and a flap assembly; A plurality of the end templates are distributed along the circumference of the chamber. The plurality of end templates are connected to each other to form a circumferential circular ring structure. The inner diameter of the circumferential circular ring structure is consistent with the outer diameter of the steel lining, and the outer diameter of the circumferential circular ring structure is consistent with the inner diameter of the primary support layer of the chamber; The flap assembly is provided with a plurality of pieces arranged in a circumferential array. A single flap assembly is connected to a single end template and a single radial support module for flipping the end template.

[0023] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides an integrated trolley for steel lining welding and lining, which is composed of a needle beam assembly, a steel tile assembly assembly, a steel pipe joint alignment assembly, and an intelligent welding assembly. Among them, the needle beam assembly mainly consists of a needle beam main beam and a needle beam gantry. The needle beam gantry straddles the needle beam main beam, and the relative sliding of the needle beam gantry and the needle beam main beam is realized through traveling wheels and slide rails. The steel tile assembly assembly, the steel pipe joint alignment assembly, and the intelligent welding assembly are sequentially installed on the needle beam gantry and move synchronously with the needle beam gantry. By integrating the processes of assembling and rounding the steel tiles, aligning the steel pipe joints, welding the longitudinal and circumferential seams, automatic positioning, and automatic rounding, the full-process flow construction of the steel lining of the artificial gas storage chamber can be completed on one device, greatly reducing the number of equipment used, reducing the labor intensity of workers, improving the construction efficiency, shortening the construction period, and saving the construction cost.

[0024] In addition to the purposes, features, and advantages described above, the present invention has other purposes, features, and advantages. The following will refer to the drawings for a further detailed description of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a schematic diagram of the overall structure of an integrated trolley for steel lining welding and lining in an embodiment of the present invention; Figure 2 is Figure 1 the first perspective structural diagram of the needle beam assembly in Figure 3 is Figure 1 the second perspective structural diagram of the needle beam assembly in Figure 4 is Figure 1 the structural diagram of the steel tile assembly assembly in Figure 5 is Figure 4 the structural diagram of the first grasping manipulator in Figure 6 is Figure 1 the structural schematic diagram of the steel pipe joint assembly in Figure 7 is Figure 6 the structural schematic diagram of the steel pipe transfer module in Figure 8 is Figure 1 the structural schematic diagram of the intelligent welding assembly in Figure 9 is Figure 8 the structural schematic diagram of the welding robot in Figure 10 is Figure 8 the structural schematic diagram of the seam pressing device in Figure 11 is Figure 1 the structural schematic diagram of the secondary lining assembly in Figure 12 is Figure 11 the structural schematic diagram after the end form installation device and the radial support module are connected to each other; Figure 13 is Figure 12 the partial enlarged schematic diagram of the connection of the tipping plate assembly, the end form plate and the radial support module; Figure 14 is Figure 13 the side view schematic diagram of Figure 15 is Figure 12 the cross-sectional schematic diagram of the connection between the radial support module and the fourth connecting frame in Figure 16 is Figure 15 the side view schematic diagram of

[0026] Among them: 1. Needle beam assembly, 1.1 Needle beam main beam, 1.1.1 Main beam body, 1.1.1.1 Top platform, 1.1.2 Main beam leg, 1.1.3 Sliding track, 1.1.4 Hoist, 1.15 First escalator, 1.2 Needle beam gantry, 1.2.1 Gantry beam body, 1.2.2 Gantry leg, 1.2.3 Sliding wheel set, 1.2.4 Traction pulley set, 1.1.2.1 Main beam leg oil cylinder, 1.1.2.2 Main beam leg bottom contact surface, 1.2.2.1 Gantry leg oil cylinder, 1.2.2.2 Gantry leg bottom contact surface; 2. Steel tile assembly, 2.1 First grasping manipulator, 2.1.1 Magnetic body, 2.1.2 Claw, 2.1.3 Telescopic oil cylinder, 2.1.4 Connecting support, 2.2 Rotary disk, 2.3 Rotary reducer, 2.4 Rotary motor, 2.5 First connecting frame; 3. Steel pipe section assembly, 3.1. Steel pipe transfer module, 3.1.1. Second grabbing manipulator, 3.1.2. Sliding track, 3.1.2.1. First gear, 3.1.2.2. Straight rack, 3.1.2.3. Lead screw, 3.1.2.4. Slideway, 3.2. Radial rounding module, 3.3. Working platform, 3.4. Second connecting frame, 3.2.1. Support roller frame, 3.2.2. First supporting oil cylinder, 3.2.3. Third grabbing manipulator; 4. Intelligent welding assembly, 4.1. Welding robot, 4.2. Seam pressing device, 4.3. Ring rack, 4.4. Rack mounting track, 4.5. Third connecting frame, 4.1.1. Welding gun, 4.1.2. Robotic arm, 4.1.3. First walking trolley, 4.1.4. Welding wire reel, 4.2.1. Fourth grabbing manipulator, 4.2.2. Pressing roller, 4.2.3. Second walking trolley; 5. Second lining assembly, 5.1. End mold mounting device, 5.1.1. End mold plate, 5.1.2. Flip plate assembly, 5.1.2.1. Pin ear seat, 5.1.2.2. Pin, 5.1.2.3. Flip plate, 5.2. Radial support module, 5.2.1. Support plate, 5.2.2. Support roller, 5.2.3. Second support cylinder, 5.2.4. Support frame, 5.3. Fourth connecting frame. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present invention more clear and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. It should be noted that the drawings of the present invention are all simplified and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the implementation of the present invention; the "number" mentioned in the present invention is not limited to the specific number in the examples in the accompanying drawings; the directions or positional relationships indicated by "front", "middle", "back", "left", "right", "up", "down", "top", "bottom", "middle", etc. mentioned in the present invention are based on the directions or positional relationships shown in the drawings of the present invention, and do not indicate or imply that the devices or components referred to must have a specific direction, nor can they be understood as limitations on the present invention.

[0028] Example: See also Figure 1 and Figure 2 As shown, a steel lining welding lining integrated trolley provided by the present invention comprises a needle beam assembly 1, a steel tile assembly assembly 2, a steel pipe section assembly assembly 3, an intelligent welding assembly 4 and a secondary lining assembly 5; The needle beam assembly 1 comprises a needle beam main beam 1.1 and a needle beam gantry 1.2; the needle beam main beam 1.1 is used for walking inside the cavern; the needle beam gantry 1.2 is movably mounted on the needle beam main beam 1.1, and the needle beam gantry 1.2 can be displaced along the longitudinal direction of the needle beam main beam 1.1 (i.e., along the width direction of the cavern); The assembled steel tile assembly 2, the steel pipe joint alignment assembly 3, the intelligent welding assembly 4 and the secondary lining assembly 5 are sequentially arranged on the needle beam gantry 1.2 along the longitudinal direction of the needle beam main beam 1.1; The assembled steel tile assembly 2 is used to realize the function of assembling arc-shaped steel tiles into a complete circle (that is, assembling several arc-shaped steel tiles (usually 4 or 6 pieces) into a complete circle and completing the longitudinal weld welding between adjacent arc-shaped steel tiles); The steel pipe joint alignment assembly 3 is used to realize the assembly and alignment of adjacent steel pipe joints; The intelligent welding assembly 4 is used to realize the welding of the circumferential welds between adjacent steel pipe joints; The secondary lining assembly 5 is used to support the inner side of the steel plate after the steel plate is welded and then to perform secondary concrete pouring on the area enclosed between the steel plate and the initial support layer of the chamber at the end.

[0029] See Figure 2 and Figure 3 As shown in The needle beam main beam 1.1 includes a main beam body 1.1.1, main beam legs 1.1.2, sliding tracks 1.1.3, a winch 1.1.4 and a first ladder 1.1.5; The main beam body 1.1.1 is set as a truss structure, and a top platform is provided on the upper end surface of the main beam body 1.1.1, and a plurality of main beam legs 1.1.2 arranged at intervals are connected to the lower end surface of the main beam body 1.1.1; A set of sliding tracks 1.1.3 are provided on both the upper end surface and the lower end surface of the main beam body 1.1.1. Two pieces of the single set of sliding tracks 1.1.3 are arranged at intervals, and the sliding direction of the single-piece sliding rail track 1.1.3 is parallel to the length direction of the main beam body 1.1.1; The fixed end of the winch 1.1.4 is fixedly connected to the main beam body 1.1.1, and the driving end of the winch 1.1.4 is connected to the needle beam gantry 1.2, and is used to realize the traction movement between the needle beam main body 1.1 and the needle beam gantry 1.2; Two groups of the first ladders 1.1.5 are respectively provided at both ends in the length direction of the main beam body 1.1.1, and are used for workers to get on and off the needle beam assembly for inspection, maintenance, operation, etc.

[0030] Preferably, to improve the stability and safety of the steel-lined welded lining integrated trolley when moving in the chamber, the end face of the main beam leg 1.1.2 that is used to contact the contact surface of the chamber is preferably set as an arc surface structure.

[0031] Preferably, two sets of winches 1.1.4 are preferably provided at intervals along the length direction of the main beam body 1.1.1, and a single set of winches 1.1.4 is installed on one side of the top platform of the main beam body 1.1.1.

[0032] The needle beam gantry 1.2 includes a gantry beam body 1.2.1, gantry legs 1.2.2, sliding wheel sets 1.2.3 and traction pulley sets 1.2.4; The gantry beam body 1.2.1 is set as a truss structure; Two sets of gantry legs 1.2.2 are provided at both ends of the gantry beam body 1.2.1 respectively. A single set of gantry legs 1.2.2 includes a gantry leg oil cylinder 1.2.2.1 and a gantry leg base 1.2.2.2; one end of the gantry leg oil cylinder 1.2.2.1 is connected to the gantry leg base 1.2.2.2, and the other end of the gantry leg oil cylinder 1.2.2.1 is connected to the gantry beam body 1.2.1; the gantry leg base 1.2.2.2 is controlled by the gantry leg oil cylinder 1.2.2.1 to move up and down telescopically to support the gantry beam body 1.2.1, thereby improving the stability and safety of the vehicle body when moving in the chamber; The sliding wheel sets 1.2.3 are arranged between the main beam body 1.1.1 and the gantry beam body 1.2.1, and the sliding wheel sets 1.2.3 are in contact with the sliding track 1.1.3. The rolling movement of the sliding wheel sets 1.2.3 and the sliding track 1.1.3 is transformed into the relative movement between the needle beam main beam 1.1 and the needle beam gantry 1.2; Two sets of traction pulley sets 1.2.4 are provided at both ends of the gantry beam body 1.2.1 respectively. The two sets of traction pulley sets 1.2.4 are respectively arranged in one-to-one correspondence with the two sets of winches 1.1.4. A single set of traction pulley sets 1.2.4 cooperates with a single set of winches 1.1.4 to realize the traction movement between the needle beam main beam 1.1 and the needle beam gantry 1.2.

[0033] Preferably, the end face of the gantry leg 1.2.2 that is used to contact the chamber is preferably set as an arc surface structure.

[0034] In the present invention, a set of hoists 1.1.4 is arranged at each end of the main beam 1.1 of the needle beam. By means of traction by the hoists 1.1.4, relative movement can be generated between the main beam 1.1 of the needle beam and the needle beam gantry 1.2. Four main beam legs 1.1.2 are arranged on the main beam 1.1 of the needle beam, and four gantry legs 1.2.2 are arranged on the needle beam gantry 1.2. When the main beam legs 1.1.2 support on the inner wall of the cavern, the gantry legs 1.2.2 retract. Through the traction of the hoists 1.1.4, the needle beam gantry 1.2 can move longitudinally forward and backward inside the cavern along the main beam 1.1 of the needle beam; when the gantry legs 1.2.2 support on the inner wall of the cavern, the main beam legs 1.1.2 retract. Through the traction of the hoists 1.1.4, the main beam 1.1 of the needle beam can move longitudinally forward and backward inside the cavern along the needle beam gantry 1.2. At each end of the main beam 1.1 of the needle beam, a first ladder 1.1.5 is configured, which can be used for operators and maintenance personnel to get on and off the main beam 1.1 of the needle beam for inspection, maintenance, auxiliary operations and other work.

[0035] See Figure 4 and Figure 5 As shown in the figure, the steel tile assembly unit 2 includes a first grasping manipulator 2.1, a rotary disk 2.2, a rotary speed reducer 2.3, a rotary motor 2.4 and a first connecting frame 2.5; The lower end surface of the first connecting frame 2.5 is connected to the gantry beam body 1.2.1 in the needle beam gantry 1.2, and a rotary drive assembly is installed on the upper end surface of the first connecting frame 2.5; The drive end of the rotary drive assembly is fixedly connected to the rotary disk 2.2, and the rotary disk 2.2 rotates relative to the first connecting frame 2.5 through the drive of the rotary drive assembly; On the rotary disk 2.2, multiple groups of first grasping manipulators 2.1 for grasping arc-shaped steel tiles are provided. The multiple groups of first grasping manipulators 2.1 are respectively arranged in a circumferential array along the rotary disk 2.2 and all extend towards the periphery of the rotary disk 2.2.

[0036] Preferably, a single first grasping manipulator 2.1 includes a magnetic attraction body 2.1.1, a clamping jaw 2.1.2, a telescopic oil cylinder 2.1.3 and a connecting support 2.1.4; One end of the connecting support 2.1.4 is installed on the rotary disk 2.2, and a telescopic oil cylinder 2.1.3 is installed on the other end of the connecting support 2.1.4; At least two telescopic oil cylinders 2.1.3 are arranged at intervals. The fixed ends of the two telescopic oil cylinders 2.1.3 are both connected to the connecting support 2.1.4, and the drive ends of the two telescopic oil cylinders 2.1.3 are simultaneously connected to the magnetic attraction body 2.1.1, and are used to drive the magnetic attraction body 2.1.1 to extend or retract relative to the rotary disk 2.2; At one end of the magnetic absorber 2.1.1 far from the connecting support 2.1.4, at least two groups of clamping jaws 2.1.2 are arranged at intervals; When grasping the arc-shaped steel tiles, the magnetic absorber 2.1.1 adsorbs the inner surface of the steel tiles, and the clamping jaws 2.1.2 clamp the sides of the steel tiles to achieve stable grasping of the arc-shaped steel tiles.

[0037] Further preferably, the magnetic absorber 2.1.1 is preferably arranged as a permanent magnetic structural member.

[0038] Preferably, the rotary drive assembly is provided with multiple groups arranged in a circumferential array along the rotary disk 2.2, and a single group of rotary drive assembly includes a rotary reducer 2.3 and a rotary motor 2.4.

[0039] Preferably, a working platform and a second escalator are further provided on the first connecting frame 2.5 for workers to get on and off the platform for operations such as maintenance.

[0040] As a further embodiment of the present invention, the working mode of the steel tile assembly assembly 2 is as follows: Generally, the steel tiles are grasped directly below the steel tile assembly assembly.

[0041] After the first group of first grasping manipulators 2.1 grasp the first arc-shaped steel tile and rotate a certain angle counterclockwise or clockwise along the rotary disk, the next group of grasping manipulators adjacent to the first group of first grasping manipulators 2.1 grasp the second arc-shaped steel tile. After adjusting the pair gap and offset between adjacent steel tiles with the positioning tooling, continue to grasp the next arc-shaped steel plate until all arc-shaped steel tiles are grasped and assembled into a complete circle; After the steel tiles are assembled, the first grasping manipulator 2.1 grasps and fixes all the steel tiles, and uses a submerged arc welding trolley to complete the welding of all longitudinal welds in sequence.

[0042] In particular, the submerged arc welding trolley can be portable and mobile. When welding the longitudinal welds, place the submerged arc welding trolley inside the arc-shaped steel tiles directly below the steel plate assembly bench. After each longitudinal weld is welded, control the rotary disk to rotate a certain angle so that the next longitudinal weld is directly below the steel plate assembly bench, and then move the submerged arc welding trolley to the weld position again until all longitudinal welds are welded.

[0043] See Figure 6 and Figure 7 As shown in The steel pipe joint alignment assembly 3 includes a second connecting frame 3.4 and a steel pipe transfer module 3.1, a radial circularity adjustment module 3.2 and a working platform 3.3 arranged on the second connecting frame 3.4; The second connecting frame 3.4 is installed on the gantry beam body 1.2.1 of the needle beam gantry 1.2; The steel pipe transfer module 3.1 is used to longitudinally transfer the assembled steel pipes on the steel tile assembly unit 2 to the steel pipe joint alignment assembly unit 3, and adjust the longitudinal alignment gap between adjacent two steel pipe joints to meet the welding requirements; The radial circularity adjustment module 3.2 is used to perform radial circularity adjustment on the steel pipe joints that have been circularly assembled; The working platform 3.3 is used to provide workers with access to the gantry for operation and maintenance work; The second connecting frame 3.4 is used to connect the steel pipe transfer module 3.1, the radial circularity adjustment module 3.2, the working platform 3.3 and the needle beam gantry 1.2.

[0044] Preferably, multiple groups of the steel pipe transfer module 3.1 are circumferentially distributed. A single group of the steel pipe transfer module 3.1 includes a second grasping manipulator 3.1.1 and a sliding track 3.1.2; The structure of the second grasping manipulator 3.1.1 is the same as that of the first grasping manipulator 2.1; The second grasping manipulator 3.1.1 is slidably installed on the sliding track 3.1.2. After grasping the steel pipe, the second grasping manipulator 3.1.1 moves longitudinally along the sliding track 3.1.2.

[0045] Further preferably, to prevent interference between the second grasping manipulator 3.1.1 and the first grasping manipulator 2.1 during the transfer of the steel pipe, the single-piece second grasping manipulator 3.1.1 and the single-piece first grasping manipulator 2.1 are arranged in a staggered manner.

[0046] Further preferably, the sliding track 3.1.2 includes a first gear 3.1.2.1, a straight rack 3.1.2.2, a track main body 3.1.2.3 and a chute 3.1.2.4; The straight rack 3.1.2.2 is arranged on the track main body 3.1.2.3; The first gear 3.1.2.1 is installed on the chute 3.1.2.4, and the first gear 3.1.2.1 meshes with the straight rack 3.1.2.2; The chute 3.1.2.4 is installed on the second connecting frame 3.4.

[0047] Preferably, multiple groups of the radial circularity adjustment module 3.2 are arranged in a circumferential array, and the multiple groups of the radial circularity adjustment module 3.2 and the multiple groups of the steel pipe transfer module 3.1 are arranged in a staggered manner.

[0048] Further preferably, a single group of the radial circularity adjustment module 3.2 includes a support roller frame 3.2.1, a first support oil cylinder 3.2.2 and a third grasping manipulator 3.2.3; The first support oil cylinder 3.2.2 is connected to the second connecting frame 3.4, and a third gripping manipulator 3.2.3 is installed at the other end of the first support oil cylinder 3.2.2; A third gripping manipulator 3.2.3 is installed on the third gripping manipulator 3.2.3, and the third gripping manipulator 3.2.3 is used for radially adjusting the roundness of the steel pipe sections that have completed circular grouping.

[0049] As a further embodiment of the present invention, the working mode of the steel pipe section assembling assembly 3 is as follows: After the arc-shaped steel tiles are grouped and welded on the steel tile assembling assembly 2, the steel pipes are moved from the steel tile assembling assembly to the steel pipe section assembling assembly 3 through the steel pipe transfer module 3.1 on the steel pipe section assembling assembly 3; The second gripping manipulator 3.1.1 is used to grip the steel pipe inside the steel pipe section. The second gripping manipulator 3.1.1 can move longitudinally along the sliding track 3.1.2 that spans across the steel tile assembling assembly and the steel pipe section assembling assembly 3, thereby driving the movement of the steel pipe section; The longitudinal position of the steel pipe section is adjusted by driving the first gear 3.1.2.1 and the straight rack 3.1.2.2 so that the longitudinal assembly gap between adjacent steel pipe sections meets the requirements; Due to the large diameter of the steel pipe sections, there will be a certain amount of deformation in the radial direction during the assembly and transfer processes. To ensure that the misalignment amount meets the requirements when adjacent steel pipe sections are assembled, a radial roundness adjustment module 3.2 is configured on the steel pipe section assembling assembly 3. When the third gripping manipulator 3.2.3 grips the steel pipe section, the support roller frame 3.2.1 contacts the inner surface of the steel pipe section, and the roundness of the steel pipe section is locally adjusted by the radial expansion and contraction of the first support oil cylinder 3.2.2.

[0050] See Figures 8 to 10 As shown, the intelligent welding assembly 4 is arranged on the side of the steel pipe section assembling assembly 3 away from the steel tile assembling assembly 2, and is used for performing circumferential weld welding between the steel pipes after the longitudinal splicing and assembly of adjacent two steel pipes are completed. Specifically, The intelligent welding assembly 4 includes a third connecting frame 4.5 and a welding robot 4.1, a seam pressing device 4.2, an annular rack 4.3 and a rack installation track 4.4 arranged on the third connecting frame 4.5; A plurality of welding robots 4.1 are arranged in a circumferential array and are used for welding the circumferential welds between adjacent two steel pipes; A plurality of seam pressing devices 4.2 are arranged in a circumferential array and are used for further precisely adjusting the position of the butt circumferential weld of adjacent steel pipe sections; The rack installation track 4.4 is arranged in a ring-shaped structure with grooves, and the annular rack 4.3 is embedded in the grooves of the rack installation track 4.4; The third connecting frame 4.5 is installed on the needle beam gantry 1.2, and the third connecting frame 4.5 connects the rack installation track 4.4 with the steel pipe joint assembly 3.

[0051] Preferably, the single-piece welding robot 4.1 includes a welding torch 4.1.1, a robotic arm 4.1.2, a first traveling trolley 4.1.3, and a wire spool 4.1.4; A second gear meshing with the ring rack 4.3 is provided on the first traveling trolley 4.1.3; The wire spool 4.1.4 is arranged on the first traveling trolley 4.1.3 and is used for storing and conveying welding wire to provide welding wire for the welding torch 4.1.1; One end of the robotic arm 4.1.2 is hinged to the first traveling trolley 4.1.3, and a welding torch 4.1.1 is installed at the other end of the robotic arm 4.1.2. The welding torch 4.1.1 realizes displacement in all positions within a certain range in space through the drive of the robotic arm 4.1.2.

[0052] Preferably, the single-piece seam pressing device 4.2 includes a second traveling trolley 4.2.3, a fourth gripping manipulator 4.2.1, and a pressing roller 4.2.2 installed on the second traveling trolley 4.2.3; a third gear meshing with the ring rack 4.3 is provided at the bottom of the second traveling trolley 4.2.3; the fourth gripping manipulator 4.2.1 is used for gripping the steel pipe joint on the inner surface and longitudinally adjusting the gap at the weld; the pressing roller 4.2.2 is rotatably connected to the second traveling trolley 4.2.3 and is used for flattening the radial misalignment at the weld.

[0053] As a further embodiment of the present invention, the working process of the intelligent welding assembly 4 is as follows: The intelligent welding assembly 4 is used to realize the welding of the circumferential weld between adjacent steel pipe joints. The welding of the circumferential weld between adjacent steel pipe joints is completed by evenly arranging a plurality of welding robots 4.1 in the circumferential direction; The seam pressing device 4.2 is installed on the ring rack and moves synchronously in the circumferential direction with the welding robot 4.1, and is used for aligning and positioning the weld before the circumferential weld is welded; The ring rack 4.3 is installed on the rack installation track 4.4, and the rack installation track 4.4 is connected to the needle beam gantry 1.2 through a support member.

[0054] See Figure 11 and Figure 12 As shown, the secondary lining assembly 5 is installed on the needle beam gantry 1.2, and the secondary lining assembly 5 includes a fourth connecting frame 5.3, an end mold installation device 5.1, and a radial support module 5.2 installed on the fourth connecting frame 5.3; The radial support module 5.2 is provided with multiple pieces arranged in a circumferential array. One end of the multiple radial support modules 5.2 is fixedly connected to the fourth connecting frame 5.3, and the other end of the multiple radial support modules 5.2 extends towards the periphery of the fourth connecting frame 5.3; The end formwork installation device 5.1 is used to seal and apply concrete to the area enclosed by the steel plate and the initial support layer of the chamber at the end; and the end formwork installation device 5.1 includes an end formwork 5.1.1 and a flap assembly 5.1.2; multiple pieces of the end formwork 5.1.1 are distributed along the circumference of the chamber, and the multiple end formworks 5.1.1 are connected to each other to form a circumferential circular ring structure, and the inner diameter of the circumferential circular ring structure is the same as the outer diameter of the steel lining, and the outer diameter of the circumferential circular ring structure is the same as the inner diameter of the initial support layer of the chamber; the flap assembly 5.1.2 is provided with multiple pieces arranged in a circumferential array, and a single flap assembly 5.1.2 is connected to a single end formwork 5.1.1 and a single radial support module 5.2 for flipping the end formwork 5.1.1; The radial support module 5.2 is used to support the steel lining on the inner surface to bear the weight during the secondary concrete pouring; The fourth connecting frame 5.3 is used to connect the secondary lining assembly 5 and the needle beam gantry 1.2.

[0055] Preferably, referring to Figure 13 and Figure 14 As shown, the flap assembly 5.1.2 includes a pin ear seat 5.1.2.1, a pin 5.1.2.2, and a flipping plate 5.1.2.3; The pin ear seat 5.1.2.1 is connected to the end face of the radial support module 5.2. A number of through holes are opened on the pin ear seat 5.1.2.1. The pin 5.1.2.2 passes through the through holes on the pin ear seat 5.1.2.1 to connect the pin ear seat 5.1.2.1 and the flipping plate 5.1.2.3. One end of the flipping plate 5.1.2.3 is connected to the pin ear seat 5.1.2.1 and the pin 5.1.2.2, and the other end is connected to a single end formwork 5.1.1.

[0056] Preferably, referring to Figure 15 and Figure 16 As shown, the radial support module 5.2 includes a support plate 5.2.1, support rollers 5.2.2, a second support oil cylinder 5.2.3, and a support frame 5.2.4; The support plate 5.2.1 is connected to one end of the second support oil cylinder 5.2.3 and is used to support the steel lining on the inner surface to bear the weight during the secondary concrete pouring; The support rollers 5.2.2 are installed on the support frame 5.2.4 and are used to provide internal support during the sliding of the steel lining. The roller method can reduce the sliding resistance; A number of supporting rollers 5.2.2 are circumferentially distributed along the supporting frame 5.2.4. At the same time, a number of supporting rollers 5.2.2 are also longitudinally distributed (in the tunnel direction). One end of the second supporting oil cylinder 5.2.3 is connected to the supporting plate 5.2.1, and the other end is connected to the fourth connecting frame 5.3. One end of the supporting frame 5.2.4 is connected to the supporting roller 5.2.2, and the other end is connected to the fourth connecting frame 5.3.

[0057] As a further embodiment of the present invention, the working mode of the secondary lining assembly 5 is as follows: The end formwork installation device 5.1 is located at the end of the secondary lining assembly close to the intelligent welding bench. The end formwork 5.1.1 and the steel lining form a secondary lining concrete outer formwork structure to block and pour concrete. When end formwork blocking and concrete pouring are required, the end formwork 5.1.1 is flipped upright through the flap assembly 5.1.2. When the concrete pouring is completed and cooled, the flap assembly 5.1.2 flips the end formwork 5.1.1 180 degrees in the reverse direction to separate the end formwork 5.1.1 from the poured concrete.

[0058] As a further embodiment of the present invention, in addition to the above description, the other structures and connection relationships of the welding robot and the secondary lining assembly refer to the prior art.

[0059] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A steel-lined welded and integrated lining trolley, characterized in that It includes a needle beam assembly (1), a steel tile assembling assembly (2), a steel pipe joint alignment assembly (3), an intelligent welding assembly (4) and a secondary lining assembly (5); The needle beam assembly (1) includes a needle beam main beam (1.1) and a needle beam gantry (1.2); the needle beam main beam (1.1) is used to travel inside the cavern; the needle beam gantry (1.2) is movably installed on the needle beam main beam (1.1), and the needle beam gantry (1.2) can be displaced along the longitudinal direction of the needle beam main beam (1.1); The steel tile assembling assembly (2), the steel pipe joint alignment assembly (3), the intelligent welding assembly (4) and the secondary lining assembly (5) are sequentially arranged on the needle beam gantry (1.2) along the longitudinal direction of the needle beam main beam (1.1); The steel tile assembling assembly (2) is used to realize the function of assembling and forming a circle with segmented arc-shaped steel tiles; The steel pipe joint alignment assembly (3) is used to realize the assembly and alignment of adjacent steel pipe joints; The intelligent welding assembly (4) is used to realize the welding of the circumferential welds between adjacent steel pipe joints; The secondary lining assembly (5) is used to support the inner side of the steel plate after the steel plate is welded and then to carry out secondary concrete pouring in the area enclosed between the steel plate and the primary support layer of the cavern at the end.

2. The integrated trolley for steel-lined segmental lining welding according to claim 1, characterized in that, The needle beam main beam (1.1) includes a main beam body (1.1.1), main beam legs (1.1.2), sliding tracks (1.1.3) and a winch (1.1.4); The main beam body (1.1.1) is set as a truss structure, and a top platform is provided on the upper end surface of the main beam body (1.1.1), and a plurality of main beam legs (1.1.2) arranged at intervals are connected to the lower end surface of the main beam body (1.1.1); A set of sliding tracks (1.1.3) are provided on both the upper end surface and the lower end surface of the main beam body (1.1.1). There are two sliding tracks (1.1.3) in a single set arranged at intervals, and the sliding direction of a single sliding track 1.1.3 is parallel to the length direction of the main beam body (1.1.1); The fixed end of the winch (1.1.4) is fixedly connected to the main beam body (1.1.1), and the driving end of the winch (1.1.4) is connected to the needle beam gantry (1.2), and is used to realize the traction movement between the needle beam main body 1.1 and the needle beam gantry (1.2).

3. The integrated lining trolley with steel lining welded together as claimed in claim 2, wherein, A single main beam leg (1.1.2) includes a main beam leg oil cylinder (1.1.2.1) and a main beam leg base (1.1.2.2); One end of the main beam leg oil cylinder (1.1.2.1) is connected to the main beam body (1.1.1), and the other end of the main beam leg oil cylinder (1.1.2.1) is connected to the main beam leg base (1.1.2.2); The end surface of the main beam leg base (1.1.2.2) for contacting the contact surface of the cavern is set as an arc surface structure.

4. The integrated trolley for steel-lined segmental lining according to claim 2 or 3, characterized in that, The needle beam gantry (1.2) includes a gantry beam body (1.2.1), gantry legs (1.2.2), a sliding wheel set (1.2.3) and a traction pulley set (1.2.4); The gantry beam body (1.2.1) is set as a truss structure; The gantry legs (1.2.2) are provided with two groups respectively located at both ends of the gantry beam body (1.2.1). A single group of gantry legs (1.2.2) includes a gantry leg oil cylinder (1.2.2.1) and a gantry leg base (1.2.2.2); one end of the gantry leg oil cylinder (1.2.2.1) is connected to the gantry leg base (1.2.2.2), and the other end of the gantry leg oil cylinder (1.2.2.1) is connected to the gantry beam body (1.2.1); the end face of the gantry leg base (1.2.2.2) for contacting the chamber is set as an arc surface structure; The sliding wheel set (1.2.3) is arranged between the main beam body (1.1.1) and the gantry beam body (1.2.1), and the sliding wheel set (1.2.3) is in contact with the sliding track (1.1.3). The rolling movement of the sliding wheel set (1.2.3) and the sliding track (1.1.3) is transformed into the relative movement between the needle beam main beam (1.1) and the needle beam gantry (1.2); The traction pulley sets (1.2.4) are provided with two groups respectively located at both ends of the gantry beam body (1.2.1). The two groups of traction pulley sets (1.2.4) are respectively arranged in one-to-one correspondence with the two groups of hoists (1.1.4). A single group of traction pulley sets (1.2.4) cooperates with a single group of hoists (1.1.4) to realize the traction movement between the needle beam main beam (1.1) and the needle beam gantry (1.2).

5. The integrated trolley for steel-lined welded lining according to claim 4, characterized in that, The steel tile assembling assembly (2) includes a first grasping manipulator (2.1), a rotary disk (2.2) and a first connecting frame (2.5); The lower end face of the first connecting frame (2.5) is connected to the gantry beam body (1.2.1) in the needle beam gantry (1.2), and a rotary driving component is installed on the upper end face of the first connecting frame (2.5); The driving end of the rotary driving component is fixedly connected to the rotary disk (2.2), and the rotary disk (2.2) rotates relative to the first connecting frame (2.5) by the driving of the rotary driving component; On the rotary disk (2.2), there are multiple groups of first grasping manipulators (2.1) for grasping arc-shaped steel tiles. The multiple groups of first grasping manipulators (2.1) are respectively arranged in a circumferential array along the rotary disk (2.2) and all extend towards the periphery of the rotary disk (2.2).

6. The integrated trolley for steel-lined welded lining according to claim 5, characterized in that, A single first grasping manipulator (2.1) includes a magnetic attraction body (2.1.1), a clamping jaw (2.1.2), a telescopic oil cylinder (2.1.3) and a connecting support (2.1.4); One end of the connecting support (2.1.4) is installed on the rotary disk (2.2), and a telescopic oil cylinder (2.1.3) is installed on the other end of the connecting support (2.1.4); There are at least two telescopic oil cylinders (2.1.3) arranged at intervals. The fixed ends of the two telescopic oil cylinders (2.1.3) are both connected to the connecting support ( 2.1.4), and the driving ends of the two telescopic oil cylinders (2.1.3) are simultaneously connected to the magnetic attraction body (2.1.1) and are used to drive the magnetic attraction body (2.1.1) to extend or retract relative to the rotary disk (2.2); At one end of the magnetic attraction body (2.1.1) far from the connecting support (2.1.4), at least two groups of clamping jaws (2.1.2) are provided at intervals.

7. The integral trolley for steel-lined segmental lining welding according to claim 5 or 6, characterized in that The steel pipe joint alignment assembly (3) includes a second connecting frame (3.4), a steel pipe transfer module (3.1) and a radial circularity adjustment module (3.2) arranged on the second connecting frame (3.4); The second connecting frame (3.4) is installed on the gantry beam body (1.2.1) of the needle beam gantry (1.2); The steel pipe transfer module (3.1) is used to longitudinally transfer the steel pipes assembled on the steel tile assembly (2) to the steel pipe joint alignment assembly (3), and adjust the longitudinal alignment gap between adjacent two steel pipe joints to meet the welding requirements; The radial circularity adjustment module (3.2) is used to perform radial circularity adjustment on the steel pipe joints that have been circularized; The second connecting frame (3.4) is used to connect the steel pipe transfer module (3.1), the radial circularity adjustment module (3.2) with the needle beam gantry (1.2).

8. The integrated trolley for steel-lined welded lining according to claim 7, characterized in that, A plurality of groups of the steel pipe transfer module (3.1) are arranged in a circumferential distribution. A single group of the steel pipe transfer module (3.1) includes a second grasping manipulator (3.1.1) and a sliding track (3.1.2); The structure of the second grasping manipulator (3.1.1) is the same as that of the first grasping manipulator (2.1), and the single-piece second grasping manipulator (3.1.1) and the single-piece first grasping manipulator (2.1) are arranged in a staggered manner; The second grasping manipulator (3.1.1) is slidably installed on the sliding track (3.1.2), and after grasping the steel pipe, the second grasping manipulator (3.1.1) moves longitudinally along the sliding track (3.1.2).

9. The integrated trolley for steel-lined welded lining according to claim 8, characterized in that, The sliding track (3.1.2) includes a first gear (3.1.2.1), a straight rack (3.1.2.2), a track main body (3.1.2.3) and a chute (3.1.2.4); The straight rack (3.1.2.2) is arranged on the track main body (3.1.2.3); The first gear (3.1.2.1) is installed on the chute (3.1.2.4), and the first gear (3.1.2.1) meshes with the straight rack (3.1.2.2); The chute (3.1.2.4) is installed on the second connecting frame (3.4).

10. The integrated trolley for steel-lined and welded lining according to claim 7, characterized in that, A plurality of groups of the radial circularity adjustment module (3.2) are arranged in a circumferential array, and the plurality of groups of the radial circularity adjustment module (3.2) and the plurality of groups of the steel pipe transfer module (3.1) are arranged in a staggered manner.

11. The integral trolley for steel-lined segmental lining welding according to claim 10, wherein A single group of the radial circularity adjustment module (3.2) includes a support roller frame (3.2.1), a first support oil cylinder (3.2.2) and a third grasping manipulator (3.2.3); One end of the first support oil cylinder (3.2.2) is connected to the second connecting frame (3.4), and the other end of the first support oil cylinder (3.2.2) is installed with a third grasping manipulator (3.2.3); A third grasping manipulator (3.2.3) is installed on the third grasping manipulator (3.2.3), and the third grasping manipulator (3.2.3) is used to perform radial circularity adjustment on the steel pipe joints that have been circularized.

12. The integrated trolley for steel-lined segmental lining according to any one of claims 9-11, characterized in that, The intelligent welding assembly (4) includes a third connecting frame (4.5), and a welding robot (4.1), a seam pressing device (4.2), an annular rack (4.3), and a rack installation track (4.4) provided on the third connecting frame (4.5); A plurality of the welding robots (4.1) are arranged in a circumferential array for welding the circumferential welds between adjacent steel pipes; A plurality of the seam pressing devices (4.2) are arranged in a circumferential array for further precisely adjusting the positions of the butt circumferential welds of adjacent steel pipe sections; The rack installation track (4.4) is arranged in a ring-shaped structure with grooves, and the annular rack (4.3) is embedded in the grooves of the rack installation track (4.4); The third connecting frame (4.5) is installed on the needle beam gantry (1.2), and the third connecting frame (4.5) connects the rack installation track (4.4) with the steel pipe section alignment assembly (3).

13. The integrated trolley for steel-lined segmental lining according to claim 12, wherein A single welding robot (4.1) includes a welding torch (4.1.1), a robotic arm (4.1.2), a first traveling trolley (4.1.3), and a wire reel (4.1.4); A second gear meshing with the annular rack (4.3) is provided on the first traveling trolley (4.1.3); The wire reel (4.1.4) is arranged on the first traveling trolley (4.1.3) for storing and conveying welding wire to provide welding wire for the welding torch (4.1.1); One end of the robotic arm (4.1.2) is hinged to the first traveling trolley (4.1.3), and a welding torch ( 4.1.1) is installed at the other end of the robotic arm (4.1.2), and the welding torch (4.1.1) realizes full-position displacement within a certain range in space through the drive of the robotic arm (4.1.2).

14. The integrated trolley for steel-lined segment welding lining according to claim 12, characterized in that A single seam pressing device (4.2) includes a second traveling trolley (4.2.3), a fourth grasping manipulator (4.2.1), and a pressure roller (4.2.2) installed on the second traveling trolley (4.2.3); a third gear meshing with the annular rack (4.3) is provided at the bottom of the second traveling trolley (4.2.3); the fourth grasping manipulator (4.2.1) is used for grasping the steel pipe section on the inner surface and longitudinally adjusting the gap at the weld; the pressure roller (4.2.2) is rotatably connected to the second traveling trolley (4.2.3) for flattening the radial offset at the weld.

15. The integrated trolley for steel-lined segmental lining according to claim 13 or 14, characterized in that, The secondary lining assembly (5) includes a fourth connecting frame (5.3), and an end form installation device (5.1) and a radial support module (5.2) installed on the fourth connecting frame (5.3); A plurality of the radial support modules (5.2) are arranged in a circumferential array. One ends of the plurality of radial support modules (5.2) are fixedly connected to the fourth connecting frame (5.3), and the other ends of the plurality of radial support modules (5.2) extend towards the periphery of the fourth connecting frame (5.3); The end form installation device (5.1) is used for plugging and applying concrete to the area enclosed by the steel plate and the primary support layer of the chamber at the end; The fourth connecting frame (5.3) is used for connecting the secondary lining assembly (5) with the needle beam gantry (1.2).

16. The integrated trolley for steel-lined welded lining according to claim 15, wherein The end die installation device (5.1) includes an end template (5.1.1) and a flap assembly (5.1.2); A plurality of the end templates (5.1.1) are distributed along the circumference of the chamber. The plurality of end templates (5.1.1) are connected to each other to form a circumferential circular ring structure, and the inner diameter of the circumferential circular ring structure is consistent with the outer diameter of the steel lining, and the outer diameter of the circumferential circular ring structure is consistent with the inner diameter of the primary support layer of the chamber; A plurality of the flap assemblies (5.1.2) are arranged in a circumferential array. A single flap assembly (5.1.2) is connected to a single end template (5.1.1) and a single radial support module (5.2) for flipping the end template (5.1.1).

Images