Contact channel supporting method and supporting device thereof

Abstract

The invention belongs to the technical field of underground engineering construction, and discloses a contact channel supporting method and a supporting device thereof. The contact channel supporting method comprises the following steps: firstly, respectively hoisting a transport vehicle and a plurality of supporting pieces into a working well; then the multiple supporting pieces are sequentially installed on a transport vehicle in the working well, the transport vehicle drives the multiple supporting pieces to walk to the designated supporting position in the connection channel, and a mechanical arm on the transport vehicle is unfolded; and finally, the transport vehicle enables the multiple supporting pieces to fall on the bottom wall of the connecting channel in sequence, the mechanical arm drives the multiple supporting pieces to move and be fixed along the inner wall of the connecting channel in sequence, and the multiple supporting pieces define a ring to be supported on the inner wall of the connecting channel. And the multiple supporting pieces are jacked and fixed, and the transport vehicle leaves the field. The supporting construction quality and construction efficiency in the connecting channel are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground engineering construction, and particularly relates to a connection passage support method and a support device thereof. Background Art

[0002] According to the requirements of underground construction specifications, connection passages need to be set within a certain distance in the rail transit section. As the excavation depth of the rail transit project gradually increases, the construction risk of the connection passage also increases. During the excavation of the connection passage, temporary supports need to be erected to ensure the structural safety of the segment during the segment opening and the construction of the connection passage.

[0003] In the prior art, a circular support method is usually used to erect temporary supports by using arc-shaped I-beams to build on-site inside the connection passage section. The construction process includes processes such as on-site I-beam lifting, I-beam welding, jack installation and axial force application. Limited by the site conditions, the support construction time is relatively long, and there is no mechanical equipment assistance for hoisting heavy load components in a narrow space. Usually, manual plus pulley block methods are used for installation construction. The construction process is relatively cumbersome and there are certain risks. The construction quality cannot be guaranteed and the construction efficiency is low. Summary of the Invention

[0004] The purpose of the present invention is to provide a connection passage support method and a support device thereof to solve the problems of low construction quality and low efficiency in the support construction inside the connection passage.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A connection passage support method includes the following steps:

[0007] S1, hoist a transport vehicle and a plurality of support members into the working shaft respectively;

[0008] S2, sequentially install the plurality of support members on the transport vehicle in sequence in the working shaft;

[0009] S3, the transport vehicle drives the plurality of support members to walk in the connection passage to a designated support position, and the robotic arm on the transport vehicle unfolds;

[0010] S4, the transport vehicle sequentially drops the plurality of support members onto the bottom wall of the connection passage, and the robotic arm sequentially drives the plurality of support members to move along the inner wall of the connection passage and fix them; the plurality of support members enclose to form an annular support to support on the inner wall of the connection passage;

[0011] S5, tightly fix the plurality of support members, and the transport vehicle leaves the site.

[0012] In some embodiments, in step S4, the plurality of support members include a plurality of first support members and at least one second support member, and step S4 includes the following steps:

[0013] S41, the transport vehicle places the first one of the first support members on the bottom wall of the communication channel, and the robotic arm drives the first one of the first support members to move from the bottom wall of the communication channel to the side wall in a clockwise direction and fix it;

[0014] S42, the transport vehicle places the second one of the first support members on the bottom wall of the communication channel, and the robotic arm drives the second one of the first support members to move from the bottom wall of the communication channel to the side wall in a counterclockwise direction and fix it;

[0015] S43, the transport vehicle places the second support member on the bottom wall of the communication channel, and at least one end of the second support member extends and presses against the plurality of first support members, so that the second support member and the plurality of first support members are connected end to end on the inner wall of the communication channel.

[0016] In some embodiments, steps S41 - S42 are repeated, and the plurality of first support members are sequentially moved to the side wall of the communication channel. After the plurality of first support members are inserted end to end, they are fixed on the side wall of the communication channel by the robotic arm.

[0017] A support device for a communication channel, comprising:

[0018] A transport vehicle, on which a robotic arm and a lift are provided;

[0019] A plurality of support members, which are stacked in the vertical direction on the lift, and the lift can lift or lower the plurality of support members; the plurality of support members include a plurality of first support members and at least one second support member. Tongues and slots are respectively provided at both ends of the first support member, and telescopic driving members are provided at one end or both ends of the second support member. The robotic arm can sequentially drive the plurality of first support members to move along the inner wall of the communication channel until they are connected end to end, and then support at both ends of the second support member to form a circular support to support on the inner wall of the communication channel.

[0020] In some embodiments, a dovetail ring groove is provided on the groove wall of the slot, and a dovetail protrusion is provided on the outer side wall of the tongue. When the tongue is inserted into the slot, the dovetail protrusion is engaged with the dovetail ring groove.

[0021] In some embodiments, a pneumatic member is provided in the tongue, and the output end of the pneumatic member is connected to the dovetail protrusion. The pneumatic member can drive the dovetail protrusion to protrude from the outer side wall of the tongue to engage the dovetail ring groove or drive the dovetail protrusion to contract to unlock the tongue and the slot.

[0022] In some embodiments, telescopic driving members are provided at both ends of the second support member. One end of the telescopic driving member is hinged to the end of the support member, and a support surface is provided at the other end of the telescopic driving member. The support surface can abut against the end of the adjacent first support member.

[0023] In some embodiments, a plurality of rollers are provided on the outer sidewall of the support member. The plurality of rollers are arranged in an arc distribution along the outer sidewall of the support member, and the plurality of rollers can roll along the inner wall of the communication channel.

[0024] In some embodiments, the robotic arm includes a first robotic arm. A first wheel set and a second wheel set are provided at the end of the first robotic arm. The first wheel set is in rolling contact with the concave arc-shaped wall of the support member and can press the support member against the inner wall of the communication channel. The second wheel set is in rolling contact with the two side walls of the support member, and the second wheel set can drive the support member to move along the inner wall of the communication channel.

[0025] In some embodiments, the robotic arm further includes a second robotic arm. A third wheel set is provided at the end of the second robotic arm. The third wheel set is in rolling contact with the two side walls of the support member located at the bottom wall of the communication channel, and the third wheel set can drive the support member to move from the bottom wall of the communication channel to the side wall along the inner wall of the communication channel.

[0026] Advantages of the present invention:

[0027] For the communication channel support method provided by the present invention, by hoisting the transport vehicle and a plurality of support members into the working well respectively, and sequentially installing the plurality of support members on the transport vehicle in the working well, it is convenient to transport the plurality of support members to any designated support position in the communication channel by the transport vehicle, and the transport vehicle can provide a supporting force when the plurality of support members are supported and installed, which is beneficial to improving the construction efficiency and construction quality; the transport vehicle can circulate multiple times for transporting and installing and supporting the plurality of support members at multiple designated support positions, improving the construction efficiency of the support construction in the communication channel.

[0028] For the communication channel support device provided by the present invention, by arranging a lift on the transport vehicle to install a plurality of support members, the transport vehicle can transport the plurality of support members to the designated support position, and can drive and move the plurality of support members in sequence through the robotic arm, so that the plurality of support members are respectively moved to the designated support positions on the inner wall of the communication channel and fixed. After the plurality of support members are fixed to each other, they form a circular support to support on the inner wall of the communication channel, and the support structure is stable and reliable, greatly improving the construction efficiency and construction quality of the support construction in the communication channel. Description of the Drawings

[0029] Figure 1It is a side view of the transport vehicle in the connection channel support device provided by the embodiment of the present invention;

[0030] Figure 2 It is a cross-sectional view of the transport vehicle and multiple support members assembled in the connection channel in the connection channel support method provided by the embodiment of the present invention;

[0031] Figure 3 It is a schematic diagram of the deployed state of the robotic arm in the connection channel support method provided by the embodiment of the present invention;

[0032] Figure 4 It is a schematic diagram of the moving position of the first first support member in the connection channel support method provided by the embodiment of the present invention;

[0033] Figure 5 It is a schematic diagram of the moving position of the second first support member in the connection channel support method provided by the embodiment of the present invention;

[0034] Figure 6 It is a schematic diagram of the moving position of the third first support member in the connection channel support method provided by the embodiment of the present invention;

[0035] Figure 7 It is a schematic diagram of the moving position of the fourth first support member in the connection channel support method provided by the embodiment of the present invention;

[0036] Figure 8 It is a schematic diagram of the moving position of the fifth first support member in the connection channel support method provided by the embodiment of the present invention;

[0037] Figure 9 It is a schematic diagram of the state where the second support member presses against multiple first support members to form a ring-shaped support in the connection channel support method provided by the embodiment of the present invention;

[0038] Figure 10 It is a schematic diagram of the structure of the first support member in the connection channel support device provided by the embodiment of the present invention;

[0039] Figure 11 It is Figure 10 The enlarged structure schematic diagram of area A in;

[0040] Figure 12 It is Figure 10 The enlarged structure schematic diagram of area B in;

[0041] Figure 13 It is a schematic diagram of the structure of the second support member in the connection channel support device provided by the embodiment of the present invention;

[0042] Figure 14 It is a schematic diagram of the structure of the first robotic arm in the connection channel support device provided by the embodiment of the present invention;

[0043] Figure 15 It is a schematic structural diagram of the second robotic arm in the connection channel support device provided by an embodiment of the present invention.

[0044] In the figure:

[0045] 100. Connection channel;

[0046] 1. Transport vehicle;

[0047] 2. Support member; 21. First support member; 211. First support piece; 212. Second support piece; 213. Third support piece; 214. Fourth support piece; 215. Fifth support piece; 216. Sixth support piece; 22. Second support member; 23. Tongue; 231. Dovetail convex block; 24. Slot; 241. Dovetail annular groove; 25. Telescopic driving member; 26. Roller;

[0048] 3. Robotic arm; 31. First robotic arm; 311. First wheel set; 312. Second wheel set; 32. Second robotic arm; 321. Third wheel set;

[0049] 4. Lift; 41. Installation position;

[0050] 5. Spacer. Detailed implementation manners

[0051] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that, for the convenience of description, only parts related to the present invention are shown in the drawings, rather than all the structures.

[0052] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0053] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0054] In the description of this embodiment, the orientation or positional relationships such as "up", "down", "left" and "right" are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operations, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meanings.

[0055] The embodiment of the present invention first provides a support method for a connection passage, which is used for the support construction in the connection passage 100, such as Figures 2 - 9 shown, and the support method for the connection passage includes the following steps:

[0056] S1, hoist the transport vehicle 1 and a plurality of support members 2 into the working shaft respectively.

[0057] The hoisting method includes but is not limited to hoisting by a crane or special hoisting, etc., and is not specifically limited. The plurality of support members 2 can be hoisted in sequence multiple times, or the plurality of support members 2 can be assembled and hoisted together.

[0058] S2, install the plurality of support members 2 on the transport vehicle 1 in sequence in the working shaft, as Figure 2 shown.

[0059] Specifically, the plurality of support members 2 can be installed in sequence according to the sequence during the support construction, so as to facilitate the smooth and efficient progress of the construction project. In this embodiment, the plurality of support members 2 are installed on the transport vehicle 1 in the order from bottom to top, and the support members 2 can be installed in sequence from bottom to top during the support construction, which is beneficial to reducing the construction difficulty, simplifying the construction process and improving the construction efficiency.

[0060] S3, the transport vehicle 1 drives the plurality of support members 2 to walk in the connection passage 100 to the designated support position, and the robotic arm 3 on the transport vehicle 1 is deployed, as Figure 3As shown. When the length of the connecting passage 100 is relatively large, support construction needs to be carried out at multiple specified support positions within the connecting passage 100. By using the transport vehicle 1 to transport multiple support members 2 within the connecting passage 100 for mobile transportation, the construction efficiency within the connecting passage 100 is greatly improved, and the manual labor intensity is reduced.

[0061] S4. The transport vehicle 1 sequentially places multiple support members 2 on the bottom wall of the connecting passage 100, and the robotic arm 3 sequentially drives multiple support members 2 to move along the inner wall of the connecting passage 100 and fix them. Multiple support members 2 enclose to form an annular support to support on the inner wall of the connecting passage 100, as Figure 9 .

[0062] Of course, during the support construction process, the initial positions where multiple support members 2 are placed on the inner wall of the connecting passage 100 can be arbitrary positions. However, considering the convenience, safety, and high efficiency of construction, multiple support members 2 are sequentially placed on the bottom wall of the connecting passage 100, and then move from the bottom wall to any position on the side wall along the inner wall and fix them, which is conducive to operation and construction, and has high construction safety. The robotic arm 3 has a temporary fixing effect on the support members 2 during the process of driving multiple support members 2 to move sequentially, that is, applying a radial pressure to the support members 2 to make them abut against the inner wall of the connecting passage 100.

[0063] S5. Tighten and fix multiple support members 2, and the transport vehicle 1 leaves the site.

[0064] After the transport vehicle 1 leaves the site, it can continue to transfer the next group of multiple support members 2 for support construction at the next specified support position. After multiple support members 2 are tightened and fixed, the transport vehicle 1 leaves the site, which is convenient for the safe construction of the fixed connection of multiple support members 2 and the stability of the annular support during subsequent support processes.

[0065] The connecting passage support method provided by the present invention, by hoisting the transport vehicle 1 and multiple support members 2 into the working well respectively, and sequentially installing multiple support members 2 on the transport vehicle 1 in sequence within the working well, is convenient for transporting multiple support members 2 to any specified support position within the connecting passage 100 by the transport vehicle 1, and the transport vehicle 1 can provide a support force when multiple support members 2 are being supported and installed, which is conducive to improving construction efficiency and construction quality; the transport vehicle 1 can circulate multiple times for the transportation and installation support of multiple support members 2 at multiple specified support positions, improving the construction efficiency of the support construction within the connecting passage 100.

[0066] In some embodiments, multiple support members 2 in step S4 include multiple first support members 21 and at least one second support member 22. In this embodiment, taking six first support members 21 and one second support member 22 as an example, combined with Figure 1 and Figure 2 , the support construction process in step S4 is described in detail.

[0067] Step S4 includes the following steps:

[0068] S41. The transport vehicle 1 places the first first support member 21 on the bottom wall of the connection passage 100, and the robotic arm 3 drives the first first support member 21 to move from the bottom wall of the connection passage 100 to the side wall in the clockwise direction and fix it;

[0069] S42. The transport vehicle 1 places the second first support member 21 on the bottom wall of the connection passage 100, and the robotic arm 3 drives the second first support member 21 to move from the bottom wall of the connection passage 100 to the side wall in the counterclockwise direction and fix it;

[0070] S43. After all the first support members 21 have completed the movement and fixation, the transport vehicle 1 places the second support member 22 on the bottom wall of the connection passage 100, and at least one end of the second support member 22 extends and presses against a plurality of first support members 21, so that the second support member 22 and the plurality of first support members 21 are connected end to end on the inner wall of the connection passage 100.

[0071] Wherein, when there are two first support members 21, the first ends of the two first support members 21 in step S41 and step S42 respectively support at both ends of the second support member 22, and the other ends of the two first support members 21 can contact and plug-fix with each other under the action of the axial force of the second support member 22, thereby enclosing to form an annular support.

[0072] In this embodiment, there are six first support members 21. Therefore, during the support construction, steps S41 - S42 are repeatedly executed, and a plurality of first support members 21 are sequentially moved to the designated support positions on the inner wall of the connection passage 100 and fixed by the robotic arm 3. The plurality of first support members 21 are plugged together end to end to form an integral structure, and are stably supported on the inner wall of the connection passage 100 under the action of the axial force of the second support member 22, completing the construction.

[0073] In the above steps S41 and S42, the left first support member 21 and the right first support member 21 are alternately moved for construction, which is conducive to symmetrically supporting on the left and right sides of the inner wall of the connection passage 100 and ensuring the stability of the construction process. It should be noted that when the first support member 21 is driven to move in the clockwise and counterclockwise directions respectively in steps S41 and S42, the two ends (each having a tongue 23 and a slot 24) of a plurality of first support members 21 should be pre-arranged to ensure the smooth progress of the construction process.

[0074] In some embodiments, it is also possible to first move and fix the three first support members 21 on the left side respectively, and then move and fix the three first support members 21 on the right side respectively. This method does not require frequent replacement of the driving direction of the robotic arm 3 during construction, which is conducive to simplifying the construction control method.

[0075] According to the actual size of the inner wall of the connecting passage 100, the number of the first support members 21 can be flexibly set. Generally, the central angle of the arc structure formed after multiple first support members 21 on the left side are moved in place and inserted is less than 180°, and the central angle of the arc structure formed after multiple first support members 21 on the right side are moved in place and inserted is less than 180°. Finally, axial force is provided through the elongation movement of the second support member 22 to insert and fix multiple first support members 21 at the top of the connecting passage 100. It should be noted that locking or fixing can be performed between two adjacent first support members 21 after being inserted and fixed to ensure that the support member 2 is always circular.

[0076] An embodiment of the present invention further provides a connecting passage support device for implementing the connecting passage support method, which is used for the support construction in the connecting passage 100. As Figure 1 and Figure 2 shown, the connecting passage support device includes a transport vehicle 1 and multiple support members 2. A robotic arm 3 and a lift 4 are provided on the transport vehicle 1; multiple support members 2 are stacked vertically on the lift 4 (note the arrangement of the tongue 23 and the slot 24 at both ends of the support member 2), and the lift 4 can lift or lower multiple support members 2 as a whole or individually; multiple support members 2 include multiple first support members 21 and at least one second support member 22. The two ends of the first support member 21 are respectively provided with a tongue 23 and a slot 24, and one end or both ends of the second support member 22 are provided with a telescopic driving member 25. The robotic arm 3 can sequentially drive multiple first support members 21 to move along the inner wall of the connecting passage 100 until they are connected end to end and supported at both ends of the second support member 22 to form a circular support to support on the inner wall of the connecting passage 100.

[0077] The connecting passage support device provided by the present invention installs multiple support members 2 on the transport vehicle 1 through the lift 4. The transport vehicle 1 can transport multiple support members 2 to the designated support position, and can sequentially drive and move multiple support members 2 through the robotic arm 3, so that multiple support members 2 are respectively moved to the side wall of the connecting passage 100 and fixed. After multiple support members 2 are fixed to each other, a circular support is formed to support on the inner wall of the connecting passage 100. The support structure is stable and reliable, greatly improving the support construction efficiency and construction quality in the connecting passage 100.

[0078] As Figure 1As shown, the transport vehicle 1 includes a cross beam. At both ends of the cross beam along the Z direction, two groups of robotic arms 3 are respectively provided, and a lift 4 is provided in the middle. A plurality of mounting positions 41 are arranged along the height direction on the lift 4, and each mounting position 41 can fixedly mount a support member 2. In this embodiment, there are seven mounting positions 41 on the lift 4. The topmost one is used to mount the second support member 22, and the remaining mounting positions 41 are used to mount a plurality of first support members 21. The lift 4 can drive a plurality of mounting positions 41 to rise or fall simultaneously to lift a plurality of support members 2. When the transport vehicle 1 transports the support members 2, the lift 4 rises; during the support construction, the lift 4 steps down. Each time it steps down, a first support member 21 or a second support member 22 is placed on the bottom wall of the connection passage 100. In some embodiments, a cushion block 5 is also provided on the transport vehicle 1. The cushion block 5 can be a metal cushion block or a wooden cushion block. After the support construction of the support member 2 is completed and the transport vehicle 1 needs to leave the site, at this time, the cushion block 5 is first placed on one side of the support member 2 on the bottom wall and is directly opposite to the wheels of the transport vehicle 1 to facilitate the departure of the transport vehicle 1. After the transport vehicle 1 leaves the site, the cushion block 5 is placed on the transport vehicle 1 again for reuse. The lift 4 can use a conveyor belt or a telescopic mechanism for lift control.

[0079] In some embodiments, the structures and sizes of the plurality of support members 2 can be the same or different. The portions of the plurality of support members 2 in contact with the inner wall of the connection passage 100 are arc-shaped for good abutting support.

[0080] In some embodiments, the plurality of support members 2 are all arc-shaped members. The convex arcs of the plurality of support members 2 are placed downward in sequence on the plurality of mounting positions 41 of the lift 4 of the transport vehicle 1. As Figure 2 , the second support member 22 is located at the topmost. As Figure 9 , the outer side walls of the convex arcs of the plurality of support members 2 form an annular support structure to support on the inner wall of the connection passage 100 after the support construction is completed. The inner side walls of the concave arcs of the plurality of support members 2 form an arc shape after the support construction is completed, which can form a uniform force-bearing support.

[0081] In some embodiments, when the plurality of support members 2 are performing support construction, the plurality of first support members 21 on both sides of the second support member 22 are symmetrically arranged, and symmetrical axial forces are formed at both ends of the second support member 22.

[0082] In some embodiments, a dovetail ring groove 241 is provided on the groove wall of the slot 24, and a dovetail protrusion 231 is provided on the outer side wall of the tongue 23. When the tongue 23 is inserted into the slot 24, the dovetail protrusion 231 is engaged with the dovetail ring groove 241.

[0083] As Figures 10 - 12As shown, tongues 23 and slots 24 are respectively arranged on the end faces at both ends of the first support member 21. When the first support member 21 moves on the inner wall of the connection passage 100, two adjacent first support members 21 can be inserted and connected while approaching and combined into one body, which is convenient for maintaining the stability of multiple first support members 21 during the movement and avoiding individual dropping. At this time, the robotic arm 3 only needs to fix any one of the multiple interconnected first support members 21 to achieve simultaneous fixation of the multiple first support members 21. After two adjacent first support members 21 are inserted and connected, the end faces of the two first support members 21 abut and support each other. By providing a dovetail projection 231 to be snap-fitted with a dovetail annular groove 241, accidental detachment between the two first support members 21 can be prevented, which has a locking function. It can be understood that the dovetail projection 231 is an elastic projection. When the tongue 23 is inserted into the slot 24, the dovetail projection 231 is gradually compressed and elastically protrudes at the dovetail annular groove 241 and is stuck at the dovetail annular groove 241.

[0084] By providing a pneumatic component in the tongue 23, automatic control of the elastic protrusion and elastic retraction of the dovetail projection 231 can be achieved. Specifically, the output end of the pneumatic component is connected to the dovetail projection 231, and the pneumatic component can drive the dovetail projection 231 to protrude from the outer wall of the tongue 23 to be snap-fitted with the dovetail annular groove 241 or drive the dovetail projection 231 to contract to unlock the tongue 23 and the slot 24. The pneumatic component can adopt mechanisms such as a cylinder. Before the tongue 23 is inserted into the slot 24, the pneumatic component drives the dovetail projection 231 to retract into the tongue 23 to facilitate the insertion of the tongue 23. When the ends of the two first support members 21 abut, the tongue 23 is inserted in place. At this time, the pneumatic component drives the dovetail projection 231 to protrude from the outer wall of the tongue 23 and is snap-fitted in the dovetail annular groove 241 to achieve locking. During disassembly, the pneumatic component drives the dovetail projection 231 to retract, and the two first support members 21 are unlocked and can be separated and disassembled. Among them, the pneumatic component can be controlled by a supply pipeline passing through the tongue 23 and connecting the dovetail projection 231, and the elastic control of the dovetail projection 231 is achieved by supplying gas or exhausting gas through the supply pipeline. The connection structure and driving method of the pneumatic component are not specifically limited in this embodiment. It can be understood that the length of the tongue 23 is less than or equal to the depth of the slot 24 to facilitate insertion and positioning.

[0085] In some embodiments, telescopic driving members 25 are provided at both ends of the second support member 22. One end of the telescopic driving member 25 is hinged to the end of the support member 2, and the other end of the telescopic driving member 25 is provided with a support surface, and the support surface can abut against the end of the adjacent support member 2.

[0086] Such as Figure 13As shown in the figure, in this embodiment, a second support member 22 is adopted. Both ends of the second support member 22 are hinged to a telescopic driving member 25. The telescopic driving member 25 can be a linear driving mechanism such as a hydraulic jack or an oil cylinder. When the telescopic driving members 25 on both sides extend and elongate simultaneously, a plurality of first support members 21 at both ends can be pushed to move along the inner wall of the connecting passage 100 until they contact and are inserted into each other to form a circular support. During disassembly, the first support members 21 are unlocked, and the output ends of the telescopic driving members 25 contract, so that the plurality of first support members 21 can be disassembled and recycled in sequence. It can be understood that the telescopic length range of the telescopic driving member 25 should ensure that the first support member 21 can be disassembled smoothly, that is, this distance should be at least greater than the length of one tongue 23. One end of the telescopic driving member 25 facing away from the second support member 22 is provided with a support surface, and the support surface is a plane. The support surface can abut against the end surface of the adjacent first support member 21 and transmit the axial force of the telescopic driving member 25 to the plurality of first support members 21 through the support surface, so that the plurality of support members 2 abut against the inner wall of the connecting passage 100. When only one end of the second support member 22 is provided with a telescopic driving member 25, only a support surface is provided at the other end of the second support member 22 or the end surface is used as the support surface to abut against the first support member 21, and the telescopic driving member 25 gradually pushes the plurality of first support members 21 on one side in the connecting passage 100 until they are inserted and connected with the plurality of first support members 21 on the other side. When telescopic driving members 25 are provided at both ends of the second support member 22, the two telescopic driving members 25 extend simultaneously, and simultaneously drive the plurality of first support members 21 on both sides of the connecting passage 100 to approach each other and be inserted and connected, which is beneficial to increasing the telescopic distance and improving the construction efficiency.

[0087] In some embodiments, a plurality of rollers 26 are provided on the outer side wall of the support member 2. The plurality of rollers 26 are distributed in an arc along the outer side wall of the support member 2, and the plurality of rollers 26 can roll along the inner wall of the connecting passage 100.

[0088] As Figure 10 and Figure 13 shown in the figure, a plurality of rollers 26 are provided on the outer side walls of the convex arcs of the first support member 21 and the second support member 22. By providing the rollers 26, the first support member 21 and the second support member 22 can roll on the inner wall of the connecting passage 100, reducing the moving friction, making it easier to drive and control, and being beneficial to improving the construction efficiency. By providing a plurality of rollers 26, the plurality of rollers 26 on the outer side wall of the convex arc are distributed at intervals in an arc. Even when the first support member 21 or the second support member 22 is not arc-shaped, the rollers 26 can still closely adhere to the inner wall of the connecting passage 100 for support and fixation. It can be understood that the rollers 26 are beneficial to increasing the moving speed of the first support member 21 and the second support member 22, and are beneficial to increasing the redundancy between the first support member 21 and the second support member 22 and the inner wall of the connecting passage 100, making it easier to abut and support. It can be understood that when the plurality of support members 2 enclose to form a circular support, the plurality of rollers 26 all abut against the inner wall of the connecting passage 100. Further, asFigure 10 On the first support member 21, a plurality of rollers 26 are evenly spaced. There is a certain distance between the rollers 26 at both ends and the ends of the first support member 21, so that the tongue 23 and the slot 24 can be adjusted within a certain range to smoothly achieve insertion (manual auxiliary alignment in case of errors). For example, Figure 13 On the second support member 22, a plurality of rollers 26 are evenly spaced. Among them, the two rollers 26 at both ends are respectively located at the end positions of the second support member 22, which is easy to improve the supporting force at both ends of the second support member 22. When the telescopic driving member 25 expands and contracts, the two rollers 26 can provide stable support.

[0089] In some embodiments, the robotic arm 3 includes a first robotic arm 31. At the end of the first robotic arm 31, a first wheel set 311 and a second wheel set 312 are provided. The first wheel set 311 is in rolling contact with the inner concave arc wall of the support member 2 and can press the support member 2 against the inner wall of the connection channel 100. The second wheel set 312 is in rolling contact with the two side walls of the support member 2, and the second wheel set 312 can drive the support member 2 to move along the inner wall of the connection channel 100.

[0090] For example, Figure 1 and Figure 3 As shown in Figure 4 and Figure 14 , two sets of the first robotic arms 31 are provided. The two sets of the first robotic arms 31 are spaced along the front-rear direction (Z direction) of the transport vehicle 1, and the distance between the two sets of the first robotic arms 31 is less than the width of the support member 2. Each set includes two first robotic arms 31. The two robotic arms 3 of each set are arranged on the left and right sides of the transport vehicle 1 along the X direction. After the two first robotic arms 31 of each set are unfolded, they can be respectively in rolling contact and positioning with the first support members 21 on the two side walls of the connection channel 100. One end of the first robotic arm 31 is rotatably arranged on the transport vehicle 1, and the end of the other end is provided with a first wheel set 311 and a second wheel set 312. As shown in

[0091] The second round group 312 includes at least two second rotating wheels, such as Figure 5 and Figure 14 . The axles of at least two second rotating wheels are arranged perpendicular to the Z direction. After the first robotic arm 31 is unfolded, the second rotating wheels of the two second round groups 312 of the two first robotic arms 31 on the same side respectively roll and contact the outer or inner sides of the two side walls of the first support member 21 along the Z direction. The two opposite first robotic arms 31 can clamp the outer sides of the two side walls of the first support member 21 and drive the first support member 21 to move, or tighten and support the inner sides of the two side walls of the first support member 21 to drive the first support member 21 to move.

[0092] In some embodiments, the robotic arm 3 further includes a second robotic arm 32. A third round group 321 is provided at the end of the second robotic arm 32. The third round group 321 rolls and contacts the two side walls of the support member 2 located at the bottom wall of the connection channel 100. The third round group 321 can drive the support member 2 to move from the bottom wall of the connection channel 100 to the side wall along the inner wall of the connection channel 100.

[0093] Such as Figure 1 shown, there are two groups of second robotic arms 32. The two groups of second robotic arms 32 are arranged at intervals along the Z direction. The distance between the two groups of second robotic arms 32 is less than the width of the support member 2. Each group of second robotic arms 32 includes two second robotic arms 32 arranged at intervals along the X direction. After the four second robotic arms 32 are unfolded, they face the bottom wall of the connection channel 100, such as Figure 3 . Each first support member 21 or second support member 22 located at the bottom wall is simultaneously rolled and contacted by the four second robotic arms 32 to drive the movement. The distance between the two second robotic arms 32 along the X direction is less than the length of the first support member 21. The distance between the two second robotic arms 32 along the X direction is less than the length of the second support member 22. After the second robotic arm 32 is unfolded, it is fixed at an angle and position. By driving the third round group 321, the support member 2 is driven to move from the bottom wall of the connection channel 100 to the side wall along the inner wall of the connection channel 100. Specifically, in this embodiment, it is only used to drive the first support member 21. The second robotic arm 32 needs to drive the first support member 21 to move to the first robotic arm 31 and be able to plug into another first support member 21, so that the first robotic arm 31 can fix one or more first support members 21. The second support member 22 is clamped and fixed on the bottom wall by the second robotic arm 32, which is beneficial to provide stable support when the telescopic driving member 25 performs an extension action. A third round group 321 is provided at the end of the second robotic arm 32. The third round group 321 includes at least two third rotating wheels, such as Figure 3 and Figure 15, the axles of at least two third rotating wheels are vertically arranged in the Z direction. After the second robotic arm 32 is deployed (extended and deployed in this application), the third rotating wheels of the two third wheel sets 321 of the second robotic arm 32 respectively roll and contact the outer or inner sides of the two side walls along the Z direction of the first support member 21 or the second support member 22. Each pair of opposite second robotic arms 32 can clamp the outer sides of the two side walls of the first support member 21 and drive the first support member 21 to move, or tighten and support the inner sides of the two side walls of the first support member 21 to drive the first support member 21 to move. Two groups of second robotic arms 32 drive the first support member 21 to move or fix the second support member 22 simultaneously. When the elevator 4 on the transport vehicle 1 lowers a first support member 21 or a second support member 22, the second robotic arm 32 automatically rolls and contacts the first support member 21 or the second support member 22. It can be understood that channels for the second robotic arm 32 to descend and deploy are provided on the first support member 21 and the second support member 22 for avoidance.

[0094] The structure of the third wheel set 321 can adopt the same structure as the second wheel set 312, and the second wheel set 312 or the third wheel set 321 drives the support member 2 to move by friction.

[0095] In some embodiments, the number of the first robotic arms 31 and the second robotic arms 32 can also be set to multiple, such as one or more robotic arms 3 can be respectively provided for each support member 2 for driving and fixing.

[0096] Applying the connection channel support device provided by the embodiment of the present invention to support and construct a ring support composed of six first support members 21 and one second support member 22, combined with Figures 2 - 9 , the specific process is as follows:

[0097] First step, hoist the transport vehicle 1 and multiple support members 2 into the working well respectively, and sequentially combine and install the multiple support members 2 on the elevator 4 of the transport vehicle 1 in the working well. The elevator 4 drives the multiple support members 2 to rise a certain height so that the multiple support members 2 are separated from the bottom wall of the connection channel 100, as Figure 2 shown.

[0098] Second step, after the transport vehicle 1 drives the multiple support members 2 to move to the designated support position in the connection channel 100 and stops, as Figure 3 , the multiple robotic arms 3 (including the first robotic arm 31 and the second robotic arm 32) on the transport vehicle 1 are deployed, and the elevator 4 descends a certain distance so that the first support member 211 at the lowest position lands on the bottom wall of the connection channel 100. In the order from bottom to top, the multiple first support members 21 are respectively the first support member 211, the second support member 212, the third support member 213, the fourth support member 214, the fifth support member 215, and the sixth support member 216.

[0099] In the third step, as shown in Figure 4 , the second robotic arm 32 is activated. Multiple third wheel sets 321 on the second robotic arm 32 drive the first support member 211 to move clockwise along the inner wall of the connection passage 100 to the side wall until the first support member 211 comes into rolling contact with two first robotic arms 31 on the left. The first robotic arm 31 continues to drive the first support member 211 to move and then fix it or directly fix it. The elevator 4 on the transport vehicle 1 continues to descend, and the second support member 212 is placed on the bottom wall of the connection passage 100. The fixed position of the first support member 211 is ensured not to interfere with the falling position of the second support member 212.

[0100] In the fourth step, as shown in Figure 5 , the second robotic arm 32 drives the second support member 212 to move counterclockwise from the bottom wall of the connection passage 100 to the side wall until the second support member 212 comes into rolling contact with two first robotic arms 31 on the right. The first robotic arm 31 continues to drive the second support member 212 to move along the side wall and then fix it or directly fix it; the transport vehicle 1 drops the third support member 213 into the bottom wall of the connection passage 100. Multiple first robotic arms 31 press the first support member 211 and the second support member 212 against the inner wall of the connection passage 100 respectively.

[0101] In the fifth step, as shown in Figure 6 , the second robotic arm 32 drives the third support member 213 to move clockwise. At this time, the first robotic arm 31 presses the first support member 211 against the inner wall of the connection passage 100; after the second robotic arm 32 drives the third support member 213 to move until its top tongue 23 is inserted and connected to the bottom slot 24 of the first support member 211, it continues to drive the third support member 213 to move until the third support member 213 comes into rolling contact with the first robotic arm 31 on the left. The first robotic arm 31 continues to drive the third support member 213 and the first support member 211 to move synchronously and then fix them or directly fix them (i.e., press them against the inner wall of the connection passage 100), so that the bottom end of the third support member 213 does not interfere with the position of the fourth support member 214 dropped into the bottom wall. The first robotic arm 31 presses the third support member 213 against the side wall, and the first support member 211 is fixed at the same time; the transport vehicle 1 places the fourth support member 214 into the bottom wall.

[0102] In the sixth step, as shown in Figure 7, the second robotic arm 32 drives the fourth support member 214 to move counterclockwise. At this time, the first robotic arm 31 on the right presses the second support member 212 against the inner wall of the communication channel 100; the second robotic arm 32 drives the fourth support member 214 to move until its top slot 24 is plugged into and connected with the bottom tongue 23 of the second support member 212, and continues to drive the fourth support member 214 to move until the fourth support member 214 is in rolling contact with the first robotic arm 31 on the right. Then, the first robotic arm 31 continues to drive the fourth support member 214 and the second support member 212 to move synchronously and then be fixed or directly fixed, so that there is no position interference between the bottom end of the fourth support member 214 and the fifth support member 215 that has fallen to the bottom wall. The first robotic arm 31 on the right presses the fourth support member 214 against the side wall, and the second support member 212 is fixed at the same time; the transport vehicle 1 places the fifth support member 215 on the bottom wall.

[0103] Step 7, as Figure 8 , the second robotic arm 32 drives the fifth support member 215 to move clockwise. At this time, the first robotic arm 31 on the left presses the third support member 213 against the inner wall of the communication channel 100; the second robotic arm 32 drives the fifth support member 215 to move until its top tongue 23 is plugged into and connected with the bottom slot 24 of the third support member 213, and the fifth support member 215, the third support member 213 and the first support member 211 form an integral structure; the second robotic arm 32 continues to drive the fifth support member 215 to move until the fifth support member 215 is in rolling contact with the first robotic arm 31 on the left. Then, the first robotic arm 31 continues to drive the fifth support member 215, the third support member 213 and the first support member 211 to move synchronously and then be fixed or directly fixed, so that there is no position interference between the bottom end of the fifth support member 215 and the sixth support member 216 that has fallen to the bottom wall. The first robotic arm 31 presses the fifth support member 215 against the side wall, and the first support member 211 and the third support member 213 are fixed at the same time; the transport vehicle 1 places the sixth support member 216 into the bottom wall.

[0104] Step 8, as Figure 9, the second robotic arm 32 drives the sixth support member 216 to move counterclockwise. At this time, the first robotic arm 31 presses the fourth support member 214 against the inner wall of the connecting passage 100; the second robotic arm 32 drives the sixth support member 216 to move until its top slot 24 is inserted and connected with the bottom tongue 23 of the fourth support member 214, and the sixth support member 216, the fourth support member 214, and the second support member 212 form an integral structure; the second robotic arm 32 continues to drive the sixth support member 216 to move until the sixth support member 216 comes into rolling contact with the first robotic arm 31, and then the first robotic arm 31 continues to drive the sixth support member 216, the fourth support member 214, and the second support member 212 to move synchronously and then fix them or directly fix them, so that the bottom end of the sixth support member 216 does not interfere with the position of the second support member 22 falling on the bottom wall. The first robotic arm 31 presses the sixth support member 216 against the side wall, and the second support member 212 and the fourth support member 214 are fixed at the same time; the transport vehicle 1 places the second support member 22 on the bottom wall; the telescopic drive member 25 starts to extend and pushes the fifth support member 215 and the sixth support member 216 to move until the first support member 211 and the second support member 212 come into contact and are inserted and connected, and multiple first support members 21 and second support members 22 form an annular support to support the inner wall of the connecting passage 100.

[0105] In the ninth step, the pneumatic component starts and locks two adjacent first support members 21 that are inserted and connected; both the first robotic arm 31 and the second robotic arm 32 retract; the cushion block 5 is placed on one side of the second support member 22, and the transport vehicle 1 leaves the site to prepare for the next group of support construction.

[0106] It should be added that when telescopic drive members 25 are respectively provided at both ends of the second support member 22, such as Figure 8 and Figure 9 , the top end of the fifth support member 215 is provided with a tongue 23, and the bottom end is provided with a slot 24 or is only a flat surface; the top end of the sixth support member 216 is provided with a slot 24, and the bottom end is a flat surface, so as to facilitate the two telescopic drive members 25 to be in contact with the flat surface for driving movement. When the telescopic drive member 25 is only provided at one end of the second support member 22, the other end of the second support member 22 is inserted and connected with the fifth support member 215 or the sixth support member 216. Among them, the length of the fifth support member 215 or the sixth support member 216 is less than the length of the remaining first support members 21, so as to facilitate providing the stability of the transport vehicle 1 during transportation and the safety and stability during the movement on the inner wall.

[0107] In some embodiments, the telescopic length of the first robotic arm 31 is automatically controlled, such as using an electric telescopic arm. Both the second wheel set 312 and the third wheel set 321 are driven by their respective motors to rotate to achieve automatic control.

[0108] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. Connection channel support method, characterized in that It includes the following steps: S1. Hoist the transport vehicle (1) and multiple support members (2) into the working shaft respectively; S2. Install the multiple support members (2) on the transport vehicle in sequence in the working shaft; S3. The transport vehicle (1) drives the multiple support members (2) to walk to the designated support position in the connection passage (100), and the robotic arm (3) on the transport vehicle (1) unfolds; S4. The transport vehicle (1) sequentially places the multiple support members (2) on the bottom wall of the connection passage (100), and the robotic arm (3) sequentially drives the multiple support members (2) to move along the inner wall of the connection passage (100) and fix them; the multiple support members (2) enclose to form an annular support to support on the inner wall of the connection passage (100); S5. Tighten and fix the multiple support members (2), and the transport vehicle (1) leaves the site.

2. The connection channel support method according to claim 1, characterized in that, In step S4, the multiple support members (2) include multiple first support members (21) and at least one second support member (22), and step S4 includes the following steps: S41. The transport vehicle (1) places the first first support member (21) on the bottom wall of the connection passage (100), and the robotic arm (3) drives the first first support member (21) to move from the bottom wall of the connection passage (100) to the side wall in the clockwise direction and fix it; S42. The transport vehicle (1) places the second first support member (21) on the bottom wall of the connection passage (100), and the robotic arm (3) drives the second first support member (21) to move from the bottom wall of the connection passage (100) to the side wall in the counterclockwise direction and fix it; S43. The transport vehicle (1) places the second support member (22) on the bottom wall of the connection passage (100), and at least one end of the second support member (22) extends and presses against the multiple first support members (21), so that the second support member (22) and the multiple first support members (21) are connected end to end on the inner wall of the connection passage (100).

3. The connection channel support method according to claim 2, characterized in that, Repeat steps S41 - S42, and the multiple first support members (21) are sequentially moved to the side wall of the connection passage (100), and the multiple first support members (21) are connected end to end and fixed on the side wall of the connection passage (100) through the robotic arm (3).

4. Connection channel support device, characterized in that, It includes: A transport vehicle (1), on which a robotic arm (3) and a lift (4) are provided; A plurality of support members (2), the plurality of support members (2) are stacked in the vertical direction and arranged on the elevator (4), and the elevator (4) can lift or lower the plurality of support members (2); the plurality of support members (2) include a plurality of first support members (21) and at least one second support member (22), tongues (23) and slots (24) are respectively provided at both ends of the first support member (21), telescopic driving members (25) are provided at one end or both ends of the second support member (22), and the robotic arm (3) can sequentially drive the plurality of first support members (21) to move along the inner wall of the connection passage (100) until they are connected end to end and then support at both ends of the second support member (22) to form an annular support to support on the inner wall of the connection passage (100).

5. The connection passage support device according to claim 4, wherein A dovetail ring groove (241) is provided on the groove wall of the slot (24), and a dovetail protrusion (231) is provided on the outer side wall of the tongue (23). When the tongue (23) is inserted into the slot (24), the dovetail protrusion (231) is clamped with the dovetail ring groove (241).

6. The connection channel support device according to claim 5, characterized in that A pneumatic member is provided inside the tongue (23), the output end of the pneumatic member is connected to the dovetail protrusion (231), and the pneumatic member can drive the dovetail protrusion (231) to protrude from the outer side wall of the tongue (23) to clamp the dovetail ring groove (241) or drive the dovetail protrusion (231) to contract to unlock the tongue (23) and the slot (24).

7. The connection passage support device according to claim 4, characterized in that The telescopic driving members (25) are provided at both ends of the second support member (22), one end of the telescopic driving member (25) is hinged to the end of the support member (2), and a support surface is provided at the other end of the telescopic driving member (25), and the support surface can abut against the end of the adjacent first support member (21).

8. The connecting passage supporting device according to claim 4, characterized in that, A plurality of rollers (26) are provided on the outer side wall of the support member (2), the plurality of rollers (26) are arranged in an arc distribution along the outer side wall of the support member (2), and the plurality of rollers (26) can roll along the inner wall of the connection passage (100).

9. The connection channel support device according to claim 4, characterized in that, The robotic arm (3) includes a first robotic arm (31), a first wheel set (311) and a second wheel set (312) are provided at the end of the first robotic arm (31), the first wheel set (311) is in rolling contact with the concave arc wall of the support member (2) and can press the support member (2) against the inner wall of the connection passage (100), the second wheel set (312) is in rolling contact with the side walls on both sides of the support member (2), and the second wheel set (312) can drive the support member (2) to move along the inner wall of the connection passage (100).

10. The connection channel support device according to claim 9, characterized in that, The robotic arm (3) further includes a second robotic arm (32). A third wheel set (321) is provided at the end of the second robotic arm (32). The third wheel set (321) is in rolling contact with the two side walls of the support member (2) located on the bottom wall of the connection passage (100). The third wheel set (321) can drive the support member (2) to move along the inner wall of the connection passage (100) from the bottom wall of the connection passage (100) to the side wall.

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