Communication channel support method and support device

Abstract

The present invention belongs to the technical field of underground engineering construction and discloses a connecting channel support method and a supporting device thereof. The connecting channel support method first hoists a transport vehicle and a plurality of supporting members into a working pit respectively; then, in the working pit, the plurality of supporting members are sequentially installed on the transport vehicle, and the transport vehicle drives the plurality of supporting members to move in the connecting channel to a designated supporting position, and the mechanical arm on the transport vehicle is deployed; finally, the transport vehicle sequentially drops the plurality of supporting members onto the bottom wall of the connecting channel, and the mechanical arm sequentially drives the plurality of supporting members to move and fix along the inner wall of the connecting channel, and the plurality of supporting members enclose to form a ring to support the inner wall of the connecting channel; the plurality of supporting members are tightened and fixed, and the transport vehicle leaves the site. The present invention improves the support construction quality and construction efficiency in the connecting channel.

Description

Technical Field

[0001] The present invention relates to the technical field of underground engineering construction, and in particular to a communication channel supporting method and a supporting device thereof. Background Art

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

[0003] Prior art typically employs on-site construction of circular supports within the connecting passageway using curved I-beams. This construction process includes lifting and welding the I-beams, installing jacks, and applying axial forces. Due to site conditions, support construction takes a long time, and heavy-load components cannot be hoisted in a confined space without mechanical assistance. Installation is typically performed manually using pulleys, a cumbersome and risky process. This results in low efficiency and poor quality assurance. Summary of the Invention

[0004] The object of the present invention is to provide a communication channel support method and a support device thereof, so as to solve the problems of low quality and low efficiency of support construction in the communication channel.

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

[0006] A communication channel support method includes the following steps:

[0007] S1, hoisting the transport vehicle and multiple supports into the working pit respectively;

[0008] S2, sequentially installing the plurality of support members on the transport vehicle in the working pit;

[0009] S3, the transport vehicle drives the plurality of support members to move in the communication channel to the designated support position, and the mechanical arm on the transport vehicle is deployed;

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

[0011] S5, tighten and fix the multiple supporting members, and the transport vehicle leaves the site.

[0012] In some embodiments, the plurality of support members in step S4 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 drops the first first support member on the bottom wall of the communication channel, and the robotic arm drives the first first support member to move clockwise from the bottom wall of the communication channel to the side wall and fix it;

[0014] S42, the transport vehicle drops the second first support member on the bottom wall of the communication channel, and the robotic arm drives the second first support member to move counterclockwise from the bottom wall of the communication channel to the side wall and fix it;

[0015] S43, the transport vehicle drops 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 multiple first support members, so that the second support member and multiple first support members are connected end to end to 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. The plurality of first support members are plugged end to end and then fixed to the side wall of the communication channel by the robotic arm.

[0017] A communication channel support device, comprising:

[0018] A transport vehicle, wherein the transport vehicle is provided with a mechanical arm and a lift;

[0019] Multiple support members, multiple support members are stacked in the vertical direction on the elevator, and the elevator can lift or lower the multiple support members; the multiple support members include multiple first support members and at least one second support member, the two ends of the first support member are respectively provided with a tongue and a slot, and one end or both ends of the second support member are provided with a telescopic driving member, and the robotic arm can sequentially drive the multiple first support members to move along the inner wall of the connecting channel until they are connected end to end and then supported at the two ends of the second support member to form an annular support to support the inner wall of the connecting 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 inserting tongue. When the inserting 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 inside the tongue, and an 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 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, the telescopic driving member is 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 the other end of the telescopic driving member is provided with a support surface, which can abut against the end of the adjacent first support member.

[0023] In some embodiments, a plurality of rollers are provided on the outer side wall of the support member, and the plurality of rollers are distributed in a circular arc along the outer side wall 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, and a first wheel group and a second wheel group are provided at the end of the first robotic arm. The first wheel group is in rolling contact with the concave arc wall of the support member and can press the support member tightly against the inner wall of the communication channel. The second wheel group is in rolling contact with the side walls of the support member, and the second wheel group can drive the support member to move along the inner wall of the communication channel.

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

[0026] Beneficial effects of the present invention:

[0027] The connecting channel support method provided by the present invention facilitates the transportation of multiple supports to any designated support position in the connecting channel by the transport vehicle by hoisting the transport vehicle and multiple supports into the working pit respectively, and installing the multiple supports in sequence on the transport vehicle in the working pit, and the transport vehicle can provide supporting force when the multiple supports are supported and installed, which is beneficial to improving construction efficiency and construction quality; the transport vehicle can carry out multiple cycles of transportation and installation support of multiple supports at multiple designated support positions, thereby improving the construction efficiency of support construction in the connecting channel.

[0028] The connecting channel support device provided by the present invention installs multiple support members by arranging a lift on a transport vehicle. The transport vehicle can transport the multiple support members to the designated support positions, and can drive and move the multiple support members in sequence through a mechanical arm, so that the multiple support members are respectively moved to the designated support positions on the inner wall of the connecting channel and fixed. After the multiple support members are fixed to each other, an annular support is formed to support the inner wall of the connecting channel. The support structure is stable and reliable, which greatly improves the support construction efficiency and construction quality in the connecting channel. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0031] Figure 3 Schematic diagram of the deployed state of the robotic arm in the communication channel support method provided by an embodiment of the present invention;

[0032] Figure 4 Schematic diagram of the moving position of the first supporting member in the communication channel supporting method provided by an embodiment of the present invention;

[0033] Figure 5 Schematic diagram of the moving position of the second first support member in the communication channel supporting method provided by an embodiment of the present invention;

[0034] Figure 6 Schematic diagram of the moving position of the third first support member in the communication channel supporting method provided by an embodiment of the present invention;

[0035] Figure 7 Schematic diagram of the moving position of the fourth first support member in the communication channel supporting method provided by an embodiment of the present invention;

[0036] Figure 8 Schematic diagram of the moving position of the fifth first support member in the communication channel supporting method provided by an embodiment of the present invention;

[0037] Figure 9 2 is a schematic diagram of a state in which a second supporting member presses against a plurality of first supporting members to form an annular support in a communication channel supporting method provided by an embodiment of the present invention;

[0038] Figure 10 1 is a schematic structural diagram of a first supporting member in a communication channel supporting device provided by an embodiment of the present invention;

[0039] Figure 11 yes Figure 10 Schematic diagram of the enlarged structure of area A in the middle;

[0040] Figure 12 yes Figure 10 Schematic diagram of the enlarged structure of the middle B area;

[0041] Figure 13 1 is a schematic structural diagram of a second supporting member in a communication channel supporting device provided by an embodiment of the present invention;

[0042] Figure 14 1 is a schematic structural diagram of a first mechanical arm in a communication channel support device provided by an embodiment of the present invention;

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

[0044] In the picture:

[0045] 100. Communication channel;

[0046] 1. Transport vehicle;

[0047] 2. Support member; 21. First support member; 211. First support member; 212. Second support member; 213. Third support member; 214. Fourth support member; 215. Fifth support member; 216. Sixth support member; 22. Second support member; 23. Insert tongue; 231. Dovetail protrusion; 24. Slot; 241. Dovetail ring groove; 25. Telescopic drive member; 26. Roller;

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

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

[0050] 5. Pad. DETAILED DESCRIPTION

[0051] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0052] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0053] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0054] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are used to refer to positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0055] The embodiment of the present invention first provides a communication channel support method for supporting construction in the communication channel 100, such as Figure 2-Figure 9 As shown, the communication channel support method includes the following steps:

[0056] S1, hoisting the transport vehicle 1 and multiple support members 2 into the working pit respectively.

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

[0058] S2, multiple supports 2 are sequentially installed on the transport vehicle 1 in the working pit, such as Figure 2 shown.

[0059] Specifically, the plurality of supports 2 can be installed in sequence according to the order of support construction, so as to facilitate the smooth and efficient progress of the construction project. In this embodiment, the plurality of supports 2 are installed on the transport vehicle 1 in a bottom-up order. During the support construction, the supports 2 can be installed sequentially from bottom to top, which helps to reduce the construction difficulty, simplify the construction process, and improve the construction efficiency.

[0060] S3, the transport vehicle 1 drives the multiple supports 2 to move to the designated support position in the communication channel 100, and the mechanical arm 3 on the transport vehicle 1 is unfolded. Figure 3When the length of the communication channel 100 is long, support construction needs to be carried out at multiple designated support positions in the communication channel 100. The transport vehicle 1 can transport multiple support members 2 in the communication channel 100 for mobile transportation, which greatly improves the construction efficiency in the communication channel 100 and reduces the labor intensity.

[0061] S4, the transport vehicle 1 sequentially drops multiple support members 2 onto the bottom wall of the communication channel 100, and the robotic arm 3 sequentially drives multiple support members 2 to move and fix along the inner wall of the communication channel 100, and multiple support members 2 enclose to form a ring support to support the inner wall of the communication channel 100, as shown in FIG. Figure 9 .

[0062] Of course, during the support construction process, the initial position of the multiple support members 2 on the inner wall of the communication channel 100 can be any position. However, considering the convenience, safety and efficiency of construction, the multiple support members 2 are sequentially dropped into the bottom wall of the communication channel 100, and then moved along the inner wall from the bottom wall to any position on the side wall and fixed. This facilitates operation and construction, and improves construction safety. The robot arm 3 temporarily fixes the support members 2 in the process of driving the multiple support members 2 to move sequentially, that is, applying radial pressure to the support members 2 so that they abut against the inner wall of the communication channel 100.

[0063] S5, tighten and fix the 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 transport the next set of multiple supports 2 and carry out support construction at the next designated support position. After the multiple supports 2 are tightened and fixed, the transport vehicle 1 leaves the site again, facilitating the safe construction of the fixed connection of the multiple supports 2 and the stability of the annular support during the subsequent support process.

[0065] The connecting channel support method provided by the present invention facilitates the transportation of the multiple support members 2 to any designated support position in the connecting channel 100 by the transport vehicle 1 by hoisting the transport vehicle 1 and multiple support members 2 into the working pit respectively, and installing the multiple support members 2 in sequence on the transport vehicle 1 in the working pit, and the transport vehicle 1 can provide supporting force when the multiple support members 2 are supported and installed, which is beneficial to improving construction efficiency and construction quality; the transport vehicle 1 can carry out multiple cycles of transportation and installation support of the multiple support members 2 at multiple designated support positions, thereby improving the construction efficiency of the support construction in the connecting channel 100.

[0066] In some embodiments, the plurality of support members 2 in step S4 include a plurality of first support members 21 and at least one second support member 22. In this embodiment, six first support members 21 and one second support member 22 are used as an example. 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 drops the first first support member 21 onto the bottom wall of the communication channel 100, and the robotic arm 3 drives the first first support member 21 to move clockwise from the bottom wall to the side wall of the communication channel 100 and fix it;

[0069] S42, the transport vehicle 1 drops the second first support member 21 onto the bottom wall of the communication channel 100, and the robotic arm 3 drives the second first support member 21 to move counterclockwise from the bottom wall to the side wall of the communication channel 100 and fix it;

[0070] S43, after all the first support members 21 are moved and fixed, the transport vehicle 1 drops the second support member 22 on the bottom wall of the connecting channel 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 connecting channel 100.

[0071] Among them, when there are two first support members 21, the first ends of the two first support members 21 in step S41 and step S42 are respectively supported on the two ends of the second support member 22, and the other ends of the two first support members 21 can contact and be plugged and fixed with each other under the axial force driving action of the second support member 22, thereby enclosing to form a ring support.

[0072] In this embodiment, there are six first support members 21. Therefore, during the support construction, steps S41-S42 are repeated, and multiple first support members 21 are moved to the designated support positions on the inner wall of the communication channel 100 in turn and fixed by the robotic arm 3. The multiple first support members 21 are connected end to end to form an integrated structure, and are stably supported on the inner wall of the communication channel 100 under the axial force of the second support member 22 to complete the construction.

[0073] In steps S41 and S42, the left and right first support members 21 are alternately moved during construction, facilitating symmetrical support on both sides of the inner wall of the communication channel 100 and ensuring stability during the construction process. It should be noted that when the first support members 21 are driven clockwise and counterclockwise in steps S41 and S42, respectively, the ends of the multiple first support members 21 (having tongues 23 and slots 24, respectively) must be aligned in advance to ensure smooth construction.

[0074] In some embodiments, the three first support members 21 on the left side can be moved into position and fixed first, and then the three first support members 21 on the right side can be moved into position and fixed. This method does not require frequent changes in the driving direction of the robot arm 3 during construction, which helps to simplify the construction control method.

[0075] The number of first support members 21 can be flexibly set based on the actual dimensions of the inner wall of the communication channel 100. Generally, the arc-shaped structure formed by moving and plugging multiple first support members 21 on the left side into position has a central angle of less than 180°, while the arc-shaped structure formed by moving and plugging multiple first support members 21 on the right side into position has a central angle of less than 180°. Finally, the extension of the second support member 22 provides axial force, plugging and securing the multiple first support members 21 at the top of the communication channel 100. It should be noted that after being plugged and secured, two adjacent first support members 21 can be further locked or fixed to ensure that the support member 2 always has a circular shape.

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

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

[0078] like Figure 1As shown, the transport vehicle 1 includes a crossbeam, with two sets of robotic arms 3 provided at both ends of the crossbeam in the Z direction, and a lift 4 provided in the middle. Multiple mounting positions 41 are provided on the lift 4 in the height direction, and each mounting position 41 can be fixedly installed with a support member 2. In this embodiment, the lift 4 is provided with seven mounting positions 41, the topmost being used to install the second support member 22, and the remaining mounting positions 41 being used to install multiple first support members 21. The lift 4 can simultaneously drive multiple mounting positions 41 to rise or fall to raise and lower multiple support members 2. When the transport vehicle 1 transports the support member 2, the lift 4 rises; during support construction, the lift 4 descends in steps, and each time it descends, a first support member 21 or a second support member 22 is placed into the bottom wall of the communication channel 100. In some embodiments, the transport vehicle 1 is further provided with a pad 5, which can be metal or wooden. After the support member 2 completes its support construction, the transport vehicle 1 needs to leave the site. In this case, the pad 5 is first placed on the bottom wall on one side of the support member 2 and facing 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 pad 5 is placed back on the transport vehicle 1 for reuse. The lift 4 can be raised and lowered using a conveyor belt or a telescopic mechanism.

[0079] In some embodiments, the structures and sizes of the multiple support members 2 may be the same or different, and the portions of the multiple support members 2 that contact the inner wall of the communication channel 100 are arc-shaped to provide good abutment support.

[0080] In some embodiments, the plurality of support members 2 are arc-shaped members, and the convex arcs of the plurality of support members 2 are sequentially placed downward on the plurality of mounting positions 41 of the elevator 4 of the transport vehicle 1, such as Figure 2 , the second support member 22 is located at the top. Figure 9 After the support construction is completed, the convex arc outer side walls of the multiple support members 2 form an annular support structure to support the inner wall of the communication channel 100. After the support construction is completed, the concave arc inner side walls of the multiple support members 2 form an arc shape, which can form a uniform force support.

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

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

[0083] like Figure 10-12As shown, the end surfaces of the first support members 21 are provided with a tongue 23 and a slot 24, respectively. When the first support members 21 move along the inner wall of the communication channel 100, two adjacent first support members 21 can be plugged together and combined into one body as they approach, thus maintaining the stability of the multiple first support members 21 during movement and preventing any one from falling. In this case, 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 the two adjacent first support members 21 are plugged together, the end surfaces of the two first support members 21 abut against each other for support. The dovetail protrusion 231 is provided to engage with the dovetail annular groove 241, preventing the two first support members 21 from accidentally disengaging, thus providing a locking effect. It is understood that the dovetail protrusion 231 is an elastic protrusion. When the tongue 23 is inserted into the slot 24, the dovetail protrusion 231 gradually compresses and elastically protrudes from the dovetail annular groove 241, locking it there.

[0084] By providing a pneumatic element within the tongue 23, automatic control of the elastic extension and retraction of the dovetail projection 231 can be achieved. Specifically, the output end of the pneumatic element is connected to the dovetail projection 231. The pneumatic element can drive the dovetail projection 231 to protrude from the outer wall of the tongue 23 to engage the dovetail ring groove 241, or drive the dovetail projection 231 to retract to unlock the tongue 23 and the slot 24. The pneumatic element can be a mechanism such as a cylinder. Before the tongue 23 is inserted into the slot 24, the pneumatic element drives the dovetail projection 231 to retract into the tongue 23 to facilitate insertion of the tongue 23. When the ends of the two first support members 21 abut, the tongue 23 is inserted into place. At this time, the pneumatic element drives the dovetail projection 231 to protrude from the outer wall of the tongue 23 and engage in the dovetail ring groove 241 to achieve locking. During disassembly, the pneumatic element drives the dovetail projection 231 to retract, unlocking the two first support members 21 and allowing for separation and disassembly. The pneumatic component can be controlled by inserting a tongue 23 through an air supply line and connecting to a dovetail projection 231. The elasticity of the dovetail projection 231 is controlled by supplying or extracting air through the air supply line. The connection structure and driving method of the pneumatic component are not specifically limited in this embodiment. It is 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 supporting surface, which can abut against the end of the adjacent support member 2.

[0086] like Figure 13As shown, this embodiment utilizes a second support member 22, with telescopic drive members 25 articulated at each end. The telescopic drive members 25 can be linear drive mechanisms such as hydraulic jacks or cylinders. When the telescopic drive members 25 on both sides extend simultaneously, they push the multiple first support members 21 along the inner wall of the communication channel 100 until they contact and interlock with each other, forming a circular support. During disassembly, the first support members 21 unlock, the output end of the telescopic drive member 25 retracts, and the multiple first support members 21 can be removed and recovered one by one. It should be understood that the telescopic drive member 25 must be able to extend and retract to ensure smooth removal of the first support member 21, i.e., the distance must be at least greater than the length of one tongue 23. The end of the telescopic drive member 25 facing away from the second support member 22 is provided with a support surface. This support surface is flat and can abut against the end surface of the adjacent first support member 21. The support surface transmits the axial force of the telescopic drive member 25 to the multiple first support members 21 through the support surface, causing the multiple support members 2 to abut against the inner wall of the communication channel 100. When the telescopic drive member 25 is provided at only one end of the second support member 22, the other end of the second support member 22 is provided with only a supporting surface or the end surface serves as a supporting surface in contact with the first support member 21. The telescopic drive member 25 gradually pushes the multiple first support members 21 on one side of the communication channel 100 until they are plugged into and connected with the multiple first support members 21 on the other side. When the telescopic drive members 25 are provided at both ends of the second support member 22, the two telescopic drive members 25 extend simultaneously, driving the multiple first support members 21 on both sides of the communication channel 100 to approach each other and plug into and connect, thereby increasing the telescopic distance and improving construction efficiency.

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

[0088] like Figure 10 and Figure 13 As shown, the convex arc outer walls of the first support member 21 and the second support member 22 are provided with a plurality of rollers 26. By providing the rollers 26, the first support member 21 and the second support member 22 can roll on the inner wall of the communication channel 100, reducing the moving friction, making it easier to drive and control, and helping to improve construction efficiency. By providing a plurality of rollers 26, the plurality of rollers 26 on the convex arc outer walls are distributed in an arc-shaped interval. Even when the first support member 21 or the second support member 22 is not arc-shaped, the rollers 26 can also be tightly attached to the inner wall of the communication channel 100 for support and fixation. It can be understood that the rollers 26 are conducive to increasing the moving speed of the first support member 21 and the second support member 22, and are conducive to increasing the redundancy between the first support member 21 and the second support member 22 and the inner wall of the communication channel 100, making it easier to abut and support. It can be understood that when a plurality of support members 2 are enclosed to form an annular support, the plurality of rollers 26 are all in abutment with the inner wall of the communication channel 100. Further, as Figure 10 The rollers 26 on the first support member 21 are evenly spaced, and 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 achieve smooth insertion (if there is an error, manual assistance is required for alignment). Figure 13 The multiple rollers 26 on the second support member 22 are evenly spaced, wherein the two rollers 26 at both ends are respectively located at the end positions of the second support member 22, which makes it easy to increase the supporting force at both ends of the second support member 22. When the telescopic drive member 25 telescopes, the two rollers 26 can provide stable support.

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

[0090] like Figure 1 and Figure 3 As shown, two groups of first robotic arms 31 are provided. The two groups of first robotic arms 31 are spaced apart along the front-to-back direction (Z direction) of the transport vehicle 1. The distance between the two groups of first robotic arms 31 is less than the width of the support member 2. Each group includes two first robotic arms 31. The two robotic arms 3 of each group are arranged on the left and right sides of the transport vehicle 1 along the X direction. After being deployed, the two first robotic arms 31 of each group can respectively roll and contact with the first support members 21 on both side walls of the communication channel 100 for positioning. One end of the first robotic arm 31 is rotatably provided on the transport vehicle 1, and the other end is provided with a first wheel set 311 and a second wheel set 312, as shown in FIG. Figure 4 and Figure 14 The first wheel group 311 includes two first rotating wheels, which can rotate freely, and the wheel axis of the first rotating wheels is along the Z direction. After the four first robotic arms 31 are deployed, the two first rotating wheels of the first wheel group 311 are spaced apart along the length direction of the first support member 21. The two first rotating wheels of the first wheel group 311 are in rolling contact with the inner wall of the concave arc of the first support member 21, and can press the first support member 21 against the inner wall of the communication channel 100. The arm length of the first robotic arm 31 is adjustable. When the arm length of the first robotic arm 31 is extended, the first rotating wheel presses the first support member 21 against the inner wall of the communication channel 100. When the arm length of the first robotic arm 31 is contracted, the first support member 21 moves along the inner wall of the communication channel 100. The first wheel group 311 plays a guiding and limiting role, and does not apply abutting pressure. The driving force is provided by the second robotic arm 32. The arm length adjustment of the first robotic arm 31 can be achieved by setting a telescopic arm or a linear drive member, without limitation.

[0091] The second wheel set 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 wheel groups 312 of the two first robotic arms 31 on the same side respectively roll and contact the outer side or inner side of the side walls of the first support member 21 along the Z direction. The two opposite first robotic arms 31 can clamp the outer side walls 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 side of the side walls 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 also includes a second robotic arm 32, and a third wheel group 321 is provided at the end of the second robotic arm 32. The third wheel group 321 is in rolling contact with the side walls of the support member 2 located on the bottom wall of the communication channel 100. The third wheel group 321 can drive the support member 2 to move along the inner wall of the communication channel 100 from the bottom wall of the communication channel 100 to the side wall.

[0093] like Figure 1 As shown, there are two groups of second robotic arms 32, and the two groups of second robotic arms 32 are spaced apart along the Z direction. The spacing 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 spaced apart along the X direction. When the four second robotic arms 32 are deployed, they face the bottom wall of the communication channel 100. Figure 3 , each first support member 21 or second support member 22 located on the bottom wall is simultaneously rolled in contact by 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, and 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, the angle and position are fixed, and the support member 2 is driven to move from the bottom wall of the communication channel 100 to the side wall along the inner wall of the communication channel 100 by driving the third wheel group 321. 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 to the bottom wall by the second robotic arm 32, which is beneficial for providing stable support when the telescopic drive member 25 performs an extension action. A third wheel group 321 is provided at the end of the second robotic arm 32. The third wheel group 321 includes at least two third rotating wheels, such as Figure 3 and Figure 15The axles of at least two third rotating wheels are arranged perpendicular to the Z-direction. When the second robotic arm 32 is deployed (in this application, extended), the third rotating wheels of the two third wheel sets 321 of the second robotic arm 32 respectively roll into contact with the outer or inner sides of the side walls of the first support member 21 or the second support member 22 along the Z-direction. Each pair of opposing second robotic arms 32 can clamp the outer sides of the side walls of the first support member 21 to drive the first support member 21 to move, or tension and support the inner sides of the side walls of the first support member 21 to drive the first support member 21 to move. The two sets of second robotic arms 32 simultaneously drive the first support member 21 to move or fix the second support member 22. When the elevator 4 on the transport vehicle 1 drops a first support member 21 or a second support member 22, the second robotic arm 32 automatically rolls into contact with the first support member 21 or the second support member 22. It is understood that the first and second support members 21 and 22 are provided with channels for the second robotic arms 32 to descend and deploy, thereby avoiding the need for the second robotic arms 32 to move.

[0094] The structure of the third wheel set 321 can be the same as that of 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 arm 31 and the second robotic arm 32 can be set to multiple, for example, each support member 2 can be provided with one or more robotic arms 3 for driving and fixing.

[0096] The communication channel support device provided by the embodiment of the present invention is used to support the annular support composed of six first support members 21 and one second support member 22. Figure 2-Figure 9 The specific process is as follows:

[0097] In the first step, the transport vehicle 1 and the plurality of supports 2 are hoisted into the working pit, and the plurality of supports 2 are assembled and installed in sequence on the elevator 4 of the transport vehicle 1 in the working pit. The elevator 4 drives the plurality of supports 2 to rise to a certain height, so that the plurality of supports 2 leave the bottom wall of the communication channel 100, as shown in FIG. Figure 2 shown.

[0098] In the second step, the transport vehicle 1 drives the multiple supports 2 to move to the designated support position in the communication channel 100 and then stops. 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 lowest first support member 211 lands on the bottom wall of the communication channel 100. In order from bottom to top, the multiple first support members 21 are 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] The third step, such as Figure 4 , the second robotic arm 32 is started, and the multiple third wheel groups 321 on the second robotic arm 32 drive the first support member 211 to move clockwise along the inner wall of the communication channel 100 to the side wall until the first support member 211 rolls in contact with the two first robotic arms 31 on the left, and the first robotic arm 31 continues to drive the first support member 211 to move and then fix it or directly fix it, and the elevator 4 on the transport vehicle 1 continues to descend, and the second support member 212 falls on the bottom wall of the communication channel 100, and 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] The fourth step is as follows Figure 5 The second robotic arm 32 drives the second support member 212 to move counterclockwise from the bottom wall of the communication channel 100 to the side wall until the second support member 212 rolls into contact with the two first robotic arms 31 on the right side. The first robotic arms 31 continue to drive the second support member 212 along the side wall and then secure it or directly secure it. The transport vehicle 1 drops the third support member 213 into the bottom wall of the communication channel 100. Multiple first robotic arms 31 press the first support member 211 and the second support member 212 against the inner wall of the communication channel 100.

[0101] Step 5: Figure 6 , the second robotic arm 32 drives the third support member 213 to move in the clockwise direction, at this time the first robotic arm 31 presses the first support member 211 against the inner wall of the communication channel 100; the second robotic arm 32 drives the third support member 213 to move until its top plug tongue 23 is plugged into the bottom slot 24 of the first support member 211 and continues to drive the third support member 213 to move until the third support member 213 rolls in contact with the first robotic arm 31 on the left, and the first robotic arm 31 continues to drive the third support member 213 and the first support member 211 to move synchronously and then be fixed or directly fixed (that is, pressed against the inner wall of the communication channel 100) so that the bottom end of the third support member 213 does not interfere with the position of the fourth support member 214 that falls 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] Step 6: Figure 7The second robotic arm 32 drives the fourth support member 214 to move counterclockwise, and 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, and 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 the bottom end of the fourth support member 214 does not interfere with the position of the fifth support member 215 that falls into the bottom wall, and 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: Figure 8 , the second robotic arm 32 drives the fifth support member 215 to move in the clockwise direction. At this time, the first robotic arm 31 on the left side 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 plug tongue 23 is plugged into the bottom slot 24 of the third support member 213. The fifth support member 215, the third support member 213 and the first support member 211 form an integrated structure. The second robotic arm 32 continues to drive the fifth support member 215 to move until the fifth support member 215 is The first support member 215 is in rolling contact with the first robotic arm 31 on the left, and 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 the bottom end of the fifth support member 215 and the sixth support member 216 that falls into the bottom wall do not interfere with each other in position, and 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 2 are fixed at the same time; the transport vehicle 1 places the sixth support member 216 into the bottom wall.

[0104] Step 8: Figure 9, the second robotic arm 32 drives the sixth support member 216 to move in the counterclockwise direction, at which time the first robotic arm 31 presses the fourth support member 214 against the inner wall of the communication channel 100; the second robotic arm 32 drives the sixth support member 216 to move until its top slot 24 is plugged into 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 integrated structure; the second robotic arm 32 continues to drive the sixth support member 216 to move until the sixth support member 216 rolls in contact with the first robotic arm 31, and the first robotic arm 31 continues to drive the sixth support member 216 and the fourth support member 214 After moving synchronously with the second support member 212, it is fixed or directly fixed so that the bottom end of the sixth support member 216 does not interfere with the position of the second support member 22 that falls into 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 into the bottom wall; the telescopic drive member 25 starts to extend and push 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 are in contact and plugged in. Multiple first support members 21 and second support members 22 form an annular support, which is supported on the inner wall of the communication channel 100.

[0105] In the ninth step, the pneumatic parts start and lock the two adjacent plug-connected first support members 21; the first robotic arm 31 and the second robotic arm 32 are retracted; the pad 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 set of support construction.

[0106] It should be noted that when the two ends of the second support member 22 are provided with telescopic driving members 25, Figure 8 and Figure 9 The fifth support member 215 has a tongue 23 at its top and a slot 24 or simply a flat surface at its bottom. The sixth support member 216 has a slot 24 at its top and a flat surface at its bottom, so that the two telescopic drive members 25 can contact the flat surface to drive the 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 plugged into and connected to the fifth support member 215 or the sixth support member 216. The length of the fifth support member 215 or the sixth support member 216 is shorter than that of the remaining first support members 21, so as to provide stability to the transport vehicle 1 during transportation and safety and stability during movement on the inner wall.

[0107] In some embodiments, the first robotic arm 31 is automatically extended and retracted, such as by an electric telescopic arm. The second wheel set 312 and the third wheel set 321 are both driven by respective motors to achieve automatic control.

[0108] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. The communication channel support device is characterized in that: include: A transport vehicle (1), wherein the transport vehicle (1) is provided with a mechanical arm (3) and a lift (4); A plurality of support members (2), wherein the plurality of support members (2) are stacked in a vertical direction and arranged on the elevator (4), and the elevator (4) is capable of lifting or lowering 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), wherein 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), and the mechanical arm (3) is capable of sequentially driving the plurality of first support members (21) to move along the inner wall of the communication channel (100) until they are connected end to end and then supported on the two ends of the second support member (22) to form an annular support to support the inner wall of the communication channel (100); The outer wall of the support member (2) is provided with a plurality of rollers (26), the plurality of rollers (26) are distributed in an arc shape along the outer wall of the support member (2), and the plurality of rollers (26) can roll along the inner wall of the communication channel (100); The mechanical arm (3) comprises a first mechanical arm (31), and the end of the first mechanical arm (31) is provided with a first wheel group (311) and a second wheel group (312), the first wheel group (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 communication channel (100), and the second wheel group (312) is in rolling contact with the side walls of both sides of the support member (2), and the second wheel group (312) can drive the support member (2) to move along the inner wall of the communication channel (100).

2. The communication channel support device according to claim 1, characterized in that: The slot wall of the slot (24) is provided with a dovetail ring groove (241), and the outer side wall of the inserting tongue (23) is provided with a dovetail protrusion (231). When the inserting tongue (23) is inserted into the slot (24), the dovetail protrusion (231) is engaged with the dovetail ring groove (241).

3. The communication channel support device according to claim 2, characterized in that: A pneumatic component is provided in the inserting tongue (23), the output end of the pneumatic component is connected to the dovetail convex block (231), and the pneumatic component can drive the dovetail convex block (231) to protrude from the outer wall of the inserting tongue (23) to engage the dovetail ring groove (241) or drive the dovetail convex block (231) to contract to unlock the inserting tongue (23) and the slot (24).

4. The communication channel support device according to claim 1, characterized in that: The telescopic driving member (25) is 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 second support member (22), and the other end of the telescopic driving member (25) is provided with a supporting surface, and the supporting surface can abut against the end of the adjacent first support member (21).

5. The communication channel support device according to claim 1, characterized in that: The robotic arm (3) further comprises a second robotic arm (32), the end of the second robotic arm (32) being provided with a third wheel group (321), the third wheel group (321) being in rolling contact with the side walls of both sides of the support member (2) located at the bottom wall of the communication channel (100), and the third wheel group (321) being capable of driving the support member (2) to move along the inner wall of the communication channel (100) from the bottom wall of the communication channel (100) to the side wall.

6. Communication channel support method, characterized in that: The communication channel supporting device according to any one of claims 1 to 5 is applied, and the communication channel supporting method comprises the following steps: S1, hoisting the transport vehicle (1) and the plurality of support members (2) into the working pit respectively; S2, installing the plurality of support members (2) in sequence on the transport vehicle in the working pit; S3, the transport vehicle (1) drives the plurality of support members (2) to move in the communication channel (100) to a designated support position, and the mechanical arm (3) on the transport vehicle (1) is unfolded; S4, the transport vehicle (1) sequentially drops the plurality of support members (2) onto the bottom wall of the communication channel (100), and the robotic arm (3) sequentially drives the plurality of support members (2) to move along the inner wall of the communication channel (100) and fix them; the plurality of support members (2) enclose and form an annular support to support the inner wall of the communication channel (100); S5, tighten and fix the plurality of support members (2), and the transport vehicle (1) leaves the site.

7. The communication channel supporting method according to claim 6, characterized in that: In step S4, the plurality of support members (2) include a plurality of first support members (21) and at least one second support member (22), and step S4 includes the following steps: S41, the transport vehicle (1) drops the first first support member (21) onto the bottom wall of the communication channel (100), and the robotic arm (3) drives the first first support member (21) to move clockwise from the bottom wall of the communication channel (100) to the side wall and fix it; S42, the transport vehicle (1) drops the second first support member (21) onto the bottom wall of the communication channel (100), and the robotic arm (3) drives the second first support member (21) to move counterclockwise from the bottom wall of the communication channel (100) to the side wall and fix it; S43, the transport vehicle (1) drops the second support member (22) onto the bottom wall of the communication channel (100), and at least one end of the second support member (22) extends and presses against the 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 to the inner wall of the communication channel (100).

8. The communication channel supporting method according to claim 7, characterized in that: Repeat steps S41-S42, and the plurality of first support members (21) are moved to the side wall of the communication channel (100) in sequence. The plurality of first support members (21) are connected end to end and then fixed to the side wall of the communication channel (100) by the robotic arm (3).

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