Full-circle type reinforcing device for shield tunnel steel ring assembly

Abstract

The invention discloses a shield tunnel steel ring assembly full circle type reinforcing device which comprises a profile steel main keel framework, a base walking system, a rail mounting device and an intelligent remote control system, and the profile steel main keel framework is arranged according to the design layout of the inner wall of a circular tunnel; the base walking system is mounted below the profile steel main keel framework, comprises two gate-type culvert frames, four groups of rubber wheels and two groups of driving motors, and is used for supporting the device and moving in the tunnel; the track mounting device comprises a rotating support, a 360-degree rotating chain type track, a lifting mechanism and a grabbing mechanism. Therefore, according to the device, through the 360-degree rotating chain track and the intelligent remote control system, full-circumferential accurate positioning and automatic assembling of the steel ring are achieved, and manual intervention is reduced; the base rubber wheel walking system adapts to complex road conditions of the tunnel, the structural steel framework is stable in structure and high in bearing capacity, tunnels of different diameters can be flexibly adapted, and the splicing efficiency and the construction safety are remarkably improved.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel engineering construction equipment, and particularly relates to a circular reinforcement device for shield tunnel steel ring assembly. Background Art

[0002] In the field of shield tunnel construction, steel ring assembly is a key link in tunnel reinforcement and structure formation. In traditional shield tunnel steel ring assembly operations, a simple hoisting device is often used in combination with manual operation. There are many deficiencies in this traditional device:

[0003] Low assembly efficiency: Traditional devices mostly rely on one-way hoisting, unable to achieve the full-range movement and positioning of steel rings. It is necessary to frequently adjust the position of the equipment, resulting in an extended construction period. For example, when assembling steel rings at the top or waist of the tunnel, the hoisting equipment needs to be moved multiple times, which is time-consuming and laborious.

[0004] Insufficient positioning accuracy: Lacking precise track guidance and rotation mechanisms, it is difficult for steel rings to accurately reach the preset position during assembly. Especially during staggered joint assembly, the circumferential positioning reference is not clear, easily leading to the accumulation of assembly errors and affecting the overall structural stability of the tunnel.

[0005] Low degree of automation: Most operations rely on manual control, such as lifting, rotating and other actions. This not only has a large labor intensity, but also is affected by human factors, making it difficult to ensure operation consistency and safety. Traditional devices usually do not have an integrated remote control system, and on-site operations are cumbersome, posing safety hazards.

[0006] Poor flexibility of the walking system: Traditional walking mechanisms mostly use rigid wheel sets, which are inconvenient to move in the complex environment of the tunnel, and the stability of the support structure is insufficient, making it difficult to meet the construction requirements of different tunnel cross-sections. For example, when the tunnel bottom surface is uneven, the traditional walking system is prone to slipping or deviation, affecting the assembly accuracy.

[0007] Low functional integration: The functions of each mechanism are independent, lacking coordinated control, and unable to achieve the full-process automated operation of steel ring assembly, making it difficult to meet the requirements of high efficiency and precision in modern tunnel construction.

[0008] Therefore, there is an urgent need for a circular reinforcement device for steel ring assembly that can achieve 360° rotation, precise positioning, automated control, and flexible walking. Summary of the Invention

[0009] The present application aims to solve at least one of the technical problems in the related art to some extent.

[0010] To this end, an object of the present application is to provide a circular reinforcement device for shield tunnel steel ring assembly. The device realizes the full circumferential precise positioning and automatic assembly of the steel ring through a 360° rotating chain track and an intelligent remote control system, reducing manual intervention; the base rubber wheel walking system adapts to the complex road conditions of the tunnel, and the steel skeleton structure has strong stable bearing capacity, can be flexibly adapted to tunnels with different diameters, and significantly improves the assembly efficiency and construction safety.

[0011] To achieve the above object, an embodiment of the first aspect of the present application provides a circular reinforcement device for shield tunnel steel ring assembly, including a steel main keel skeleton, a base walking system, a track installation device and an intelligent remote control system. Among them, the steel main keel skeleton is arranged according to the design layout of the inner wall of the circular tunnel; the base walking system is installed under the steel main keel skeleton and includes two portal frames, four groups of rubber wheels and two groups of driving motors, which are used to support the device and move in the tunnel; the track installation device includes a rotating bracket, a 360° rotating chain track, a lifting mechanism and a grasping mechanism. Among them, wheels are provided at both ends of the rotating bracket, and the wheels are slidably arranged on the track on the inner wall of the steel main keel skeleton; the 360° rotating chain track is arranged around the inner side of the arc surface of the steel main keel skeleton and is fixedly connected to the rotating bracket; the lifting mechanism is carried on the rotating bracket and is used to control the lifting height of the steel ring; the grasping mechanism is arranged at the end of the lifting mechanism and is used to be fixedly connected to the bolt holes on the steel ring to be assembled through bolts; the intelligent remote control system is electrically connected to the base walking system, the 360° rotating chain track and the lifting mechanism, and is used to remotely control the actions of each mechanism.

[0012] A circular reinforcement device for shield tunnel steel ring assembly according to an embodiment of the present application realizes the full circumferential precise positioning and automatic assembly of the steel ring through a 360° rotating chain track and an intelligent remote control system, reducing manual intervention; the base rubber wheel walking system adapts to the complex road conditions of the tunnel, and the steel skeleton structure has strong stable bearing capacity, can be flexibly adapted to tunnels with different diameters, and significantly improves the assembly efficiency and construction safety.

[0013] In addition, a circular reinforcement device for shield tunnel steel ring assembly proposed above according to the present application may also have the following additional technical features:

[0014] In an embodiment of the present application, the steel main keel skeleton includes a main beam truss. The two portal frames are respectively vertically arranged at both ends of the main beam truss and are fixedly connected through a connecting frame; an auxiliary scaffolding is also arranged on the outer side of the steel main keel skeleton for temporary support during the installation of the steel main keel skeleton.

[0015] In an embodiment of the present application, the 360° rotating chain-type track includes a chain, a mounting frame, a rotating motor, a driving sprocket, and two driven sprockets. Among them, the chain is disposed around the outer periphery of the track bracket inside the arc surface of the profiled steel main keel framework to form a closed-loop transmission structure; the mounting frame is fixedly installed on the rotating bracket; the rotating motor is installed on the mounting frame through a bracket; the driving sprocket is key-connected to the output end of the rotating motor, and the two driven sprockets are respectively rotatably arranged at both ends of the mounting frame through bearings; the chain meshes with the driving sprocket and the driven sprockets for transmission, and the rotating motor drives the chain to circulate through the driving sprocket, thereby driving the rotating bracket to rotate 360° along the arc surface of the profiled steel main keel framework.

[0016] In an embodiment of the present application, a positioning slot is provided on the outer side of the chain of the 360° rotating chain-type track for providing a circumferential positioning reference during the staggered joint assembly of steel rings.

[0017] In an embodiment of the present application, the lifting mechanism includes four lifting motors and four threaded rods. Among them, the four lifting motors are respectively fixedly arranged at the four ends of the rotating bracket; the four threaded rods are respectively threadedly connected to the output ends of the four lifting motors.

[0018] In an embodiment of the present application, the grasping mechanism includes a connecting arc-shaped frame, and connecting holes corresponding to the bolt holes of the steel ring to be assembled are provided on the connecting arc-shaped frame for fixing the steel ring through bolts.

[0019] In an embodiment of the present application, four bearing connecting seats are further provided on the connecting arc-shaped frame, and the ends of the four threaded rods of the lifting mechanism are respectively rotatably connected in the four bearing connecting seats.

[0020] In an embodiment of the present application, the four groups of rubber wheels of the base traveling system are divided into two groups of driving wheels and two groups of driven wheels, and the two groups of driving motors are respectively connected to the two groups of driving wheels; the rubber wheels are respectively installed at the bottoms of the two gantry culverts.

[0021] In an embodiment of the present application, the intelligent remote control system includes a remote controller and a receiving module, and can control the forward, backward, rotation, lifting of the device, as well as the start-stop and rotation direction of the 360° rotating chain-type track.

[0022] The advantages of the present application compared with the existing technology are as follows:

[0023] (1) Through the collaborative design of the 360° rotating chain-type track and the lifting mechanism, the full circumferential rapid transportation and positioning of the steel ring are realized, significantly reducing the frequency of equipment adjustment, remarkably improving the assembly efficiency, and achieving a breakthrough improvement in operation efficiency compared with the traditional single-point assembly mode.

[0024] (2) The combination of the positioning card slots on the outer side of the chain and the intelligent remote control system provides a clear benchmark for staggered joint assembly, realizes the high-precision positioning of the steel ring installation, ensures the close fit between the steel ring and the inner arc surface of the segment, and the stability of the tunnel structure.

[0025] (3) The integrated intelligent remote control system realizes the integrated remote control of actions such as walking, rotating, and lifting, significantly reducing manual intervention, lowering the labor intensity, and at the same time remarkably improving the safety and operation consistency of the construction process.

[0026] (4) The base walking system adopts four groups of rubber wheels (two groups of driving wheels and two groups of driven wheels) in cooperation with the gantry frame structure, which can move smoothly under complex road surface conditions in the tunnel, and has good terrain adaptability and walking flexibility.

[0027] (5) The main keel skeleton of the section steel is customized according to the inner wall of the circular tunnel, which can be flexibly adapted to the construction requirements of shield tunnels with different diameters, and has wide engineering applicability and versatility.

[0028] Additional aspects and advantages of the present application will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the present application. Brief Description of the Drawings

[0029] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the drawings, wherein:

[0030] Figure 1 is a perspective view of a circular reinforcement device for shield tunnel steel ring assembly according to an embodiment of the present application;

[0031] Figure 2 is a perspective view of a circular reinforcement device for shield tunnel steel ring assembly according to another embodiment of the present application;

[0032] Figure 3 is a structural schematic diagram of a circular reinforcement device for shield tunnel steel ring assembly according to an embodiment of the present application;

[0033] Figure 4 is Figure 3 the enlarged structural schematic diagram of part A in

[0034] Figure 5Schematic control connection diagram of a circular reinforcement device for shield tunnel steel ring assembly according to an embodiment of the present application.

[0035] As shown in the figure: 1. Main steel skeleton; 2. Base walking system; 3. Track installation device; 4. Intelligent remote control system;

[0036] 11. Main beam truss;

[0037] 21. Gantry frame; 22. Rubber wheel; 23. Driving motor;

[0038] 30. Rotating bracket; 31. 360° rotating chain track; 32. Lifting mechanism; 33. Grabbing mechanism;

[0039] 311. Chain; 312. Mounting frame; 313. Rotating motor; 314. Driving sprocket; 315. Driven sprocket;

[0040] 321. Lifting motor; 322. Threaded rod;

[0041] 331. Connecting arc frame; 332. Bearing connection seat. Detailed implementation mode

[0042] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application. On the contrary, the embodiments of the present application include all changes, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0043] A circular reinforcement device for shield tunnel steel ring assembly according to an embodiment of the present application will be described below with reference to the drawings.

[0044] As Figures 1 - 5 shown, a circular reinforcement device for shield tunnel steel ring assembly according to an embodiment of the present application is composed of four parts: a main steel skeleton 1, a base walking system 2, a track installation device 3, and an intelligent remote control system 4. Each component realizes coordinated operation through mechanical connection and electrical signal transmission.

[0045] It can be understood that the cross-sectional shape and size of the main steel skeleton 1 are precisely designed according to the curvature of the inner wall of the circular tunnel, forming a support frame structure adapted to the inner arc surface of the tunnel. As the main carrier of the device, this skeleton provides a rigid support foundation for the installation of subsequent components, and a track is preset on its inner wall to cooperate with the movement of the rotating bracket 30.

[0046] The base walking system 2 is installed at the bottom of the profiled steel main keel framework 1 and includes two gantry frames 21, four groups of rubber wheels 22 and two groups of drive motors 23. Among them, the two gantry frames 21 are vertically fixed at both ends of the profiled steel main keel framework 1 and form a stable support structure through the connecting frame; each group of rubber wheels 22 is respectively installed at the bottom of the gantry frame 21, two of which are drive wheels (directly driven by the drive motor 23), and two are driven wheels. By controlling the forward and reverse rotation of the drive motor 23, the device can move forward, backward and turn in the tunnel.

[0047] Both ends of the rotating bracket 30 are provided with a set of rotating wheels, and the rotating wheels can slide along the track on the inner wall of the profiled steel main keel framework 1. When the rotating bracket 30 is driven by an external force, the rotating wheels roll in the track, driving the rotating bracket 30 to move along the arc surface of the tunnel.

[0048] The 360° rotating chain type track 31 is fixedly surrounded on the inner side of the arc surface of the profiled steel main keel framework 1, and its chain structure is rigidly connected to the top of the rotating bracket 30 through bolts. When the chain 311 operates in a cycle under the action of the driving mechanism, it drives the rotating bracket 30 to perform a 360° circumferential rotation along the arc track of the profiled steel main keel framework 1, realizing the full circumferential coverage of the steel ring assembly position.

[0049] The lifting mechanism 32 is fixed on the top surface of the rotating bracket 30, and its output end is connected to the grasping mechanism 33. During operation, the lifting mechanism 32 is driven by a motor to drive the grasping mechanism 33 to lift and lower in the vertical direction. The end of the grasping mechanism 33 is provided with connection holes corresponding to the bolt holes of the steel ring, and is fixed to the steel ring to be assembled through 6 bolts, realizing the grasping and height adjustment of the steel ring.

[0050] The intelligent remote control system 4 is electrically connected to the drive motor 23 of the base walking system 2, the drive mechanism of the 360° rotating chain type track 31, and the motor of the lifting mechanism 32 through cables. The operator sends signals through the remote control, and the receiving module converts the instructions into electrical signals to control the start, stop and steering of the drive motor 23, the rotation direction of the chain track, and the lifting action of the lifting mechanism 32, realizing the remote automatic control of the steel ring assembly process.

[0051] Example of the working process:

[0052] 1. Device positioning and steel ring transportation

[0053] Start the drive motor 23 of the base walking system 2, and move the device to a predetermined position in the tunnel through the four groups of rubber wheels 22, so that the profiled steel main keel framework 1 fits the inner arc surface of the tunnel;

[0054] Use a forklift to transport the steel ring to directly below the device and adjust the position of the steel ring for the grasping mechanism 33 to dock.

[0055] 2. Steel ring grasping and lifting

[0056] The grasping mechanism 33 is fixedly connected to the bolt holes of the steel ring through 6 bolts;

[0057] Start the lifting mechanism 32 to vertically lift the steel ring to the assembly height.

[0058] 3. Circumferential rotation and temporary fixation of the steel ring

[0059] Start the 360° rotating chain track 31 to drive the rotating bracket 30 to rotate along the inner wall track of the profiled steel main keel framework 1, and transport the steel ring to the target position (such as the waist);

[0060] After reaching the designated position, manually implant 4 expansion bolts to temporarily fix the steel ring.

[0061] 4. Cross-assembly of the waist steel ring

[0062] After completing the installation of the first bottom steel ring, assemble the standard waist blocks in an alternating left and right manner: first install symmetrically from left to right, and gradually assemble upwards to below the top.

[0063] 5. Precise installation of the top steel ring

[0064] Drive the 360° rotating chain track 31 to transport the steel ring to the top of the tunnel;

[0065] Manually drill holes in the top segment, implant 6 expansion bolts for temporary fixation, and complete the assembly of the entire ring according to the principle of staggered joints.

[0066] 6. Dismantling and transfer of the segment erector

[0067] Dismantling sequence: first disassemble the upper walkway board and auxiliary scaffolding 12 → then disassemble the 360° rotating chain track 31 and its drive components → finally disassemble the base walking system 2 and the profiled steel main keel framework 1;

[0068] Classify and transport the components out of the tunnel, and transfer them to the next construction area.

[0069] In an embodiment of the present application, as Figures 1 - 5 shown, the profiled steel main keel framework 1 serves as the main support structure of the integral circular reinforcement device, adopts a modular design, and is composed of a main beam truss 11 and two gantry frames 21 through rigid connections. The specific implementation is as follows:

[0070] It can be understood that the two gantry frames 21 are vertically fixed at both ends of the main beam truss 11, and a connecting frame is added between the main beam truss 11 and the two gantry frames 21 to form a closed structure, enhancing the overall torsional resistance;

[0071] Install rubber wheels 22 at the bottom and connect them to the base walking system 2.

[0072] The auxiliary scaffolding is erected outside the skeleton. A steel pipe operation platform is erected for temporarily supporting the skeleton and personnel operation during installation and can be removed after installation is completed.

[0073] In an embodiment of the present application, as Figures 1 - 5 shown, the 360° rotating chain-type track 31 is the core transmission mechanism for realizing the circumferential movement of the steel ring. It is composed of a chain 311, a mounting frame 312, a rotating motor 313, a driving sprocket 314 and two driven sprockets 315. Each component forms a closed transmission system through mechanical connection. The specific implementation is as follows:

[0074] It can be understood that the chain 311 is arranged in a loop around the outer periphery of the track support on the inner side of the circular arc surface of the profiled steel main keel skeleton 1 by using a high-strength roller chain (such as a 16A chain of ISO606 standard), forming a closed ring structure. A positioning slot is preset on the outer side of the chain 311 for circumferential positioning during the staggered joint assembly of the steel rings.

[0075] The mounting frame 312 has a size matching the top surface of the rotating bracket 30 and is fixed to the middle of the rotating bracket 30 by M16 bolts to ensure the rigid connection between the mounting frame 312 and the rotating bracket 30.

[0076] The rotating motor 313 is installed in the middle of the top surface of the mounting frame 312. The output shaft of the motor extends vertically downward and is connected to the driving sprocket 314.

[0077] The driving sprocket 314 is connected to the output shaft of the rotating motor 313 through a flat key. The two driven sprockets 315 are respectively installed on the end seats at both ends of the mounting frame 312 through deep groove ball bearings.

[0078] Working process and transmission principle:

[0079] 1. Power transmission path

[0080] After the rotating motor 313 is powered on, it outputs torque → the driving sprocket 314 rotates synchronously with the motor shaft → the chain 311 meshes with the driving sprocket 314, driving the chain 311 to circulate → the chain 311 drives the driven sprocket 315 to rotate → the mounting frame 312 moves with the chain 311 → the rotating bracket 30 rotates 360° along the circular arc surface track of the profiled steel main keel skeleton 1.

[0081] 2. Control of the circumferential movement of the steel ring

[0082] When the rotating motor 313 is started in the forward direction, the chain 311 rotates clockwise, driving the rotating bracket 30 to rotate clockwise along the circular arc surface of the tunnel, and transporting the steel ring to the target position on the right;

[0083] When the motor is started in the reverse direction, the chain 311 rotates counterclockwise, and the rotating bracket 30 rotates counterclockwise to realize the leftward movement of the steel ring;

[0084] Adjust the motor speed through the intelligent remote control system 4 to control the rotation speed of the rotating bracket 30 and ensure the positioning accuracy of the steel ring.

[0085] 3. Staggered joint assembly and positioning

[0086] When the chain 311 runs to align the positioning card slot with the preset hole position of the tunnel segment, the intelligent remote control system 4 sends a signal to stop the rotating motor 313, realizing the circumferential precise positioning of the steel ring.

[0087] In an embodiment of the present application, as Figures 1 - 5 shown, a positioning card slot is arranged on the outer side of the chain 311 of the 360° rotating chain type track 31, which is used to provide a circumferential positioning reference during the staggered joint assembly of the steel ring.

[0088] It can be understood that the positioning card slot arranged on the outer side of the chain 311 is essentially a chute extending along the circumferential direction. When the rotating motor 313 drives the driving sprocket 314 to operate, the chain 311 slides smoothly along the arc surface under the guiding action of the chute and the track bracket. The chute ensures the trajectory accuracy during the rotation of the rotating bracket 30 by restricting the radial displacement of the chain 311.

[0089] In an embodiment of the present application, as Figures 1 - 5 shown, the lifting mechanism 32, as the execution unit for the vertical lifting of the steel ring, is composed of four lifting motors 321 and four threaded rods 322. The height of the steel ring is adjusted through motor drive and screw drive, as follows:

[0090] It can be understood that the model of the lifting motor 321: YE3 - 71M2 - 4 (three - phase asynchronous motor), power 0.37kW, speed 1380r / min (at 50Hz), protection level IP55 (dust - proof and waterproof, suitable for the humid environment of the tunnel), insulation level F (allowing the winding temperature ≤ 155°C, stable long - term operation).

[0091] The four motors are respectively fixed at the four corners of the rotating bracket 30 through M8 bolts, and the output shafts of the motors are vertically upward, and internal threads are machined at the shaft ends (matched with the external threads of the threaded rods 322).

[0092] The lower end of the threaded rod 322 is connected to the grasping mechanism 33 (for hoisting the steel ring), and the upper end is thread - meshed with the output shaft of the motor.

[0093] Transmission and working process:

[0094] 1. Power transmission

[0095] After the motor 321 is powered on, the output shaft rotates → the threaded rod 322 rotates synchronously → the rotational motion is converted into a linear motion through the screw pair, driving the grasping mechanism 33 to drive the steel ring to lift vertically.

[0096] 2. Synchronous Control

[0097] The four motors are controlled by the same PLC control loop to ensure the horizontal position of the steel ring;

[0098] 3. Action Scenarios

[0099] Lifting: The motor rotates forward, the threaded rod 322 moves upward, and the steel ring is lifted from the transport trolley to the assembly height;

[0100] Lowering: The motor rotates in reverse, the threaded rod 322 moves downward, and the steel ring is accurately positioned.

[0101] In an embodiment of the present application, as Figures 1 - 5 shown, the grasping mechanism 33 includes a connecting arc-shaped frame 331. Connecting holes corresponding to the bolt holes of the steel ring to be assembled are provided on the connecting arc-shaped frame 331 for fixing the steel ring with bolts. Four bearing connecting seats 332 are also provided on the connecting arc-shaped frame 331. The ends of the four threaded rods 322 of the lifting mechanism 32 are respectively rotatably connected in the four bearing connecting seats 332.

[0102] It can be understood that the connecting arc-shaped frame 331 is an arc-shaped steel plate matching the outer arc of the steel ring.

[0103] Connecting holes: Machined according to the positions of the bolt holes of the steel ring, with a diameter slightly larger than the bolt, for fixing the steel ring with bolts (after tightening, the steel ring is rigidly connected to the arc-shaped frame without relative displacement).

[0104] The four bearing connecting seats 332 are respectively welded at the four corners of the arc-shaped frame. They are internally equipped with bearings and are rotatably connected to the ends of the threaded rods 322 of the lifting mechanism 32 (the threaded rod 322 can rotate, and the arc-shaped frame only moves up and down with it, without rotating).

[0105] Workflow:

[0106] 1. Grasp the steel ring

[0107] The lifting mechanism 32 lowers the threaded rod 322 to bring the connecting arc-shaped frame 331 close to the steel ring → align the connecting holes with the bolt holes of the steel ring → insert the bolts and tighten them, and the steel ring is fixed on the arc-shaped frame (the bearing capacity meets the lifting requirements).

[0108] 2. Lift and lower the steel ring

[0109] The lifting motor 321 drives the threaded rod 322 to rotate → the threaded rod 322 drives the connecting arc-shaped frame 331 to vertically lift and lower through the bearing connecting seat 332 (the threaded rod 322 rotates, and the connecting arc-shaped frame 331 does not rotate, only moves up and down) → the steel ring synchronously lifts and lowers with the arc-shaped frame (without rotation, maintaining a stable posture).

[0110] 3. Assembly and positioning

[0111] When the rotating support 30 adjusts its circumferential position through the 360° rotating chain track 31, the connecting arc-shaped frame 331 rotates with the rotating support 30 → the steel ring bolt holes are aligned with the tunnel segment hole positions → the bolts are tightened to complete the assembly of the steel ring.

[0112] In an embodiment of the present application, as Figures 1 - 5 shown, the four groups of rubber wheels 22 of the base walking system 2 are divided into two groups of driving wheels and two groups of driven wheels, and the two groups of driving motors 23 are respectively connected to the two groups of driving wheels; the rubber wheels 22 are respectively installed at the bottoms of the two gantry frames 21.

[0113] It can be understood that there are four groups of rubber wheels 22, divided into two groups of driving wheels (actively rotating) and two groups of driven wheels (following), and installed at the bottoms of the gantry frames 21 (one group on the left and right of each frame bottom, a total of two frames, a total of four groups).

[0114] There are two groups of driving motors 23, which are respectively connected to the two groups of driving wheels.

[0115] The two groups of driving motors 23 are started synchronously, and the driving wheels rotate → driving the gantry frame 21 and the main steel keel framework 1 to move forward / backward linearly along the tunnel track.

[0116] In an embodiment of the present application, as Figures 1 - 5 shown, the intelligent remote control system 4 includes a remote control and a receiving module, which can control the forward, backward, rotation, lifting of the device, and the start / stop and rotation direction of the 360° rotating chain track 31.

[0117] It can be understood that the remote control: is equipped with forward, backward, rotation (left / right), lifting (up / down) and 360° track start / stop buttons, and sends control instructions through cable connection.

[0118] The receiving module: is installed in the device's electric control box, analyzes the received signal, and outputs it to each actuator motor to achieve action control.

[0119] Control process

[0120] 1. Walking control (forward / backward)

[0121] Press the "forward" button on the remote control → the receiving module sends a forward rotation signal to the base driving motor 23 → the driving wheels rotate, and the device moves forward linearly along the track. [[ID=3,5]]

[0122] Press the "backward" button → the driving motor 23 rotates in reverse, and the device moves backward to adjust the working position (such as moving from the assembly area to the material area).

[0123] 2. Rotation control (left / right)

[0124] Press the "Left Rotation" button → The receiving module sends a forward rotation signal to the 360° track rotation motor 313 → The driving sprocket 314 drives the chain 311, causing the rotating bracket 30 to rotate counterclockwise along the arc surface and adjusting the circumferential position of the steel ring.

[0125] Press the "Right Rotation" button → The rotation motor 313 rotates in reverse, and the bracket rotates clockwise to achieve circumferential staggered joint assembly.

[0126] 3. Lifting control (up / down)

[0127] Press the "Lift" button → The receiving module sends a forward rotation signal to the lifting motor 321 → The threaded rod 322 rotates, and the grasping mechanism 33 drives the steel ring to rise.

[0128] Press the "Lower" button → The lifting motor rotates in reverse, and the steel ring is lowered to the assembly height (aligned with the segment hole positions).

[0129] 4. 360° track start / stop and direction

[0130] Press the "Start / Stop" button → Individually control the start / stop of the rotation motor 313 (such as pausing during assembly to ensure accurate alignment of the hole positions).

[0131] The rotation direction is switched through the "Left / Right" buttons to achieve clockwise / counterclockwise circumferential adjustment and adapt to different assembly workstations.

[0132] It should be noted that the control method of the present application can be automatically controlled by a controller. The control method of the controller can be achieved by simple programming by those skilled in the art, which belongs to the common knowledge in the art. And the present application mainly aims to protect the mechanical structure, so the control method and circuit connection of the present application will not be explained in detail.

[0133] Specifically, the usage process during actual execution:

[0134] I. Device on-site assembly steps

[0135] 1. Assembly of the base walking system 2

[0136] Place two gantry frames 21 parallel to each other and install four groups of rubber wheels 22 at the bottom: on the left and right of the bottom of each gantry frame 21, there is one group of rubber wheels 22 each, and two of them are driving wheels (connected to the driving motor 23), and two are driven wheels.

[0137] The driving motor 23 is connected to the driving wheel shaft through a coupling, and the forward and reverse functions are debugged (ensure that the device does not deviate when moving forward / backward).

[0138] 2. Installation of the profiled steel main keel framework 1

[0139] Lift the main beam truss 11 to the top of the two gantry frames 21 and vertically fix it to both ends of the gantry frame with high-strength bolts, and add connecting frames to form a closed frame structure.

[0140] Build an auxiliary scaffold (temporary support and working platform) outside the main steel keel framework 1.

[0141] 3. Assembly of the track installation device 3

[0142] Install a 360° rotating chain track 31 on the inner arc surface of the main steel keel framework 1: The chain 311 surrounds the track support to form a closed loop and is connected to the rotating motor 313 through the driving sprocket 314 and the driven sprocket 315 (the mounting frame 312 is fixed to the top of the rotating bracket 30).

[0143] The runners at both ends of the rotating bracket 30 are embedded in the inner wall track of the main steel keel framework 1 to ensure sliding along the arc surface.

[0144] 4. Connect the lifting mechanism 32 and the grasping mechanism 33

[0145] Four lifting motors 321 are respectively fixed at the four ends of the rotating bracket 30, and the output shafts are threadedly connected to the threaded rods 322; the ends of the threaded rods 322 are inserted into the bearing connection seats 332 of the grasping mechanism 33, and the connection holes of the connecting arc-shaped frame 331 are aligned with the steel ring bolt holes.

[0146] 5. Debug the intelligent remote control system 4

[0147] Pair the remote control with the receiving module, and electrically connect it to the driving motor 23, the rotating motor 313, and the lifting motor 321 to test the response to commands such as forward / backward, rotation, and lifting.

[0148] II. Single-ring steel ring assembly process

[0149] 1. Positioning of the device

[0150] The remote control 4 sends the "forward" command, and the receiving module drives the two groups of driving motors 23 of the base walking system 2 to drive the four groups of rubber wheels 22 (two groups of driving wheels and two groups of driven wheels) at the bottom of the gantry frame 21 to move along the tunnel track, so that the main steel keel framework 1 fits the inner arc surface of the tunnel and is accurately positioned to the assembly station.

[0151] 2. Grasping of the steel ring

[0152] The remote control 4 operates "down", the lifting motor 321 rotates in reverse, and the threaded rod 322 drives the connecting arc-shaped frame 331 of the grasping mechanism 33 to descend. Align the connection holes of the connecting arc-shaped frame 331 with the steel ring bolt holes, insert 6 bolts and tighten them. The steel ring is rotatably connected to the end of the threaded rod 322 through the bearing connection seat 332 (only for lifting and not rotating with it), and the grasping is completed.

[0153] 3. Lifting of the steel ring

[0154] When the "lifting" instruction is given on the remote control 4, the lifting motor 321 rotates forward, the threaded rod 322 rotates, and through the threaded drive, the steel ring is vertically lifted to the assembly height. The four motors are synchronously controlled to ensure the horizontal position of the steel ring.

[0155] 4. Circumferential rotation and positioning

[0156] When the "right rotation" (or left rotation) instruction is given on the remote control 4, the rotation motor 313 of the 360° rotating chain-type track 31 starts, the driving sprocket 314 drives the chain 311 to circulate, and drives the rotating bracket 30 to rotate along the arc surface of the main steel keel framework 1. When it aligns with the preset hole position of the tunnel segment, the system stops, realizing the circumferential staggered joint assembly of the steel ring.

[0157] 5. Steel ring assembly

[0158] Fine-tune the lifting mechanism 32 to completely align the bolt holes of the steel ring with the hole positions of the segments, and manually implant expansion bolts for fixation. Repeat steps 3 - 4 to assemble the bottom, waist, and top steel rings in sequence:

[0159] Bottom: The first steel ring is temporarily fixed with 4 expansion bolts;

[0160] Waist: Install symmetrically in an alternating left and right manner, and each steel ring is fixed with 6 bolts;

[0161] Top: After precise positioning, implant 6 bolts to complete the assembly of the entire ring.

[0162] 6. Segment-by-segment repeated assembly

[0163] After the single-ring assembly is completed, move the device to the next section of the tunnel through the base walking system 2, and repeat the process of "positioning → grasping → lifting → rotating → fixing" until the installation of the steel rings in the entire tunnel is completed.

[0164] III. Device disassembly and transportation

[0165] 1. Disassembly sequence:

[0166] Dismantle the auxiliary scaffolding and the upper walkway board;

[0167] Dismantle the chain 311, the driving sprocket 314, and the rotation motor 313 of the 360° rotating chain-type track 31;

[0168] Decompose the lifting mechanism 32 and the grasping mechanism 3;

[0169] Remove the connection bolts between the main steel keel framework 1 and the portal frame 21;

[0170] Split the rubber wheels 22 and the drive motor 23 of the base walking system 2.

[0171] 2. Classify and pack the components, transport them out through the tunnel transportation equipment, and transfer them to the next construction area.

[0172] In summary, a circular reinforcement device for shield tunnel steel ring assembly according to an embodiment of the present application realizes precise circumferential positioning and automatic assembly of the steel ring through a 360° rotating chain track and an intelligent remote control system, reducing manual intervention; the base rubber wheel walking system adapts to the complex road conditions of the tunnel, and the steel skeleton structure has strong stable bearing capacity, can be flexibly adapted to tunnels with different diameters, and significantly improves the assembly efficiency and construction safety.

[0173] In the description of this specification, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0174] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0175] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A circular reinforcement device for shield tunnel steel ring assembly, characterized in that, It includes a profiled steel main keel framework (1), a base walking system (2), a track installation device (3), and an intelligent remote control system (4). Among them, the profiled steel main keel framework (1) is arranged according to the design layout of the inner wall of the circular tunnel; the base walking system (2) is installed below the profiled steel main keel framework (1), and includes two gantry frames (21), four groups of rubber wheels (22), and two groups of driving motors (23), which are used to support the device and move in the tunnel; the track installation device (3) includes a rotating bracket (30), a 360° rotating chain track (31), a lifting mechanism (32), and a grasping mechanism (33). Among them, both ends of the rotating bracket (30) are provided with rotating wheels, and the rotating wheels are slidably arranged on the tracks on the inner wall of the profiled steel main keel framework (1); the 360° rotating chain track (31) is arranged around the inner side of the arc surface of the profiled steel main keel framework (1) and is fixedly connected to the rotating bracket (30); the lifting mechanism (32) is carried on the rotating bracket (30) and is used to control the lifting height of the steel ring; the grasping mechanism (33) is arranged at the end of the lifting mechanism (32) and is used to be fixedly connected to the bolt holes on the steel ring to be assembled through bolts; the intelligent remote control system (4) is electrically connected to the base walking system (2), the 360° rotating chain track (31), and the lifting mechanism (32), and is used to remotely control the actions of each mechanism.

2. The integral circular reinforcement device for segment erection of shield tunnel according to claim 1, wherein the profiled steel main keel framework (1) includes a main beam truss (11). The two gantry frames (21) are respectively vertically arranged at both ends of the main beam truss (11) and are fixedly connected through a connecting frame. An auxiliary scaffolding is also arranged on the outside of the profiled steel main keel framework (1) for temporary support during the installation of the profiled steel main keel framework (1).

3. The circular reinforcement device for segment erection in shield tunnel according to claim 1, characterized in that, the 360° rotating chain track (31) includes a chain (311), an installation frame (312), a rotating motor (313), a driving sprocket (314), and two driven sprockets (315). Among them, the chain (311) is arranged around the outer periphery of the track bracket on the inner side of the arc surface of the profiled steel main keel framework (1) to form a closed-loop transmission structure; the installation frame (312) is fixedly installed on the rotating bracket (30); the rotating motor (313) is installed on the installation frame (312) through a bracket; the driving sprocket (314) is key-connected to the output end of the rotating motor (313), and the two driven sprockets (315) are respectively rotatably arranged at both ends of the installation frame (312) through bearings; the chain (311) meshes with the driving sprocket (314) and the driven sprockets (315) for transmission. The rotating motor (313) drives the chain (311) to circulate through the driving sprocket (314), and further drives the rotating bracket (30) to rotate 360° along the arc surface of the profiled steel main keel framework (1).

4. The integral circle reinforcement device for shield tunnel steel ring assembly according to claim 1 or 3, characterized in that, The chain (311) of the 360° rotating chain track (31) is provided with a positioning slot on the outside thereof, for providing a circumferential positioning reference when the steel rings are staggered and assembled.

5. The circular reinforcement device for shield tunnel steel ring assembly according to claim 1, characterized in that, The lifting mechanism (32) includes four lifting motors (321) and four threaded rods (322), wherein: The four lifting motors (321) are respectively fixedly arranged at the four ends of the rotating bracket (30); The four threaded rods (322) are respectively threadedly connected to the output ends of the four lifting motors (321).

6. A full-circle reinforcement device for assembling steel rings in a shield tunnel according to claim 1 or 5, characterized in that: The grabbing mechanism (33) comprises a connecting arc frame (331), and the connecting arc frame (331) is provided with connecting holes corresponding to the bolt holes of the steel ring to be assembled, and is used to fix the steel ring by bolts.

7. A circular reinforcement device for segment erection of shield tunnels according to claim 6, characterized in that, Four bearing connection seats (332) are also provided on the connecting arc frame (331), and the ends of the four threaded rods (322) of the lifting mechanism (32) are rotatably connected to the four bearing connection seats (332).

8. The circular reinforcement device for segment erection of shield tunnel according to claim 1, characterized in that, The four groups of rubber wheels (22) of the base walking system (2) are divided into two groups of driving wheels and two groups of driven wheels, and the two groups of driving motors (23) are respectively connected to the two groups of driving wheels; the rubber wheels (22) are respectively installed at the bottom of the two door culverts (21).

9. The integral circular reinforcement device for shield tunnel steel ring assembly according to claim 1, characterized in that, The intelligent remote control system (4) comprises a remote controller and a receiving module, and is capable of controlling the forward movement, backward movement, rotation, and lifting of the device, as well as the start and stop and rotation direction of the 360° rotating chain track (31).

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