Tunnel and mine construction lining plate trolley

Abstract

The invention relates to the technical field of building construction, in particular to a lining plate trolley for tunnel and mine construction. Comprising a guide rail, a walking rack, an automatic feeding mechanism and a hydraulic rounding device, the automatic feeding mechanism comprises a mechanical arm and a vacuum suction cup device, and the hydraulic rounding device comprises a self-locking walking support, an annular support, an annular rail, a first supporting frame and a second supporting frame. The prefabricated secondary lining plate is a concrete or composite material component which is prefabricated by adopting a lining and assembled on site in a tunnel lining project, is different from a traditional cast-in-place concrete lining, and is technically characterized in that efficient construction of a tunnel structure is realized through standardized production and mechanical installation; therefore, the assembly type lining has the great advantages in the aspects of improving the internal structure quality of the shield tunnel, improving the construction efficiency, improving the working environment in the tunnel, saving the labor and material cost and the like in an assembly type lining mode, mechanical and intelligent assembly is achieved, and the construction efficiency is high.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and in particular to a tunnel and mine construction lining trolley. Background Technology

[0002] Currently, traditional on-site casting of linings in tunnel and mining construction has the following problems: low construction efficiency and significant interference with shield tunneling; a large number of rebars need to be installed between the cast-in-place lining and the segments, which damages the integrity of the segments; the cast-in-place structure is thicker, resulting in an increased tunnel diameter and higher investment costs; and construction workers work in environments with high noise, vibration, dust, and high temperatures, resulting in high labor intensity and poor working conditions. Summary of the Invention

[0003] The purpose of this invention is to provide a tunnel and mine construction lining trolley that has significant advantages in improving the internal structural quality of shield tunnels, construction efficiency, improving the working environment inside the tunnel, and saving labor and material costs through prefabricated lining. It achieves mechanized and intelligent assembly and has high construction efficiency.

[0004] To achieve the above objectives, the present invention provides a tunnel and mine construction lining trolley, including a guide rail, on which a traveling platform and an automatic feeding mechanism are provided; A hydraulic rounding device is provided on the front side of the automatic feeding mechanism; The automatic feeding mechanism includes a robotic arm and a vacuum suction cup device. The robotic arm is fixed to the front end face of the walking platform, and the vacuum suction cup device is installed at the end of the robotic arm. The hydraulic rounding device includes a self-locking walking bracket, an annular support, an annular track, a first support frame, and a second support frame. The self-locking walking bracket can move linearly on the guide track. The annular support is fixed above the self-locking walking bracket. The annular track is located on the side of the annular support near the automatic feeding mechanism and has a guardrail on its outer side. A folding ladder is provided on the guardrail. Six of each of the first and second support frames are provided, and they are arranged in opposite directions to each other. The first support frame and the second support frame are driven by multiple hydraulic cylinders for movement and position fine adjustment, respectively.

[0005] The vacuum suction cup device, when connected to the robotic arm, can rotate at any angle at its end during operation, and the vacuum suction cup can also be used for local angle fine-tuning.

[0006] The robotic arm is capable of rotating 360° during operation.

[0007] The working distance between the walking platform and the self-locking walking support is greater than 10m. The transport liner car is located between the two and between the guide rails. The liner is arranged in a front-to-back chord direction with the opening facing upwards.

[0008] The robotic arm achieves 360° rotation by using a rotating base, which is a hollow rotating base equipped with a reducer and a motor, and is fixed to the front end of the walking platform.

[0009] This invention relates to a tunnel and mine construction lining trolley. During construction, prefabricated lining sheets are transported by a lining sheet transport vehicle. Then, a robotic arm and a vacuum suction cup device are used to pick up and transfer the lining sheets. The six first support frames on the back of the hydraulic rounding device corresponding to the lining sheet change from a retracted state to an active state, acting on the lining sheets without lining sheets to balance the force. Before the second support frames work, the robotic arm and vacuum suction cup device place the lining sheet in a suitable position. Then, the second support frames begin to work, and the two second support frames on the other side change from a retracted state to an active state, supporting a single lining sheet in two positions. After ensuring stability and reliability, the vacuum suction cup stops working. Under the action of the traveling platform and the robotic arm, the trolley moves along the guide rail to remove the working point. After installing one ring (three sheets) in a cycle, the trolley is opened. The folding ladder allows workers to manually step onto it to begin welding and other operations. After the operation is completed, the double-sided circular devices are simultaneously removed, and the entire self-locking walking support moves forward 2 meters. The walking wheels then self-lock, and the next work cycle begins. This application adopts a prefabricated secondary lining splicing and assembly method. Prefabricated secondary linings are concrete or composite material components that are prefabricated and assembled on-site in tunnel lining engineering. Unlike traditional cast-in-place concrete lining, its technical essence is to achieve efficient construction of tunnel structures through "standardized production + mechanized installation." This prefabricated lining method has significant advantages in improving the internal structural quality of shield tunnels, construction efficiency, improving the working environment inside the tunnel, and saving labor and material costs. It achieves mechanized and intelligent assembly with high construction efficiency. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0011] Figure 1 This is a schematic diagram of the overall structure of the tunnel and mine construction lining trolley of the present invention.

[0012] Figure 2 This is a schematic diagram of the structure of the first support frame of the present invention.

[0013] Figure 3 This is a schematic diagram of the structure of the second support frame of the present invention.

[0014] In the diagram: 101-Guide rail, 102-Walking platform, 103-Robotic arm, 104-Vacuum suction cup device, 105-Self-locking walking support, 106-Ring support, 107-Ring rail, 108-First support frame, 109-Second support frame, 110-Guardrail, 111-Folding ladder, 112-Hydraulic cylinder. Detailed Implementation

[0015] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0016] like Figures 1 to 3 As shown, where Figure 1 This is a schematic diagram of the overall structure of the tunnel and mine construction lining trolley. Figure 2 This is a structural schematic diagram of the first support frame 108. Figure 3 This is a schematic diagram of the structure of the second support frame 109. The present invention provides a tunnel and mine construction lining trolley: including a guide rail 101, a traveling platform 102, an automatic feeding mechanism, and a hydraulic rounding device. The automatic feeding mechanism includes a robotic arm 103 and a vacuum suction cup device 104. The hydraulic rounding device includes a self-locking traveling bracket 105, a ring support 106, a ring rail 107, a first support frame 108, and a second support frame 109. The aforementioned solution, through prefabricated lining, has significant advantages in improving the internal structural quality of shield tunnels, construction efficiency, improving the working environment inside the tunnel, and saving labor and material costs. It achieves mechanized and intelligent assembly, resulting in high construction efficiency. It is understood that the aforementioned solution can improve construction efficiency.

[0017] In this embodiment, the guide rail 101 is used to engage with the self-locking guide wheel structure at the bottom of the traveling platform 102 and the self-locking traveling bracket 105 when they move. Both the traveling platform 102 and the self-locking traveling bracket 105 are electrically driven to move, and are locked after stopping through a combination of mechanical braking and electromagnetic braking.

[0018] The guide rail 101 is equipped with a walking platform 102 and an automatic feeding mechanism; the bottom of the walking platform 102 is a movable self-locking wheel structure, which facilitates the movement of the automatic feeding mechanism.

[0019] A hydraulic rounding device is provided on the front side of the automatic feeding mechanism; the hydraulic rounding device is used to cooperate with the tunnel construction operation.

[0020] The automatic feeding mechanism includes a robotic arm 103 and a vacuum suction cup device 104. The robotic arm 103 is fixed to the front end face of the traveling platform 102, and the vacuum suction cup device 104 is installed at the end of the robotic arm 103. The robotic arm 103 is fixed to the front end face of the traveling platform 102 by vertical bolts. The base of the robotic arm 103 has a 360° rotation function. The vacuum suction cup device 104 is assembled at the end of the robotic arm 103. The traveling platform 102 can move back and forth on the guide rail 101.

[0021] The self-locking walking support 105 can move linearly on the guide rail 101. The annular support 106 is fixed above the self-locking walking support 105. The annular rail 107 is located on the side of the annular support 106 near the automatic feeding mechanism, and a guardrail 110 is provided on the outside. A folding ladder 111 is provided on the guardrail 110. Six of the first support frame 108 and six of the second support frame 109 are provided, and they are arranged in opposite directions to each other. The self-locking walking support 105 is an annular support beam structure, ensuring that the center of the annular support beam coincides with the center of the tunnel. It can move on the guide rail 101. A platform is provided on the arc surface of the top of the annular support beam. The platform is equipped with a fixed hydraulic rounding device, consisting of six units on each side (left and right). Six units are installed on each of the first support frame 108 and the second support frame 109. One side supports the lining plate, while the other side provides balancing force, ensuring the overall balance of the support frame. When not supporting, the support is in a retracted state. During operation, the hydraulic cylinder 112 is controlled to lift the hydraulic supports on the support frame 108 and the second support frame 109. The rounding is intelligently controlled after comparing with a standard circle using visual recognition and data conversion. A folding ladder 111 is fixed to the side of the platform, allowing workers to perform welding and other operations on the safety ladder. Multiple non-penetrating rectangular positioning grooves are arranged in a ring on the lining plate for easy insertion and mating with the already fixed lining plate. After assembly and welding, grout is injected between the outer ring and the lining plate.

[0022] The first support frame 108 and the second support frame 109 are driven and their positions are finely adjusted by multiple hydraulic cylinders 112. This structure, by setting hydraulic cylinders 112 with different strokes at corresponding positions on the first support frame 108 and the second support frame 109 for position fine-tuning, facilitates better liner support and fit.

[0023] Secondly, after the vacuum suction cup device 104 is connected to the robotic arm 103, it can rotate at any angle at the end during operation, and the vacuum suction cup can achieve local angle fine adjustment.

[0024] Then, the robotic arm 103 can rotate 360° during operation. This structure facilitates the adjustment of the assembly position of the liner.

[0025] Furthermore, the working distance between the walking platform 102 and the self-locking walking support 105 is greater than 10m, the transport liner car is located between the two and between the guide rails 101, and the liner is arranged in a front-to-back chord direction with the opening facing upwards.

[0026] Finally, the robotic arm 103 achieves 360° rotation using a rotating base. This rotating base is a hollow rotating base equipped with a reducer and a motor, and is fixed to the front end face of the traveling platform 102. Currently, there are two types of rotating bases: hollow shaft rotating bases with built-in springs and hollow rotating bases equipped with a reducer and a motor. The former has a simpler structure and relatively lower price, but is not suitable for large robotic arms, while the latter can withstand greater loads.

[0027] When using the tunnel and mine construction lining trolley of the present invention, during construction, first ensure that the distance between the traveling platform 102 and the self-locking traveling support 105 is greater than 10m, and the lining transport vehicle is positioned between the two, with the lining arranged in a front-to-back chord direction and the opening facing upwards; control the traveling platform 102 to move to a suitable position, then adjust the robotic arm 103 to a suitable position, and use the vacuum suction cup device 104 at the end to work, grab the lining with the vacuum suction cup and rotate it to the left and right to a reasonable position; use the end of the robotic arm 103 to rotate 90° in place, so that the lining direction is in a chord-length up-down direction, and the traveling platform 102 moves horizontally along the track to the predetermined assembly position, then the six first support frames 108 on the back of the hydraulic rounding device corresponding to the lining change from a retracted state to a working state to act on the lining without the lining installed, playing a balancing role. Before the second support frame 109 works, the robotic arm 103 and the vacuum suction cup device 104 place the lining in a suitable position, and then the second support frame 109 begins to work. On the other side, the two second support frames 109 change from the retracted state to the working state, supporting the two positions of the single liner plate. After ensuring stability and reliability, the vacuum suction cup stops working, and under the action of the walking platform 102 and the robotic arm 103, it moves along the guide rail 101 to move away from the working point. After cyclically installing one ring (three pieces), the folding ladder 111 is opened, and the operator steps onto the ladder to begin welding and other operations. After the operation is completed, the hydraulic rounding devices on both sides are simultaneously withdrawn, and the entire self-locking walking support 105 moves forward 2m, the walking wheels self-lock, and it begins to descend. In a single work cycle, this application adopts a prefabricated secondary lining splicing and assembly method. Prefabricated secondary lining is a concrete or composite material component in tunnel lining engineering that is prefabricated and assembled on site. Unlike traditional cast-in-place concrete lining, its technical essence is to achieve efficient construction of tunnel structures through "standardized production + mechanized installation". In this way, it can have significant advantages in improving the internal structural quality of shield tunnels, construction efficiency, improving the working environment inside the tunnel, and saving labor and material costs through the prefabricated lining method. It achieves mechanized and intelligent assembly and has high construction efficiency.

[0028] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A tunnel and mine construction lining trolley, comprising a guide rail, characterized in that: The guide rail is equipped with a walking platform and an automatic feeding mechanism; A hydraulic rounding device is provided on the front side of the automatic feeding mechanism; The automatic feeding mechanism includes a robotic arm and a vacuum suction cup device. The robotic arm is fixed to the front end face of the walking platform, and the vacuum suction cup device is installed at the end of the robotic arm. The hydraulic rounding device includes a self-locking walking bracket, an annular support, an annular track, a first support frame, and a second support frame. The self-locking walking bracket can move linearly on the guide track. The annular support is fixed above the self-locking walking bracket. The annular track is located on the side of the annular support near the automatic feeding mechanism and has a guardrail on its outer side. A folding ladder is provided on the guardrail. Six of each of the first and second support frames are provided, and they are arranged in opposite directions to each other. The first support frame and the second support frame are driven by multiple hydraulic cylinders for movement and position fine adjustment, respectively.

2. The tunnel and mine construction lining trolley as described in claim 1, characterized in that: When the vacuum suction cup device is connected to the robotic arm, it can rotate at any angle at the end during operation, and the vacuum suction cup can achieve local angle fine adjustment.

3. The tunnel and mine construction lining trolley as described in claim 1, characterized in that: The robotic arm can rotate 360° when it is working.

4. The tunnel and mine construction lining trolley as described in claim 1, characterized in that: The working distance between the walking platform and the self-locking walking support is greater than 10m. The transport liner car is located between the two and between the guide rails. The liner is arranged in the front-to-back chord direction with the opening facing upwards.

5. The tunnel and mine construction lining trolley as described in claim 3, characterized in that... : The robotic arm achieves 360° rotation by using a rotating base, which is a hollow rotating base equipped with a reducer and a motor, and is fixed to the front end of the walking platform.

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