Automatically graspable segment erector and method of use thereof

Abstract

The present application relates to pipe piece assembling technology field, and particularly to a kind of pipe piece assembling machine and its use method of automatic grabbing, including telescopic oil cylinder, with a fixed end and drive end;Drive mechanism, fixed in the drive end of telescopic oil cylinder;Grabbing mechanism, is located on the drive mechanism, the angle of the drive mechanism can be adjusted to the grabbing mechanism, grabbing mechanism includes support cylinder, hydraulic motor in support cylinder and pipe piece bolt, the head of pipe piece bolt is rotatably arranged in support cylinder and is drivenly connected with the output end of hydraulic motor, and bolt section of pipe piece bolt extends support cylinder and can be connected on pipe piece.There is beneficial effect: by setting grabbing mechanism, pipe piece bolt is connected on grabbing mechanism, pipe piece bolt is driven to rotate forward or reverse by hydraulic motor in grabbing mechanism, to realize that pipe piece bolt is anchored into bolt hole of pipe piece, realize the quick installation of pipe piece bolt, improve work efficiency.

Description

Technical Field

[0001] This invention relates to the field of tunnel segment assembly technology, specifically to an automatic segment assembly machine and its usage method. Background Technology

[0002] In existing technologies, tunnel segments need to be fixed to a segment assembly machine. After axial positioning, a large slewing mechanism rotates the segment to the corresponding angle, and a lifting cylinder extends to the assembly position for segment assembly. Existing segment assembly machines typically use vacuum suction cups to grip the segments and then transfer them. However, when the surface of the segments is uneven, the vacuum suction cups have difficulty gripping them firmly, thus affecting the assembly efficiency and even causing the segments to detach and become damaged. Summary of the Invention

[0003] The purpose of this invention is to overcome the defects of the prior art and provide an automatic segment assembly machine and its usage method, solving the problem that existing segment assembly machines cannot automatically install segment bolts on the segments.

[0004] The technical solution to achieve the above objectives is: This invention provides an automatic segment assembly machine, comprising: A telescopic hydraulic cylinder has a fixed end and a driving end; A drive mechanism is fixed to the drive end of the telescopic cylinder; A gripping mechanism is mounted on the drive mechanism. The drive mechanism can adjust the angle of the gripping mechanism. The gripping mechanism includes a support cylinder, a hydraulic motor and a segment bolt disposed within the support cylinder. The head of the segment bolt is rotatably disposed within the support cylinder and drivenly connected to the output end of the hydraulic motor. The bolt section of the segment bolt extends out of the support cylinder and can be connected to the segment. The output end of the hydraulic motor can rotate forward or backward to connect or disconnect the segment bolt from the segment.

[0005] Furthermore, the gripping mechanism also includes a segment seat, which is connected to the corresponding end of the driving mechanism. The support cylinder is fixed on the segment, and a through hole is provided on the segment seat, through which the segment bolt can pass. The segment can abut against one side of the segment seat.

[0006] Furthermore, the hydraulic motor and the segment bolts can move along the axial direction of the support cylinder.

[0007] Furthermore, the gripping mechanism also includes: a drum-shaped component that is movably disposed within the support cylinder; a segment bolt that is rotatably disposed at the bottom of the drum-shaped component; a through hole provided on the drum-shaped component; and a hydraulic motor that is fixed to the top of the drum-shaped component, with its output end passing through the through hole and connected to the segment bolt.

[0008] Furthermore, a groove is provided at the bottom of the drum-shaped component, and a bearing is provided in the groove, with the tube segment bolts fixed to the inner ring of the bearing.

[0009] Furthermore, the grasping mechanism also includes: A top cover plate fixed to the top of the support cylinder; A first sleeve fixed to the bottom of the support cylinder and a second sleeve fixed to the top of the drum-shaped member, wherein there are at least two first sleeves and two second sleeves, and the second sleeve is inserted into the first sleeve and slidably connected. A spring is disposed inside the first sleeve and the second sleeve.

[0010] Furthermore, the drive mechanism is a six-degree-of-freedom electric cylinder assembly.

[0011] This invention also provides a method for using an automatic segment assembly machine, specifically including the following steps: The segment bolts are driven to approach the segment by a telescopic cylinder, and the segment bolts are connected to the segment by a hydraulic motor. The tunnel lining segments are positioned at a predetermined location on the inner wall of the tunnel using a telescopic hydraulic cylinder. After the segments are fixed, the segment bolts are disconnected from the segments by driving the hydraulic motor.

[0012] Furthermore, according to the set position of the pipe segment, after the pipe segment bolts are connected to the pipe segment, the gripping mechanism is driven by the drive mechanism to rotate to a set angle until the gripped pipe segment corresponds to the set position.

[0013] Furthermore, the gripping mechanism also includes an upper cover plate fixed to the top of the support cylinder, a drum-shaped component movably disposed inside the support cylinder, a segment bolt rotatably connected to the bottom of the drum-shaped component, and a spring connecting the upper cover plate and the drum-shaped component. When connecting the segment bolt to the segment, the segment bolt is driven to approach the segment by the telescopic hydraulic cylinder. After the segment bolt abuts against the segment, it will gradually retract into the support cylinder and cause the spring to contract until the bottom of the gripping mechanism abuts against the segment. The segment bolt is then driven to rotate by the hydraulic motor and connected to the segment under the push of the spring.

[0014] Compared with the prior art, the present invention has the following beneficial effects: By setting up a gripping mechanism, the segment bolts are connected to the gripping mechanism. The hydraulic motor in the gripping mechanism drives the segment bolts to rotate forward or backward, thereby anchoring the segment bolts into the bolt holes of the segment and realizing the rapid installation of segment bolts, which improves work efficiency.

[0015] By setting up telescopic hydraulic cylinders, the gripping mechanism can be moved closer to or away from the inner wall of the tunnel, thereby enabling the installation of tunnel segments. Attached Figure Description

[0016] Figure 1 This is a front view of the overall structure of the segment assembly machine of the present invention, which can automatically grasp segments.

[0017] Figure 2 This is a schematic diagram of the gripping mechanism of the segment assembly machine of the present invention, which can automatically grip segments.

[0018] Figure 3 This is a cross-sectional view of the segment assembly machine of the present invention in its first usage state.

[0019] Figure 4 This is a cross-sectional view of the segment assembly machine of the present invention in its second usage state.

[0020] Legend: 1. Telescopic cylinder; 2. Crossbeam; 3. Gripping mechanism; 31. Hydraulic motor; 32. Support cylinder; 33. Top cover plate; 34. First sleeve; 35. Second sleeve; 36. Spring; 37. Drum-shaped component; 38. Bearing; 39. Segment seat; 4. Segment bolt; 41. Bolt seat; 42. Bolt head; 5. Drive mechanism. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] See Figure 1 This invention provides an automatically gripping tunnel segment assembly machine and its usage method, solving the problem that existing tunnel segment assembly machines cannot automatically install segment bolts onto tunnel segments. To address this issue, a gripping mechanism is incorporated, allowing the segment bolts to be rotatably mounted on it. A hydraulic motor within the gripping mechanism drives the bolts to rotate forward or backward, thereby enabling the bolts to be installed on or removed from the tunnel segments. This avoids the impact of manual installation and disassembly on work efficiency. A telescopic hydraulic cylinder is used to drive the gripping mechanism closer to or further away from the tunnel wall, thus facilitating the installation of tunnel segments.

[0023] The following description, in conjunction with the accompanying drawings, illustrates an automatic segment assembly machine and its usage method according to the present invention.

[0024] See Figure 1This image shows a front view of the overall structure of the segment assembly machine of the present invention, which can automatically grasp segments. (See also...) Figure 2 This image shows a schematic diagram of the gripping mechanism of the segment assembly machine of the present invention, which can automatically grip segments. The following is in conjunction with... Figure 1 and Figure 2 This invention describes an automatic segment assembly machine and its usage method.

[0025] like Figure 1 and Figure 2 As shown, the present invention provides an automatic segment assembly machine, comprising: The telescopic cylinder 1 has a fixed end and a driving end; The drive mechanism 5 is fixed to the drive end of the telescopic cylinder 1; A gripping mechanism 3 is mounted on the driving mechanism 5. The driving mechanism 5 can adjust the angle of the gripping mechanism 3. The gripping mechanism 3 includes a support cylinder 32, a hydraulic motor 31 disposed in the support cylinder 32, and a segment bolt 4. The head of the segment bolt 4 is rotatably disposed in the support cylinder 32 and drivenly connected to the output end of the hydraulic motor 31. The bolt section of the segment bolt 4 extends out of the support cylinder 32 and can be connected to the segment. The output end of the hydraulic motor 31 can rotate forward or backward to connect or disconnect the segment bolt 4 from the segment.

[0026] In one specific embodiment, the gripping mechanism 3 further includes a segment seat 39, which is connected to a corresponding end of the driving mechanism 5. The support cylinder 32 is fixed on the segment seat 39, and a through hole is provided on the segment seat 39, through which the segment bolt 4 can pass. The segment can abut against one side of the segment seat 39.

[0027] In one specific embodiment, the hydraulic motor 31 and the segment bolt 4 can move along the axial direction of the support cylinder 32.

[0028] In one specific embodiment, the gripping mechanism 3 further includes: a drum-shaped member 37 movably disposed within the support cylinder 32, a segment bolt 4 rotatably disposed at the bottom of the drum-shaped member 37, a through hole being provided on the drum-shaped member 37, and a hydraulic motor 31 fixedly disposed at the top of the drum-shaped member 37, with its output end passing through the through hole and connected to the segment bolt 4.

[0029] In one specific embodiment, a groove is provided at the bottom of the drum-shaped member 37, and a bearing 38 is provided in the groove. The tube bolt 4 is fixed to the inner ring of the bearing 38.

[0030] In one specific embodiment, the gripping mechanism 3 further includes: The upper cover plate 33 is fixed to the top of the support cylinder 32; A first sleeve 34 fixed to the bottom of the support cylinder 32 and a second sleeve 35 fixed to the top of the drum-shaped member 37, wherein there are at least two first sleeves 34 and second sleeves 35, and the second sleeve 35 is inserted into the first sleeve 34 and slidably connected. Spring 36 is disposed inside the first sleeve 34 and the second sleeve 35.

[0031] The upper cover plate 33 is connected to the support cylinder 32 by screws. The upper cover plate 33 has a through hole, through which the upper end of the hydraulic motor 31 can pass to extend out of the support cylinder 32.

[0032] Preferably, there are six first sleeves 34 and six second sleeves 35, and the spacing between them is equal.

[0033] The size of the through hole on the segment holder 39 is smaller than the inner diameter of the support cylinder 32. The spring 36 is in a compressed state. Therefore, the spring 36 will push the first sleeve 34 and the second sleeve 35 away from each other until the second sleeve 35 pushes the drum-shaped member 37 against the segment holder 39.

[0034] By setting the first sleeve 34 and the second sleeve 35, as the segment bolt 4 is gradually unscrewed from the bolt hole of the segment, the sleeve gradually retracts into the support sleeve 32, pushing the second sleeve 35 closer to the first sleeve. This prevents the segment bolt 4 from being unable to retract, thus avoiding the inability to unscrew it or causing damage. By setting the spring 36 in a compressed state, after the segment bolt 4 is removed from the segment, the spring 36 pushes the second sleeve 35 away from the first sleeve 34 until the drum-shaped member 37 abuts against the segment seat 39 again.

[0035] In one specific embodiment, the drive mechanism 5 is a six-degree-of-freedom electric cylinder assembly. By setting a six-degree-of-freedom electric cylinder assembly, the angle of the gripping mechanism 3 can be adjusted in six directions, thereby accurately installing the tunnel segments onto the inner wall of the tunnel.

[0036] Specifically, the segment bolt 4 includes a bolt seat 41 and a bolt head 42. The bolt seat 41 is fixed to the inner ring of the bearing 38, and the bolt head 42 is fixed to the bolt seat 41 and extends out from the support cylinder 32. The bolt head 42 and the bolt seat 41 are fixed together by screws, and the bolt head 42 can be replaced by removing the screws.

[0037] Specifically, there are two telescopic cylinders 1, which are arranged in parallel and connected by a crossbeam 2. The two telescopic cylinders 1 can drive the crossbeam 2 to move, and the drive mechanism 5 is located on the crossbeam 2.

[0038] This invention also provides a method for using an automatic segment picking machine, specifically including the following steps: The segment bolt 4 is driven to approach the segment by the telescopic cylinder 1, and the segment bolt 4 is connected to the segment by the hydraulic motor 31. The tunnel lining segments are positioned at a predetermined location on the inner wall of the tunnel using the telescopic hydraulic cylinder 1. After the segments are fixed, the segment bolts 4 are disconnected from the segments by the hydraulic motor 31.

[0039] In one specific embodiment, after the segment bolt 4 is connected to the segment according to the set position of the segment, the gripping mechanism 3 is driven by the driving mechanism 5 to rotate to a set angle until the gripped segment corresponds to the set position.

[0040] In one specific embodiment, the gripping mechanism 3 further includes an upper cover plate 33 fixed to the top of the support cylinder 32, a drum-shaped member 37 movably disposed inside the support cylinder 32, a pipe segment bolt 4 rotatably connected to the bottom of the drum-shaped member 37, and a spring 36 connected between the upper cover plate 33 and the drum-shaped member 37. When connecting the segment bolt 4 to the segment, the segment bolt 4 is driven to approach the segment by the telescopic cylinder 1. After the segment bolt 4 abuts against the segment, it will gradually retract into the support cylinder 32 and cause the spring 36 to retract until the bottom of the gripping mechanism 3 abuts against the segment. The segment bolt 4 is driven to rotate by the hydraulic motor 31 and connected to the segment under the push of the spring 36.

[0041] The following is a detailed description of the usage process and working principle of the automatic segment grabbing machine of the present invention.

[0042] The telescopic cylinder 1 is activated to extend and drive the segment bolt 4 towards the segment on the ground. As it approaches, the drive mechanism 5 is activated to adjust the angle of the gripping mechanism 3 and the segment bolt 4 so that the segment bolt 4 aligns with the bolt hole on the segment. Once the segment bolt 4 is aligned and abuts against the bolt hole, the telescopic cylinder 1 is closed.

[0043] Then, start the hydraulic motor 31 to drive the segment bolt 4 to rotate, thereby anchoring the segment bolt 4 into the bolt hole of the segment, thus completing the gripping of the segment. At this time, the segment is against one side of the segment seat 39.

[0044] The telescopic cylinder 1 is activated to retract, and then its angle is adjusted until the tunnel segment roughly aligns with the position to be fixed on the tunnel wall. The telescopic cylinder 1 is then activated again, driving the tunnel segment gradually closer to the position to be fixed on the tunnel wall. During this approach, the drive mechanism 5 is activated to fine-tune the angle of the tunnel segment, ensuring it aligns with the tunnel wall. Once the tunnel segment is firmly against the position to be fixed, the telescopic cylinder 1 is closed.

[0045] After the segments are installed, the hydraulic motor 31 is started, causing its output shaft to rotate in the reverse direction. This drives the segment bolt 4 to rotate in the reverse direction, removing it from the bolt hole of the segment. During the reverse rotation, the segment bolt 4 gradually unscrews from the bolt hole and moves away from the segment. The segment bolt 4 pushes the bearing 38 and the drum-shaped component 37 to move. The drum-shaped component 37 pushes the second sleeve 35 closer to the first sleeve 34, thereby further compressing the spring 36.

[0046] Once the segment bolt 4 is removed from the bolt hole of the segment, the telescopic cylinder 1 is activated, causing the telescopic cylinder 1 to drive the gripping mechanism 3 to move away from the segment. During the movement, the spring 36 pushes the second sleeve 35 away from the first sleeve 34, thereby pushing the drum-shaped member 37 back against the segment seat 39.

[0047] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A segment assembly machine capable of automatically gripping segments, characterized in that: include: The telescopic cylinder (1) has a fixed end and a driving end; The drive mechanism (5) is fixed to the drive end of the telescopic cylinder (1); The gripping mechanism (3) is mounted on the drive mechanism (5). The drive mechanism (5) can adjust the angle of the gripping mechanism (3). The gripping mechanism (3) includes a support cylinder (32), a hydraulic motor (31) and a segment bolt (4) located in the support cylinder (32). The head of the segment bolt (4) is rotatably located in the support cylinder (32) and driven to be connected to the output end of the hydraulic motor (31). The bolt section of the segment bolt (4) extends out of the support cylinder (32) and can be connected to the segment. The output end of the hydraulic motor (31) can rotate forward or backward to connect or disconnect the segment bolt (4) from the segment. The hydraulic motor (31) and the segment bolt (4) can move along the axial direction of the support cylinder (32); The gripping mechanism (3) further includes: a drum-shaped component (37) that is movably disposed inside the support cylinder (32), a segment bolt (4) that is rotatably disposed at the bottom of the drum-shaped component (37), a through hole being provided on the drum-shaped component (37), and a hydraulic motor (31) that is fixedly disposed at the top of the drum-shaped component (37), and whose output end passes through the through hole and is connected to the segment bolt (4); The grasping mechanism (3) also includes: The upper cover plate (33) is fixed to the top of the support cylinder (32); A first sleeve (34) fixed to the bottom of the upper cover plate (33) and a second sleeve (35) fixed to the top of the drum-shaped member (37) are provided. There are at least two first sleeves (34) and second sleeves (35), and the second sleeve (35) is inserted into the first sleeve (34) and slidably connected. A spring (36) is disposed in the first sleeve (34) and the second sleeve (35).

2. The segment assembly machine with automatic gripping capability according to claim 1, characterized in that: The gripping mechanism (3) also includes a segment seat (39), which is connected to the corresponding end of the driving mechanism (5). The support cylinder (32) is fixed on the segment seat (39), and a through hole is provided on the segment seat (39), through which the segment bolt (4) can pass. The segment can abut against one side of the segment seat (39).

3. The segment assembly machine with automatic gripping capability according to claim 1, characterized in that: The bottom of the drum-shaped part (37) has a groove, and a bearing (38) is provided in the groove. The tube bolt (4) is fixed to the inner ring of the bearing (38).

4. The segment assembly machine with automatic gripping capability according to claim 1, characterized in that: The drive mechanism (5) is a six-degree-of-freedom electric cylinder assembly.

5. A method of using the segment assembly machine with automatic gripping capability according to claim 1, characterized in that, Specifically, the steps include the following: The segment bolt (4) is driven to approach the segment by the telescopic cylinder (1), and the segment bolt (4) is connected to the segment by the hydraulic motor (31). The tunnel lining segments are placed in a set position on the inner wall of the tunnel by means of a telescopic hydraulic cylinder (1); After the segments are fixed, the segment bolts (4) are disconnected from the segments by the hydraulic motor (31).

6. The method of using the automatically gripping segment assembly machine according to claim 5, characterized in that: According to the set position of the pipe segment, after the pipe segment bolt (4) is connected to the pipe segment, the gripping mechanism (3) is driven by the driving mechanism (5) to rotate to the set angle until the gripped pipe segment corresponds to the set position.

7. The method of using the automatically gripping segment assembly machine according to claim 5, characterized in that: The gripping mechanism (3) also includes an upper cover plate (33) fixed to the top of the support cylinder (32), a drum-shaped component (37) movably disposed inside the support cylinder (32), a pipe bolt (4) rotatably connected to the bottom of the drum-shaped component (37), and a spring (36) connecting the upper cover plate (33) and the drum-shaped component (37). When connecting the segment bolt (4) to the segment, the segment bolt (4) is driven to approach the segment by the telescopic cylinder (1). After the segment bolt (4) abuts against the segment, it will gradually retract into the support cylinder (32) and cause the spring (36) to retract until the bottom of the gripping mechanism (3) abuts against the segment. The segment bolt (4) is driven to rotate by the hydraulic motor (31) and connected to the segment under the push of the spring (36).

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