Guniting manipulator system for pumped storage power station inclined shaft TBM

Abstract

The utility model relates to the technical field of TBM inclined shaft construction, in particular to a guniting manipulator system for a pumped storage power station inclined shaft TBM. The device comprises a bearing seat, an annular driving assembly, a bearing bottom plate and a telescopic assembly; an annular track is constructed on the bearing seat, and an annular sliding rail parallel to the annular track is further arranged on the bearing seat; the annular driving assembly is in transmission fit with the annular track; a sliding block matched with the annular sliding rail is arranged on the bearing bottom plate, and the annular driving assembly is connected with the sliding block; the telescopic assembly is connected with the bearing bottom plate, and a connecting mechanism used for being connected with a spraying head of the pulp shooting machine is arranged on the telescopic assembly. The method can be suitable for TBM inclined shaft construction, manual work participation is little, and the operation safety of constructors can be guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of TBM inclined shaft construction, and in particular to a shotcrete manipulator system for a TBM in an inclined shaft of a pumped-storage power station. Background Art

[0002] A pumped storage power station is a facility that uses hydroelectric energy to store energy and generate electricity. This type of power station is often used to balance the load of the power grid and regulate during peak and trough periods. A pumped storage power station consists of two reservoirs (the reservoirs can be natural lakes) upstream and downstream, as well as pipelines and turbines connecting the two reservoirs.

[0003] The construction of a pumped-storage power station involves TBM inclined shaft construction. After the TBM equipment is excavated, the shaft wall needs to be sprayed in time. In the past, construction workers needed to use a trolley to perform the spraying operation. However, in inclined shaft construction, the trolley is difficult to use, and the construction workers also face great safety risks during the construction process. Utility Model Content

[0004] The present application provides a shotcrete manipulator system for a TBM in an inclined shaft of a pumped-storage power station. By providing an arc track and a drive assembly that can cooperate with the arc track transmission, and providing a telescopic assembly to connect the nozzle of the shotcrete machine, automatic shotcrete can be sprayed on the wall of the inclined shaft, eliminating or reducing the participation of construction personnel, thereby reducing the safety risks of construction personnel in their operations.

[0005] This application is implemented through the following technical solutions:

[0006] A shotcrete manipulator system for a TBM in an inclined shaft of a pumped storage power station, comprising:

[0007] A bearing seat, wherein the bearing seat is provided with an annular track, and the bearing seat is also provided with an annular slide rail parallel to the annular track;

[0008] A circular drive assembly, the circular drive assembly is in driving cooperation with the circular track;

[0009] A bearing base plate, wherein a slider matched with the annular slide rail is arranged on the bearing base plate, and the annular drive assembly is connected to the slider;

[0010] A telescopic component is connected to the bearing base plate, and a connecting mechanism for connecting to a spraying machine nozzle is provided on the telescopic component.

[0011] The present application provides a grouting robot system for the TBM of the inclined shaft of a pumped-storage power station. Through the transmission cooperation between the annular track and the annular drive assembly, the telescopic assembly on the bearing base plate can be driven to move in a circumferential direction after the annular drive assembly and the annular track produce a transmission effect. After the telescopic assembly is connected to the nozzle through the connecting mechanism thereon, the nozzle can be driven to move in the circumferential direction, thereby performing grouting treatment on the wall of the inclined shaft. Before spraying, construction personnel are only required to connect the nozzle and the connecting mechanism. Construction personnel are not required to participate in the spraying process, which can reduce the labor intensity of construction personnel and ensure the working safety of construction personnel.

[0012] In some optional embodiments, the annular track is configured as an annular chute, and an annular rack is arranged in the annular chute;

[0013] The annular driving assembly is configured to drive a motor and is in driving engagement with the annular rack via a driving gear.

[0014] In some optional embodiments, the annular rack is located on a side wall of the annular groove having a smaller radius of curvature.

[0015] In some optional embodiments, a travel switch is provided on the bearing seat, and in the circumferential direction of the annular slide groove, the travel switch corresponds to the end position of the annular slide groove.

[0016] In some optional embodiments, a guide slot is further constructed on the bearing seat, and a guide roller rotatably connected to the bearing base plate is provided in the guide slot.

[0017] In some optional embodiments, the bearing seat is constructed as an arc-shaped body.

[0018] In some optional embodiments, the two ends of the bearing seat are connected by a connecting seat, wherein the connecting seat is provided with a slider guide mechanism and a linear displacement drive mechanism, and the slider guide mechanism and the linear displacement drive mechanism are both used to connect the TBM equipment.

[0019] In some optional embodiments, the connection mechanism includes:

[0020] A connecting frame connected to the moving end of the telescopic assembly;

[0021] A clamping block, the clamping block is slidably connected to the connecting frame and is located inside the connecting frame, and a clamping gap is formed between the clamping block and the inner wall of the connecting frame;

[0022] An operating bolt, one end of which passes through the connecting frame to be located inside the connecting frame, the operating bolt is threadedly matched with the connecting frame and the axis thereof is parallel to the sliding direction of the clamping block.

[0023] In some optional embodiments, the clamping block has an arc-shaped clamping surface for abutting the spray head.

[0024] In some optional embodiments, a mounting groove penetrating the connecting frame is provided on an inner wall of the connecting frame opposite to the clamping block, and a rubber clamping body for abutting against the nozzle is provided in the mounting groove.

[0025] Compared with the prior art, this application has the following advantages and beneficial effects:

[0026] The present application provides a grouting robot system for the TBM of the inclined shaft of a pumped-storage power station. Through the transmission cooperation between the annular track and the annular drive assembly, the telescopic assembly on the bearing base plate can be driven to move in a circumferential direction after the annular drive assembly and the annular track produce a transmission effect. After the telescopic assembly is connected to the nozzle through the connecting mechanism thereon, the nozzle can be driven to move in the circumferential direction, thereby performing grouting treatment on the wall of the inclined shaft. Before spraying, construction personnel are only required to connect the nozzle and the connecting mechanism. Construction personnel are not required to participate in the spraying process, which can reduce the labor intensity of construction personnel and ensure the working safety of construction personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the embodiments of the present application, constitute a part of the present application, and do not constitute a limitation on the embodiments of the present application. In the drawings:

[0028] Figure 1 A schematic diagram of the front view structure of a shotcrete manipulator system for a TBM in an inclined shaft of a pumped storage power station provided in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of the side view structure of a shotcrete manipulator system for a TBM in an inclined shaft of a pumped-storage power station provided in an embodiment of the present application;

[0030] Figure 3 This is a schematic diagram of the cross-sectional structure of the connection structure provided in an embodiment of the present application.

[0031] Marks and corresponding parts names in the attached drawings:

[0032] 1-bearing seat, 2-annular drive assembly, 3-bearing base plate, 4-telescopic assembly, 5-connecting mechanism, 6-annular track, 7-annular slide rail, 8-slider, 9-annular rack, 10-travel switch, 11-guide slide groove, 12-guide roller, 13-slider guide mechanism, 14-linear displacement drive mechanism, 15-connecting seat, 16-connecting frame, 17-clamping block, 18-operating bolt, 19-rubber clamping body, 20-bump, 21-groove, 22-steel ball. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with examples and drawings. The illustrative implementation scheme of the present application and its description are only used to explain the present application and are not intended to limit the present application.

[0034] like Figure 1-Figure 2 As shown, an embodiment of the present application provides a shotcrete manipulator system for a TBM in an inclined shaft of a pumped-storage power station, the shotcrete manipulator system for a TBM in an inclined shaft of a pumped-storage power station comprises a bearing seat 1, an annular drive assembly 2, a bearing base plate 3 and a telescopic assembly 4; an annular track 6 is constructed on the bearing seat 1, and an annular slide rail 7 parallel to the annular track 6 is also provided on the bearing seat 1; the annular drive assembly 2 is in transmission cooperation with the annular track 6, the annular drive assembly has its own power source, the annular drive assembly can move on the annular track 6 driven by its own power, the annular drive assembly can have its own control system, for example, a programmable controller, a single-chip microcomputer, an industrial chip or other controller can be provided on the annular drive assembly; a slider 8 cooperating with the annular slide rail 7 is arranged on the bearing base plate 3, and the annular drive assembly 2 is connected to the slider 8; the telescopic assembly 4 is connected to the bearing base plate 3, and a connecting mechanism 5 for connecting a nozzle of a shotcrete machine is provided on the telescopic assembly 4, and the telescopic assembly 4 can be configured as an electric rod and connected to the control system on the annular drive assembly for controlled movement.

[0035] When in use, the nozzle is first connected to the connection mechanism 5, and then the annular drive assembly is driven to work. The annular drive assembly can reverse at a certain time interval or after a certain amount of movement under the control of the control system, specifically moving clockwise or counterclockwise along the circumference of the inclined well wall. When the shotcrete machine is turned on, the nozzle can perform shotcrete treatment on different positions on the circumference of the inclined well wall driven by the telescopic assembly 4. If the diameter of the inclined well becomes larger or smaller, the telescopic assembly 4 can be controlled by the control system to extend and retract so that the nozzle and the well wall maintain a suitable distance, thereby ensuring a better shotcrete effect.

[0036] The present application provides a shotcreting robot system for the TBM of the inclined shaft of a pumped-storage power station. Through the transmission cooperation between the annular track 6 and the annular drive assembly 2, the telescopic assembly 4 on the bearing base plate 3 can be driven to move in a circumferential direction after the annular drive assembly 2 and the annular track 6 produce a transmission effect. After the telescopic assembly 4 is connected to the nozzle through the connecting mechanism 5 thereon, the nozzle can be driven to move in the circumferential direction, thereby performing a shotcreting treatment on the wall of the inclined shaft. Before shotcreting, construction personnel are only required to connect the nozzle and the connecting mechanism 5. Construction personnel are not required to participate in the shotcreting process, which can reduce the labor intensity of construction personnel and ensure the work safety of construction personnel.

[0037] TBM construction is an underground construction project. The humidity in the inclined shaft may be relatively high, and a certain amount of water mist will be generated during the spraying process. If the usual friction transmission structure is used between the annular track 6 and the annular drive assembly 2, slipping may occur, that is, the transmission efficiency cannot be well guaranteed, which may cause uneven spraying. Therefore, in some optional embodiments, the annular track 6 is configured as an annular chute, and an annular rack 9 is provided in the annular chute; the annular drive assembly 2 is configured as a drive motor and is meshed with the annular rack 9 through a drive gear.

[0038] In the embodiment of the present application, meshing transmission is achieved through the cooperation of the annular rack 9 and the driving gear, the transmission effect is stable, the transmission efficiency is high, and the uniformity of the grouting can be better guaranteed, which is conducive to forming a better support effect on the inclined well wall.

[0039] In some optional embodiments, the annular rack 9 is located on a side wall of the annular slot having a smaller radius of curvature.

[0040] In the embodiment of the present application, the cooperation between the slider 8 and the annular slide rail 7 provides a guiding effect for the annular drive assembly 2. At the same time, the slider 8 also bears the deadweight of the telescopic assembly 4 and the annular drive assembly 2. By setting the annular rack 9 on the side wall with a smaller curvature radius in the annular slide groove, during the process of the engagement between the driving gear and the annular rack 9, the annular rack 9 can form a certain reaction force on the driving gear, thereby reducing the load of the slider 8 to a certain extent, ensuring that the slider 8 and the annular slide rail 7 can provide a better guiding effect.

[0041] After long-term operation, the annular drive assembly 2 and the annular track 6 may accumulate certain errors. When the annular drive assembly 2 moves to the end of the annular track 6, there is a risk of collision. Therefore, in some optional embodiments, a travel switch 10 is provided on the bearing seat 1. In the circumferential direction of the annular slide, the travel switch 10 corresponds to the end position of the annular slide. The travel switch 10 can be connected to the control system on the annular drive assembly 2. When the annular drive assembly 2 moves to the end position of the annular track 6, the bearing seat can contact the travel switch 10. When the control system receives the signal from the travel switch 10, it promptly controls the annular drive assembly 2 to stop moving or move in the reverse direction, thereby avoiding the occurrence of a collision.

[0042] In some optional embodiments, the bearing seat 1 is further provided with a guide slot 11, and a guide roller 12 is provided in the guide slot 11 and is rotatably connected to the bearing base plate 3. The guide roller 12 and the guide slot 11 can provide a guiding function together with the slider 8, and the guide roller 12 can share a certain load for the slider 8, thereby ensuring the smoothness of the sliding between the slider 8 and the annular slide rail 7.

[0043] In some optional embodiments, the bearing seat 1 is constructed as an arc-shaped body. Such a configuration can meet the configuration of the annular track 6 and the annular slide rail 7 and can reduce the deadweight.

[0044] In some optional embodiments, the two ends of the bearing seat 1 are connected by a connecting seat 15, wherein the connecting seat 15 is provided with a slider guide mechanism 13 and a linear displacement drive mechanism 14, and the slider guide mechanism 13 and the linear displacement drive mechanism 14 are both used to connect the TBM equipment. The linear displacement drive mechanism 14 can be configured as a ball screw mechanism and can be controlled by the control system on the annular drive assembly 2 to operate.

[0045] In the embodiment of the present application, the manipulator as a whole can move back and forth along the extension direction of the inclined shaft through the drive of the linear displacement drive mechanism 14, so that after the TBM equipment has excavated a certain distance, the linear displacement drive mechanism 14 can be used to drive the system as a whole to move back and forth, and the ring drive assembly can be used to drive the nozzle to move, thereby achieving grouting on the well wall. In other words, the setting of the linear displacement mechanism enables the manipulator system as a whole to have a larger grouting range, and the manipulator system as a whole can be on standby during a certain length of TBM excavation time, avoiding repeated start and stop, and ensuring the service life of the manipulator system to a certain extent.

[0046] In some optional embodiments, see Figure 3 The connecting mechanism 5 may include a connecting frame 16, a clamping block 17 and an operating bolt 18; the connecting frame 16 is connected to the moving end of the telescopic assembly 4, and the connecting frame 16 can be constructed as a rectangular frame; the clamping block 17 is slidably connected to the connecting frame 16 and is located inside the connecting frame 16. Specifically, two protrusions 20 are respectively provided at both ends of the length of the clamping block 17, and grooves 21 adapted to the protrusions 20 are respectively provided on the two opposite inner walls of the connecting frame 16. After the protrusions 20 are matched with the grooves 21, they can slide in the grooves 21 along the length direction of the grooves 21, and a clamping gap is formed between the clamping block 17 and the inner wall of the connecting frame 16; one end of the operating bolt 18 passes through the connecting frame 16 to be located inside the connecting frame 16, and the operating bolt 18 is threadedly matched with the connecting frame 16 and its axis is parallel to the sliding direction of the clamping block 17.

[0047] In the embodiment of the present application, the nozzle can be clamped between the clamping block 17 and the inner wall of the connecting frame 16 by rotating the operating bolt 18, which has a simple structure and is easy to operate.

[0048] In some optional embodiments, a steel ball 22 in contact with the bottom of the groove 21 is provided on the protrusion 20 through a groove locking ball process. That is, the protrusion 20 is equivalent to being configured as a steel ball 22 retaining rack, so that the clamping block 17 can slide more smoothly in the connecting frame 16, and the operation is more convenient.

[0049] In some optional embodiments, the clamping block 17 has an arc-shaped clamping surface for abutting the nozzle. The arc-shaped clamping surface can be a rubber surface, that is, an arc-shaped rubber body can be fixedly connected to the clamping block 17. The arc-shaped rubber body has a certain flexibility. After the nozzle is clamped, the arc-shaped rubber body can have a larger contact area with the nozzle, which is conducive to improving the clamping stability.

[0050] In some optional embodiments, a mounting groove penetrating the connecting frame 16 is provided on the inner wall of the connecting frame 16 opposite to the clamping block 17, and a rubber clamping body 19 for abutting against the nozzle is provided in the mounting groove. In other words, the nozzle can be clamped by two rubber bodies, and the two rubber bodies can form a larger contact area with the nozzle, which can further improve the clamping stability.

[0051] The above specific embodiments illustrate the implementation methods of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Although the description of the present application will be introduced in conjunction with some embodiments, this does not mean that the features of this application are limited to the implementation methods. On the contrary, the purpose of introducing the application in conjunction with the implementation methods is to cover other options or modifications that may be extended based on the claims of the present application. In order to provide an in-depth understanding of the present application, the above description contains many specific details. The present application can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0052] It should be noted that in this specification, similar numbers and letters represent similar items in the above drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of this application, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A shotcrete manipulator system for TBM in the inclined shaft of a pumped storage power station. It is characterized in that include: A bearing seat (1), wherein the bearing seat (1) is provided with an annular track (6), and the bearing seat (1) is also provided with an annular slide rail (7) parallel to the annular track (6); A circular drive assembly (2), the circular drive assembly (2) being in driving cooperation with the circular track (6); A bearing base plate (3), wherein a sliding block (8) cooperating with the annular slide rail (7) is arranged on the bearing base plate (3), and the annular drive assembly (2) is connected to the sliding block (8); A telescopic component (4), the telescopic component (4) being connected to the bearing base plate (3), and the telescopic component (4) being provided with a connecting mechanism (5) for connecting to a spraying machine nozzle; Wherein, the connecting mechanism (5) comprises: A connecting frame (16), the connecting frame (16) being connected to the moving end of the telescopic assembly (4); a clamping block (17), the clamping block (17) being slidably connected to the connecting frame (16) and being located inside the connecting frame (16), a clamping gap being formed between the clamping block (17) and the inner wall of the connecting frame (16); An operating bolt (18), one end of which passes through the connecting frame (16) to be located inside the connecting frame (16), the operating bolt (18) being threadedly matched with the connecting frame (16) and the axis thereof being parallel to the sliding direction of the clamping block (17).

2. The shotcrete manipulator system for the inclined shaft TBM of a pumped storage power station according to claim 1, It is characterized in that The annular track (6) is configured as an annular slide groove, and an annular rack (9) is arranged in the annular slide groove; The annular drive assembly (2) is configured as a drive motor and is in transmission meshing engagement with the annular rack (9) via a drive gear.

3. The shotcrete manipulator system for the inclined shaft TBM of a pumped storage power station according to claim 2, It is characterized in that The annular rack (9) is located on a side wall of the annular sliding groove having a smaller curvature radius.

4. The shotcrete manipulator system for the inclined shaft TBM of a pumped storage power station according to claim 2, It is characterized in that A travel switch (10) is provided on the bearing seat (1), and in the circumferential direction of the annular slide groove, the travel switch (10) corresponds to the end position of the annular slide groove.

5. The shotcrete manipulator system for the inclined shaft TBM of a pumped storage power station according to claim 1, It is characterized in that The bearing seat (1) is also provided with a guide slot (11), and a guide roller (12) rotatably connected to the bearing base plate (3) is provided in the guide slot (11).

6. The shotcrete manipulator system for the inclined shaft TBM of a pumped storage power station according to claim 1, It is characterized in that The bearing seat (1) is constructed as an arc-shaped body.

7. The shotcrete manipulator system for the inclined shaft TBM of a pumped storage power station according to claim 6, It is characterized in that The two ends of the bearing seat (1) are connected via a connecting seat (15), wherein a slider guide mechanism (13) and a linear displacement drive mechanism (14) are arranged on the connecting seat (15), and the slider guide mechanism (13) and the linear displacement drive mechanism (14) are both used for connecting to TBM equipment.

8. The shotcrete manipulator system for the inclined shaft TBM of a pumped storage power station according to claim 1, It is characterized in that The clamping block (17) has an arc-shaped clamping surface for abutting against the spray head.

9. The shotcrete manipulator system for the inclined shaft TBM of a pumped storage power station according to claim 8, It is characterized in that An installation groove penetrating the connection frame (16) is provided on the inner wall of the connection frame (16) opposite to the clamping block (17), and a rubber clamping body (19) for abutting against the nozzle is arranged in the installation groove.

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