Sucker type segment erector for shield tunneling machine

Abstract

The utility model relates to the field of mechanical equipment special for tunnels, and discloses a suction cup type segment erector for a shield tunneling machine, which comprises a turntable, a fixed block is fixedly connected to the middle of the front end of the turntable, a connecting block is arranged at the bottom end of the fixed block, and two hydraulic cylinders are fixedly connected to the bottom of the fixed block. The output ends of the two hydraulic cylinders are fixedly connected with the top end of a connecting block, a supporting block is arranged at the bottom end of the connecting block, and a connecting plate is fixedly connected to the top end of the supporting block. The two motors are started to drive the positions of the left suction assembly and the right suction assembly to be changed, then the suction assemblies are attached to the pipe pieces, the pipe piece suction device can be suitable for suction of the pipe pieces with different lengths, the vacuum assemblies are fixed to the supporting blocks, and when the rotating disc drives the pipe pieces to rotate and assemble, the length of the vacuum assemblies cannot be changed; the problem that the vacuum response time becomes slow when the suction cup grabs the pipe piece due to the fact that the vacuum pipe is lengthened is solved.

Description

Technical Field

[0001] The utility model relates to the field of special mechanical equipment for tunnels, in particular to a suction cup type segment assembling machine for a shield machine. Background Art

[0002] When assembling the segments, the robotic arm moves the suction cup to the top of the segment, and the suction cup adsorbs the segment through vacuum or compressed air. According to the instructions of the control system, the suction cup with the segment is moved to the assembly position of the tunnel, the position of the segment is adjusted to ensure that the segment is aligned with the assembled segments, the segment is accurately placed in the predetermined position, and the segment is tightly spliced ​​with the adjacent segments through rotation or fine-tuning. After the assembly is completed, the segment is ensured to be stable through fine-tuning of the robotic arm or the use of other fixing devices. After the assembly is completed, the suction cup system releases the segment and prepares for the transportation of the next segment.

[0003] The traditional vacuum pump connection method causes the vacuum tube to be stretched when the turntable rotates. However, the longer the vacuum tube, the greater the pressure loss, and the vacuum response time of the suction cup will also become slower when grabbing the pipe segment. In addition, some assemblers only adsorb the middle part of the pipe segment. When the pipe segment is long, it is easy for the pipe segment to fall off, which poses a certain safety risk. Therefore, a suction cup pipe segment assembler for a shield machine is proposed to solve the above problems. Utility Model Content

[0004] In order to make up for the above shortcomings, the utility model provides a suction cup type segment assembly machine for a shield machine, aiming to improve the problems in the prior art that the vacuum tube is stretched when the turntable rotates, causing the vacuum response time of the suction cup to become slow when grabbing the segment, and only the middle part of the segment is adsorbed, which may cause safety risks.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a suction cup segment assembler for a shield machine, comprising a turntable, a fixed block is fixedly connected to the middle part of the front end of the turntable, a connecting block is arranged at the bottom end of the fixed block, two hydraulic cylinders are fixedly connected to the bottom of the fixed block, the output ends of the two hydraulic cylinders are fixedly connected to the top end of the connecting block, a supporting block is arranged at the bottom end of the connecting block, a connecting plate is fixedly connected to the top end of the supporting block, the opposite sides of the two connecting plates are fixedly connected to the connecting block, three suction components are equidistantly arranged at the bottom end of the supporting block, the top end of the suction component in the middle is fixedly connected to the middle part of the bottom end of the supporting block, and the left and right ends inside the supporting block Both are provided with a slide groove one, and the middle part of the bottom end of the two slide grooves one is provided with a slide groove two, and the middle part of the top end of the slide groove one is provided with a rotating groove, the inside of the slide groove one is slidably connected with a rack, the bottom ends of the two racks are fixedly connected with a slider, the bottom ends of the slider are respectively fixedly connected to the top of the suction component on the same side, the left and right ends of the rear side of the support block are fixedly connected with motors, the output ends of the two motors are fixedly connected with a rotating shaft, the front end of the rotating shaft is fixedly connected with a gear inside the rotating groove on the same side, the gear is meshed with the top of the rack on the same side, and a vacuum assembly is arranged on the top of the support block, and the middle part of the bottom end and the left and right parts of the vacuum assembly are respectively connected to three suction assemblies.

[0006] As a further description of the above technical solution: the suction component includes a mounting plate and a suction cup, the interior of the mounting plate is fixedly connected to an electric telescopic rod, the output end of the electric telescopic rod passes through the bottom end of the mounting plate and is fixedly connected to a moving block, the top middle front end and the middle rear end of the suction cup are fixedly connected to support plates, the two support plates are respectively located on both sides of the moving block, the front end of the front support plate is rotatably connected to an adjusting rod, and the bottom outer side of the suction cup is fixedly connected to a rubber pad.

[0007] As a further description of the above technical solution: the rear end of the adjusting rod passes through the moving block and is rotatably connected to the front end of the rear support plate, and the bottom of the moving block does not contact the top of the suction cup.

[0008] As a further description of the above technical solution: the top of the middle mounting plate is fixedly connected to the middle of the bottom end of the support block, and the tops of the left and right mounting plates are respectively fixedly connected to the bottom of the slider on the same side.

[0009] As a further description of the above technical solution: the vacuum component includes a protective shell, the interior of the protective shell is fixedly connected to a vacuum pump, the two output ends of the vacuum pump are fixedly connected to vacuum tubes, and the middle left and right ends of the two vacuum tubes are fixedly connected to branch pipes.

[0010] As a further description of the above technical solution: the bottom of the protective shell is fixedly connected to the top of the support block, the ends of the two vacuum tubes are connected to the middle suction cup, and the ends of the four branch tubes are connected to the suction cup on the same side.

[0011] As a further description of the above technical solution: the vacuum tube and the branch tube are both fixed to the outside of the support block through a tube sleeve.

[0012] As a further description of the above technical solution: a tube segment body is arranged at the bottom end of the support block, and the top of the tube segment body is in contact with the bottom of the rubber pad.

[0013] The utility model has the following beneficial effects:

[0014] 1. In the utility model, by starting two motors synchronously, the rotating shaft drives the gear on the same side to rotate, so that the rack and the slider slide inside the first and second slide grooves on the same side respectively, thereby driving the positions of the left and right suction components to change, and then the bottoms of the three suction components are respectively fitted with the surface of the pipe segment, which can be suitable for the suction of pipe segments of different lengths, and at the same time solves the problem of safety risks caused by only sucking the middle part of the pipe segment.

[0015] 2. In the utility model, the vacuum assembly is fixed on the support block. Even when the turntable drives the pipe segments to rotate and assemble, the length of the vacuum assembly will not change, thereby causing pressure loss. This solves the problem of slow vacuum response time of the suction cup when grabbing the pipe segment due to the elongation of the vacuum tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of a suction cup segment assembling machine for a shield machine proposed by the utility model;

[0017] Figure 2 This is a front cross-sectional view of a support block of a suction cup segment assembler for a shield machine proposed in the utility model;

[0018] Figure 3 This is a back view of a support block of a suction cup segment assembler for a shield machine proposed in the utility model;

[0019] Figure 4 This is a diagram of the suction component of a suction cup segment assembler for a shield machine proposed in the utility model.

[0020] Legend:

[0021] 1. Turntable; 2. Fixed block; 3. Hydraulic cylinder; 4. Connecting block; 5. Connecting plate; 6. Support block; 7. Slide 1; 8. Slide 2; 9. Rotating slot; 10. Rack; 11. Gear; 12. Rotating shaft; 13. Motor; 14. Slider; 15. Mounting plate; 16. Electric telescopic rod; 17. Moving block; 18. Suction cup 1; 19. Support plate; 20. Adjusting rod; 21. Rubber pad; 22. Protective shell; 23. Vacuum pump; 24. Vacuum tube; 25. Branch pipe; 26. Pipe sleeve; 27. Pipe segment body. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] Reference Figure 1-Figure 3 The utility model provides an embodiment: a suction cup segment assembling machine for a shield machine, comprising a turntable 1, a fixed block 2 is fixedly connected to the middle of the front end of the turntable 1, a connecting block 4 is arranged at the bottom end of the fixed block 2, two hydraulic cylinders 3 are fixedly connected to the bottom of the fixed block 2, the output ends of the two hydraulic cylinders 3 are fixedly connected to the top of the connecting block 4, a supporting block 6 is arranged at the bottom end of the connecting block 4, a connecting plate 5 is fixedly connected to the top of the supporting block 6, the opposite sides of the two connecting plates 5 are fixedly connected to the connecting block 4, three suction components are equidistantly arranged at the bottom end of the supporting block 6, the top of the middle suction component is fixedly connected to the middle of the bottom end of the supporting block 6, a slide groove 7 is provided at both left and right ends of the inside of the supporting block 6, and two A slide groove 2 8 is provided in the middle of the bottom end of each slide groove 7, a rotating groove 9 is provided in the middle of the top end of each slide groove 7, a rack 10 is slidably connected inside the slide groove 7, the bottom ends of the two racks 10 are fixedly connected with sliders 14, the bottom ends of the sliders 14 are respectively fixedly connected to the top of the suction component on the same side, motors 13 are fixedly connected to the left and right ends of the rear side of the support block 6, the output ends of the two motors 13 are fixedly connected to the rotating shaft 12, the front end of the rotating shaft 12 is fixedly connected with a gear 11 inside the rotating groove 9 on the same side, the gear 11 is meshed with the top of the rack 10 on the same side, a vacuum component is arranged on the top of the support block 6, and the middle of the bottom end and the left and right parts of the vacuum component are respectively connected to the three suction components.

[0024] Starting the hydraulic cylinder 3 can drive the connecting block 4 and the supporting block 6 to move downward, and synchronously starting the two motors 13 can make the rotating shaft 12 drive the gear 11 on the same side to rotate, so that the rack 10 and the slider 14 can slide inside the slide groove 1 7 and the slide groove 2 8 on the same side respectively, thereby driving the positions of the left and right suction components to change, and then make the bottoms of the three suction components fit with the surface of the pipe segment respectively, and the air between the suction component and the pipe segment is sucked away by the vacuum component to adsorb the pipe segment. Pipe segments of different lengths can be adsorbed, and the vacuum component is fixed on the supporting block 6. Even when the turntable 1 drives the pipe segment to rotate and assemble, the length of the vacuum component will not change, thereby causing pressure loss.

[0025] Reference Figure 2-Figure 4 The suction component includes a mounting plate 15 and a suction cup 18, the interior of the mounting plate 15 is fixedly connected with an electric telescopic rod 16, the output end of the electric telescopic rod 16 passes through the bottom end of the mounting plate 15 and is fixedly connected with a moving block 17, the middle front end and the middle rear end of the top of the suction cup 18 are fixedly connected with a support plate 19, the two support plates 19 are respectively located on both sides of the moving block 17, the front end of the front support plate 19 is rotatably connected with an adjusting rod 20, the bottom outer side of the suction cup 18 is fixedly connected with a rubber pad 21, the rear end of the adjusting rod 20 passes through the moving block 17 and is rotatably connected to the front end of the rear support plate 19, the bottom of the moving block 17 does not contact the top of the suction cup 18, the top of the middle mounting plate 15 is fixedly connected to the middle of the bottom end of the support block 6, and the tops of the left and right mounting plates 15 are respectively fixedly connected to the bottom of the slider 14 on the same side.

[0026] By starting the electric telescopic rod 16, the moving block 17 and the suction cup 18 can be driven to move downward, so that the bottom of the rubber pad 21 fits with the surface of the pipe segment. By rotating the adjusting rod 20, the angle between the suction cup 18 and the rubber pad 21 can be changed, which can be suitable for the adsorption of pipe segments of different sizes. The adjusting rod 20 has a self-locking function.

[0027] Reference Figure 2 and Figure 3 The vacuum assembly includes a protective shell 22, to which a vacuum pump 23 is fixedly connected inside. Both output ends of the vacuum pump 23 are fixedly connected to vacuum tubes 24. Branch pipes 25 are fixedly connected to the left and right ends of the middle of the two vacuum tubes 24. The bottom of the protective shell 22 is fixedly connected to the top of the support block 6. The ends of the two vacuum tubes 24 are connected to the middle suction cup 18, and the ends of the four branch pipes 25 are connected to the suction cup 18 on the same side. The vacuum tube 24 and the branch pipe 25 are fixed to the outside of the support block 6 through a pipe sleeve 26.

[0028] Through the vacuum pump 23, the vacuum tube 24 evacuates the middle suction cup 18, and the four branch pipes 25 evacuate the left and right suction cups 18, and contact the pipe segment through the rubber pad 21, so as to suck up the pipe segment. The vacuum tube 24 and the branch pipe 25 are fixed to the outside of the support block 6 through the pipe sleeve 26. The length of the vacuum tube 24 and the branch pipe 25 is fixed, and when the turntable 1 rotates, the length of the vacuum tube 24 and the branch pipe 25 will not be lengthened, thereby solving the problem of slow vacuum response time of the suction cup when grabbing the pipe segment due to the elongation of the vacuum tube 24 and the branch pipe 25.

[0029] Reference Figure 3 A tube segment body 27 is provided at the bottom end of the support block 6 , and the top of the tube segment body 27 is in contact with the bottom of the rubber pad 21 .

[0030] By fitting the rubber pad 21 to the top of the tube segment body 27, a vacuum environment can be formed inside the suction cup 18, thereby sucking up the tube segment body 27.

[0031] Working principle: Start the hydraulic cylinder 3 to drive the support block 6 to move downward, and start the two motors 13 synchronously according to the size of the segment body 27 below to rotate the gear 11, thereby driving the position of the left and right suction cups 18 and the rubber pad 21 to change, and then rotate the adjusting rod 20 to change the angle of the suction cup 18 and the rubber pad 21, and then start the electric telescopic rod 16 to make the bottom of the three rubber pads 21 fit with the surface of the segment body 27, and start the vacuum pump 23 to make the vacuum tube 24 and the branch pipe 25 to extract the air between the suction cup 18, the rubber pad 21 and the segment body 27, and then absorb the segment body 27, and then rotate the turntable 1 to assemble the segment body 27.

[0032] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A suction cup segment assembling machine for a shield machine, comprising a turntable (1), characterized in that: A fixed block (2) is fixedly connected to the middle of the front end of the turntable (1), a connecting block (4) is arranged at the bottom end of the fixed block (2), two hydraulic cylinders (3) are fixedly connected to the bottom of the fixed block (2), the output ends of the two hydraulic cylinders (3) are fixedly connected to the top end of the connecting block (4), a supporting block (6) is arranged at the bottom end of the connecting block (4), a connecting plate (5) is fixedly connected to the top end of the supporting block (6), the opposite sides of the two connecting plates (5) are fixedly connected to the connecting block (4), three suction components are equidistantly arranged at the bottom end of the supporting block (6), the top end of the suction component in the middle is fixedly connected to the middle of the bottom end of the supporting block (6), a slide groove (7) is provided at both left and right ends of the interior of the supporting block (6), a slide groove (8) is provided at the middle of the bottom end of the two slide grooves (7), and the slide grooves (6) are provided at the bottom ends of the two slide grooves (7). A rotating groove (9) is provided in the middle of the top of the slide groove (7), and a rack (10) is slidably connected inside the slide groove (7). The bottom ends of the two racks (10) are fixedly connected with a slider (14), and the bottom ends of the slider (14) are respectively fixedly connected to the top of the suction component on the same side. The left and right ends of the rear side of the support block (6) are fixedly connected with a motor (13), and the output ends of the two motors (13) are fixedly connected with a rotating shaft (12). The front end of the rotating shaft (12) is fixedly connected with a gear (11) inside the rotating groove (9) on the same side, and the gear (11) is meshed with the top of the rack (10) on the same side. A vacuum component is provided at the top of the support block (6), and the vacuum component extracts air from the bottom of the suction component. The middle of the bottom end and the left and right parts of the vacuum component are respectively connected to the three suction components.

2. The suction cup segment assembling machine for a shield machine according to claim 1, characterized in that: The suction component comprises a mounting plate (15) and a suction cup (18); an electric telescopic rod (16) is fixedly connected inside the mounting plate (15); the top of the middle mounting plate (15) is fixedly connected to the middle of the bottom end of the support block (6); the tops of the left and right mounting plates (15) are respectively fixedly connected to the bottom of the slider (14) on the same side; the output end of the electric telescopic rod (16) passes through the bottom end of the mounting plate (15) and is fixedly connected to a moving block (17); the front end and the rear end of the top of the suction cup (18) are fixedly connected to a support plate (19); the two support plates (19) are respectively located on both sides of the moving block (17); the front end of the front support plate (19) is rotatably connected to an adjustment rod (20); and the outer side of the bottom of the suction cup (18) is fixedly connected to a rubber pad (21).

3. The suction cup segment assembling machine for a shield machine according to claim 2, characterized in that: The rear end of the adjusting rod (20) passes through the moving block (17) and is rotatably connected to the front end of the rear support plate (19), and the bottom of the moving block (17) does not contact the top of the suction cup (18).

4. The suction cup segment assembling machine for a shield machine according to claim 1, characterized in that: The vacuum assembly comprises a protective shell (22), the bottom of the protective shell (22) is fixedly connected to the top of the support block (6), the interior of the protective shell (22) is fixedly connected to a vacuum pump (23), both output ends of the vacuum pump (23) are fixedly connected to vacuum tubes (24), and the middle left and right ends of the two vacuum tubes (24) are fixedly connected to branch pipes (25).

5. The suction cup segment assembling machine for a shield machine according to claim 4, characterized in that: The ends of the two vacuum tubes (24) are connected to the middle suction cup (18), and the ends of the four branch tubes (25) are connected to the suction cup (18) on the same side.

6. The suction cup segment assembling machine for a shield machine according to claim 5, characterized in that: The vacuum tube (24) and the branch tube (25) are both fixed to the outside of the support block (6) through a tube sleeve (26).

7. The suction cup segment assembling machine for a shield machine according to claim 2, characterized in that: The bottom end of the support block (6) is provided with a tube segment body (27), and the top of the tube segment body (27) is in contact with the bottom of the rubber pad (21).

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