Grabbing device of shield tunneling machine segment erector

Abstract

The utility model discloses a gripping device of a segment erector of a shield tunneling machine, which relates to the technical field of shield segment assembly and comprises a suction cup frame and lifting arms extending outwards on two sides of the suction cup frame, and a suction cup gripping structure for gripping segments through negative pressure adsorption is rotatably mounted below the suction cup frame. A plurality of limiting mechanisms are symmetrically mounted on the front and rear and / or left and right side surfaces of the suction cup grabbing structure in an attached manner; the limiting mechanism comprises a fixing box, a limiting plate installed in the fixing box in a sliding mode, a driving motor driving the limiting plate to slide and a lead screw. The screw rod is inserted into the upper end of the limiting plate and is in threaded engagement with the limiting plate; under the action of thread meshing transmission of the lead screw, the main plates in the limiting mechanism extend outwards to reach the outer surface of the duct piece, so that the duct piece is further stably clamped and fixed by utilizing the clamping force among the symmetrical main plates and the friction force generated by the clamping force; and the stability and safety of pipe piece grabbing in the tunnel construction process are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of shield segment assembly, in particular to a segment gripper of a shield machine. Background Technique

[0002] A shield machine is a tunnel boring machine using the shield method. The construction method of the shield is that the boring machine lays the "shield" (referring to the supporting segments) of the tunnel while boring, which is different from the open construction method. The segment erector is an important part of the shield machine. After the shield machine advances a certain distance, the segment erector assembles the precast segments into a tunnel lining to protect the surface of the excavated tunnel and prevent problems such as tunnel settlement and water seepage. When assembling segments, after the segment crane hoists the segments in place, the segments are vertically lowered by an electric hoist or a steel wire rope, and then the segment gripper of the segment erector grabs the segments for segment assembly.

[0003] The existing shield segments are generally assembled by a vacuum chuck type erector during the assembly process. During the assembly of shield machine segments, problems such as the vacuum chuck not adsorbing firmly, the segments falling and injuring people or damaging the shield machine are likely to occur. Therefore, in order to make the adsorption and fixation of the segments more firm during grasping, we propose a segment gripper of a shield machine. Summary of the Utility Model

[0004] The utility model provides a segment gripper of a shield machine, which includes a suction cup frame and lifting arms extending outward on both sides of the suction cup frame. A suction cup grasping structure that can adsorb and grasp segments through negative pressure is rotatably installed below the suction cup frame, and a vacuum pump is arranged on the suction cup grasping structure to provide negative pressure for the suction cup grasping structure;

[0005] A plurality of limiting mechanisms are symmetrically and fittingly installed on the front and back and / or left and right side faces of the suction cup grasping structure;

[0006] The limiting mechanism includes a fixed box, a limiting plate slidably installed in the fixed box, a driving motor for driving the limiting plate to slide, and a lead screw;

[0007] The lead screw is inserted into the upper end of the limiting plate and is in threaded engagement with the limiting plate.

[0008] The limiting plate is composed of a main board and an anti-slip pad covering the surface of the main board.

[0009] The cross-sectional shapes of the main board and the anti-slip pad are both regular rectangles.

[0010] The limiting plate is composed of a main board and an airbag pad covering the surface of the main board.

[0011] The cross-sectional shapes of the main board and the airbag pad are both tapered structures that are larger at the top and smaller at the bottom.

[0012] A detachable shear pin and an auxiliary suction cup are provided at the bottom of the suction cup grasping structure, and grooves adapted to the detachable shear pin and the auxiliary suction cup are formed on the end face of the segment.

[0013] A sealing gasket is fixedly connected to the bottom of the suction cup grasping structure, and a plurality of through holes for the suction cup to pass through are formed in the sealing gasket (4).

[0014] The beneficial effects that the present utility model can achieve are as follows:

[0015] In addition to the traditional design of negative pressure adsorption of segments, the present utility model symmetrically adds a plurality of limiting mechanisms around the suction cup grasping structure. Under the action of the threaded meshing transmission of the lead screw, the main board in the limiting mechanism can extend outward to reach the outer surface of the segment, thereby using the clamping force between the symmetric main boards and the friction force generated by this clamping force to further stably clamp and fix the segment, ensuring the stability and safety of segment grasping during tunnel construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art.

[0017] Figure 1 Schematic diagram of the overall structure of the present utility model;

[0018] Figure 2 Front view of the present utility model;

[0019] Figure 3 Schematic diagram of the suction cup grasping structure of the present utility model;

[0020] Figure 4 Schematic diagram of the structure of the limiting mechanism of the present utility model;

[0021] Figure 5 Schematic diagram of the internal structure of the limiting mechanism of the present utility model;

[0022] Figure 6 Schematic diagram of the limiting plate structure in the first embodiment of the present utility model;

[0023] Figure 7 Schematic diagram of the limiting plate structure in the second embodiment of the present utility model.

[0024] In the figure: 1, suction cup frame; 2, lifting arm; 3, suction cup grasping structure; 4, sealing gasket; 5, detachable shear pin; 6, auxiliary suction cup; 7, segment; 8, limiting mechanism; 81, fixed box; 82, limiting plate; 821, main board; 822, anti-slip pad; 823, airbag pad; 9, lead screw; 10, driving motor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The technical solutions in the embodiments of the present utility model will be clearly and

[0026] completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model.

[0027] Embodiment 1: As Figure 1 , Figure 2 shown, compared with the traditional vacuum suction cup type assembling machine gripping device, a group of limiting mechanisms 8 are symmetrically installed on the left and right sides of the suction cup gripping structure 3 of the present utility model. Of course, those skilled in the art can also symmetrically install a group of limiting mechanisms 8 on the front and back sides of the suction cup gripping structure 3, or install limiting mechanisms 8 on both the front and back sides and the left and right sides. In this embodiment, a group of limiting mechanisms 8 are symmetrically installed on the left and right sides of the suction cup gripping structure 3 as an example.

[0028] As Figure 3 shown, when the entire suction cup holder 1 and the lifting arm 2 drive the suction cup gripping structure 3 to approach and press the segment 7 to be gripped under the drive of the hydraulic system, the sealing gasket 4 will deform due to the extrusion force. At this time, the lower surface of the suction cup gripping structure 3 will be further sealed with the upper surface of the segment 7, which helps the vacuum pump to better transmit the negative pressure to the upper end surface of the segment 7 through the through hole during air extraction, improving the stability of negative pressure adsorption.

[0029] In addition, a detachable shear pin 5 and an auxiliary suction cup 6 are additionally provided on the lower surface of the suction cup gripping structure 3. Then, during the process of the suction cup gripping structure 3 approaching the segment 7, both the detachable shear pin 5 and the auxiliary suction cup 6 can be inserted into the groove. On the one hand, the auxiliary suction cup 6 helps the gripping structure 3 to align with the segment 7 through such an insertion structure, and on the other hand, it can further improve the stability of the suction cup gripping structure 3 for gripping the segment 7.

[0030] Both the above-mentioned hydraulic drive mode and negative pressure adsorption mode of the suction cup gripping structure 3 are prior arts, and only the above simple working process is described, and the specific technical details will not be elaborated.

[0031] As Figures 4 - 6As shown in the figure, after the sucker grasping structure 3 is aligned with and pressed against the segment 7, the driving motor 10 drives the lead screw 9 to rotate. Since the lead screw 9 is in threaded engagement with the main board 821 in the limit plate 82, and the main board 821 is circumferentially limited by the box wall of the fixed box 81, under the threaded engagement drive of the lead screw 9, the main board 821 slidably installed in the fixed box 81 will slide outwards until the main board 821 extends to the left and right sides of the segment 7. And because the fixed box 81 is fitted and installed on the left and right sides of the sucker grasping structure 3, when the main board 821 slides out of the fixed box 81, the distance between it and the segment 7 is fixed. At this time, the anti-slip pad 822 synchronously brought out by the main board 821 will fill this distance and be squeezed due to its own elasticity.

[0032] After fully extending, the main board 821 clamps the segment 7 from both sides like a pair of tweezers. At the same time, the anti-slip pad 822 between the main board 821 and the segment 7 can not only prevent the wear caused by the direct contact between the main board 821 and the segment 7, but also strengthen the anti-slip effect of the anti-slip pad 822 by using the squeezing force between the main board 821 and the segment 7, so that the main board 821 can still stably clamp the segment 7 after the segment 7 is lifted.

[0033] Thus, in addition to the traditional vacuum sucker type segment assembling machine grasping device that only relies on negative pressure adsorption to grasp the segment 7, the present utility model also provides a clamping force and frictional force for the segment 7 during the entire grasping and transferring process through the design of the limit mechanism 8, further improving the stability of the grasping of the segment 7.

[0034] Embodiment 2: The difference between this Embodiment 2 and Embodiment 1 lies in that the specific composition and structure of the limit plate 82 are different.

[0035] As Figure 7 shown, compared with the limit plate 82 in Embodiment 1 which is composed of a main board 821 and an anti-slip pad 822 with regular rectangular cross-sections, the cross-sections of the main board 821 and the airbag pad 823 in this Embodiment 2 are both tapered with a larger upper part and a smaller lower part.

[0036] As mentioned above, the fixed box 81 is installed on the left and right sides of the sucker grasping structure 3 in a fitting manner, and the fixed box 81 can also restrict the extending direction of the main board 821, thus ensuring that the distance between the main board 821 and the segment 7 is fixed. On this premise, the present utility model further improves the structure of the main board 821, so that when the thinnest end of the main board 821 first extends outwards, it will not immediately contact the outer surface of the segment 7. This effectively reduces the resistance received during the extension process of the main board 821, and also avoids the excessive friction of the airbag pad 823, prolonging the service life of the airbag pad 823.

[0037] As the main board 821 continues to extend outward under the drive of the lead screw 9, since the thicknesses of the subsequent extended main board 821 and the airbag pad 823 are continuously increasing, the airbag pad 823 will continuously approach the surface of the segment 7 until the airbag pad 823 contacts and squeezes the segment 7. After the thicker end of the airbag pad 823 is squeezed, the gas inside it will move towards the thinner end of the airbag pad 823 and cause it to expand. Subsequently, the thinner end of the airbag pad 823 that was originally not in contact with the segment 7 will also expand and approach and squeeze the segment 7 under the blocking and restraint of the main board 821.

[0038] Finally, when the main board 821 is fully extended, the airbag pad 823 will cause the gas to disperse and fill in the airbag pad 823 due to the extrusion between the main board 821 and the segment 7, enabling the airbag pad 823 to fully contact the segment 7, providing frictional force while transmitting the clamping force between the segment 7 and the main board 821, achieving the purpose of strengthening the grasping effect on the segment 7.

[0039] At the same time, this improvement to the structure of the pair of limit plates 82 can avoid unnecessary friction and wear of the airbag pad 823 during the extension of the main board 821 while strengthening the stability of the segment 7 being grasped, extending its service life.

[0040] Working principle: A plurality of limit mechanisms 8 are symmetrically added around the suction cup grasping structure 3. Under the action of the threaded meshing drive of the lead screw 9, the main board 821 in the limit mechanism 8 can extend outward until it reaches the outer surface of the segment 7. Thus, the clamping force between the symmetric main boards 821 and the frictional force generated by this clamping force are used to further stably clamp and fix the segment 7, ensuring the stability and safety of segment grasping during tunnel construction.

[0041] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. A segment assembling and grasping device for a shield machine, comprising a sucker frame (1) and lifting arms (2) extending outwardly on both sides of the sucker frame (1). A sucker grasping structure (3) for grasping a segment (7) by negative pressure adsorption is rotatably installed below the sucker frame (1). A vacuum pump is provided on the sucker grasping structure (3) to provide negative pressure for the sucker grasping structure (3). It is characterized in that: A plurality of limiting mechanisms (8) are symmetrically and fittingly installed on the front and rear and / or left and right side faces of the sucker grasping structure (3); The limiting mechanism (8) includes a fixed box (81), a limiting plate (82) slidably installed in the fixed box (81), a driving motor (10) for driving the sliding of the limiting plate (82), and a lead screw (9); The lead screw (9) is inserted into the upper end of the limiting plate (82) and is in threaded engagement with the limiting plate (82).

2. The gripping device of the segment erector of a shield machine according to claim 1, characterized in that: The limiting plate (82) is composed of a main board (821) and an anti-slip pad (822) covering the surface of the main board (821).

3. The gripping device of the segment erector of a shield machine according to claim 2, wherein: The cross-sectional shapes of the main board (821) and the anti-slip pad (822) are both regular rectangles.

4. The gripping device of the segment erector of a shield machine according to claim 1, wherein: The limiting plate (82) is composed of a main board (821) and an airbag pad (823) covering the surface of the main board (821).

5. A gripping device for a segment erector of a shield machine according to claim 4, characterized in that: The cross-sectional shapes of the main board (821) and the airbag pad (823) are both conical structures with a larger upper part and a smaller lower part.

6. The gripping device of the segment erector of a shield machine according to claim 1, characterized in that: A detachable shear pin (5) and an auxiliary sucker (6) are provided at the bottom of the sucker grasping structure (3). Grooves adapted to the detachable shear pin (5) and the auxiliary sucker (6) are provided on the end face of the segment (7).

7. The gripping device of the segment erector of a shield machine according to claim 1, characterized in that: A sealing gasket (4) is fixedly connected to the bottom of the sucker grasping structure (3). A plurality of through holes for the suckers to pass through are provided on the sealing gasket (4).

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