Segment assembling equipment and tunneling system

Abstract

The utility model belongs to the technical field of special devices for placing lining components of tunnels or footrills, and particularly provides duct piece assembling equipment and a tunneling system. The duct piece assembling equipment comprises a movable rack, a duct piece conveying mechanism, a duct piece assembling mechanism and a front supporting mechanism are arranged on the rack, the duct piece assembling mechanism comprises an assembling mechanical arm capable of swinging, the rack is provided with a supporting arm, and the front supporting mechanism comprises a supporting frame arranged on the supporting arm and a duct piece supporting structure located at the top end of the supporting frame. The assembling mechanical arm is located between the supporting frame and the segment conveying mechanism and located outside the swing range of the fixed-length end of the assembling mechanical arm. The tunneling system comprises the duct piece assembling equipment. During use, the segment supporting structure and the front end of the segment conveying mechanism can jointly support a segment, the assembling mechanical arm can grab and assemble the segment, in the segment assembling process, the assembling mechanical arm does not need to stretch forwards, a telescopic oil cylinder does not need to be arranged naturally, and reliability is higher.

Description

Technical Field

[0001] The utility model belongs to the technical field of special devices for placing lining components of tunnels or adits, and particularly relates to a segment assembling device and a tunneling system. Background Art

[0002] Tunnel collapse, especially the accident of closed-door collapse, is one of the main risks during tunnel construction. After the accident occurs, it is necessary to quickly complete the rescue of trapped personnel. During the rescue, it is necessary to excavate the collapsed soil mass to form a rescue passage. Currently, there are two common methods for excavating the rescue passage. One is the small pilot tunnel method, and the other is the pipe jacking tunneling method. The small pilot tunnel method is to manually excavate a small pilot tunnel with a triangular or trapezoidal cross-section in the loose collapsed body and use wooden boards for temporary support. This method has the problem of insufficient support stability. The pipe jacking tunneling method is to use a full-face pipe jacking machine to excavate the collapsed soil mass, and a rescue passage supported by segments can be directly formed after excavation. This method has a slow tunneling speed and low efficiency, and it is difficult to achieve rapid rescue.

[0003] The Chinese patent document with the application publication number CN114033477A discloses a safety rescue method, in which a self-advancing safety rescue (tunneling) device is used. The device includes a jacking reaction frame, a jacking head, a jacking track, etc. The jacking head includes a circular tube-shaped machine shell (shield shell), a circular ring-shaped sliding seat (jacking ring), four hydraulic jacks (thrust cylinders), a hydraulic pump station, etc. The front end of the circular tube-shaped machine shell is an inclined cut pipe orifice. The two ends of the hydraulic jack are respectively connected between the circular tube-shaped machine shell and the circular ring-shaped sliding seat, and the hydraulic pump station provides hydraulic power for the telescopic movement of the hydraulic jack. When the device starts, the jacking reaction frame provides a reaction support for the forward propulsion of the circular tube-shaped machine shell. Under the action of the hydraulic jack, the circular tube-shaped machine shell can be propelled forward and inserted into the front soil mass, and the rescue personnel carry out excavation operations inside the circular tube-shaped machine shell. As the excavation progresses, for each excavation stroke, a ring of support segments needs to be assembled at the rear to form a rescue passage. However, how the segments are transported and assembled is not disclosed in the above patent document.

[0004] Regarding the problem of how to transport and assemble segments, for a general shield machine, a segment erector can be installed at the tail of the shield shell, and a segment transport crane can be configured in the rear support system. The segments transported into the tunnel from the rear can be lifted forward by the segment transport crane, and the segment erector can grab and assemble the segments. In actual collapse rescue tasks, quickly forming a rescue passage is the primary consideration. In order to improve the construction efficiency of the rescue passage, the cross-sectional area of the rescue passage does not need to be too large (it can be excavated and formed more quickly) and can meet the passage of personnel (walking upright or bending down). In fact, the diameter of the rescue tunneling equipment is much smaller than that of a general shield machine, and there is not enough space inside it to install a segment erector and a segment transport crane.

[0005] After retrieval and analysis, in the field of small-diameter shield machines, the patent document with the authorization announcement number CN209557004U discloses a shield machine for small-diameter tunnels. The shield machine includes a segment erector and a segment transporter. The segment erector includes an erection arm (robotic arm) and a rotary drive device for driving the erection arm to rotate. A telescopic oil cylinder is installed on the segment transporter, and the rotary drive device is installed on the movable end of the telescopic oil cylinder. The segment transporter is also provided with conveying rollers (conveying device). Based on the accompanying drawings of its specification, it can be determined that the conveying rollers are arranged in the front-back direction, and the length of the arrangement of the conveying rollers satisfies the condition of placing four segments simultaneously. The foremost segment is in a position where it can be grasped by the erection arm. After the erection arm grasps the segment, the telescopic oil cylinder needs to push the erection arm to extend to the front side of the conveying rollers, otherwise there will be interference between the erection arm and the conveying rollers during the rotation of the erection arm. The rotary drive device drives the erection arm to rotate to the erection position to complete the erection of one segment. After one segment is erected, the segments on the conveying rollers can move along the conveying rollers to a position where the foremost segment can be grasped by the erection arm, and so on, to complete the erection of a ring of segments.

[0006] The above patent discloses a segment erection device that integrates segment transportation and segment erection. This segment erection device can be applied to the transportation and erection of segments in rescue channels. However, when erecting segments, the erection arm needs to extend forward to the front side of the conveying rollers. At this time, the movable end (usually the piston rod) of the telescopic oil cylinder forms a cantilever beam structure, and the weights of the erection arm, the rotary drive device, and the segments will all act on the movable end of the telescopic oil cylinder. The telescopic oil cylinder is subjected to a large load, and the piston rod and the sealing structure are easily damaged after long-term use, resulting in insufficient reliability in use. Summary of the Invention

[0007] The purpose of the present invention is to provide a segment erection device to solve the technical problem of insufficient reliability in use caused by the need for the erection arm to extend forward when the existing segment erection device erects segments. The purpose of the present invention is also to provide a tunneling system to solve the same technical problem.

[0008] To achieve the above purpose, the technical solution of the segment erection device provided by the present invention is:

[0009] A segment assembling device includes a movable frame. The frame is provided with a segment conveying mechanism, a segment assembling mechanism, and a front support mechanism. The segment assembling mechanism includes a swingable assembling robotic arm. The frame includes a support arm that extends forward and overhangs to the front side of the segment conveying mechanism. The front support mechanism includes a support frame disposed on the support arm and a segment support structure located at the top of the support frame. The distance between the segment support structure and the front end of the segment conveying mechanism is not greater than the segment ring width. The assembling robotic arm is located between the support frame and the segment conveying mechanism. The assembling robotic arm has a fixed-length end and an assembling end that can move relative to the fixed-length end to grasp and assemble segments. The distance from the support arm to the swing center of the assembling robotic arm is greater than the distance from the fixed-length end to the swing center of the assembling robotic arm, and the support frame and the assembling robotic arm do not interfere with each other.

[0010] As a further improvement, the support arm is located below the swing center of the assembling robotic arm.

[0011] As a further improvement, the support arm is located obliquely below the swing center of the assembling robotic arm.

[0012] As a further improvement, a horizontally extending cross arm is connected to the front end of the support arm, and at least part of the support frame is connected to the support arm through the cross arm.

[0013] As a further improvement, a limiting member is further provided on the front support mechanism. The limiting member has a stop surface for cooperating with the stop of the segment.

[0014] As a further improvement, the limiting member is disposed at the top of the support frame.

[0015] As a further improvement, the segment assembling device further includes a limiting rod, which is used to connect with the limiting hole in the assembled segments to limit the position of the frame.

[0016] As a further improvement, the support arm is a hollow tubular structure, and its interior has a wire threading space for the wires required by the segment assembling mechanism to pass through.

[0017] As a further improvement, a hydraulic pump station is provided on the frame. The assembling robotic arm includes a driving oil cylinder, and the hydraulic pump station is connected to the driving oil cylinder through a hydraulic oil pipe.

[0018] As a further improvement, the power supply line connected to the driving motor configured in the hydraulic pump station has a connection joint, and the connection joint is used to connect with the power distribution equipment configured in the tunneling system.

[0019] As a further improvement, the support arm is a hollow tubular structure, and its interior has a wire threading space for the power supply line to pass through.

[0020] As a further improvement, a manual controller is provided on the support frame. The manual controller is communicatively connected to the segment assembling mechanism to control the movement of the assembling robotic arm.

[0021] As a further improvement, the segment conveying mechanism includes two rows of conveying rolling elements arranged at intervals left and right, and the conveying rolling elements in each row of conveying rolling elements are arranged in sequence front and back.

[0022] As a further improvement, two supporting rolling elements are arranged at intervals left and right on the support frame, and the heights of the two supporting rolling elements are the same as the height of the conveying rolling elements. The segment supporting structure is formed by the two supporting rolling elements.

[0023] As a further improvement, a detachable conversion joint is provided at the assembling end of the assembling robotic arm. The conversion joint has an external thread section, and the external thread section is used to connect with the threaded hole of the segment to be grasped.

[0024] The beneficial effects are as follows: The present utility model belongs to an invention creation with element changes. Specifically, during implementation, the segment to be assembled can still be placed on the segment conveying mechanism and moved to the assembling position along with the frame. The assembling robotic arm in the segment assembling mechanism can swing, and its assembling end can grasp and assemble the segment. Different from the prior art, the assembling robotic arm in the present utility model does not need to extend forward to avoid the segment conveying mechanism. Specifically, a front support mechanism is provided on the frame. The support structure at the top end of the support frame on the front support mechanism can cooperate with the front end of the segment conveying mechanism to jointly support the segment. The assembling robotic arm is located between the support frame and the segment conveying mechanism. Then, the segment moved to the front end of the segment conveying mechanism can continue to move forward. The front part of the segment moved to is supported by the support structure, and the rear part is supported by the segment conveying mechanism. At this time, the assembling robotic arm can grasp the segment. Since the distance from the support arm supporting the support frame to the swing center of the assembler is greater than the distance from the end of the fixed-length end to the swing center of the assembling robotic arm, this ensures that the support arm will not affect the swing of the assembling robotic arm. When assembling segments at different positions, the assembling robotic arm switches to swing clockwise or counterclockwise. During this process, the support frame will not interfere with the action of the assembling robotic arm and the movement of the segment, and thus the segment assembling can be successfully completed. Through analysis, it can be seen that the segment assembling equipment in the present utility model does not need to use a telescopic oil cylinder to push the assembling robotic arm to extend, and there is no cantilever beam structure that can move back and forth during the segment assembling process. Although the front support mechanism is also a cantilever, it can be fixed on the frame, and it bears only a part of the weight of the segment. In summary, the present utility model has higher reliability while achieving the same functions.

[0025] To achieve the above object, the technical solution of the tunneling system provided by the present utility model is:

[0026] A tunneling system is configured with a segment assembling device. The segment assembling device includes a movable frame. A segment conveying mechanism, a segment assembling mechanism, and a front support mechanism are provided on the frame. The segment assembling mechanism includes a swingable assembling robotic arm. The frame includes a support arm that extends forward and overhangs the front side of the segment conveying mechanism. The front support mechanism includes a support frame provided on the support arm and a segment support structure located at the top of the support frame. The distance between the segment support structure and the front end of the segment conveying mechanism is not greater than the segment ring width. The assembling robotic arm is located between the support frame and the segment conveying mechanism. The assembling robotic arm has a fixed-length end and an assembling end that can move relative to the fixed-length end to grasp and assemble segments. The distance from the support arm to the swing center of the assembling robotic arm is greater than the distance from the end of the fixed-length end to the swing center of the assembling robotic arm, and the support frame and the assembling robotic arm do not interfere with each other.

[0027] As a further improvement, the support arm is located below the swing center of the assembling robotic arm.

[0028] As a further improvement, the support arm is located obliquely below the swing center of the assembling robotic arm.

[0029] As a further improvement, a horizontally extending cross arm is connected to the front end of the support arm, and at least part of the support frame is connected to the support arm through the cross arm.

[0030] As a further improvement, a limiting member is also provided on the front support mechanism. The limiting member has a stop surface for cooperating with the stop of the segment.

[0031] As a further improvement, the limiting member is provided at the top of the support frame.

[0032] As a further improvement, the segment assembling device further includes a limiting rod, which is used to connect with the limiting hole in the assembled segment to limit the position of the frame.

[0033] As a further improvement, the support arm is a hollow tubular structure, and its interior has a wire passing space for the wires required by the segment assembling mechanism to pass through.

[0034] As a further improvement, a hydraulic pump station is provided on the frame. The assembling robotic arm includes a driving oil cylinder, and the hydraulic pump station is connected to the driving oil cylinder through a hydraulic oil pipe.

[0035] As a further improvement, the power supply line connected to the driving motor configured by the hydraulic pump station has a connection joint, and the connection joint is used to connect with the power distribution equipment configured by the tunneling system.

[0036] As a further improvement, the support arm is a hollow tubular structure, and its interior has a wire passing space for the power supply line to pass through.

[0037] As a further improvement, a manual controller is provided on the support frame. The manual controller is communicatively connected to the segment assembling mechanism to control the movement of the assembling robotic arm.

[0038] As a further improvement, the segment conveying mechanism includes two rows of conveying rollers arranged at intervals left and right, and the conveying rollers in each row are arranged in sequence front and back.

[0039] As a further improvement, two support rollers are provided on the support frame at intervals left and right, and the heights of the two support rollers are the same as those of the conveying rollers. The segment support structure is formed by the two support rollers.

[0040] As a further improvement, a detachable adapter is provided at the assembling end of the assembling robotic arm. The adapter has an external thread section for connecting to the threaded hole of the segment to be grasped.

[0041] The beneficial effects are as follows: The present utility model belongs to an invention creation with element changes. Specifically, during implementation, the segment to be assembled can still be placed on the segment conveying mechanism and moved to the assembling position along with the frame. The assembling robotic arm in the segment assembling mechanism can swing, and its assembling end can grasp and assemble the segment. Different from the prior art, the assembling robotic arm in the present utility model does not need to extend forward to avoid the segment conveying mechanism. Specifically, a front support mechanism is provided on the frame. The support structure at the top of the support frame on the front support mechanism can cooperate with the front end of the segment conveying mechanism to jointly support the segment. The assembling robotic arm is located between the support frame and the segment conveying mechanism. Then, the segment moved to the front end of the segment conveying mechanism can continue to move forward. The front part of the segment moved to the front side is supported by the support structure, and the rear part is supported by the segment conveying mechanism. At this time, the assembling robotic arm can grasp the segment. Since the distance from the support arm supporting the support frame to the swing center of the segment assembler is greater than the distance from the end of the fixed-length end to the swing center of the assembling robotic arm, this ensures that the support arm will not affect the swing of the assembling robotic arm. When assembling segments at different positions, the assembling robotic arm switches to swing clockwise or counterclockwise. During this process, the support frame will not interfere with the movement of the assembling robotic arm and the segment, and thus the segment assembling can be successfully completed. Through analysis, it can be seen that the segment assembling equipment in the present utility model does not need to use a telescopic oil cylinder to push the assembling robotic arm to extend, and there is no cantilever beam structure that can move back and forth during the segment assembling process. Although the front support mechanism is also a cantilever, it can be fixed on the frame and bears only part of the weight of the segment. In summary, the present utility model has higher reliability while achieving the same functions. Description of the Drawings

[0042] Figure 1 It is a schematic diagram of the state when the embodiment of the segment assembling equipment in the present utility model is applied to the tunneling system;

[0043] Figure 2 This is the front view of the segment assembling device embodiment in the present utility model;

[0044] Figure 3 This is the perspective view of the segment assembling device embodiment in the present utility model;

[0045] Figure 4 This is the axial view of the segment assembling device embodiment in the present utility model during use;

[0046] Figure 5 is Figure 3 the schematic diagram of the use state of the conversion joint in

[0047] Figure 6 is Figure 2 the schematic diagram of the state when the telescopic rod in directly inserts into the segment;

[0048] Figure 7 This is the schematic diagram of the assembling process of the segment assembling device embodiment in the present utility model when assembling the bottom segment;

[0049] Figure 8 This is the schematic diagram of the assembling process of the segment assembling device embodiment in the present utility model when assembling the first side segment;

[0050] Figure 9 This is the schematic diagram of the assembling process of the segment assembling device embodiment in the present utility model when assembling the second side segment;

[0051] Figure 10 This is the schematic diagram of the assembling process of the segment assembling device embodiment in the present utility model when assembling the top segment.

[0052] Explanation of reference numerals:

[0053] 1, shield shell; 2, propulsion oil cylinder; 3, top ring; 4, segment assembling device; 5, muck truck; 6, formed ring segment; 7, rear wall; 100, simulation circle; 401, conveying roller; 402, segment; 403, driving oil cylinder; 404, telescopic rod; 405, limiting member; 406, valve group; 407, electric control box; 408, rotary driving device; 409, driving motor; 410, limiting rod; 411, driving mounting seat; 412, handrail; 413, walking wheel; 414, support arm; 415, external thread section; 416, pin; 417, connecting joint; 418, power supply line; 419, support roller; 420, manual controller; 421, conversion joint; 422, support frame; 423, hydraulic pump station. Detailed implementation manners

[0054] For small-scale underground tunnel construction projects, due to insufficient space, it is difficult to set up complex segment erection equipment and segment conveying equipment for hoisting segments. In the prior art, there has emerged a segment erection equipment that integrates segment conveying and segment erection. This segment erection equipment is equipped with walking wheels and can walk along the segments that have been erected into a ring. At the same time, the segment erection equipment is also provided with conveying rollers for conveying segments and a segment erection mechanism for erecting segments. The conveying rollers not only have the function of conveying segments but also the function of bearing segments, and can bear four segments that meet the requirements for forming a ring at one time. The segment erection mechanism includes an erection robotic arm, a rotary drive device for driving the erection robotic arm to swing, and a telescopic oil cylinder for pushing and pulling the rotary robotic arm to move back and forth. When the segment is at the front end position of the segment conveying mechanism, the erection robotic arm can grab the segment. Analyzing the principle of its erection action, it can be seen that when the erection robotic arm swings, it cannot interfere with the segment conveying mechanism. Therefore, when erecting segments, the telescopic oil cylinder needs to extend forward to position the erection robotic arm beyond the front end of the segment conveying mechanism. However, at this time, there is a relatively long cantilever beam structure extending forward, and the weight of the segment erection mechanism and the segments all act on the cantilever beam structure, causing the cantilever beam structure to be subjected to a large load and prone to failure after long-term use, with insufficient reliability.

[0055] In order to provide a segment erection equipment with high reliability, the basic technical concept of the present utility model is to directly set the erection robotic arm in front of the segment conveying mechanism, so as to avoid interference between the swinging of the erection robotic arm and the segment conveying mechanism. At the same time, in order to enable the segment to still be stably supported when being grabbed, the segment erection equipment also adds a front support mechanism. The front support mechanism is located in front of the erection robotic arm. In other words, the erection robotic arm is located between the front support mechanism and the segment conveying mechanism. When segment erection is required, the front end of the segment can move to the front support mechanism and be supported by the front support mechanism, while the rear end of the segment is still supported by the segment conveying mechanism. In order to avoid interference between the swinging of the erection robotic arm and the front support mechanism, the support arm configured for installing the front support mechanism is located outside the swinging range of the fixed part of the erection robotic arm. Therefore, the segment erection equipment in the present utility model can still realize the conveying and erection of segments, has the advantages of miniaturization and intensification, and is suitable for use in narrow spaces. Compared with the prior art, the segment erection equipment in the present utility model does not have the cantilever beam structure formed by the telescopic oil cylinder that needs to move back and forth, and has higher reliability.

[0056] The following further describes the present utility model in detail in conjunction with embodiments and drawings.

[0057] Specific embodiments of the segment erection equipment provided by the present utility model:

[0058] The segment erection equipment provided by this embodiment can be used in a tunnel rescue passage tunneling system, such as Figure 1As shown, the segment assembling device 4 can carry two segments 402 and move integrally back and forth along the formed ring segment 6 that has been assembled. Specifically, as Figure 2 and Figure 3 shown, the segment assembling device 4 includes a frame, and the frame can be used as the installation foundation for other mechanisms or devices. The frame is configured with a traveling mechanism and can move back and forth along the bottom of the formed ring segment 6. Preferably, the traveling mechanism is composed of paired traveling wheels 413. Of course, the traveling mechanism can also be a crawler-type traveling mechanism.

[0059] A segment conveying mechanism is also provided on the frame. The segment conveying mechanism can carry the segment 402 and can convey the segment 402 forward. The conveying mechanism has a set length in the front-back direction. According to actual needs, the conveying mechanism can carry one or more than two segments 402 at a time. Figure 2 An example of carrying two segments 402 is given in Figure 3 shown. Specifically, as Figure 3 shown, the segment conveying mechanism includes two rows of conveying rolling elements. The two rows of conveying rolling elements are arranged at a left-right interval. Each row of rolling elements is formed by a plurality of rolling elements, and the rolling elements are arranged in sequence front and back. After the segment 402 is placed on the two rows of conveying rolling elements, the staff can push the segment 402 to move along the conveying rolling elements, so as to realize the conveying of the segment 402. Preferably, the conveying rolling elements are cylindrical rolling elements, such as conveying rollers 401. In this way, the conveying rolling elements have a relatively large supporting surface for supporting the segment 402, improving the stability of the segment 402 during movement and preventing the segment 402 from falling off the conveying rolling elements. When arranging the conveying rollers 401, the two rows of conveying rollers 401 can be arranged in a "V" type layout, so that it can fit the arc-shaped segment 402 better. In other embodiments, the conveying rolling elements can also be spherical rolling elements. At this time, the rolling elements should still have a definite rolling axis. Of course, the segment conveying mechanism is not limited to this kind of conveying mechanism with a rolling element structure. For example, the segment conveying mechanism can also be an annular conveying mechanism, such as an annular conveyor belt. After the segment 402 is placed on the conveyor belt, the conveyor belt can convey the segment 402 forward.

[0060] A segment 402 assembling mechanism is also provided on the frame. The segment 402 assembling mechanism includes an assembling robotic arm. The function of the assembling robotic arm is to grasp and assemble the segment 402. In order to achieve this function, the assembling robotic arm should have degrees of freedom of swinging and radial movement. Regarding the radial movement, for the assembling robotic arm, it should have a fixed-length end (the length remains unchanged) and a movable end that moves relative to the fixed-length end, that is, the movable end is used to grasp and assemble the segment 402. In other words, the movable end is equivalent to the assembling end. As Figure 2 and Figure 3As shown in the figure, the assembling robotic arm includes a telescopic rod 404 and a driving oil cylinder 403 for driving the radial expansion and contraction of the telescopic rod 404. The assembling end is actually one end of the telescopic rod 404. Compared with the implementation method of directly using an oil cylinder or an electric push rod to grasp and assemble the segment 402, the eccentric load generated during the assembling process of the segment 402 is mainly borne by the telescopic rod 404, which can improve the force-bearing of the oil cylinder or the electric push rod. The assembling robotic arm is installed on a swingable rotating seat, and the rotating seat is configured with a rotating driving device 408 for driving its swing. Specifically, the rotating driving device 408 can be a motor or a hydraulic motor. The rotating driving device 408 is installed on the frame through a driving mounting seat 411. In order to facilitate the layout of the lines, the driving mounting seat 411 can be selected as a mounting seat with a hollow structure, and the power line or the hydraulic pipeline can pass through the driving mounting seat 411 to be connected to the rotating driving device 408. The power line or the hydraulic pipeline passes through the mounting seat, and the mounting seat also has the function of protecting the power line or the hydraulic pipeline. Of course, the rotating driving device 408 can also be a hollow structure. For example, the rotating driving device 408 can include a hydraulic motor (or a motor) and a slewing bearing driven by the hydraulic motor, and the inside of the slewing bearing can be used for the lines to pass through.

[0061] As Figure 2 and Figure 3 shown in the figure, a front support mechanism is also provided on the frame. The front support mechanism includes a support frame 422. The top end of the support frame 422 has a segment support structure, and the entire support frame 422 is located in front of the assembling robotic arm. Specifically, a support arm 414 that extends forward to the front side of the segment conveying mechanism is provided on the frame, and the support frame 422 is arranged on the support arm 414. The segment support structure is used to jointly support a segment 402 with the front end of the segment conveying mechanism. In other words, the distance between the segment support structure and the front end of the segment conveying mechanism is less than the ring width of the segment 402. When the segment 402 moves forward along the segment conveying mechanism, the front end of the segment 402 can move to the position of the segment support structure. The front part of the segment 402 is supported by the segment support structure, and the rear part is supported by the segment conveying mechanism. The assembling robotic arm located between the support frame 422 and the segment conveying mechanism can grasp the segment 402 and swing and assemble the segment 402 under the action of the rotating driving device 408.

[0062] In order to realize the normal grasping and assembling of the segment 402, the support arm 414 should be located outside the swing range of the fixed-length end of the assembling robotic arm. Otherwise, the support arm 414 will block the swing of the assembling robotic arm. As Figure 4 and Figures 7 - 10As shown, the swing range of the fixed-length end of the assembled robotic arm is as shown by the simulated circle 100 in the figure. The support arm 414 should be located outside the simulated circle 100. In this way, the assembled robotic arm can swing freely clockwise and counterclockwise, thereby driving the segment 402 to the assembly position. Among them, the radius of the simulated circle 100 is the distance from the end of the fixed-length end of the assembled robotic arm to the swing center of the assembled robotic arm. Then, the distance from the support arm 414 to the swing center of the assembled robotic arm should be greater than the distance from the end of the fixed-length end to the swing center of the assembled robotic arm. Similarly, in order to ensure the normal swing of the assembled robotic arm, the support frame 422 should not interfere with the assembled robotic arm either. Of course, if the segments can be assembled normally, the support arm 414 and the support frame 422 should not interfere with the normal movement of the segment 402 either. In other words, a segment avoidance space for avoiding the segment 402 is provided on the circumferential sides of the support frame and the support arm.

[0063] The assembly process of assembling the segment 402 in this embodiment is as follows Figures 7 - 10 As shown, taking the assembly of four segments 402 into a ring as an example. When assembling the bottom segment 402, after the assembled robotic arm grabs the segment 402, it can swing counterclockwise by 180 degrees, push the bottom segment 402 to the bottom position and complete the assembly. When assembling the first side segment 402, after the assembled robotic arm grabs the segment 402, it can swing counterclockwise by 90 degrees, push the first side segment 402 to the side position and complete the assembly. When assembling the second side segment 402, after the assembled robotic arm grabs the segment 402, it can swing clockwise by 90 degrees, push the second side segment 402 to the side position and complete the assembly. When assembling the top segment 402, after the assembled robotic arm grabs the segment 402, it can directly push the top segment 402 to the top position and complete the assembly.

[0064] It can be analyzed that the segment assembling device 4 in this embodiment can also realize the transportation and assembly of the segment 402 in a narrow space. Compared with the prior art, the assembled robotic arm in this embodiment is entirely located in front of the segment transportation mechanism, and there is no need to set a telescopic oil cylinder for avoiding the segment transportation mechanism, which has higher reliability.

[0065] More specifically, the support arm 414 is located below the swing center of the assembled robotic arm. As Figure 4As shown, in order to facilitate the assembly of the segment 402, in fact, the swing center of the assembly robotic arm can be coaxial with the center of the formed ring segment 6. Moreover, space needs to be reserved at the top of the segment assembly device 4 for the segment conveying mechanism to transport the segment 402. That is to say, the space below the swing center of the assembly robotic arm is relatively sufficient. At this time, while ensuring that the overall width of the segment assembly device 4 is small, the installation of the support arm 414 can be achieved. Of course, in other embodiments, according to actual requirements, on the premise of meeting the passability of the segment assembly device 4, the width of the segment assembly device 4 can be appropriately widened, and the support arm 414 can be installed above the swing center of the assembly robotic arm. For the sake of easy understanding, taking Figure 7 as an example, when the segment assembly device 4 is widened, there is also space above the swing center of the assembly robotic arm to install the support arm 414.

[0066] Furthermore, the support arm 414 is located obliquely below the swing center of the assembly robotic arm. As Figures 7 - 10 shown, for this assembly form where four segments 402 form a ring, during assembly, the assembly robotic arms are respectively located directly above, directly below, directly to the left, and directly to the right of its swing center. Setting the support arm 414 obliquely below the assembly robotic arm can avoid interference between the extended part of the assembly robotic arm and the support arm 414 when assembling the bottom segment 402. However, in other embodiments, for the case where three segments 402 can form a ring, and the three segments 402 are respectively located at the top and on the left and right sides, at this time, there is no position directly below the swing center of the assembly robotic arm during assembly. At this time, the support arm 414 can also be set directly below the swing center of the assembly robotic arm.

[0067] Specifically, as an embodiment where the support arm 414 is located obliquely below the swing center of the assembly robotic arm, as Figure 3 shown, a cross arm is also connected to the front end of the support arm 414. The projections of the support arm 414 and the cross arm on the horizontal plane are in an L shape. Specifically, the two can be welded or bolted. A part of the support frame 422 is connected to the support arm 414 through the cross arm. By setting the cross arm, the connection stability of the support frame 422 is improved in this embodiment. On the basis of having the cross arm, the support frame 422 can also be integrally installed on the cross arm. In other embodiments, if the cross arm is not provided, the support frame 422 can also be directly connected to the end of the support arm 414.

[0068] When the segment conveying mechanism is configured to convey rolling elements, the segment support structure on the support frame 422 can be formed by supporting the rolling elements, as Figure 2 and Figure 3The supporting rollers 419 therein. There are also two supporting rollers 419, and the two supporting rollers 419 are arranged at intervals, one on the left and the other on the right. The height of the supporting rollers 419 should be the same as that of the conveying rollers 401, so that the segment 402 can move along the conveying rollers 401 onto the supporting rollers 419, realizing a smooth transition and facilitating the conveyance of the segment 402. Of course, in other embodiments, the segment supporting structure can be other structures, such as a slider structure. When the front end of the segment 402 moves to the slider, the slider can move relative to the support frame 422, thereby driving the segment 402 to move. After the segment 402 is grasped and assembled, the staff manually pushes the slider to reset.

[0069] As Figure 2 and Figure 3 shown, a limiting member 405 is further provided on the front support mechanism. The limiting member 405 has a stop surface for cooperating with the segment 402 in a stop manner. Specifically, the stop surface can cooperate with the front end of the segment 402 in a stop manner. When the front end of the segment 402 touches the stop surface, it indicates that the segment 402 is in place. At this time, the assembling robotic arm can start to grasp the segment 402. On the one hand, this can prevent the segment 402 from moving excessively and accidentally slipping off the support frame 422. On the other hand, it can also play a positioning role, facilitating the assembling robotic arm to grasp the segment 402.

[0070] Specifically, the limiting member 405 is installed at the top of the support frame 422, which is convenient for installing the limiting member 405. Of course, in other embodiments, the limiting member 405 can also be provided on the support arm 414. At this time, a longer column is required to support the limiting member 405. More specifically, the limiting member 405 is preferably a plate-like structure, which can provide a larger stop surface. Of course, in other embodiments, the limiting member 405 can also be a frame structure.

[0071] In addition, the segment assembling device 4 further includes a limiting rod 410. The limiting rod 410 is used to connect with the limiting hole in the assembled segment 402 and limit the position of the frame. The limiting rod can be a hollow tubular structure or a solid columnar structure. Taking Figure 2 as an example, after the segment assembling device 4 is in place, the limiting rod 410 can be connected to the limiting hole in the bottom segment 402 or the side segment 402. On the one hand, it plays a role in limiting the position of the segment assembling device 4, preventing the segment assembling device 4 from moving around randomly (rolling back). On the other hand, it can also play a positioning role. When the segment assembling device 4 moves to a position where the limiting rod can be inserted and matched with the limiting hole in the formed ring segment 6, it indicates that the segment assembling device 4 has moved in place. The specific connection method between the limiting rod and the limiting hole on the segment 402 can adopt threaded connection or direct insertion.

[0072] Regarding the problem of how to provide a power source for each power component in the segment assembling device 4, the following provides two specific embodiments. One is as Figure 2As shown, an independent hydraulic pump station 423 can be set on the rack, and the hydraulic pump station 423 and the driving cylinder 403 are connected through hydraulic oil pipes. Another way is to connect to the hydraulic pump station in the tunneling system, and in this case, quick-connect joints can be set on the driving cylinder.

[0073] The power supply line 418 connected to the driving motor 409 in the hydraulic pump station 423 has a connection joint 417. As Figure 2 shown, after the segment assembling device 4 is moved into place, the connection joint 417 can be connected to the power distribution equipment configured in the tunneling system, and the power is introduced into the electric control box 407 of the hydraulic pump station 423. In this way, the segment assembling device 4 does not need to be equipped with a cable box, and the volume of the segment assembling device can be further controlled.

[0074] Furthermore, as Figure 2 shown, the support arm 414 is a hollow tubular structure, and the power supply line 418 can pass through the inside of the support arm 414. That is to say, there is a wire passing space inside the support arm 414 for the power supply line 418 to pass through. In this way, the power supply line 418 can be hidden inside the support arm 414, thus avoiding damage to the power supply line 418 when the assembling robotic arm swings.

[0075] Of course, those skilled in the art can understand that for the implementation mode of connecting to the hydraulic pump station 423 in the tunneling system, the support arm 414 can still be set as a hollow tubular structure. At this time, the lines (such as wires or oil pipes) required for the segment 402 assembling mechanism can still pass through the wire passing space inside the support arm 414.

[0076] In order to facilitate the staff to observe the assembling posture of the segment 402 during operation, in this embodiment, a manual controller 420 is further provided on the support frame 422. The manual controller 420 is communicatively connected to the segment 402 assembling mechanism. The staff operates the manual controller 420, and a control signal can be input into the control system of the segment 402 assembling mechanism to control the action of the assembling robotic arm. Taking Figure 2 as an example, on the basis of being equipped with an independent hydraulic pump station 423, the manual controller 420 can be communicatively connected to the valve group 406 of the hydraulic pump station 423, and the control signal is transmitted to the valve group 406, so as to control the actions of the driving cylinder 403 and the rotary driving device 408 (hydraulic motor). Specifically, the form of the communicative connection is the prior art, and it can be a wired connection or a wireless connection (a wireless module needs to be added). In addition, the operation form of the manual controller 420 includes but is not limited to forms such as buttons, knobs, levers, and touch screens.

[0077] A detachable conversion joint 421 is further provided at the assembling end of the assembling robotic arm (the telescopic rod 404). As Figures 2 - 5As shown, the adapter 421 has an external thread section 415, which can be connected to the threaded hole in the segment 402. This is to prevent the bottom segment 402 from falling off when assembling the bottom segment 402. Specifically, the adapter 421 can be first connected to the bottom segment 402, and then the adapter 421 is installed at the assembling end of the assembling robotic arm. Specifically, a pin hole can be set at the assembling end, and a jack for the insertion pin 416 to pass through is set on the adapter 421. The insertion pin 416 passing through the jack and the pin hole can achieve quick disassembly and assembly. Of course, other disassembly and assembly methods can also be used. For example, an external thread is set at one end of the telescopic rod 404, and a threaded hole is set at the end of the adapter 421 facing away from the external thread section 415. When screwing the adapter 421, both ends of the adapter 421 can be engaged with the segment 402 and the splicing section respectively. As Figures 6 - 10 shown, when assembling the other three segments 402, the adapter 421 can be not installed, and the assembling robotic arm (telescopic rod 404) is at most in a horizontal state. At this time, the splicing end can be directly inserted into the jack of the segment 402. Of course, in other embodiments, other structures can also be adopted at the splicing end to grasp the segment 402, such as segment 402 claws or vacuum suction cups, etc.

[0078] In addition, in order to facilitate the staff to push the rack to move, a handrail 412 is also provided on the rack.

[0079] Specific embodiments of the tunneling system in the present utility model:

[0080] Taking Figure 1 as an example, the tunneling system can be a tunneling system for a tunnel rescue passage. At this time, the tunneling system includes equipment such as a shield 1, propulsion cylinders 2, a top ring 3, a segment assembling device 4, a muck truck 5, and a rear wall 7. Hydraulic pump stations and distribution cabinets and other equipment are provided inside the shield. Among them, the segment assembling device is the segment assembling device in the embodiment of the above segment assembling device, and will not be elaborated here.

[0081] Of course, the tunneling system can also be a tunneling system based on a small shield machine. Similarly, the tunneling system includes the segment assembling device in the embodiment of the above segment assembling device, and will not be specifically described here.

[0082] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still make modifications to the technical solutions recorded in the foregoing embodiments without creative labor, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. Segment assembling equipment, characterized in that, It includes a movable rack, on which there are provided a segment conveying mechanism, a segment assembling mechanism, and a front support mechanism. The segment assembling mechanism includes a swingable assembling robotic arm. The rack includes a support arm that extends forward and overhangs the front side of the segment conveying mechanism. The front support mechanism includes a support frame provided on the support arm and a segment support structure located at the top of the support frame. The distance between the segment support structure and the front end of the segment conveying mechanism is not greater than the segment ring width. The assembling robotic arm is located between the support frame and the segment conveying mechanism. The assembling robotic arm has a fixed-length end and an assembling end that can move relative to the fixed-length end to grasp and assemble segments. The distance from the support arm to the swing center of the assembling robotic arm is greater than the distance from the fixed-length end to the swing center of the assembling robotic arm, and the support frame and the assembling robotic arm do not interfere with each other.

2. The segment assembling device according to claim 1, wherein The support arm is located below the swing center of the assembling robotic arm.

3. The segment assembling device according to claim 2, wherein The support arm is located obliquely below the swing center of the assembling robotic arm.

4. The segment assembling device according to claim 3, characterized in that A horizontally extending cross arm is connected to the front end of the support arm, and at least part of the support frame is connected to the support arm through the cross arm.

5. The segment erection equipment according to any one of claims 1-4, characterized in that The front support mechanism is also provided with a limiting member, and the limiting member has a stop surface for cooperating with the segment stop.

6. The segment assembling device according to claim 5, wherein, The limiting member is provided at the top of the support frame.

7. The segment assembling device according to any one of claims 1-4, characterized in that, The segment assembling device further includes a limiting rod, and the limiting rod is used to connect with the limiting hole in the assembled segment to limit the position of the rack.

8. The segment assembly equipment according to any one of claims 1-4, characterized in that, The support arm is a hollow tubular structure, and its interior has a wire-passing space for the wires required by the segment assembling mechanism to pass through.

9. The segment assembling device according to any one of claims 1-4, characterized in that, A hydraulic pump station is provided on the rack. The assembling robotic arm includes a driving oil cylinder, and the hydraulic pump station is connected to the driving oil cylinder through a hydraulic oil pipe.

10. The segment assembling device according to claim 9, characterized in that, The power supply line connected to the driving motor configured by the hydraulic pump station has a connection joint, and the connection joint is used to connect with the power distribution equipment configured by the tunneling system.

11. The segment assembling device according to claim 10, characterized in that, The support arm is a hollow tubular structure, and its interior has a wire-passing space for the power supply line to pass through.

12. The segment assembly device according to any one of claims 1-4, characterized in that, A manual controller is provided on the support frame, and the manual controller is communicatively connected to the segment assembling mechanism to control the movement of the assembling robotic arm.

13. The segment erection equipment according to any one of claims 1-4, characterized in that, The segment conveying mechanism includes two rows of conveying rollers arranged at intervals left and right, and the conveying rollers in each row of conveying rollers are arranged in sequence front and back.

14. The segment assembling device according to claim 13, characterized in that, Two support rollers are provided on the support frame at intervals left and right, and the heights of the two support rollers are the same as the heights of the conveying rollers. The segment support structure is formed by the two support rollers.

15. The segment assembling device according to any one of claims 1-4, characterized in that, The assembling end of the assembling robotic arm is provided with a detachable conversion joint, and the conversion joint has an external thread section, and the external thread section is used to connect with the threaded hole of the segment to be grasped.

16. A tunneling system, characterized in that, A segment assembling device is configured, and the segment assembling device is the segment assembling device according to any one of claims 1-15.

Images