Tunnel arch erecting machine

Abstract

The utility model relates to a tunnel arch erecting machine which comprises a vehicle body, a folding arm and a clamping device, a first rotary table which is horizontally placed is arranged on the vehicle body, the lower end of the folding arm is hinged to the first rotary table, the first rotary table drives the folding arm to rotate, the tunnel arch erecting machine further comprises a wrist rotating mechanism, and the wrist rotating mechanism is rotationally connected to the upper end of the folding arm through a pivot. The wrist rotating mechanism comprises a front-back pitching seat, a second rotary table, a left-right pitching seat and a sliding assembly. According to the utility model, the position of the steel arch segment can be effectively adjusted, and the accuracy of the mounting position of the steel arch is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel steel arch frame assembling machinery, in particular to a tunnel arch erecting machine. Background Art

[0002] The general process for tunnel formation involves initial shotcreting of the rock face, followed by erection of the steel arch, installation of locking anchors, installation of steel mesh, installation of system anchors, installation of anchor pads for reinforcement, and finally re-shotcreting to the designed thickness. In existing technology, multiple steel arch segments are positioned directly within the tunnel before being assembled and welded together to form a complete arch. Due to the confined space within the tunnel, the existing mechanical equipment used to erect the arch has significant operational limitations. Many steps during the assembly process require manual adjustments to the installation angles of the steel arch on different planes, which cannot fully utilize the mechanized advantages of the equipment, thus affecting the efficiency and quality of the steel arch assembly. Summary of the Invention

[0003] The purpose of the utility model is to overcome the shortcomings of the existing technology and provide a tunnel steel arch frame erecting machine that can imitate similar movements of the human wrist, elbow and shoulder joints, meet the needs of multi-dimensional adjustment of workpieces during the assembly of steel arch frames, and improve the efficiency and quality of tunnel steel arch frame assembly.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A tunnel arch machine comprises a vehicle body, a folding arm, and a clamping device. The vehicle body is provided with a horizontally placed first turntable. The lower end of the folding arm is hingedly connected to the first turntable, and the first turntable drives the folding arm to rotate. The machine also comprises a wrist rotation mechanism (for controlling the movement of arch frame segments). The wrist rotation mechanism is pivotally connected to the upper end of the folding arm and comprises front and rear pitch seats, a second turntable, left and right pitch seats, and a sliding assembly.

[0006] The front-to-back pitch seat comprises a pitch seat body and a front-to-back pitch driver connected to the folding arm and used for driving the pitch seat body to perform front-to-back pitch motion;

[0007] The second turntable is horizontally arranged on the front and rear pitching seat, and the front and rear pitching seat drives the second turntable to do front and rear pitching movement. The second turntable includes a turntable seat and a support frame driven to rotate by the turntable seat;

[0008] The left and right pitch seats are rotatably connected to the top of the support frame, and the left and right pitch seats include a frame and a left and right pitch driver connected to the support frame for driving the frame to perform left and right pitch motion;

[0009] The sliding assembly is provided on the upper end surface of the left and right pitch seat, and the sliding assembly includes a clamping panel, a guide rail, and a slide seat. The guide rail is fixed between the front and rear ends of the clamping panel, the guide rail is slidably connected to the slide seat, and the slide seat is fixedly connected to the top end surface of the support frame. The sliding assembly is also provided with a shift driver for driving the clamping panel to move forward and backward along the guide rail;

[0010] The clamping panel is slidably connected to the frame, and the clamping panel moves left and right along with the frame;

[0011] The clamping device is arranged on the upper end surface of the clamping panel.

[0012] Furthermore, the side end surface of the pitch seat body is L-shaped, and the rear end of the pitch seat body is connected to the end of the upper end of the folding arm through a pivot.

[0013] Furthermore, the front and rear pitch actuator is connected between the upper end of the folding arm and the front end of the front and rear pitch seat.

[0014] Furthermore, the support frame is a barrel-shaped structure with two opposite side walls of different heights, and its side surface is concave-shaped. The driver on the rotary base that drives the support frame to rotate is a hydraulic drive motor.

[0015] Furthermore, the front and rear ends of the frame are rotatably connected to the top of the support frame via pivots, and the left and right pitch actuators are connected to the side walls of the support frame and at least one side of the left and right ends of the frame.

[0016] Furthermore, sliders are provided between the clamping panel and the left and right ends of the frame.

[0017] Furthermore, the shift driver is a hydraulic cylinder, one end of the shift driver is connected to the front end of the clamping panel, and the other end of the shift driver is connected to the slide seat through a universal ball joint.

[0018] Furthermore, the clamping device is at least one clamp arranged on the upper end surface of the clamping panel, and the clamp includes a fixed clamping block and a movable clamping block arranged at intervals. The movable clamping block is driven to rotate by the clamping driver to clamp or release the arch frame segment.

[0019] Furthermore, the front and rear pitch actuators, left and right pitch actuators and clamping actuators are all hydraulic cylinders.

[0020] Furthermore, the folding arm includes a lower arm and an upper arm, the lower end of the lower arm is hinged on the first turntable, the first turntable is connected to a lower arm driver for driving the lower arm to rotate, the upper end of the lower arm is hinged to the lower end of the upper arm, and the side wall of the lower arm is connected to an upper arm driver for driving the upper arm to rotate.

[0021] The present invention adopts the above technical solution, and has the following beneficial effects: the folding arm in the present invention is connected to the first turntable, and the clamping mechanism is connected to the upper end of the folding arm. Since the folding arm is flexible to use in a narrow tunnel space, the first turntable cooperates with the folding arm to move the clamping mechanism to a predetermined position. In addition, the wrist-type action mechanism can realize multi-axis motion (including front and rear pitching, plane rotation, left and right pitching, and front and rear movement), and realize precise position adjustment, so that the position of the steel arch frame segment can be effectively adjusted to ensure the accuracy of the steel arch frame installation position and the assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 Schematic diagram of the wrist rotation mechanism.

[0025] Figure 3 This is a schematic diagram of the connection between the displacement drive (hydraulic cylinder) and the slide using a universal ball joint. DETAILED DESCRIPTION

[0026] like Figure 1-3 As shown, the utility model tunnel arch machine includes a car body 1, a folding arm 3 and a clamping device. A horizontally placed first turntable 2 is provided on the car body 1. The lower end of the folding arm 3 is hinged on the first turntable 2. The first turntable 2 drives the folding arm 3 to rotate. It also includes a wrist rotation mechanism 4 for controlling the movement of the arch frame segment. The wrist rotation mechanism 4 is connected to the upper end of the folding arm 3 through a pivot rotation. The folding arm 3 can drive the wrist rotation mechanism 4 to adjust the height position. The folding arm 3 cooperates with the first turntable 2 to move the wrist rotation mechanism 4 to a predetermined position.

[0027] To precisely move the steel arch segments to their intended positions, the wrist rotation mechanism 4 in this invention mimics the movements of the human wrist, elbow, and shoulder joints, achieving multi-axis motion and precise adjustment of the steel arch segments' positions. Specifically, the wrist rotation mechanism 4 comprises a front-to-back pitch mount 41, a second turntable 42, a left-to-right pitch mount 43, and a sliding assembly.

[0028] The pitch base 41 includes a pitch base body and a pitch actuator 45 connected to the folding arm 3 for driving the pitch base body in forward and backward pitch motion. The side end surface of the pitch base body is L-shaped, and the rear end of the pitch base body is pivotally connected to the upper end of the folding arm 3. The pitch actuator 45 is connected between the upper end of the folding arm 3 and the front end of the pitch base 41.

[0029] The second turntable 42 is horizontally arranged on the front and rear pitch seat 41, and the front and rear pitch seat 41 drives the second turntable 42 to perform front and rear pitch movement. The second turntable 42 includes a turntable seat and a support frame 46 driven to rotate by the turntable seat; the support frame 46 is a barrel-shaped structure with two opposite side walls of different heights, and its side surface is concave. The driver on the turntable seat that drives the support frame 46 to rotate is a hydraulic drive motor 410.

[0030] The left and right pitch seat 43 is rotatably connected to the top of the support frame 46. The left and right pitch seat 43 includes a frame and a left and right pitch driver 47 connected to the support frame 46 for driving the frame to perform left and right pitch movement; the front and rear ends of the frame are rotatably connected to the top of the support frame 46 through pivots respectively, and the left and right pitch drivers 47 are connected to the side walls of the support frame 46 and at least one side of the left and right ends of the frame.

[0031] The sliding assembly is located on the upper end surface of the left and right pitching seat 43. The sliding assembly includes a clamping panel 44, a guide rail 411, and a slide 413. The guide rail 411 is fixed between the front and rear ends of the clamping panel 44 and is slidably connected to the slide 413. The slide 413 is fixedly connected to the top end surface of the support frame 46. The sliding assembly also includes a shift actuator 48 for driving the clamping panel 44 forward and backward along the guide rail 411. The shift actuator 48 is a hydraulic cylinder, one end of which is connected to the front end of the clamping panel 44, and the other end is connected to the slide 413 via a universal ball joint 414. The use of the universal ball joint 414 can prevent the shift actuator 48 from twisting when the clamping panel 44 is pitched. Of course, the other end of the shift actuator 48 can also be hinged to the left and right pitching seat 43, which will eliminate the twisting problem of the shift actuator 48.

[0032] The clamping panel 44 is slidably connected to the frame, and the clamping panel 44 is driven by the frame to move left and right. Sliders 412 are provided between the clamping panel 44 and the left and right ends of the frame. This design allows sliding friction between the clamping panel 44 and the frame when the two components move relative to each other, thereby improving the stability of the clamping panel 44 during the sliding process.

[0033] The clamping device is provided on the upper end surface of the clamping panel 44. The clamping device is at least one clamp 49 provided on the upper end surface of the clamping panel 44. The clamp 49 includes a fixed clamping block 491 and a movable clamping block 492 arranged at intervals. The movable clamping block 492 is rotated by a clamping driver 493 to clamp or release the arch segment.

[0034] The folding arm 3 is a commonly used equipment in engineering machinery. The number of arm sections of the folding arm 3 is set according to needs. In this embodiment, the arm has two sections, specifically including a lower arm 31 and an upper arm 32. The lower end of the lower arm 31 is hinged on the first turntable 2, and the first turntable 2 is connected to a lower arm driver 33 that drives the lower arm 31 to rotate. The upper end of the lower arm 31 is hinged to the lower end of the upper arm 32, and the side wall of the lower arm 31 is connected to an upper arm driver 34 that drives the upper arm 32 to rotate.

[0035] In the present invention, the lower arm rotator 33, the upper arm rotator 34, the front and rear pitch actuator 45, the left and right pitch actuator 47, and the clamping actuator 493 are also hydraulic cylinders.

[0036] The above describes the specific implementation of the present invention, but those skilled in the art should understand that this is only an example. Those skilled in the art can make various changes or modifications to this implementation without departing from the principle and essence of the present invention, but these changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A tunnel arch machine, comprising a vehicle body, a folding arm, and a clamping device, wherein the vehicle body is provided with a horizontally placed first turntable, the lower end of the folding arm being hinged to the first turntable, and the first turntable driving the folding arm to rotate, characterized in that: It also includes a wrist rotation mechanism, which is connected to the upper end of the folding arm through a pivot, and the wrist rotation mechanism includes a front and rear pitch seat, a second rotating platform, a left and right pitch seat and a sliding assembly; The front-to-back pitch seat comprises a pitch seat body and a front-to-back pitch driver connected to the folding arm and used for driving the pitch seat body to perform front-to-back pitch motion; The second turntable is horizontally arranged on the front and rear pitching seat, and the front and rear pitching seat drives the second turntable to do front and rear pitching movement. The second turntable includes a turntable seat and a support frame driven to rotate by the turntable seat; The left and right pitch seats are rotatably connected to the top of the support frame, and the left and right pitch seats include a frame and a left and right pitch driver connected to the support frame for driving the frame to perform left and right pitch motion; The sliding assembly is provided on the upper end surface of the left and right pitch seat, and the sliding assembly includes a clamping panel, a guide rail, and a slide seat. The guide rail is fixed between the front and rear ends of the clamping panel, the guide rail is slidably connected to the slide seat, and the slide seat is fixedly connected to the top end surface of the support frame. The sliding assembly is also provided with a shift driver for driving the clamping panel to move forward and backward along the guide rail; The clamping panel is slidably connected to the frame, and the clamping panel moves left and right along with the frame; The clamping device is arranged on the upper end surface of the clamping panel.

2. The tunnel arch machine according to claim 1, characterized in that: The side end surface of the pitch seat body is L-shaped, and the rear end of the pitch seat body is connected to the end of the upper end of the folding arm through a pivot.

3. The tunnel arch machine according to claim 1 or 2, characterized in that: The front and rear pitch driver is connected between the upper end of the folding arm and the front end of the front and rear pitch seat.

4. The tunnel arch machine according to claim 1, characterized in that: The support frame is a barrel-shaped structure with two opposite side walls of different heights, and its side surface is concave. The driver on the rotary table that drives the support frame to rotate is a hydraulic drive motor.

5. The tunnel arch machine according to claim 1 or 4, characterized in that: The front and rear ends of the frame are rotatably connected to the top of the support frame through pivots respectively, and the left and right pitch drivers are connected to the side walls of the support frame and at least one side of the left and right ends of the frame.

6. The tunnel arch machine according to claim 1, characterized in that: Slide blocks are provided between the clamping panel and the left and right ends of the frame.

7. The tunnel arch machine according to claim 1, characterized in that: The shift driver is a hydraulic cylinder, one end of the shift driver is connected to the front end of the clamping panel, and the other end of the shift driver is connected to the sliding seat through a universal ball joint.

8. The tunnel arch machine according to claim 1, characterized in that: The clamping device is at least one clamp arranged on the upper end surface of the clamping panel, and the clamp includes a fixed clamping block and a movable clamping block arranged at intervals. The movable clamping block is rotated by the clamping driver to clamp or loosen the arch frame segment.

9. The tunnel arch machine according to claim 8, characterized in that: The front and rear pitching drives, the left and right pitching drives and the clamping drives are all hydraulic cylinders.

10. The tunnel arch machine according to claim 1, characterized in that: The folding arm includes a lower arm and an upper arm. The lower end of the lower arm is hinged on the first turntable. The first turntable is connected to a lower arm driver for driving the lower arm to rotate. The upper end of the lower arm is hinged to the lower end of the upper arm. The side wall of the lower arm is connected to an upper arm driver for driving the upper arm to rotate.

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