Arch frame mounting device and cantilever type heading machine

Abstract

The utility model belongs to the technical field of lining of underground chambers, and particularly provides an arch frame installation device and a cantilever type heading machine. The lagging jack mounting device comprises a supporting seat, a translation platform capable of moving front and back is mounted on the supporting seat, a left working arm and a right working arm which are transversely arranged and can swing up and down and left and right are arranged on the translation platform, and lagging jack grabbing mechanisms used for grabbing lagging jacks are arranged on the left working arm and the right working arm. And the translation platform is also provided with a middle working arm which is positioned between the left working arm and the right working arm and can swing up and down and left and right. The cantilever type heading machine comprises the lagging jack mounting device. When the arch frames are assembled, the left working arm and the right working arm can grab the side arch frames on the left side and the right side, the middle working arm can grab the top arch frame, the three working arms are matched for operation, the assembling operation of more than three sections of arch frames can be conveniently completed, and the construction efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of underground chamber lining, in particular to an arch mounting device and a cantilever type tunneling machine. Background Art

[0002] The cantilever tunnel boring machine consists of a chassis equipped with a crawler-type walking mechanism, a cantilever installed on the chassis that can swing up and down and left and right, a rock breaking mechanism (usually a cutting head) installed on the cantilever, and a loading mechanism supported by the chassis. The loading mechanism includes a shovel and a conveyor, which are mainly used to collect and transport the excavated soil backwards.

[0003] When constructing in soft surrounding rock, to ensure construction safety, it is necessary to assemble arch support structures. The basic function of a cantilever tunnel boring machine is to excavate and break rock. The current conventional method for assembling arch supports is to equip an arch support trolley and a corresponding construction team behind the cantilever tunnel boring machine. However, this method suffers from the problem of delayed support. Furthermore, the operation of different equipment in the same tunnel requires flexible coordination of the various equipment and crews, making construction management difficult.

[0004] Patent application publication number CN113833486A discloses a multifunctional cantilevered tunnel boring machine (TBM) with an integrated arch mounting device. Specifically, the cantilevered tunnel boring machine features a sliding platform with an arch mounting assembly mounted on each side. The arch mounting assembly includes a multi-degree-of-freedom (DOF) robotic arm capable of swinging up and down, left and right, and equipped with a hanging basket and a clamping mechanism. During construction, the clamping mechanism grips the arch, adjusts the movement of the multi-degree-of-freedom robotic arm, and controls the forward movement of the translation platform to deliver the arch to the assembly site, completing the assembly process.

[0005] During actual construction, in order to facilitate the transportation of the arch frame, the size of a single arch frame cannot be too large. The top arch position and the side arch position often need to assemble three or more arch frames. The arch frame installation device of the above-mentioned cantilever tunnel boring machine has only two mechanical arms. The two mechanical arms need to move back and forth multiple times to complete the assembly of multiple arch frames, and the construction efficiency is not high. Utility Model Content

[0006] The purpose of the present invention is to provide an arch mounting device to solve the technical problem of low construction efficiency of a cantilever tunnel boring machine equipped with only two mechanical arms capable of assembling an arch in the prior art. The purpose of the present invention is also to provide a cantilever tunnel boring machine to solve the same technical problem.

[0007] To achieve the above-mentioned purpose, the technical solution of the arch mounting device provided by the present invention is:

[0008] An arch frame installation device includes a support base, on which a translation platform that can move back and forth is installed. The translation platform is provided with a left working arm and a right working arm that are arranged horizontally and can swing up and down, left and right. The left and right working arms are provided with a grabbing mechanism for grabbing the arch frame. The translation platform is also provided with a middle working arm that is located between the left and right working arms and can swing up and down, left and right. The middle working arm is provided with a grabbing mechanism for grabbing the arch frame. The arch grabbing mechanisms on the left and right working arms are used to grab side arch frames, and the arch grabbing mechanism on the middle working arm is used to grab top arch frames.

[0009] As a further improvement, the middle working arm is installed on a first swivel seat extending vertically through an articulated structure with an articulated axis. The first swivel seat is installed on the top of the translation platform. A middle arm pitch cylinder is connected between the middle working arm and the first swivel seat to drive the working arm to swing up and down.

[0010] As a further improvement, the left working arm and the right working arm are respectively hinged on their corresponding swing seats located at the front end of the translation platform, and the hinge axes extend laterally. A left arm pitch cylinder is connected between the left working arm and the swing seat to drive the left working arm to swing up and down, and a right arm pitch cylinder is connected between the right working arm and the swing seat to drive the right working arm to swing up and down.

[0011] As a further improvement, a second slewing seat with a vertically extending slewing axis is also installed on the translation platform, and a folding arm crane is installed on the second slewing seat.

[0012] As a further improvement, the second swivel seat is installed right behind the middle working arm.

[0013] As a further improvement, the middle working arm is installed in a central position between the left and right working arms.

[0014] As a further improvement, a drilling mechanism is provided on the middle working arm, the drilling mechanism includes a drilling rig and a drilling rig mounting mechanism, the drilling rig mounting mechanism includes a first rotating mechanism and a second rotating mechanism whose rotating axes are perpendicular to each other, the second rotating mechanism is installed at the output end of the first rotating mechanism, the drilling rig is installed at the output end of the second rotating mechanism, the first rotating mechanism is installed on the middle working arm, and the rotating axis of the first rotating mechanism is parallel to the extension direction of the middle working arm.

[0015] As a further improvement, the left, middle and right working arms are all telescopic arms, and each grabbing arch mechanism is respectively installed at the telescopic output end of its corresponding working arm.

[0016] As a further improvement, a first-level translation frame is installed on the support seat, which can translate back and forth relative to the support seat. The front and rear guides of the translation platform are installed on the first-level translation frame, and a translation drive mechanism is connected between the translation platform and the first-level translation frame to drive the translation platform to move along the first-level translation frame.

[0017] The beneficial effect is as follows: the arch frame installation device of the utility model is equipped with three working arms that can move with the translation platform. When the arch frame needs to be assembled, if the arch frame has only three sections, the left, middle, and right working arms can each grab a section of the arch frame, and adjust the translation platform and the movement of each working arm to directly send each section of the arch frame to the assembly position; if the arch frame has more than three sections, after the middle working arm grabs the top arch frame, a section of the side arch frame can be preliminarily hung at one or both ends of the top arch frame. At this time, the left and right working arms can still grab the side arch frames. During construction, the middle working arm supports the top arch frame and the side arch frames hung on the top arch frame, and the left and right working arms each grab a section of the side arch frame. Adjust the translation platform and the movement of each working arm to send each arch frame to the assembly position. Compared with the prior art, the utility model facilitates the assembly of arch frames with more than three sections by adding a middle working arm, thereby improving construction efficiency.

[0018] To achieve the above-mentioned purpose, the technical solution of the cantilever roadheader provided by the present utility model is:

[0019] A cantilever tunneling machine comprises a cantilever tunneling machine body, an arch frame mounting device is installed on the cantilever tunneling machine body, the arch frame mounting device comprises a support seat, a translation platform that can move forward and backward is installed on the support seat, a left working arm and a right working arm that are arranged laterally and can swing up and down, left and right are provided on the translation platform, a grabbing mechanism for grabbing the arch frame is provided on the left and right working arms, a middle working arm that can swing up and down, left and right is provided between the left and right working arms, the middle working arm is provided with a grabbing mechanism for grabbing the arch frame, the arch grabbing mechanisms on the left and right working arms are used to grab side arch frames, and the arch grabbing mechanism on the middle working arm is used to grab top arch frames.

[0020] As a further improvement, the middle working arm is installed on a first swivel seat extending vertically through an articulated structure with an articulated axis. The first swivel seat is installed on the top of the translation platform. A middle arm pitch cylinder is connected between the middle working arm and the first swivel seat to drive the working arm to swing up and down.

[0021] As a further improvement, the left working arm and the right working arm are respectively hinged on their corresponding swing seats located at the front end of the translation platform, and the hinge axes extend laterally. A left arm pitch cylinder is connected between the left working arm and the swing seat to drive the left working arm to swing up and down, and a right arm pitch cylinder is connected between the right working arm and the swing seat to drive the right working arm to swing up and down.

[0022] As a further improvement, a second slewing seat with a vertically extending slewing axis is also installed on the translation platform, and a folding arm crane is installed on the second slewing seat.

[0023] As a further improvement, the second swivel seat is installed right behind the middle working arm.

[0024] As a further improvement, the middle working arm is installed in a central position between the left and right working arms.

[0025] As a further improvement, a drilling mechanism is provided on the middle working arm, the drilling mechanism includes a drilling rig and a drilling rig mounting mechanism, the drilling rig mounting mechanism includes a first rotating mechanism and a second rotating mechanism whose rotating axes are perpendicular to each other, the second rotating mechanism is installed at the output end of the first rotating mechanism, the drilling rig is installed at the output end of the second rotating mechanism, the first rotating mechanism is installed on the middle working arm, and the rotating axis of the first rotating mechanism is parallel to the extension direction of the middle working arm.

[0026] As a further improvement, the left, middle and right working arms are all telescopic arms, and each grabbing arch mechanism is respectively installed at the telescopic output end of its corresponding working arm.

[0027] As a further improvement, a first-level translation frame is installed on the support seat, which can translate back and forth relative to the support seat. The front and rear guides of the translation platform are installed on the first-level translation frame, and a translation drive mechanism is connected between the translation platform and the first-level translation frame to drive the translation platform to move along the first-level translation frame.

[0028] The beneficial effect is as follows: the arch frame installation device of the utility model is equipped with three working arms that can move with the translation platform. When the arch frame needs to be assembled, if the arch frame has only three sections, the left, middle, and right working arms can each grab a section of the arch frame, and adjust the translation platform and the movement of each working arm to directly send each section of the arch frame to the assembly position; if the arch frame has more than three sections, after the middle working arm grabs the top arch frame, a section of the side arch frame can be preliminarily hung at one or both ends of the top arch frame. At this time, the left and right working arms can still grab the side arch frames. During construction, the middle working arm supports the top arch frame and the side arch frames hung on the top arch frame, and the left and right working arms each grab a section of the side arch frame. Adjust the translation platform and the movement of each working arm to send each arch frame to the assembly position. Compared with the prior art, the utility model facilitates the assembly of arch frames with more than three sections by adding a middle working arm, thereby improving construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is an axonometric view of an embodiment of the cantilever roadheader of the present invention when in operation;

[0030] Figure 2 for Figure 1 Schematic diagram of the structure of the middle working arm;

[0031] Figure 3 for Figure 1 Schematic diagram of the structure of the middle left working arm;

[0032] Figure 4 for Figure 1 Schematic diagram of the partial structure of the installation position of the central translation platform;

[0033] Figure 5 This is an axial (tunnel axial) view of the cantilever type roadheader embodiment of the present invention when in operation;

[0034] Figure 6 This is a side view of the cantilever roadheader embodiment of the present invention when in operation.

[0035] Description of reference numerals:

[0036] 1. Left working arm; 2. Right working arm; 3. Middle working arm; 4. Arch grabbing mechanism; 5. Translation platform; 6. Support seat; 7. First-level translation frame; 8. Drilling rig mechanism; 9. Folding arm crane; 10. Translation drive mechanism; 101. Swing seat; 102. Left arm pitch cylinder; 103. Hanging basket; 301. First slewing seat; 302. Middle arm pitch cylinder; 801. First slewing mechanism; 802. Second slewing mechanism; 803. Drilling rig; 901. Second slewing seat; 100. Top arch frame; 200. Side arch frame. DETAILED DESCRIPTION

[0037] In order to improve the efficiency of assembling arch frames of a cantilever tunnel boring machine integrated with an arch frame installation device, the basic technical concept of the utility model is to configure three working arms that can deliver the arch frame to the assembly position on the translation platform of the arch frame installation device. The three working arms work together to complete the assembly of more than three sections of arch frames at a time, thereby improving the efficiency of arch frame assembly.

[0038] The present invention is further described in detail below with reference to the embodiments.

[0039] The specific embodiment of the cantilever type roadheader provided by the utility model is as follows:

[0040] The cantilever tunnel boring machine provided in this embodiment is as follows: Figure 1 As shown, the cantilever tunnel boring machine body consists of a chassis, a cantilever, a transfer mechanism, a cutting head and other devices. The structure of the cantilever tunnel boring machine body and the excavation construction process are consistent with the existing technology and will not be described in detail here.

[0041] The cantilever tunnel boring machine is equipped with an arch frame installation device. During the construction process, the arch frame installation device can send the arch frame to the assembly position to assist the workers in completing the arch frame assembly operation. Figure 1-Figure 4As shown, the arch frame installation device includes a support base 6 mounted on the cantilevered tunnel boring machine body. A translating platform 5 is mounted on the support base 6, which can move forward and backward. The translating platform 5 is equipped with a horizontally arranged left working arm 1, a middle working arm 3, and a right working arm 2. Each working arm can swing up and down and left and right, and each working arm is equipped with a gripping device capable of grasping the arch frame. During the arch frame assembly process, the middle working arm 3 grasps the top arch frame 100, while the left working arm 1 and the right working arm 2 grasp the left and right side arch frames 200, respectively. The specific structure of the gripping device is conventional. For example, the gripping device can adopt the gripping mechanism for gripping arch frames disclosed in patent application publication number CN113833486A. The mounting direction of the gripping jaws can be flexibly adjusted by those skilled in the art according to the posture of the arch frame. The left working arm 1 and the right working arm 2 are also equipped with a hanging basket 103, from which personnel can perform arch frame installation operations and operate the working arms.

[0042] like Figure 1 、 Figure 5 and Figure 6 As shown, for multi-section (greater than three) arches, the arch installation device of this embodiment can grasp and support the top arch 100 during construction. Simultaneously, a side arch 200 can be attached to each lateral end of the top arch 100, as needed. Pins or ropes can be used to attach the side arches 200 to the ends of the top arch 100, ensuring that the side arches 200 do not fall and interfere with the tunnel walls. Simultaneously, the grasping devices on the left and right working arms 1 and 2 can each grasp a side arch 200. At this point, the translation platform 5 is controlled to move forward, bringing each arch section to a forward position. The working arms are then adjusted up and down and left and right to move each arch section to the assembly position, assisting personnel in securing each arch section. For a three-section arch, the construction process is relatively simple: the left, right, and middle working arms 1, 2, and 3 each grasp a section and deliver it to the assembly position.

[0043] Analysis shows that the arch frame installation device in this embodiment achieves efficient assembly of the arch frame by setting the middle working arm 3 and the coordinated operation of the three working arms under the working condition of assembling more than three arch frames at a time.

[0044] As an embodiment of installing the middle working arm 3, the middle working arm is installed on the first swivel seat with a swivel axis extending vertically through an articulated structure with a swivel axis extending horizontally. Figure 1-Figure 4As shown, a swivel base is provided at the top of the translation platform 5, which can be defined as a first swivel base 301. The swivel axis of the first swivel base 301 extends vertically. Those skilled in the art will understand that a swivel base refers to a base comprising a swivel drive device and a body connected to the output end of the swivel drive device. Specifically, it may include a swivel bearing, a hydraulic motor, and a reducer. The middle working arm 3 is hinged to the first swivel base 301, and the hinge axis extends horizontally. A middle arm pitch cylinder 302 is connected between the middle working arm 3 and the first swivel base 301 to drive the working arm up and down. In this embodiment, adjusting the rotation of the first swivel base 301 enables the middle working arm 3 to swing left and right, while adjusting the middle arm pitch cylinder 302 enables the middle working arm 3 to swing up and down. Mounting the middle working arm 3 at the top of the translation platform 5 ensures that the middle working arm 3 can be positioned higher, thereby better adapting to the working conditions of the middle working arm 3.

[0045] Furthermore, the left working arm 1 and the right working arm 2 are respectively installed on the left and right sides of the front end of the translation platform 5, wherein the structures of the left working arm 1 and the right working arm 2 and the connection relationship with the translation platform 5 are the same. Figure 1-Figure 4 As shown, two swing seats 101 are provided at the front end of the translation platform 5, and the swing axis of the swing seat 101 extends vertically. Those skilled in the art will understand that the swing seat 101 refers to a structure that can swing within a certain angle, specifically including a swing axis that determines the center of swing, a swingable seat body, and a swing seat drive device that drives the seat body to swing. The left working arm 1 is hinged to the swing seat 101 on the left, and the right working arm 2 is hinged to the swing seat 101 on the right, and the hinge axis between each working arm and the swing seat 101 extends horizontally. A left arm pitch cylinder 102 that drives the left working arm 1 to swing up and down is connected between the left working arm 1 and the left swing seat 101, and a right arm pitch cylinder (not shown in the figure) that drives the right working arm 2 to swing up and down is connected between the right working arm 2 and the right swing seat 101. Disposing the left working arm 1 and the right working arm 2 separately at the front end of the translation platform 5 can make full use of the vertical space of the translation platform 5. In the limited space, the left working arm 1, the middle working arm 3 and the right working arm 2 are staggered as much as possible to avoid interference between the three working arms.

[0046] Of course, in other embodiments, all three working arms may be installed at the top or front end of the translation platform 5 .

[0047] Regardless of the method used to install the working arms, in a preferred embodiment, the middle working arm 3 can be installed in the center between the left working arm 1 and the right working arm 2, so that the lateral force of the translation platform 5 can be more balanced.

[0048] Furthermore, each working arm is telescopic, with the arch-grabbing device mounted at its output end. This allows each working arm to autonomously propel the arch frame forward during construction, allowing it to be moved further forward. Of course, in other embodiments, if the translational travel limits of the translation platform 5 are sufficient to move each working arm to a suitable assembly position, the working arms may not be telescopic.

[0049] In order to further facilitate the installation of the arch, Figure 1 、 Figure 5 and Figure 6 As shown, a folding arm crane 9 is also installed on the translation platform 5. Specifically, as Figure 4 As shown, the translation platform 5 is also equipped with a second swivel seat 901 with a vertically extending rotation axis, and the folding arm crane 9 is installed on the second swivel seat 901. By adjusting the second swivel seat 901, the folding arm crane 9 can also swing left and right, and in conjunction with the movement of the folding arm crane 9 itself, the arch frame delivered from the rear can be lifted and delivered to the position of each working arm, which is convenient and efficient. At the same time, since the folding arm crane 9 can also move with the translation platform 5, under certain working conditions, the folding arm crane 9 can also lift the arch frame and place it behind each working arm for standby. Of course, in other embodiments, the folding arm crane 9 can also be installed on the translation platform 5, such as the installation method of the folding arm crane 9 disclosed in the patent document with application publication number CN113833486A. In addition, during actual construction, a rail lifting system can also be optionally installed at the top of the tunnel. In this case, the arch frame can also be transported forward by the rail lifting system, and the cantilever tunnel boring machine can also be equipped with a folding arm crane 9.

[0050] Similarly, in order to make the front and rear forces of the translation platform 5 more balanced, the second swivel seat 901 is installed right behind the middle working arm 3, that is, Figure 4 The second rotating base 901 shown in FIG. 1 is directly behind the first rotating base 301 .

[0051] In addition, a drilling mechanism 8 is integrated on the middle working arm 3. Figure 1 and Figure 2As shown, the drilling mechanism 8 includes a drilling rig 803 and a mounting mechanism for the drilling rig 803. The mounting mechanism for the drilling rig 803 includes a first swivel mechanism 801 and a second swivel mechanism 802, whose swivel axes are perpendicular to each other. The second swivel mechanism 802 is mounted at the output end of the first swivel mechanism 801, and the drilling rig 803 is mounted at the output end of the second swivel mechanism 802. The first swivel mechanism 801 is mounted on the middle working arm 3. Those skilled in the art will understand that a swivel mechanism refers to a mechanism similar to a swivel seat, which can drive the components mounted on its output end to rotate. In this embodiment, the middle working arm 3 is integrated with a drilling rig 803 capable of rotating with multiple degrees of freedom, enabling anchor drilling operations during construction, such as locking foot anchors, thereby expanding the functionality of the arch mounting device. Of course, in other embodiments, the anchor drilling rig 803 can also be mounted at other locations on the cantilever tunnel boring machine, in which case the drilling mechanism 8 need not be mounted on the middle working arm 3.

[0052] In order to move each working arm to a more forward position, in a preferred embodiment, the translation platform 5 is a secondary translation platform 5. Specifically, Figure 1 and Figure 4 As shown, a primary translation frame 7 is mounted on the support base 6 and can translate forward and backward relative to the support base 6. The translation platform 5 is guided forward and backward on the primary translation frame 7. A translation drive mechanism 10 is connected between the translation platform 5 and the primary translation frame 7 to drive the translation platform 5 along the primary translation frame 7. Specifically, the translation drive mechanism 10 can be a hydraulic cylinder or a drive motor mounted on the translation platform 5. The drive motor output shaft is connected to a pinion, and the primary translation frame 7 is provided with a rack that meshes with the pinion for transmission. In other embodiments, depending on actual support requirements, the translation platform 5 can also be a single-stage translation platform.

[0053] Specific embodiment of the arch mounting device in the utility model:

[0054] The embodiment of the arch mounting device is the arch mounting device described in the embodiment of the above-mentioned cantilever tunnel boring machine, and will not be described in detail here.

[0055] Finally, it should be noted that the above description is merely 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 without inventive effort, or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An arch frame installation device, comprising a support base, a translation platform that can move forward and backward is installed on the support base, and a left working arm and a right working arm are arranged horizontally on the translation platform and can swing up and down and left and right. The left and right working arms are provided with a grabbing mechanism for grabbing the arch frame, which is characterized by: The translation platform is also provided with a middle working arm located between the left and right working arms and capable of swinging up and down and left and right. The middle working arm is provided with an arch grabbing mechanism for grabbing the arch frame. The arch grabbing mechanisms on the left and right working arms are used to grab the side arch frames, and the arch grabbing mechanism on the middle working arm is used to grab the top arch frame.

2. The arch mounting device according to claim 1 is characterized in that The working arm is installed on the first swivel seat which extends vertically through the hinge structure with the hinge axis extending horizontally. The first swivel seat is installed on the top of the translation platform. The middle arm pitch cylinder which drives the working arm to swing up and down is connected between the middle working arm and the first swivel seat.

3. The arch mounting device according to claim 2, wherein: The left working arm and the right working arm are respectively hinged on their corresponding swing seats located at the front end of the translation platform, and the hinge axes extend horizontally. A left arm pitch cylinder is connected between the left working arm and the swing seat to drive the left working arm to swing up and down, and a right arm pitch cylinder is connected between the right working arm and the swing seat to drive the right working arm to swing up and down.

4. The arch mounting device according to any one of claims 1 to 3, characterized in that: A second slewing seat with a slewing axis vertically extending is also installed on the translation platform, and a folding arm crane is installed on the second slewing seat.

5. The arch mounting device according to claim 4, characterized in that: The second swivel seat is installed right behind the middle working arm.

6. The arch mounting device according to any one of claims 1 to 3, characterized in that: The middle working arm is installed in the center between the left and right working arms.

7. The arch mounting device according to any one of claims 1 to 3, characterized in that: A drilling mechanism is provided on the middle working arm, which includes a drilling rig and a drilling rig mounting mechanism. The drilling rig mounting mechanism includes a first slewing mechanism and a second slewing mechanism whose slewing axes are perpendicular to each other. The second slewing mechanism is installed at the output end of the first slewing mechanism, and the drilling rig is installed at the output end of the second slewing mechanism. The first slewing mechanism is installed on the middle working arm, and the slewing axis of the first slewing mechanism is parallel to the extension direction of the middle working arm.

8. The arch mounting device according to any one of claims 1 to 3, characterized in that: The left, middle and right working arms are all telescopic arms, and each grabbing arch mechanism is respectively installed at the telescopic output end of the corresponding working arm.

9. The arch mounting device according to any one of claims 1 to 3, characterized in that: A first-level translation frame is installed on the support seat and can be translated back and forth relative to the support seat. The front and rear guides of the translation platform are installed on the first-level translation frame, and a translation drive mechanism is connected between the translation platform and the first-level translation frame to drive the translation platform to move along the first-level translation frame.

10. A cantilever type tunnel boring machine, comprising a cantilever type tunnel boring machine body, an arch mounting device being mounted on the cantilever type tunnel boring machine body, wherein: The arch mounting device is the arch mounting device described in any one of claims 1 to 9.

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