Trowelling equipment applied to shield segment

Abstract

The utility model discloses trowelling equipment applied to a shield segment, which relates to the technical field of shield segment production and comprises a three-dimensional movement mechanism and a trowelling machine head arranged on the three-dimensional movement mechanism. The three-dimensional movement mechanism comprises two groups of supporting beams arranged in parallel and a connecting beam used for connecting the two groups of supporting beams, the connecting beam can horizontally slide on the supporting beams, a seat body is slidably mounted on the connecting beam, a loading beam is slidably mounted on the seat body, and the sliding directions of the connecting beam, the seat body and the loading beam are in a pairwise perpendicular relationship. The two sets of parallel supporting beams are combined with the slidable connecting beam, the seat body and the carrying beam, flexible movement in a three-dimensional space is achieved, then the trowelling machine head can be driven to conduct corresponding trowelling action on the duct piece mold, and compared with a trowelling mode through manual operation in the prior art, the trowelling machine has the advantages that the trowelling efficiency is improved, and the working efficiency is improved. The trowelling mode is efficient and convenient, and the trowelling efficiency is high.

Description

Technical Field

[0001] This utility model relates to the field of shield tunnel segment production technology, specifically to a smoothing device applied to shield tunnel segments. Background Technology

[0002] In the production process of tunnel boring machine segments, the surface finishing stage has long relied on traditional manual techniques for smoothing and leveling. Given the various limitations of manual finishing, technicians are tirelessly exploring more efficient and automated finishing technologies. Generally, ensuring smooth finishing operations, similar to manual operation, requires the finishing plate to have multi-degree-of-freedom movement capabilities to adapt to the complex and ever-changing angle adjustments needed during the finishing process. Although technicians have attempted to integrate existing robotic technology into the finishing operation, the high operating costs of robots, being high-precision mechanical equipment, impose an additional burden on the company's production operations. Furthermore, robots require regular maintenance, which undoubtedly reduces the efficiency of the production line to some extent.

[0003] To address this issue, we propose a smoothing device for tunnel lining segments. Utility Model Content

[0004] The purpose of this utility model is to solve the problems in the prior art by proposing a smoothing device for shield tunnel segments. This smoothing device, through the setting of a three-dimensional motion mechanism, can effectively realize the smoothing work of the smoothing head on the shield tunnel segments. Compared with the manual smoothing method in the prior art, the smoothing method of this application is efficient and convenient, with uniform smoothing specifications and high smoothing efficiency.

[0005] To solve the above problems, this utility model provides the following technical solution:

[0006] A smoothing device for tunnel lining segments includes a three-dimensional motion mechanism and a smoothing head mounted on the three-dimensional motion mechanism;

[0007] The three-dimensional motion mechanism includes two sets of parallel support beams and a connecting beam for connecting the two sets of support beams. The connecting beam can slide horizontally on the support beams. A seat is slidably mounted on the connecting beam, and a load beam is slidably mounted on the seat. The sliding directions of the connecting beam, the seat, and the load beam are perpendicular to each other.

[0008] The trowel head includes a trowel plate, a connector mounted on a load-bearing beam, and an elastic mechanism for elastically mounting the trowel plate on the connector, so that the trowel plate can move toward or away from the connector. The elastic mechanism includes a connecting rod with its two ends respectively mounted on the connector and the trowel plate, and the connecting rod is movably mounted on the connector. An elastic element is provided between the trowel plate and the connector, so that when the connecting rod moves toward the connector, the elastic element will cause the trowel plate to have a tendency to move away from the connector.

[0009] As a further embodiment of this utility model: the adapter includes a support mounted on the load beam, a rotating shaft is rotatably mounted on the support, and the rotating shaft is arranged parallel to the trowel plate, and an assembly plate for mounting one end of the connecting rod is fixedly mounted at the end of the rotating shaft.

[0010] As a further embodiment of this utility model: a drive motor and a reducer are fixedly mounted on the support, the drive motor and the reducer are connected in a transmission connection, and the reducer is connected in a transmission connection with the rotating shaft.

[0011] As a further embodiment of this utility model: the support beam, connecting beam and seat are all provided with driving components for driving the corresponding components on them to slide.

[0012] As a further embodiment of this utility model: the connecting rod is configured as a threaded rod, one end of which is fixedly installed on the trowel plate, and the other end passes through the adapter, and a nut is fitted on the other end, with the nut pressing against the adapter.

[0013] As a further embodiment of this utility model: the elastic element is a return spring and is sleeved on the outside of the connecting rod, and the two ends of the return spring are fixedly connected to the adapter and the smoothing plate, respectively.

[0014] As a further embodiment of this utility model: a guide rod for a movable through-connector is fixedly provided on the smearing plate, and the guide rod is arranged parallel to the connecting rod.

[0015] As a further embodiment of this utility model, the smoothing machine head also includes a baffle plate disposed around the smoothing plate, so that the smoothing plate and the baffle plate together form a box-type structure.

[0016] As a further embodiment of this utility model: a vibration motor is fixedly installed on the smearing plate, and the vibration motor is located inside the box structure.

[0017] As a further embodiment of this utility model, the vibration motor is located at the end of the box-type structure.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. By combining two sets of parallel support beams with sliding connecting beams, seat, and load-bearing beams, flexible movement in three-dimensional space is achieved, which in turn can drive the smoothing head to perform corresponding smoothing actions on the segment mold. Compared with the smoothing method operated manually in the prior art, the smoothing method of this application is efficient, convenient, and has high smoothing efficiency.

[0020] 2. The drive motor and reducer assembly in the transmission system enable precise control of the rotating shaft. This design not only improves the automation level of the equipment, but also allows for precise adjustment of the rotation angle and speed of the trowel, further enhancing the efficiency and accuracy of the troweling work. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] Figure 1 This is a three-dimensional structural diagram of the first type of smoothing machine head in Embodiment 1 of this utility model. Figure 1 ;

[0023] Figure 2 This is a three-dimensional structural diagram of the first type of smoothing machine head in Embodiment 1 of this utility model. Figure 2 ;

[0024] Figure 3 This is a three-dimensional structural diagram of the first type of smoothing machine head in Embodiment 1 of this utility model. Figure 3 ;

[0025] Figure 4 This is a three-dimensional structural diagram of the second type of smoothing head in Embodiment 1 of this utility model;

[0026] Figure 5 This is a three-dimensional structural diagram of the first type of track assembly in Embodiment 2 of this utility model;

[0027] Figure 6 This is a three-dimensional structural diagram of the second type of track assembly in Embodiment 2 of this utility model;

[0028] Figure 7 yes Figure 6 A schematic diagram of a local structure in the image;

[0029] Figure 8 This is a schematic diagram of the three-dimensional structure of embodiment three of this utility model. Figure 1 ;

[0030] Figure 9 This is a schematic diagram of the three-dimensional structure of embodiment three of this utility model. Figure 2 ;

[0031] Figure 10 yes Figure 9 A schematic diagram of a local structure.

[0032] In the diagram: 1. Slab plate; 2. Adapter; 201. Adapter plate; 202. Vertical plate; 203. Flange; 204. Support; 205. Rotating shaft; 206. Assembly plate; 3. Connecting rod; 4. Elastic component; 5. Guide rod; 6. Enclosure plate; 7. Vibration motor; 8. Reinforcing rib plate; 9. Track assembly; 901. Ground linear track; 902. Crossbeam; 903. Longitudinal beam; 10. Robotic arm; 11. Support beam; 12. Connecting beam; 13. Seat; 14. Load beam; 15. Drive motor; 16. Reducer; a. Segment mold. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0034] Example 1:

[0035] like Figures 1-4 As shown, a trowel head includes a trowel plate 1 and an adapter 2. The trowel plate 1 and the adapter 2 are connected by an elastic mechanism. The elastic mechanism allows the trowel plate 1 to be elastically mounted on the adapter 2, meaning the trowel plate 1 can move towards or away from the adapter 2. When using the trowel head of this application to trowel a segment mold a, the trowel head is first positioned above the head of the segment mold a. The trowel head is then gradually lowered until the trowel plate 1 at the bottom of the trowel head contacts the concrete surface of the segment mold a. Then, based on factors such as the type or dilution of the concrete, it is determined whether the trowel head should continue to move downwards. If it is determined that the smoothing head needs to be moved downwards, since the smoothing plate 1 is already in contact with the concrete surface, the downward movement of the smoothing head can rely on the elastic mechanism to apply a pressure to the smoothing plate 1. This pressure can increase the contact force between the smoothing plate 1 and the concrete surface. In the subsequent process of driving the smoothing head to move along the length of the segment mold a until the smoothing plate 1 moves to the tail of the segment mold a, the concrete surface is always subjected to the contact force of the smoothing plate 1, resulting in a better smoothing effect and strong adaptability.

[0036] The elastic mechanism described above applies a resistive force to the trowel plate 1. Because it applies elastic pressure, the resistive force between the trowel plate 1 and the concrete surface gradually increases, preventing a sudden, large-scale impact on the concrete surface due to excessive downward movement. Specifically, the elastic mechanism includes a connecting rod 3 with its two ends mounted on the adapter 2 and the trowel plate 1, respectively. The connecting rod 3 is movably mounted on the adapter 2. Specifically, the adapter 2 has a hole through which the connecting rod 3 passes. One end of the connecting rod 3 passes through the hole and is mounted on the adapter 2, allowing for a movable connection between the trowel plate 1 and the adapter 2. An elastic element 4 is provided between the trowel plate 1 and the adapter 2. When the connecting rod 3 moves towards the adapter 2, the elastic element 4 is compressed, causing the trowel plate 1 to tend to move away from the adapter 2. Preferably, the elastic element 4 is a return spring sleeved on the outside of the connecting rod 3, with both ends fixedly connected to the adapter 2 and the trowel plate 1, respectively.

[0037] When the trowel 1 comes into contact with the concrete surface and it is determined that the trowel head needs to continue moving downward, the return spring will be compressed during the downward movement of the trowel head. The return spring will apply a downward elastic force to the trowel 1. This elastic force can drive the trowel 1 to come into closer contact with the concrete surface, that is, increase the resistance force of the trowel 1 to the concrete surface.

[0038] To achieve an adjustable initial position between the trowel plate 1 and the adapter 2, this application sets the connecting rod 3 as a threaded rod. One end of the threaded rod passes through a hole in the adapter 2, and a nut is threaded onto the threaded rod. Under the action of the elastic element 4 driving the adapter 2 and the trowel plate 1 to move away from each other, the nut and the adapter 2 are in a state of pressure. Subsequently, simply rotating the nut can increase or decrease the length of the threaded rod between the adapter 2 and the trowel plate 1, that is, to achieve the adjustment of the distance between the trowel plate 1 and the adapter 2. Under this different distance adjustment, the elastic element 4 will exhibit different degrees of compression, and thus the initial state of the trowel plate 1 will also be different. Different initial states can be adapted to different types of concrete surfaces to achieve corresponding smoothing work.

[0039] Based on the connection between the adapter 2 and the squeegee 1 by setting the connecting rod 3, in order to prevent the squeegee 1 from deviating when moving closer to or away from the adapter 2, this application fixes a guide rod 5 that moves through the adapter 2 on the squeegee 1.

[0040] To ensure the smoothing of the machine head and its adaptability to different working environments, the adapter 2 has different forms, specifically the following two:

[0041] (1) For example Figures 1-3As shown, the adapter 2 includes a support 204, on which a rotating shaft 205 is rotatably mounted, and the rotating shaft 205 is arranged parallel to the smoothing plate 1. An assembly plate 206 for mounting one end of the connecting rod 3 is fixedly mounted at the end of the rotating shaft 205. Preferably, the assembly plate 206 is L-shaped. In this structural configuration, the guide rod 5 is arranged parallel to the connecting rod 3.

[0042] (2) For example Figure 4 As shown, the adapter 2 includes an adapter plate 201 for mounting one end of the connecting rod 3. Two sets of parallel vertical plates 202 are fixedly installed on the adapter plate 201, and flanges 203 are fixedly installed on the vertical plates 202.

[0043] like Figure 2 As shown, in order to ensure that the trowel 1 can effectively compact the concrete surface during its movement along the segment mold a, this application has a vibration motor 7 fixedly installed on the trowel 1. Thus, during the movement of the trowel 1, the vibration motor 7 drives the trowel 1 to vibrate, thereby achieving the compaction treatment of the concrete surface.

[0044] To prevent the slurry plate 1 from becoming contaminated with excessive mud during its movement along the segment mold a, which could affect the normal operation of components such as the connecting rod 3 and the vibrating motor 7, this application also includes a surrounding baffle 6 around the slurry plate 1, so that the slurry plate 1 and the surrounding baffle 6 together form a box-type structure. The surrounding baffle 6 has several reinforcing ribs 8 inside, making the box-type structure more robust. The connecting rod 3 and the vibrating motor 7 are both located inside the box-type structure and are covered by protective plates. This type of box-type structure can protect the corresponding components and ensure that they have a longer service life.

[0045] Example 2:

[0046] like Figures 5-7 As shown, a smoothing device for tunnel lining segments includes a robotic arm 10 and a track assembly 9 for mounting and moving the robotic arm 10. The end effector of the robotic arm 10 is equipped with a smoothing head. During use, the robotic arm 10 can automatically adjust the position of the smoothing head relative to the segment mold a until the smoothing head is adjusted to the corresponding working position. This adjustment process is quick and simple. Subsequently, the robotic arm 10 can move using the track assembly 9, allowing the smoothing head to complete the entire smoothing work. Compared to the existing manual smoothing methods, the smoothing method in this application is highly efficient and accurate, automating the smoothing work without human intervention.

[0047] Meanwhile, through the structural design of the smoothing head in Embodiment 1, during the smoothing process using the robotic arm 10, the smoothing plate 1 on the smoothing head is subjected to the elastic action of the reset spring, which gradually increases the force on the concrete surface, resulting in a better smoothing effect.

[0048] Specifically, for different types of segment molds a, the track assembly 9 in this application is configured with two structures for selection:

[0049] (1) For example Figure 5 As shown, when the robotic arm 10 needs to be placed on the ground to walk and work, the track assembly 9 can be set to include a ground linear track 901. The robotic arm 10 is slidably mounted on the ground linear track 901, and the ground linear track 901 is provided with a drive source for driving the robotic arm 10 to move. The drive source is a conventional drive component in the prior art.

[0050] (2) For example Figure 6 As shown, when the robotic arm 10 needs to be suspended in the air for work, the track assembly 9 can be configured including a crossbeam 902 and a longitudinal beam 903 located on the same horizontal plane, with the crossbeam 902 and longitudinal beam 903 arranged vertically. The crossbeam 902 can move on the longitudinal beam 903, and the robotic arm 10 is slidably mounted on the crossbeam 902. The crossbeam 902 is equipped with a drive source for moving the robotic arm 10, enabling the robotic arm 10 to perform two-dimensional motion. Simultaneously, the robotic arm 10 can drive the smoothing head to perform vertical up-and-down motion, achieving three-dimensional motion of the smoothing head, thus accurately completing the smoothing work. Similarly, the drive source in this structure is a conventional drive component in the prior art, which will not be elaborated upon here to avoid unnecessary complexity.

[0051] Based on the robotic arm 10 in this application, in order to better adapt the smoothing head to the end effector on the robotic arm 10, the smoothing head structure with flange 203 in Embodiment 1 is selected. Subsequently, it is only necessary to connect the flange 203 on the smoothing head to the end effector on the robotic arm 10 for use.

[0052] Example 3:

[0053] like Figures 8-10 As shown, a smoothing device for tunnel lining segments includes a three-dimensional motion mechanism and a smoothing head mounted on the three-dimensional motion mechanism. Specifically:

[0054] The three-dimensional motion mechanism includes two sets of parallel support beams 11 and a connecting beam 12 connecting the two sets of support beams 11. The connecting beam 12 can slide horizontally on the support beams 11. A driving component is provided on the support beams 11 to drive the connecting beam 11 to slide on the support beams 11. A seat 13 is slidably mounted on the connecting beam 12, and a driving component is also provided on the connecting beam 12 to drive the seat 13 to slide on the connecting beam 12. A load beam 14 is slidably mounted on the seat 13, and a driving component is also provided on the seat 13 to drive the load beam 14 to slide. Furthermore, the sliding directions of the connecting beam 12, seat 13, and load beam 14 are perpendicular to each other. This constraint allows the connecting beam 12, seat 13, and load beam 14 to be integrated together to achieve three-dimensional motion.

[0055] Preferably, the sliding directions of the connecting beam 12 and the seat 13 are both set to horizontal, so that their sliding directions constitute the X and Y directions. At the same time, the sliding direction of the load beam 14 is set to vertical, so that its sliding direction constitutes the Z direction. The three sliding directions cooperate with each other to achieve three-dimensional motion.

[0056] It should be noted that the sliding assembly between multiple beams and the assembly of driving components are conventional techniques in the prior art, and this article does not impose any restrictions on them.

[0057] Regarding the aforementioned smoothing head configuration, based on the three-dimensional motion mechanism designed in this application, and to accommodate the installation work between the load-bearing beam 14 and the smoothing head, the smoothing head structure with support 204 as described in Embodiment 1 is selected. Subsequently, only the support 204 needs to be fixedly connected to the bottom of the load-bearing beam 14. During use, since the segment mold a is located below the load-bearing beam 14, the movement of the load-bearing beam 14 can drive the smoothing plate 1 to move accordingly, thus achieving the smoothing operation.

[0058] In order to precisely adjust the position of the trowel 1 for more accurate smoothing of the concrete surface, this application has a drive motor 15 and a reducer 16 fixedly installed on the support 204. The drive motor 15 and the reducer 16 are connected in transmission, and the reducer 16 is connected in transmission to the rotating shaft 205. By using the cooperation of the drive motor 15 and the reducer 16, the rotating shaft 205 can rotate at a certain angle, thereby realizing the rotation of the trowel 1 connected to the rotating shaft 205. The rotation of the trowel 1 can adapt to different types of concrete surfaces, making the smoothing work adaptable and efficient.

[0059] The above description provides a detailed account of one embodiment of the present invention. However, this description is merely a preferred embodiment and should not be construed as limiting the scope of the present invention. All equivalent variations and improvements made within the scope of the claims of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A smoothing device for tunnel lining segments, characterized in that, Includes a three-dimensional motion mechanism and a smoothing head mounted on the three-dimensional motion mechanism; The three-dimensional motion mechanism includes two sets of parallel support beams (11) and a connecting beam (12) for connecting the two sets of support beams (11). The connecting beam (12) can slide horizontally on the support beams (11). A seat (13) is slidably installed on the connecting beam (12). A load beam (14) is slidably installed on the seat (13). The sliding directions of the connecting beam (12), the seat (13) and the load beam (14) are perpendicular to each other. The trowel head includes a trowel plate (1), a connector (2) mounted on a load beam (14), and an elastic mechanism for elastically placing the trowel plate (1) on the connector (2) so that the trowel plate (1) can move toward or away from the connector (2). The elastic mechanism includes a connecting rod (3) with its two ends respectively mounted on the connector (2) and the trowel plate (1), and the connecting rod (3) is movably mounted on the connector (2). An elastic element (4) is provided between the trowel plate (1) and the connector (2) so that when the connecting rod (3) moves toward the connector (2), the elastic element (4) will cause the trowel plate (1) to have a tendency to move away from the connector (2).

2. The smoothing equipment for tunnel lining segments according to claim 1, characterized in that, The adapter (2) includes a support (204) mounted on the load beam (14), a rotating shaft (205) is rotatably mounted on the support (204), and the rotating shaft (205) is arranged parallel to the trowel plate (1). The end of the rotating shaft (205) is fixedly provided with an assembly plate (206) for mounting one end of the connecting rod (3).

3. A smoothing device for tunnel lining segments according to claim 2, characterized in that, A drive motor (15) and a reducer (16) are fixedly installed on the support (204). The drive motor (15) and the reducer (16) are connected in transmission. The reducer (16) is connected in transmission to the rotating shaft (205).

4. A smoothing device for tunnel lining segments according to any one of claims 1-3, characterized in that, The support beam (11), connecting beam (12) and seat (13) are all provided with driving components for sliding the corresponding components on them.

5. A smoothing device for tunnel lining segments according to any one of claims 1-3, characterized in that, The connecting rod (3) is configured as a threaded rod. One end of the threaded rod is fixedly installed on the trowel plate (1), and the other end passes through the adapter (2). A nut is fitted on this end, and the nut abuts against the adapter (2).

6. A smoothing device for tunnel lining segments according to any one of claims 1-3, characterized in that, The elastic element (4) is a reset spring and is sleeved on the outside of the connecting rod (3). The two ends of the reset spring are fixedly connected to the adapter (2) and the trowel (1) respectively.

7. A smoothing device for tunnel lining segments according to any one of claims 1-3, characterized in that, The smearing plate (1) is fixedly provided with a guide rod (5) that is movable through the adapter (2), and the guide rod (5) is arranged in parallel with the connecting rod (3).

8. A smoothing device for tunnel lining segments according to any one of claims 1-3, characterized in that, The screed head also includes a baffle plate (6) around the screed plate (1) so that the screed plate (1) and the baffle plate (6) together form a box structure.

9. A smoothing device for tunnel lining segments according to claim 8, characterized in that, A vibration motor (7) is fixedly installed on the smearing plate (1), and the vibration motor (7) is located inside the box structure.

10. A smoothing device for tunnel lining segments according to claim 9, characterized in that, The vibration motor (7) is located at the end of the box structure.

Images