Assembling machine duct piece gripping apparatus for shield tunneling machine

Abstract

The erector segment gripper for the shield tunneling machine comprises a large arm, a knuckle bearing and a fine adjustment oil cylinder, the large arm comprises a bottom flat section and inclined sections connected to the two ends of the bottom flat section, the upper ends of the inclined sections are hinged to the ends of hydraulic rods of lifting oil cylinders, and the knuckle bearing is arranged in the middle of the bottom flat section. The upper end and the lower end of the fine adjustment oil cylinder are fixedly connected with the grasping oil cylinder and the grasping block respectively, the fine adjustment oil cylinder is connected with the grasping block and the bottom flat section and comprises a rolling oil cylinder and a pitching oil cylinder, the inclined section on at least one side is a telescopic section, the inclined section comprises an outer arm and an inner arm slidably inserted into the outer arm, and the lower end of the outer arm is connected with the end of the bottom flat section. The upper end of the inner arm is hinged to the ends of the lifting oil cylinder hydraulic rods, when the lifting oil cylinder hydraulic rods on the two sides do not stretch out and draw back synchronously, the bottom flat section can be deflected through relative sliding between the inner arm and the outer arm, so that the hoisted duct piece is driven to deflect, duct piece deflection can be achieved without a deflection oil cylinder, cost is low, space is sufficient, and assembling and maintaining are convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shield machines, in particular to a shield machine pipe piece grabber. BACKGROUND

[0002] The pipe piece assembling machine is a key subsystem of the shield machine and plays an important role in assembling the prefabricated concrete pipe pieces. The pipe piece assembling machine needs to quickly and accurately install the prefabricated concrete pipe pieces outside the hole to the surface of the tunnel just excavated to support the surface of the tunnel and prevent underground water and soil penetration and ground subsidence. In the above process, the pipe piece assembling machine first needs to hold the pipe pieces transported from the rear of the shield machine, and then installs the pipe pieces to the specified position after a series of actions. The pipe piece grabber is an important device for the pipe piece assembling machine to grab the pipe pieces. The pipe piece grabber is hinged to the lifting oil cylinder in the pipe piece assembling machine structure and is driven by the lifting oil cylinder to rise or fall. The functions that the pipe piece grabber needs to achieve mainly include holding the pipe pieces and adjusting the attitude of the pipe pieces. The holding of the pipe pieces refers to holding the pipe pieces after grabbing so that the pipe pieces are not dropped. The attitude adjustment of the pipe pieces is subdivided into three actions, i.e., pitching, yawing and rolling, and the purpose is to adjust the grabbed pipe pieces to the best assembling attitude in each direction.

[0003] Figure 1 Figure 3 is a schematic diagram of the attitude adjustment of the pipe piece, wherein the X-axis is the direction axis of the tunnel excavation, the rotation around the X-axis represents the yawing action of the pipe piece, the rotation around the Y-axis represents the rolling action of the pipe piece, and the rotation around the Z-axis represents the pitching action of the pipe piece.

[0004] The existing pipe piece grabber structure of the pipe piece assembling machine mainly includes a large arm, a lifting block and a holding oil cylinder. The holding of the pipe pieces is realized by the cooperation of the lifting block and the holding oil cylinder. In addition, three sets of adjustment oil cylinders are configured to realize the pitching, yawing and rolling actions of the pipe pieces. Although such a design is logically simple, four sets of oil cylinders need to be arranged in a limited space, which not only increases the cost but also makes the internal space of the pipe piece grabber compact, which is not convenient for the assembly and later maintenance of the whole pipe piece grabber. UTILITY MODEL CONTENT

[0005] The utility model aims at overcoming the defects of the prior art and provides a shield machine pipe piece grabber.

[0006] To achieve the above-mentioned purpose, the utility model provides a technical scheme, i.e., a shield machine pipe piece grabber, which comprises:

[0007] The large arm comprises a bottom flat section and two inclined sections connected to the two ends of the bottom flat section and extending upwardly and obliquely. The upper end of the inclined section is hinged to the hydraulic rod end of the lifting oil cylinder.

[0008] The joint bearing is arranged at the middle position of the bottom flat section, and the upper and lower ends of the joint bearing are fixedly connected with the holding oil cylinder and the lifting block, respectively.

[0009] The fine-tuning cylinder is connected to the grab block and the bottom flat section. The fine-tuning cylinder includes a roll cylinder and a pitch cylinder.

[0010] At least one inclined section is a telescopic section, which includes an outer arm and an inner arm slidably inserted inside the outer arm. The lower end of the outer arm is connected to the end of the bottom flat section, and the upper end of the inner arm is hinged to the end of the hydraulic rod of the lifting cylinder. When the hydraulic rods of the two lifting cylinders extend and retract asynchronously, the inner arm and the outer arm slide relative to each other, causing the bottom flat section to deflect, thereby causing the hoisted segment to deflect.

[0011] Preferably, the outer surface of the inner arm is spaced apart from the inner surface of the outer arm, and the inner arm and the outer arm are slidably connected by a sliding assembly.

[0012] More preferably, the outer arm has a rectangular cross-section, and the sliding assembly is connected to all four side walls of the outer arm.

[0013] More preferably, each sidewall of the outer arm is connected to at least two sets of the sliding components, and the two sets of sliding components are distributed at intervals along the axial direction of the outer arm.

[0014] More preferably, the sliding assembly includes a mounting hole formed in the side wall of the outer arm and extending through it in the thickness direction, a sealing plate covering the mounting hole, and a wear-resistant plate connected to the sealing plate and located in the mounting hole. The wear-resistant plate is spaced apart from the inner wall of the mounting hole. The sealing plate is connected to the outer arm. The surface of the wear-resistant plate away from the sealing plate abuts against the outer surface of the inner arm, so that the outer surface of the inner arm is spaced apart from the inner surface of the outer arm.

[0015] More preferably, the wear-resistant plate is bolted to the sealing plate on both sides of the outer arm in the axial direction, a gasket is provided between the wear-resistant plate and the sealing plate, and the sliding assembly further includes an oil passage that runs through the sealing plate, the gasket and the wear-resistant plate in the thickness direction, the oil passage being located in the middle of the wear-resistant plate.

[0016] More preferably, the wear-resistant plate has an oil groove on the surface of the inner arm that abuts against it. The oil groove extends along the circumferential direction of the outer arm. The oil groove communicates with the opening of the oil passage facing the inner arm. The opening of the oil passage away from the inner arm is connected to an oil nozzle.

[0017] More preferably, the wear-resistant plate has a countersunk hole for installing the bolt, with the larger end of the countersunk hole facing the inner arm, and the sealing plate has a threaded hole coaxial with the countersunk hole, with the bolt's screw end threadedly connected to the threaded hole.

[0018] More preferably, the side wall of the outer arm is provided with a groove communicating with the edge of the mounting hole, the edge of the sealing plate is embedded in the groove, the surface of the sealing plate facing the inner arm is provided with a boss, the boss is inserted into the mounting hole, the wear-resistant plate is connected to the boss, the boss is also provided with a groove, and a part of the wear-resistant plate is embedded in the groove.

[0019] More preferably, the wear-resistant plate is a high-strength brass-graphite composite plate.

[0020] Preferably, the piston rod of the gripping cylinder is connected to a holding member, which is used to interlock with the mushroom head installed at the center of the segment.

[0021] Preferably, the lower surface of the grabbing block is provided with support shoes on both sides for contacting the pipe segment.

[0022] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art:

[0023] The shield tunneling machine segment grabber provided by this utility model includes a boom, a joint bearing, and a fine-tuning cylinder. The boom includes a base section and an inclined section connected to both ends of the base section and extending upwards. The upper end of the inclined section is hinged to the end of the hydraulic rod of the lifting cylinder. The joint bearing is located in the middle of the base section, and its upper and lower ends are fixedly connected to the gripping cylinder and the grabbing block, respectively. The fine-tuning cylinder is connected to the grabbing block and the base section, and includes a yaw cylinder and a pitch cylinder. By making at least one side of the inclined section a telescopic section, the inclined section includes an outer boom and a slidably inserted... The inner arm, located within the outer arm, connects the lower end of the outer arm to the end of the bottom flat section, and the upper end of the inner arm is hinged to the end of the hydraulic rod of the lifting cylinder. When the hydraulic rods of the two lifting cylinders extend and retract asynchronously, the bottom flat section can be deflected through the relative sliding between the inner and outer arms, thereby causing the hoisted segment to deflect. This tunnel boring machine segment grabber can achieve swaying action using the lifting cylinder of the assembly machine, eliminating the need for a deflection cylinder to achieve segment deflection, reducing the total number of cylinders, lowering costs, expanding space, and facilitating assembly and subsequent maintenance. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the segment attitude fine-tuning. The X-axis is the direction axis of tunnel excavation. Rotation around the X-axis represents the segment yaw action, rotation around the Y-axis represents the segment roll action, and rotation around the Z-axis represents the segment pitch action.

[0025] Figure 2 This is a front view schematic diagram of a preferred embodiment of the present invention.

[0026] Figure 3 yes Figure 2The diagram shows the parts connected to the lifting cylinder, with a partial cross-section for easier observation.

[0027] Figure 4 yes Figure 3 A magnified view of a portion of point A in the middle.

[0028] Figure 5 yes Figure 2 The diagram is shown from the left, where mushroom-shaped nozzles are installed on the tunnel segment.

[0029] Figure 6 yes Figure 3 Enlarged cross-sectional view of the hydraulic cylinder.

[0030] The components are: 1. Tube segment; 2. Mushroom head; 10. Main boom; 11. Bottom flat section; 12. Inclined section; 121. Outer boom; 122. Inner boom; 123. Groove; 20. Joint bearing; 30. Gripping cylinder; 31. Holding component; 40. Grabbing block; 41. Support shoe; 51. Rolling cylinder; 52. Pitch cylinder; 60. Lifting cylinder; 70. Sliding assembly; 71. Mounting hole; 72. Sealing plate; 721. Threaded hole; 722. Boss; 723. Groove; 73. Wear plate; 731. Bolt; 732. Oil groove; 733. Countersunk hole; 74. Gasket; 75. Oil passage; 751. Oil nozzle. Detailed Implementation

[0031] like Figures 1 to 5 As shown, the tunnel segment grabber for a shield tunneling machine provided by this utility model includes: a boom 10, a joint bearing 20, a gripping cylinder 30, a lifting block 40, and a fine-tuning cylinder. The boom 10 includes a flat bottom section 11 extending in a left-right direction and an inclined section 12 connected to the left and right ends of the flat bottom section 11 and extending upwards at an angle. The upper end of the inclined section 12 is hinged to the end of the hydraulic rod of the lifting cylinder 60. The joint bearing 20 is located in the middle of the flat bottom section 11. The upper and lower ends of the joint bearing 20 are fixedly connected to the gripping cylinder 30 and the lifting block 40, respectively. The piston rod of the gripping cylinder 30 is connected to a holding member 31, which is used to interlock with the mushroom head 2 installed at the center of the tunnel segment 1 for gripping. The lower surface of block 40 is provided with support shoes 41 (made of polyurethane rubber) on both sides for contacting the segment 1; the fine-tuning cylinder is connected to the lifting block 40 and the bottom flat section 11, and the fine-tuning cylinder includes a lateral cylinder 51 and a pitch cylinder 52; the inclined section 12 on the left is a telescopic section. Specifically, the inclined section 12 includes an outer arm 121 and an inner arm 122 slidably inserted in the outer arm 121. The lower end of the outer arm 121 is connected to the end of the bottom flat section 11, and the upper end of the inner arm 122 is hinged to the end of the hydraulic rod of the lifting cylinder 60. When the hydraulic rods of the two lifting cylinders 60 extend and retract asynchronously, the inner arm 122 slides relative to the outer arm 121, causing the bottom flat section 11 to deflect, thereby causing the hoisted segment 1 to deflect.

[0032] The advantage of this setup is that segment deflection can be achieved without setting up deflection cylinders, reducing the total number of cylinders, lowering costs while expanding space, and facilitating assembly and later maintenance.

[0033] To facilitate relative sliding between the inner and outer arms, in this embodiment, the outer surface of the inner arm 122 is spaced apart from the inner surface of the outer arm 121, and the inner arm 122 and the outer arm 121 are slidably connected by a sliding assembly 70.

[0034] Furthermore, the cross-sections of the outer arm 121 and the inner wall 122 are both rectangular, and the four side walls of the outer arm 121 are all connected to sliding components 70. Specifically, each side wall of the outer arm 121 is connected to at least two sets of sliding components 70, and these two sets of sliding components 70 are distributed at intervals along the axial direction of the outer arm 121.

[0035] For ease of assembly, in this embodiment, the sliding assembly 70 includes a mounting hole 71 formed in the side wall of the outer arm 121 and extending through it in the thickness direction, a sealing plate 72 covering the mounting hole 71, and a wear-resistant plate 73 connected to the sealing plate 72 and located inside the mounting hole 71. The wear-resistant plate 73 is spaced apart from the inner wall of the mounting hole 71. The sealing plate 72 is connected to the outer arm 121. The surface of the wear-resistant plate 73 away from the sealing plate 72 abuts against the outer surface of the inner arm 122, so that the outer surface of the inner arm 122 is spaced apart from the inner surface of the outer arm 121. Furthermore, the wear-resistant plate 73 is locked to the sealing plate 72 on both sides of the outer arm 121 in the axial direction by bolts 731. A gasket 74 is provided between the wear-resistant plate 73 and the sealing plate 72. The sliding assembly 70 also includes an oil passage 75 extending through the sealing plate 72, the gasket 74 and the wear-resistant plate 73 in the thickness direction. The oil passage 75 is located in the middle of the wear-resistant plate 73.

[0036] To achieve better lubrication, the wear-resistant plate 73 is further provided with an oil groove 732 on the surface of the inner arm 122. The oil groove 732 extends along the circumferential direction of the outer arm 121. The top wall of the oil groove 732 is connected to the opening of the oil passage 75 facing the inner arm 122. The opening of the oil passage 75 away from the inner arm 122 is connected to an oil nozzle 751.

[0037] In this embodiment, the wear-resistant plate 73 is provided with a countersunk hole 733 for installing bolts 731. The large end of the countersunk hole 733 faces the inner arm 122. The sealing plate 72 is provided with a threaded hole 721 coaxial with the countersunk hole 733. The screw end of the bolt 731 is threadedly connected to the threaded hole 721.

[0038] For ease of positioning, in this embodiment, the side wall of the outer arm 121 is provided with a groove 123 that communicates with the edge of the mounting hole 71. The edge of the sealing plate 72 is embedded in the groove 123. The surface of the sealing plate 72 facing the inner arm 122 is provided with a boss 722. The boss 722 is inserted into the mounting hole 71. The wear-resistant plate 73 is connected to the boss 722. The boss 722 is also provided with a groove 723. All of the gasket 74 and part of the wear-resistant plate 73 are embedded in the groove 723.

[0039] To further enhance the lubrication effect, the wear-resistant plate 73 is a high-strength brass-graphite composite plate. Specifically, the wear-resistant plate 73 is made of high-strength brass and graphite. The high-strength brass ensures the wear resistance of the wear-resistant plate 73 during long-term sliding friction with the outer surface of the inner arm 122, while the addition of graphite increases the lubrication effect.

[0040] Before grabbing the tunnel segment, the construction workers insert a mushroom-shaped head at the center of the segment. By controlling the overall movement of the assembly machine and the lifting cylinder, the holding component and the mushroom-shaped head lifting device are interlocked. At this time, there is a certain distance between the support shoe and the upper arc surface of the segment. Since the piston rod of the gripping cylinder is connected to the holding component, controlling the retraction of the gripping cylinder piston rod can lift the holding component, the mushroom-shaped head lifting device, and the segment upwards as a whole. When the segment is lifted to fit tightly against the support shoe, the segment is constrained. At this time, by the action of the lateral and pitch cylinders and the coordination of the joint bearings, the lateral and pitch actions of the segment can be achieved respectively. By separately controlling the extension and retraction of the piston rods of the left and right lifting cylinders, the hinge points on the left and right sides can be made to be on different horizontal lines, thereby achieving the overall sway of the gripper and the segment, which completes the fine adjustment of the segment's sway posture.

[0041] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the protection scope of this utility model.

Claims

1. A segment grabber for a tunnel boring machine (TBM), comprising: The boom includes a bottom flat section and an inclined section that connects to both ends of the bottom flat section and extends upward at an angle. The upper end of the inclined section is hinged to the end of the hydraulic rod of the lifting cylinder. The spherical bearing is located in the middle of the bottom flat section, and its upper and lower ends are fixedly connected to the gripping cylinder and the gripping block, respectively. The fine-tuning cylinder is connected to the grab block and the bottom flat section. The fine-tuning cylinder includes a roll cylinder and a pitch cylinder. Its features are: At least one inclined section is a telescopic section, which includes an outer arm and an inner arm slidably inserted inside the outer arm. The lower end of the outer arm is connected to the end of the bottom flat section, and the upper end of the inner arm is hinged to the end of the hydraulic rod of the lifting cylinder. When the hydraulic rods of the two lifting cylinders extend and retract asynchronously, the inner arm and the outer arm slide relative to each other, causing the bottom flat section to deflect, thereby causing the hoisted segment to deflect.

2. The segment grabber for a tunnel boring machine assembly machine according to claim 1, characterized in that: The outer surface of the inner arm is spaced apart from the inner surface of the outer arm, and the inner arm and the outer arm are slidably connected by a sliding assembly.

3. The segment grabber for a tunnel boring machine assembly machine according to claim 2, characterized in that: The outer arm has a rectangular cross-section, and the sliding assembly is connected to all four side walls of the outer arm.

4. The segment grabber for a tunnel boring machine assembly machine according to claim 3, characterized in that: Each sidewall of the outer arm is connected to at least two sets of sliding components, and these two sets of sliding components are distributed at intervals along the axial direction of the outer arm.

5. The segment grabber for a tunnel boring machine assembly machine according to claim 2, characterized in that: The sliding assembly includes a mounting hole formed in the side wall of the outer arm and extending through it in the thickness direction, a sealing plate covering the mounting hole, and a wear-resistant plate connected to the sealing plate and located in the mounting hole. The wear-resistant plate is spaced apart from the inner wall of the mounting hole. The sealing plate is connected to the outer arm. The surface of the wear-resistant plate away from the sealing plate abuts against the outer surface of the inner arm, so that the outer surface of the inner arm is spaced apart from the inner surface of the outer arm.

6. The segment grabber for a tunnel boring machine assembly machine according to claim 5, characterized in that: The wear-resistant plate is bolted to the sealing plate on both sides of the outer arm in the axial direction. A gasket is provided between the wear-resistant plate and the sealing plate. The sliding assembly also includes an oil passage that runs through the sealing plate, the gasket and the wear-resistant plate along the thickness direction. The oil passage is located in the middle of the wear-resistant plate.

7. The segment grabber for a tunnel boring machine assembly machine according to claim 6, characterized in that: The wear-resistant plate has an oil groove on its surface that abuts against the inner arm. The oil groove extends along the circumferential direction of the outer arm. The oil groove is connected to the opening of the oil passage facing the inner arm. The opening of the oil passage away from the inner arm is connected to an oil nozzle.

8. The segment grabber for a tunnel boring machine assembly machine according to claim 6, characterized in that: The wear-resistant plate has a countersunk hole for installing the bolt, with the larger end of the countersunk hole facing the inner arm. The sealing plate has a threaded hole coaxial with the countersunk hole, and the bolt's screw end is threadedly connected to the threaded hole.

9. The segment grabber for a tunnel boring machine assembly machine according to claim 5, characterized in that: The side wall of the outer arm is provided with a groove that communicates with the edge of the mounting hole. The edge of the sealing plate is embedded in the groove. The surface of the sealing plate facing the inner arm is provided with a boss. The boss is inserted into the mounting hole. The wear-resistant plate is connected to the boss. The boss is also provided with a groove. A part of the wear-resistant plate is embedded in the groove.

10. The segment grabber for a tunnel boring machine assembly machine according to claim 5, characterized in that: The wear-resistant plate is a high-strength brass-graphite composite plate.

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