Large-diameter square jacking pipe cutting, supporting and welding trolley

Abstract

The utility model discloses a large-diameter square jacking pipe cutting, supporting and welding trolley which comprises a cutting mechanical arm, a welding mechanical arm, a steel plate moving and taking device, a muck removing device and a supporting structure conveying device. The cutting mechanical arm is used for cutting steel plates on the square jacking pipes, the steel plate moving and taking device is used for moving away the steel plates cut by the cutting mechanical arm, the muck removing device is used for removing and discharging soil bodies between the adjacent square jacking pipes, and the supporting structure conveying device is used for conveying supporting structures to the positions, where the soil bodies are removed, between the adjacent square jacking pipes. And the welding manipulator is used for welding the supporting structure and the square jacking pipe. According to the trolley, through the arrangement of the cutting manipulator, the welding manipulator, the steel plate moving and taking device, the muck removing device and the supporting structure conveying device, the working procedures of cutting square jacking pipe steel sheets, removing muck between pipes, conveying a supporting structure and welding the supporting structure and the square jacking pipe can be achieved; according to the trolley, manual cutting and welding operation is not needed, personnel safety can be guaranteed, and cutting and welding efficiency and precision are improved.

Description

Technical Field

[0001] This utility model relates to the field of pipe jacking construction technology, and in particular to a large-diameter square pipe jacking cutting support welding trolley. Background Technology

[0002] The pipe jacking method (also known as the "new pipe jacking method") is a construction method that connects pipes to form an integrated underground structure. Unlike conventional tunneling methods that involve excavating the earthwork first and then pouring the structure, the pipe jacking method involves first jacking in a ring of large-diameter steel pipes, then using the space inside the pipes to pour the main tunnel structure, and finally excavating the earthwork. Its construction sequence is generally as follows: ① Pipe jacking; ② Pipe sealing; ③ Pipe cutting; ④ Pipe excavation; ⑤ Structure pouring; ⑥ Earthwork excavation.

[0003] However, the current pipe jacking construction is all done manually. The process of cutting between pipes and releasing stress is quite dangerous and cannot guarantee the safety of the operators. Furthermore, the efficiency and precision of manual construction cannot meet the requirements. Utility Model Content

[0004] This utility model provides a large-diameter square jacking pipe cutting and support welding trolley to overcome the above-mentioned problems.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows:

[0006] A large-diameter square jacking pipe cutting support welding trolley includes a cutting robot, a welding robot, a steel plate removal device, a slag removal device, and a support structure transport device.

[0007] The cutting robot is used to cut the steel plate on the square jacking pipe. The steel plate removal device is used to remove the steel plate cut by the cutting robot. The slag removal device is used to remove and discharge the soil between adjacent square jacking pipes. The support structure transport device is used to transport the support structure to the position after the soil is removed. The welding robot is used to weld the support structure to the square jacking pipe.

[0008] Furthermore, it also includes a frame, on which the cutting robot, welding robot, steel plate transfer device, slag removal device, and support structure transport device are all mounted;

[0009] The frame is equipped with a lifting device on the front side, and the welding robot and the cutting robot are driven to rise and fall on the frame by the lifting device.

[0010] Furthermore, the lifting device includes a housing, a rack, a gear, and rollers;

[0011] The rack is vertically mounted on the frame, the housing is fitted over the frame and the rack, the housing is equipped with a lifting motor and a mounting shaft, the output end of the lifting motor is connected to the gear, the gear meshes with the rack, the roller is rotatably mounted on the mounting shaft, and the roller abuts against one side of the frame.

[0012] Both the cutting robot and the welding robot are mounted on the housing.

[0013] Furthermore, the slag removal device includes a cylinder, auger blades, and a cutter head. The cylinder is mounted on the frame via a mechanical arm. The auger blades are located inside the cylinder. One end of the auger blades is connected to a drive device, and the other end of the auger blades is connected to the cutter head. The cutter head is located at the inlet end of the cylinder. The slag removed by the cutter head and auger blades is discharged through the outlet end of the cylinder.

[0014] Furthermore, the support structure includes a top steel plate, a bottom steel plate, and a connecting steel pipe disposed between the top steel plate and the bottom steel plate.

[0015] Furthermore, the support structure transport device includes a hydraulic drive structure and a support structure connected to the hydraulic drive structure. The upper and lower ends of the support structure are provided with supporting edges. The top steel plate of the support structure overlaps on the supporting edge provided at the upper end of the support structure, and the bottom steel plate overlaps on the supporting edge provided at the lower end of the support structure.

[0016] Furthermore, the steel plate removal device includes a hydraulic cylinder and a suction cup, with one end of the hydraulic cylinder fixed to the frame and the other end connected to the suction cup.

[0017] Furthermore, it also includes a dump trolley, which can move to the underside of the frame and is positioned below the outlet end of the cylinder.

[0018] Furthermore, the top of the frame is provided with an adjustable support angle.

[0019] Furthermore, it also includes a control device for controlling the operation of the lifting mechanism, cutting robot, welding robot, steel plate removal device, slag removal device, and support structure conveying device.

[0020] The beneficial effects of this utility model are:

[0021] This utility model discloses a large-diameter square jacking pipe cutting and support welding trolley. With the addition of a cutting robot, a welding robot, a steel plate removal device, a slag removal device, and a support structure transport device, it can realize the processes of cutting square jacking pipe steel plates, removing slag between pipes, transporting support structures, and welding support structures to square jacking pipes. This trolley eliminates the need for manual cutting and welding operations, ensuring personnel safety and improving cutting and welding efficiency and accuracy. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a large-diameter square jacking pipe cutting support welding trolley structure disclosed in an embodiment of this utility model (only a part of the support structure is shown);

[0024] Figure 2 This is a schematic diagram of a lifting device for a large-diameter square jacking pipe cutting and support welding trolley disclosed in an embodiment of this utility model.

[0025] Figure 3 This is a schematic diagram of the slag removal device for a large-diameter square jacking pipe cutting and support welding trolley disclosed in this utility model embodiment;

[0026] Figure 4 This is a schematic diagram of a steel plate support structure transport device for a large-diameter square jacking pipe cutting and support welding trolley disclosed in this utility model embodiment. Figure 1 ;

[0027] Figure 5 This is a schematic diagram of a steel plate support structure transport device for a large-diameter square jacking pipe cutting and support welding trolley disclosed in this utility model embodiment. Figure 2 ;

[0028] Figure 6 This is a schematic diagram of a steel plate transfer device for a large-diameter square jacking pipe cutting support welding trolley disclosed in an embodiment of the present utility model.

[0029] Figure 7 This is a schematic diagram of a large-diameter square jacking pipe cutting and support welding trolley support structure disclosed in an embodiment of this utility model;

[0030] Figure 8This is a schematic diagram showing the installation position of a large-diameter square jacking pipe cutting and support welding trolley support structure disclosed in an embodiment of this utility model.

[0031] In the picture:

[0032] 1. Cutting robot;

[0033] 2. Welding robot;

[0034] 3. Steel plate transfer device; 31. Hydraulic cylinder; 32. Suction cup;

[0035] 4. Slag removal device; 41. Cylinder; 411. Inlet end; 412. Outlet end; 42. Drone blades; 43. Cutter head; 44. Mechanical arm;

[0036] 5. Support structure conveying device; 51. Hydraulic drive structure; 52. Support structure; 521. Supporting edge;

[0037] 6. Lifting device; 61. Housing; 62. Rack; 63. Gear; 64. Roller; 65. Mounting shaft;

[0038] 7. Frame;

[0039] 8. Support structure; 81. Top steel plate; 82. Bottom steel plate; 83. Connecting steel pipes;

[0040] 9. Dump trucks;

[0041] 10. Control device;

[0042] 11. Adjustable support angle;

[0043] 12. Square jacking pipe. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0045] like Figure 1 The image shows a large-diameter square jacking pipe cutting support welding trolley provided in this embodiment, including a cutting robot 1, a welding robot 2, a steel plate removal device 3, a slag removal device 4, and a support structure transport device 5;

[0046] The cutting robot 1 is used to cut the steel plate on the square jacking pipe 12. The steel plate removal device 3 is used to remove the steel plate cut by the cutting robot 1. The slag removal device 4 is used to remove and discharge the soil between adjacent square jacking pipes. The support structure transport device is used to transport the support structure to the position after the soil is removed. The welding robot 2 is used to weld the support structure to the square jacking pipe.

[0047] This utility model discloses a large-diameter square jacking pipe cutting and support welding trolley. With the addition of a cutting robot, a welding robot, a steel plate removal device, a slag removal device, and a support structure transport device, it can realize the processes of cutting square jacking pipe steel plates, removing slag between pipes, transporting support structures, and welding support structures to square jacking pipes. This trolley eliminates the need for manual cutting and welding operations, ensuring personnel safety and improving cutting and welding efficiency and accuracy.

[0048] In a specific embodiment, it also includes a frame 7, on which the cutting robot 1, welding robot 2, steel plate transfer device 3, slag removal device 4, and support structure transport device 5 are all mounted;

[0049] The frame 7 is equipped with a lifting device 6 on the front side, that is, the lifting device 6 is set on the side of the frame close to the steel plate to be cut. The welding robot 2 and the cutting robot 1 are driven to rise and fall on the frame 7 by the lifting device 6, so as to expand the range of motion of the welding robot 2 and the cutting robot 1 and meet the needs of steel plate cutting and support structure welding.

[0050] In this embodiment, the bottom of the frame 7 is provided with traveling rollers to facilitate the movement of the trolley to the location where construction is required.

[0051] In a specific embodiment, such as Figure 2 As shown, the lifting device 6 includes a housing 61, a rack 62, a gear 63, and a roller 64;

[0052] The rack 62 is vertically mounted on the frame 7. The housing 61 is fitted over the frame 7 and the rack 62. The housing 61 contains a lifting motor and a mounting shaft 65. The output end of the lifting motor is connected to the gear 63. The gear 63 meshes with the rack 62. The roller 64 is rotatably mounted on the mounting shaft 65 and abuts against one side of the frame 7.

[0053] The cutting manipulator 1 and the welding manipulator 2 are both installed on the box body; after the lifting motor works, the output end of the lifting motor drives the gear to rotate. Since the gear meshes with the rack on the frame 7 and the box body is provided with rollers, the rotation of the gear can drive the box body to lift along the frame 7, so as to drive the welding manipulator 2 and the cutting manipulator 1 connected to the box body to lift on the frame 7, completing the processes of cutting the steel plate and welding the support structure to the square pipe jacking.

[0054] In a specific embodiment, as Figure 3 shown, the muck removal device 4 includes a cylinder body 41, a dragon blade 42 and a cutter head 43. The cylinder body 41 is installed on the frame 7 through a robotic arm 44. The dragon blade is arranged inside the cylinder body. One end of the dragon blade is connected to a driving device, and the other end of the dragon blade is connected to the cutter head. The cutter head is arranged at the inlet end 411 of the cylinder body. The muck removed by the cutter head and the dragon blade is discharged through the outlet end 412 of the cylinder body.

[0055] The driving device is a motor. After the steel plate of the square pipe jacking is cut off by the cutting manipulator 1 and removed by the steel plate transfer device 3, the motor drives the dragon blade and the cutter head to rotate. The cutter head pulverizes the soil between the square pipe jackings, and the dragon blade discharges the pulverized muck. The muck is discharged from the outlet end of the cylinder body to the muck trolley moving to the lower side of the frame 7 and can be recycled.

[0056] In a specific embodiment, as Figure 7 shown, the support structure 8 includes a top steel plate 81, a bottom steel plate 82 and connecting steel pipes 83 arranged between the top steel plate and the bottom steel plate. The traditional support structure is to weld the top steel plate and the bottom steel plate to the square pipe jacking separately. In this application, connecting steel pipes are welded between the top steel plate and the bottom steel plate to improve the support strength and rigidity of the support structure, thereby increasing the support force for the soil between the pipes and ensuring the strength and stability of the soil.

[0057] In a specific embodiment, as Figure 4-5As shown, the support structure conveying device 5 includes a hydraulic drive structure 51 and a support structure 52 connected to the hydraulic drive structure. The upper and lower ends of the support structure are provided with supporting edges 521. The top steel plate 81 of the support structure overlaps the supporting edge at the upper end of the support structure, and the bottom steel plate 82 overlaps the supporting edge at the lower end of the support structure. The hydraulic drive structure is a hydraulic cylinder. One end of the hydraulic cylinder is fixed to the frame 7. The piston end of the hydraulic cylinder (i.e., the side closest to the location where the support structure needs to be installed) is connected to the support structure. After the slag removal device 4 removes the slag between the pipes, the hydraulic cylinder drives the support structure to move towards the location where the slag has been removed between the square jacking pipes (the location of the soil to be supported between the square jacking pipes), transporting the support structure on the support structure to the location of the soil to be supported between the square jacking pipes. The support structure is driven away from the location of the soil to be supported by the hydraulic cylinder, placing the support structure at the location of the soil to be supported. Figure 8 As shown, the welding robot 2 then welds the top steel plate 81 and bottom steel plate 82 of the support structure to the square top pipes 12 on both sides of the support structure.

[0058] Elastic structures can also be set on the supporting edges. The supporting structure has a pair of supporting edges at the upper and lower ends. That is, the supporting structure has a supporting edge group formed by two opposite and spaced supporting edges at the upper and lower ends. Through the elastic force of the elastic structure, the two supporting edges of the supporting edge group can clamp (fix) the top steel plate / bottom steel plate of the support structure from the upper and lower sides. Then, the hydraulic cylinder drives the supporting structure to move the support structure to the position of the soil to be supported. Then, the elastic structure drives the two supporting edges of the supporting edge group to move in the opposite direction to release the top steel plate / bottom steel plate of the support structure, thus completing the placement of the support structure.

[0059] In a specific embodiment, such as Figure 6 As shown, the steel plate removal device 3 includes a hydraulic cylinder 31 and a suction cup 32. One end of the hydraulic cylinder is fixed to the frame 7, and the other end of the hydraulic cylinder is connected to the suction cup. The piston end of the hydraulic cylinder extends to drive the suction cup to move towards the cut steel plate, thereby picking up the cut steel plate. The piston end of the hydraulic cylinder retracts to drive the suction cup to move the cut steel plate away from the location to be supported, thereby removing the steel plate. The steel plate can be recycled.

[0060] In a specific embodiment, such as Figure 1 As shown, it also includes a slag trolley 9, which can move to the underside of the frame 7 and is placed under the outlet end 412 of the cylinder 41; this facilitates the collection of slag discharged by the slag removal device 4 and the recycling of slag.

[0061] In a specific embodiment, such as Figure 3As shown, the top of the frame is provided with an adjustable support angle 11; when the trolley enters the interior of the square jacking pipe, the adjustable support angle rises and abuts against the inner wall of the square jacking pipe to prevent the frame (trolley) from moving inside the square pipe during the construction process. The adjustable support angle includes a drive device and a support plate located at the top of the frame. The support plate is driven to rise by the drive device, which can be a hydraulic cylinder.

[0062] In a specific embodiment, such as Figure 3 As shown, both the welding robot 2 and the cutting robot 1 are multi-axis robots to meet the needs of cutting steel plates of different sizes and positions, as well as welding support structures and square jacking pipes of different sizes and positions.

[0063] In a specific embodiment, such as Figure 1 As shown, it also includes a control device 10, which is used to control the actions of the lifting mechanism, cutting robot 1, welding robot 2, steel plate transfer device 3, slag removal device 4, and support structure conveying device 5. That is, it controls the actions of the lifting motor, drive device (motor), hydraulic drive structure (hydraulic cylinder), hydraulic cylinder of steel plate transfer device 3, cutting robot 1, and welding robot 2. The control device is existing technology, and the specific principle of its control of the actions of each device, cutting robot 1, and welding robot 2 will not be described here.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A large-diameter square jacking pipe cutting support welding trolley, characterized in that, It includes a cutting robot (1), a welding robot (2), a steel plate transfer device (3), a slag removal device (4), and a support structure transport device (5); The cutting robot (1) is used to cut the steel plate on the square jacking pipe. The steel plate removal device (3) is used to remove the steel plate cut by the cutting robot (1). The slag removal device (4) is used to remove and discharge the soil between adjacent square jacking pipes. The support structure transport device (5) is used to transport the support structure (8) to the position after the soil is removed. The welding robot (2) is used to weld the support structure to the square jacking pipe.

2. A large-diameter square jacking pipe cutting support welding trolley according to claim 1, characterized in that, It also includes a frame (7), on which the cutting robot (1), welding robot (2), steel plate transfer device (3), slag removal device (4), and support structure transport device (5) are all mounted; The frame (7) is provided with a lifting device (6) on the front side. The welding robot (2) and the cutting robot (1) are driven to rise and fall on the frame (7) by the lifting device (6).

3. A large-diameter square jacking pipe cutting support welding trolley according to claim 2, characterized in that, The lifting device (6) includes a housing (61), a rack (62), a gear (63), and a roller (64). The rack (62) is vertically mounted on the frame (7). The housing (61) is fitted on the outside of the frame (7) and the rack (62). The housing (61) is equipped with a lifting motor and a mounting shaft (65). The output end of the lifting motor is connected to the gear (63). The gear (63) meshes with the rack (62). The roller (64) is rotatably mounted on the mounting shaft (65) and abuts against one side of the frame (7). Both the cutting robot (1) and the welding robot (2) are mounted on the housing.

4. A large-diameter square pipe cutting support welding trolley according to claim 2, characterized in that, The slag removal device (4) includes a cylinder (41), a auger blade (42), and a cutter head (43). The cylinder (41) is mounted on the frame (7) via a mechanical arm (44). The auger blade is located inside the cylinder. One end of the auger blade is connected to a drive device, and the other end of the auger blade is connected to the cutter head. The cutter head is located at the inlet end (411) of the cylinder. The slag removed by the cutter head and the auger blade is discharged through the outlet end (412) of the cylinder.

5. A large-diameter square pipe cutting support welding trolley according to claim 1, characterized in that, The support structure (8) includes a top steel plate (81), a bottom steel plate (82), and a connecting steel pipe (83) disposed between the top steel plate and the bottom steel plate.

6. A large-diameter square jacking pipe cutting support welding trolley according to claim 5, characterized in that, The support structure transport device (5) includes a hydraulic drive structure (51) and a support structure (52) connected to the hydraulic drive structure. The upper and lower ends of the support structure are provided with supporting edges (521). The top steel plate (81) of the support structure overlaps on the supporting edge at the upper end of the support structure, and the bottom steel plate (82) overlaps on the supporting edge at the lower end of the support structure.

7. A large-diameter square pipe cutting support welding trolley according to claim 2, characterized in that, The steel plate transfer device (3) includes a hydraulic cylinder (31) and a suction cup (32). One end of the hydraulic cylinder is fixed on the frame (7), and the other end of the hydraulic cylinder is connected to the suction cup.

8. The large-diameter square jacking pipe cutting and support welding trolley according to claim 4, characterized in that, It also includes a dump truck (9), which can move to the underside of the frame (7) and is placed under the outlet end (412) of the cylinder (41).

9. A large-diameter square jacking pipe cutting and support welding trolley according to claim 2, characterized in that, The top of the frame (7) is provided with an adjustable support angle (11).

10. A large-diameter square jacking pipe cutting and support welding trolley according to claim 2, characterized in that, It also includes a control device (10) for controlling the operation of the lifting device, the cutting robot (1), the welding robot (2), the steel plate removal device (3), the slag removal device (4), and the support structure transport device (5).

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