An arch frame mounting mechanism integrated into a trolley

Abstract

This utility model discloses an arch frame installation mechanism integrated into a trolley, including a trolley body and base platforms located on both sides of the trolley body. A longitudinally extending first slide rail is provided on the rear end face of the trolley body, and an arch frame platform for placing the steel arch frame to be assembled slides on the first slide rail. Several second slide rails extending along the front-rear direction of the trolley body are provided on the top of the trolley body, and a robotic arm slides on the second slide rails. A gripper is mounted on the robotic arm. The purpose of this utility model is to provide an arch frame installation mechanism integrated into a trolley to solve the problem that existing arch frame trolleys are not suitable for use in ultra-long-distance, small-section tunnels, thereby reducing the difficulty of robotic arm lifting and promoting the miniaturization and lightweighting of the equipment.

Description

Technical Field

[0001] This utility model relates to the field of tunnel construction, specifically to an arch frame installation mechanism integrated into a trolley. Background Technology

[0002] In the construction of railways and highways in mountainous areas, there are occasional requirements for the construction of ultra-long, small-section tunnels. Current technologies for constructing ultra-long, small-section tunnels require the sequential use of drilling rigs, anchoring rigs, arch frame rigs, and shotcrete rigs for excavation and support. Existing arch frame rigs rely on large robotic arms for operation, requiring the steel arch frames to be assembled to be lifted from the ground to the arch crown. This necessitates a large hydraulic system for support, which is unsuitable for use in ultra-long, small-section tunnels. Utility Model Content

[0003] The purpose of this utility model is to provide an arch frame installation mechanism integrated into a trolley to solve the problem that the existing arch frame trolley is not suitable for use in ultra-long-distance, small-section tunnels, thereby reducing the difficulty of lifting the robotic arm and promoting the miniaturization and lightweight development of the equipment.

[0004] This utility model is achieved through the following technical solution:

[0005] An arch frame installation mechanism integrated into a trolley includes a trolley body and base platforms located on both sides of the trolley body. A first slide rail extending longitudinally is provided on the rear end face of the trolley body, and an arch frame platform for placing the steel arch frame to be spliced ​​is slidably fitted on the first slide rail. A plurality of second slide rails extending along the front-rear direction of the trolley body are provided on the top of the trolley body, and a robotic arm is slidably fitted on the second slide rails. A gripper is installed on the robotic arm.

[0006] To address the problem that existing arch frame trolleys are unsuitable for use in ultra-long, small-section tunnels, this invention proposes an arch frame installation mechanism integrated into the trolley. This application features an arch frame platform at the rear of the trolley body, allowing the platform to move up and down along a first slide rail. Before steel arch frame installation, the platform is lowered to allow workers to temporarily place the arch frame to be assembled on it. After the initial anchoring work is completed, the platform is raised to a height where the arch frame can be grasped by the top robotic arm. Each robotic arm grasps its corresponding arch frame using its grippers and then slides it to the desired installation section via a second slide rail. This invention overcomes the shortcomings of existing technologies that require large robotic arms and large hydraulic systems. By compensating for lifting with the first slide rail and for lateral movement with the second slide rail, it significantly reduces reliance on large hydraulic systems and large robotic arms, lowers the difficulty of robotic arm lifting, promotes equipment miniaturization and lightweight design, and is more suitable for the construction of long-distance, small-section tunnels.

[0007] Those skilled in the art should understand that, in this application, when the trolley body is located inside the tunnel, the direction facing the tunnel face is considered forward, and the direction facing the tunnel entrance is considered backward.

[0008] Furthermore, two parallel and facing support plates are installed on the arch frame platform. The support plates are vertical and penetrate the arch frame platform. The steel arch frame to be assembled is supported by the two support plates, ensuring its stable storage on the arch frame platform.

[0009] Furthermore, the top of the support plate has several through slots for accommodating the steel arch frames to be assembled. Placing the steel arch frames to be assembled within the through slots further ensures their stability.

[0010] Furthermore, several notches corresponding to the through slots are formed on the surface of the arch platform located on the outer side of the support plate. A third slide rail, extending longitudinally and corresponding to each notch, is provided on the outer surface of the support plate. A strip-shaped component matching the notch is slidably fitted on the third slide rail. An arch sensing device is provided on the upper surface of the strip-shaped component.

[0011] During the process of a robotic arm grasping and positioning a steel arch frame, the lengths and curvatures of each arch segment may differ, making it challenging to ensure stable grasping and positioning of each segment. Grasping the center position of the arch segment each time would facilitate more accurate positioning. While existing image recognition technology can identify the arch segments and their center positions, it requires significant computational resources, necessitating the integration of a high-precision camera and complex image processing algorithms into the robotic arm, resulting in high costs and difficult maintenance in case of malfunction. Therefore, this solution proposes a purely mechanical positioning structure for the placement of the steel arch frame.

[0012] Considering that the steel arch frames used in small-section tunnels are generally circular arches, after the steel arch frame is placed in the corresponding through slots on the two support plates, there are strip-shaped components below both ends of the frame. The two strip-shaped components are raised synchronously. If one end of the steel arch frame is higher than the other, as the two strip-shaped components rise synchronously, the arch frame sensing device on one side of the strip-shaped component will sense the end of the steel arch frame first, while the arch frame sensing device on the other side of the strip-shaped component will not be able to sense the end of the steel arch frame. At this time, the two strip-shaped components continue to rise synchronously, and the steel arch frame is slowly rotated by the strip-shaped components until the arch frame sensing devices on both sides of the strip-shaped components sense the steel arch frame. Since the two strip-shaped components are at the same height, the center position of the steel arch frame must be at the apex, that is, at the center of the line connecting the two support plates. Therefore, when using this solution to store the circular arch steel frame, regardless of the length or curvature of the steel frame, the center position of each steel arch frame can be kept stable within the allowable range. When the robotic arm grabs the corresponding steel arch frame, it only needs to move to the center position between the two support plates and then clamp and grab it from top to bottom, which significantly reduces the difficulty of positioning the steel arch frame.

[0013] Of course, in this design, the two opposing members on both sides are always at the same height and move in tandem, meaning they rise and fall synchronously. Furthermore, the arch frame sensing device can be implemented using any technology that can be achieved by those skilled in the art, such as pressure sensors, contact switches, infrared sensors, or distance sensors. In this design, the outer side of the support plate refers to the side away from the direction where another support plate is located, for any given support plate.

[0014] Furthermore, each of the through slots is provided with a limiting element, which is used to restrict the upward movement of the arch frame.

[0015] It also includes an opening and closing mechanism for opening and closing the limiting member. The opening and closing mechanism includes a clearance groove formed in the wall of the through groove and a power device for receiving the limiting member into the clearance groove.

[0016] When the steel arch frame is installed into the through groove, the limiting member is put into the clearance groove in advance by the power device. After the steel arch frame is installed into the through groove, the limiting member is extended and blocked on the steel arch frame by the power device, thereby restricting the overall upward lifting of the steel arch frame. This ensures that when the strip rises, the steel arch frame will not be lifted as a whole, but will rotate relative to the other side.

[0017] Furthermore, the power unit is a linear motor.

[0018] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0019] 1. This utility model provides an arch frame installation mechanism integrated into a trolley, which overcomes the shortcomings of existing technologies that require large robotic arms and large hydraulic systems to operate. By compensating for lifting and lowering through the first slide rail and for lateral movement through the second slide rail, the dependence on large hydraulic systems and large robotic arms is significantly reduced, which is conducive to the miniaturization and lightweight development of equipment and is more suitable for the construction of long-distance, small-section tunnels.

[0020] 2. The present invention provides an arch frame installation mechanism integrated into a trolley, which can ensure the stability of the center position of each steel arch frame. When the robotic arm grabs the corresponding steel arch frame, it only needs to move to the center position between the two support plates and then clamp and grab it from top to bottom, which significantly reduces the difficulty of positioning the steel arch frame. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0022] Figure 1 This is a schematic diagram of a specific embodiment of the present utility model;

[0023] Figure 2 This is a schematic diagram of the arch frame platform in a specific embodiment of the present utility model;

[0024] Figure 3 This is a cross-sectional view of the support plate in a specific embodiment of the present utility model;

[0025] Figure 4 This is a schematic diagram of the rear end of the trolley body when installing the steel arch frame in a specific embodiment of this utility model;

[0026] Figure 5 This is a schematic diagram of the middle part of the trolley body during the installation of the steel arch frame in a specific embodiment of this utility model.

[0027] The attached diagram shows the markings and corresponding component names:

[0028] 1-Cart body, 2-Basic platform, 8-First slide rail, 9-Arch frame platform, 10-Second slide rail, 11-Mechanical arm, 12-Gripper, 28-Support plate, 29-Through groove, 30-Notch, 31-Third slide rail, 32-Strip component, 33-Arch frame sensing device, 34-Leaving groove, 35-Limiting component, 36-Power unit, 38-Moving device, 39-Steel arch frame. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only used to explain this utility model and are not intended to limit this utility model.

[0030] Example 1:

[0031] like Figures 1 to 5 The arch frame installation mechanism integrated into a trolley includes a trolley body 1 and base platforms 2 located on both sides of the trolley body 1. A first slide rail 8 extending longitudinally is provided on the rear end face of the trolley body 1, and an arch frame platform 9 for placing the steel arch frame to be spliced ​​is slidably fitted on the first slide rail 8. A plurality of second slide rails 10 extending along the front-rear direction of the trolley body 1 are provided on the top of the trolley body 1, and a robotic arm 11 is slidably fitted on the second slide rails 10. A gripper 12 is installed on the robotic arm 11.

[0032] Two parallel and facing support plates 28 are installed on the arch frame platform 9. The support plates 28 are vertical and penetrate through the arch frame platform 9.

[0033] The top of the support plate 28 has several through slots 29 for accommodating the steel arch frame to be assembled; the surface of the arch frame platform 9 located outside the support plate 28 has several notches 30 corresponding to the through slots 29; the outer surface of the support plate 28 is provided with a longitudinally extending third slide rail 31 corresponding to the notches 30; a strip 32 matching the notches 30 is slidably fitted on the third slide rail 31; and an arch frame sensing device 33 is provided on the upper surface of the strip 32.

[0034] Each of the through slots 29 is provided with a matching limiting member 35. The slot wall of the through slot 29 is provided with a relief slot 34. It also includes a power device 36 for receiving the limiting member 35 into the relief slot 34.

[0035] This implementation is based on Figure 1 Taking the example in the middle, the left direction is front and the right direction is back. In this embodiment, the arch frame sensing device 33 uses a pressure sensor, the limiting member 35 uses a bottom arc-shaped stop, and the power device 36 is a motor.

[0036] In this embodiment, the two opposite strips 32 located on both sides form a group, and each group of strips 32 rises and falls synchronously.

[0037] The working method of this embodiment includes:

[0038] Before installing the steel arch frame, carry out preparatory work for the steel arch frame:

[0039] The first drive device drives the arch frame platform 9 to slide downward along the first slide rail 8 to the lowest position of its stroke.

[0040] According to the number of steel arch frames to be spliced, a number of strips 32 are lowered to the low position of the stroke, and the limiting parts 35 corresponding to these strips 32 are stored in the clearance groove 34 by the power device 36.

[0041] The steel arch frames to be spliced ​​are placed one by one on the two support plates 28, so that the same steel arch frame enters the two corresponding through slots 29 on the two support plates 28.

[0042] The power unit 36 ​​extends the limiting member 35 to block the steel arch frame from moving upward as a whole.

[0043] The two shapes 32 in the same group are raised synchronously until the arch frame sensing devices 33 on the two shapes 32 are both in contact with the ends of the steel arch frame.

[0044] The first drive device drives the arch platform 9 to move upward along the first slide rail 8 to a height that can be grasped by the robotic arm 11.

[0045] Install steel arch frame:

[0046] Based on the tunnel centerline and elevation, mark the installation position of the steel arch frame and mark the anchor bolt hole positions;

[0047] like Figure 4 As shown, the grippers 12 on the robotic arm 11 are used to grip single sections of steel arch frame from the arch frame platform 9, and the sections are hoisted from the arch foot to the arch top in the design sequence, and gently placed in the predetermined position to avoid collision with the surrounding rock or the installed support structure.

[0048] Temporary fixing: Adjacent arch segments are manually aligned using connecting plates, and bolts are inserted for initial tightening; the robotic arm 11 is adjusted, and the arch curvature is fine-tuned to ensure overall smoothness; after temporary fixing is completed, as shown... Figure 5 As shown;

[0049] The second drive device drives each robotic arm 11 to slide synchronously along the second slide rail 10 to the set position; the total station re-measures the centerline, elevation and verticality of the arch frame, and the deviation must be controlled within ±50mm.

[0050] Drill holes at the arch foot position to install anchor bolts, and weld them to the arch frame after anchoring.

[0051] Connecting steel bars are manually laid along the longitudinal direction of the tunnel and welded to the steel arch frame to form an integral grid, thereby enhancing the stability of the support structure.

[0052] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Additionally, the term "connection" as used herein, unless otherwise specified, can refer to a direct connection or an indirect connection via other components.

[0053] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. An arch mounting mechanism integrated with a trolley, comprising a trolley body (1), a base platform (2) located on both sides of the trolley body (1), characterized in that, The rear end face of the trolley body (1) is provided with a longitudinally extending first slide rail (8), on which an arch platform (9) for placing the steel arch frame to be spliced ​​is slidably fitted; the top of the trolley body (1) is provided with a plurality of second slide rails (10) extending along the front-rear direction of the trolley body (1), on which a robotic arm (11) is slidably fitted, and a gripper (12) is installed on the robotic arm (11).

2. The arch mounting mechanism integrated with the trolley as claimed in claim 1, wherein, Two parallel and opposite support plates (28) are installed on the arch frame platform (9), and the support plates (28) are vertical and penetrate through the arch frame platform (9).

3. The arch mounting mechanism integrated with the trolley as claimed in claim 2, wherein, The top of the support plate (28) has several through slots (29) for accommodating the steel arch frame to be spliced.

4. The arch mounting mechanism integrated with the trolley as claimed in claim 3, wherein, The surface of the arch platform (9) located outside the support plate (28) has several notches (30) that correspond one-to-one with the through slots (29). The outer surface of the support plate (28) is provided with a longitudinally extending third slide rail (31) that corresponds one-to-one with the notches (30). A strip (32) that matches the notches (30) is slidably fitted on the third slide rail (31).

5. The arch mounting mechanism integrated with the trolley as claimed in claim 4, wherein, An arch frame sensing device (33) is provided on the upper surface of the strip (32).

6. The arch mounting mechanism integrated with the trolley as claimed in claim 5, wherein, The arch frame sensing device (33) is a pressure sensor.

7. The arch mounting mechanism integrated with the dolly according to claim 3, wherein, Each of the through slots (29) is provided with a limiting element (35) for restricting the upward movement of the arch frame.

8. The arch mounting mechanism integrated with the trolley as claimed in claim 7, wherein, It also includes an opening and closing mechanism for opening and closing the limiting member (35).

9. The arch mounting mechanism integrated with the dolly of claim 8, wherein, The opening and closing mechanism includes a clearance groove (34) formed in the wall of the through groove (29) and a power device (36) for receiving the limiting member (35) into the clearance groove (34).

10. The arch mounting mechanism integrated with the dolly of claim 9, wherein, The power unit (36) is a linear motor.

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