An inverted arch trestle steel arch frame automatic installation system

Abstract

The utility model relates to a kind of inverted arch trestle steel arch frame automatic installation system, including inverted arch trestle and steel arch frame grabbing manipulator, inverted arch trestle is supported on ground by multiple supporting legs, and forms stable operation platform;Multiple support corbels are evenly installed in the side of inverted arch trestle, support corbel is installed with running track, and the layout direction of running track is the extension direction of tunnel;360 ° turntable platform that can move along running track is arranged on running track;Steel arch frame grabbing manipulator is installed on 360 ° turntable platform, and by the cooperation of running track and 360 ° turntable platform, steel arch frame grabbing manipulator can move along tunnel extension direction and realize all-around attitude adjustment, and the end of steel arch frame grabbing manipulator is provided with mechanical gripper for clamping steel arch frame.The utility model realizes the mechanization of steel arch frame on inverted arch trestle, moves and installs, improves the security and construction efficiency of support construction.

Description

Technical Field

[0001] This utility model relates to the field of tunnel construction equipment technology, and in particular to an automatic installation system for steel arch frames of an inverted arch trestle bridge. Background Technology

[0002] In tunnel construction, invert arch trestle bridges, as a commonly used temporary tooling, are typically laid out along the tunnel's extension direction. Supported by multiple points at the tunnel floor, they span the invert arch work area, allowing personnel and transport equipment to pass smoothly across. Simultaneously, invert arch excavation, rebar tying, and invert arch concrete pouring can be carried out below the trestle bridge, enabling parallel progress of face excavation and invert arch construction and improving the overall construction pace. However, in current construction methods, steel arch frames, as a crucial structure for initial tunnel support, still primarily rely on manual labor or hoisting machinery for segment transportation, delivery, and positioning installation. Operators often need to perform heavy object positioning and assembly in high-risk environments near the tunnel face, resulting in high labor intensity and operational hazards. Furthermore, installation efficiency and accuracy are significantly affected by human factors.

[0003] Existing manual installation and conventional hoisting methods suffer from insufficient adaptability and integration. For example, hoisting equipment often cannot be structurally integrated with the invert arch trestle, leading to frequent equipment entry and exit, interfering with the limited passage space within the tunnel. The operating range of mechanical equipment is limited, failing to cover the entire tunnel face, and its alignment and posture adjustment capabilities are poor. This results in quality defects such as spacing deviations and inadequate contact during steel arch frame installation, affecting the uniformity of support stress. Furthermore, existing invert arch trestle structures do not consider the torque transmission path design required for robotic arm installation. Forcibly deploying mechanical equipment would face technical bottlenecks such as insufficient stability and increased operational risks. Therefore, there is an urgent need for a steel arch frame installation system that can be integrated with the invert arch trestle, flexibly moved within the tunnel face, and precisely controlled in posture to achieve safe, efficient, and high-precision support structure installation. Utility Model Content

[0004] In view of the above-mentioned defects of the existing technical solutions, the main purpose of this utility model is to develop an automatic installation system for steel arch frames of inverted arch trestle bridges, so as to realize the mechanized grasping, moving and installation of steel arch frames on inverted arch trestle bridges, and improve the safety and construction efficiency of support construction.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An automated installation system for steel arch frames of an inverted arch trestle bridge includes an inverted arch trestle bridge and a steel arch frame gripping robotic arm. The inverted arch trestle bridge is supported on the ground by multiple outriggers, forming a stable working platform. Multiple supporting brackets are evenly installed on one side of the inverted arch trestle bridge, and a traveling track is installed on the supporting brackets. The traveling track is laid in the direction of tunnel extension. A 360° turntable platform that can move along the traveling track is provided. The steel arch frame gripping robotic arm is installed on the 360° turntable platform. Through the cooperation of the traveling track and the 360° turntable platform, the steel arch frame gripping robotic arm can move along the tunnel extension direction and achieve omnidirectional posture adjustment. The end of the steel arch frame gripping robotic arm is provided with a mechanical gripper for clamping the steel arch frame.

[0006] Preferably, the supporting brackets are welded or bolted to the side beams of the arch bridge.

[0007] Preferably, the 360° turntable platform adopts a hydraulic or electric rotation structure to realize the full-angle rotation of the steel arch frame gripping robot arm around the vertical direction.

[0008] Preferably, the steel arch gripping robotic arm has 6-7 degrees of freedom.

[0009] Preferably, the steel arch frame gripping robotic arm has a working radius covering the farthest point from the inverted arch trestle bridge to the working face.

[0010] Preferably, the rated load capacity of the steel arch gripping robotic arm is greater than the weight of a single steel arch section, and has a safety factor of not less than 1.5 times it.

[0011] Preferably, the mechanical gripper is a hydraulic clamp suitable for clamping steel arch frames with I-beam or H-beam cross sections, and is equipped with a self-locking anti-detachment mechanism.

[0012] Preferably, the mechanical gripper is equipped with a buffer device and a hydraulic fine-tuning mechanism for the final docking and posture adjustment of the steel arch frame.

[0013] Preferably, the mechanical gripper has a tool quick-change interface, which can be replaced with a bolt installation tool or a measuring and positioning tool.

[0014] Preferably, the arch bridge is equipped with a walking drive mechanism and a parking anchoring mechanism, which can advance synchronously with the tunnel excavation and be stably fixed during operation.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: This invention integrates a steel arch frame grabbing robotic arm mounted on an inverted arch trestle, along with a 360° turntable platform that can move along a travel track. This allows for the mechanized grabbing, handling, and installation of the steel arch frame on a stable trestle platform, eliminating the need for operators to enter the dangerous area of ​​the tunnel face and significantly reducing the risk of falls from heights and injuries from heavy objects. The robotic arm possesses multi-degree-of-freedom posture adjustment capabilities and a large working radius, enabling flexible coverage of the entire tunnel face and precise positioning of the steel arch frame, effectively improving installation efficiency and quality. The integrated layout of the travel track and the inverted arch trestle improves the utilization of tunnel construction space and reduces equipment interference during travel. The overall structure is stable and reliable, suitable for complex working conditions such as vibration and dust within tunnels, and can meet the needs of initial tunnel support construction in a long-term, safe, and efficient manner. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a plan view of the automatic installation system for the steel arch frame of the inverted arch trestle bridge according to this utility model; Figure 2 yes Figure 1 Cross-sectional view of AA.

[0018] Explanation of reference numerals in the attached drawings: 1-Inverted arch trestle bridge; 11-Outrigger; 12-Supporting bracket; 13-Traveling track; 14-360° turntable platform; 2-Steel arch frame gripping robotic arm; 21-Mechanical gripper. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model belong to the present utility model.

[0020] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0021] Please see Figure 1-2 This embodiment discloses an automatic installation system for the steel arch frame of an inverted arch trestle bridge, including an inverted arch trestle bridge 1 and a steel arch frame gripping robotic arm 2. The inverted arch trestle bridge 1 is supported on the ground by multiple outriggers 11, forming a stable working platform. The multi-point distribution of the outriggers 11 ensures that the trestle bridge maintains good overall stability during the lifting of heavy steel arch frames by the robotic arm 2. Multiple supporting brackets 12 are evenly installed on one side of the inverted arch trestle bridge 1. The supporting brackets 12 are the connecting structures for supporting the traveling rails 13, which can enhance the anti-overturning ability of the robotic arm 2 during operation. The traveling rails 13 are installed on the supporting brackets 12, and the direction of the traveling rails 13 is the extension direction of the tunnel, so that the robotic arm 2 has a certain direction of movement in the system's forward direction. It has continuous operation capability; a 360° turntable platform 14 that can move along the travel track 13 is set on the travel track 13, and the steel arch frame grabbing robot arm 2 is installed on the 360° turntable platform 14. Through the cooperation of the travel track 13 and the 360° turntable platform 14, the steel arch frame grabbing robot arm 2 can move along the tunnel extension direction and achieve all-round posture adjustment, so as to flexibly complete the transfer, lifting and positioning of steel arch frames in the limited tunnel space; the end of the steel arch frame grabbing robot arm 2 is equipped with a mechanical gripper 21 for clamping the steel arch frame. The mechanical gripper 21 can stably clamp steel arch frames of different cross-sections and make fine adjustments during installation and alignment, so that the installation of steel arch frames is more accurate and safe.

[0022] Furthermore, the supporting bracket 12 is welded or bolted to the side beam of the inverted arch trestle 1. This welding or bolting method ensures a reliable load-bearing connection with the inverted arch trestle 1, allowing the overturning moment from the steel arch gripping robotic arm 2 to be directly transmitted to the main structure of the inverted arch trestle 1, thus improving overall stability to meet heavy-load installation conditions. The 360° turntable platform 14 uses a hydraulic or electric rotation structure to achieve full-angle rotation of the steel arch gripping robotic arm 2 around the vertical direction. This 360° rotation function allows the steel arch gripping robotic arm 2 to flexibly adjust its posture within the limited space of the tunnel, ensuring that the steel arch installation operation covers the entire cross-section of the tunnel face, while improving the efficiency and accuracy of steel arch installation alignment.

[0023] Furthermore, the steel arch frame grasping robotic arm 2 has 6-7 degrees of freedom. The steel arch frame grasping robotic arm 2 has a multi-degree-of-freedom articulated structure, which can realize a flexible adjustment function similar to a human arm in the limited space of the tunnel to avoid complex obstacles at the tunnel face and meet the multi-directional installation requirements of the steel arch frame.

[0024] In this embodiment, the steel arch frame grabbing robotic arm 2 has a working radius covering the furthest point from the invert arch trestle 1 to the tunnel face. The working radius of the steel arch frame grabbing robotic arm 2 is designed according to the tunnel cross-section dimensions, allowing it to directly complete the grabbing and docking from the invert arch trestle 1 to the construction position at the tunnel face, without the need for additional auxiliary hoisting equipment, thus reducing process changeover time. The rated load capacity of the steel arch frame grabbing robotic arm 2 is greater than the weight of a single steel arch frame and has a safety factor of not less than 1.5 times it. Through high-strength joint materials and heavy-duty servo drive, the steel arch frame grabbing robotic arm 2 can reliably lift and transport steel arch frames weighing several tons, with a safety margin reserved to accommodate temporary off-center load impacts and dynamic disturbances. The mechanical gripper 21 is a hydraulic clamp suitable for clamping steel arch frames with I-beam or H-beam cross-sections and is equipped with a self-locking anti-detachment mechanism. After clamping the steel arch frame, the mechanical gripper 21 can automatically maintain a locked position to prevent accidental slippage or fall of the steel arch frame, ensuring operational safety. The mechanical gripper 21 is equipped with a buffer device and a hydraulic fine-tuning mechanism for final alignment of the steel arch frame. The buffer structure of the mechanical gripper 21 reduces impact during the gripping process, and the millimeter-level posture correction during bolt hole alignment of the steel arch frame is achieved through 2-3 degree-of-freedom fine-tuning hydraulic cylinders, improving installation accuracy. The mechanical gripper 21 also features a quick-change tool interface, allowing it to be replaced with bolt installation tools or measuring and positioning tools. This quick-change interface enhances the equipment's expandability, enabling rapid switching of task modes according to construction needs, further improving installation efficiency.

[0025] In addition, the arch bridge 1 is equipped with a walking drive mechanism and a parking anchoring mechanism. The walking drive mechanism can drive the arch bridge 1 to move synchronously with the construction progress along the tunnel extension direction as the excavation progresses without frequent disassembly and assembly. The parking anchoring mechanism can quickly lock and fix the arch bridge 1 after it reaches the designated construction position and form a stable working base to avoid displacement or shaking caused by the lifting force and dynamic load of the robotic arm 2 during the installation of the steel arch frame, thereby ensuring a safe and reliable overall working environment.

[0026] The operation steps of the automatic installation system for the steel arch frame of the inverted arch trestle bridge implemented in this embodiment are as follows: The inverted arch trestle bridge 1 is advanced to the predetermined construction position on the working face by the walking drive mechanism and locked by the parking anchoring mechanism to form a stable working platform. Then, the transport vehicle transports the steel arch frame segment to a position within the effective working range of the steel arch frame gripping robotic arm 2. The operator drives the steel arch frame gripping robotic arm 2 to move above the target steel arch frame through remote control or preset control program. The mechanical gripper 21 closes and achieves reliable clamping of the steel arch frame. After clamping, the steel arch frame gripping robotic arm 2 moves along the traveling track 13 and coordinates with the 360° turntable platform 14 to adjust the attitude of the steel arch frame. The steel arch frame is lifted and moved to the vicinity of the excavation outline at the tunnel face for rough positioning. Under the control of laser scanning and visual sensor feedback, the hydraulic fine-tuning mechanism configured on the mechanical gripper 21 achieves fine adjustment of the steel arch frame's posture, ensuring precise alignment between the steel arch frame and the design outline and the bolt holes of the already installed arch frames. After the alignment and positioning are completed, the steel arch frame gripping robotic arm 2 temporarily maintains its posture, and a small number of workers or auxiliary fastening equipment perform preliminary bolt connection and fixing operations. After fixing is completed, the mechanical gripper 21 releases the steel arch frame, and the steel arch frame gripping robotic arm 2 returns to the standby position to prepare for the installation of the next section of the steel arch frame, thereby realizing the mechanized continuous construction of the steel arch frame installation at the tunnel face.

[0027] In summary, this utility model discloses an automatic installation system for steel arch frames of an inverted arch trestle bridge. By integrating the inverted arch trestle bridge 1, the traveling track 13, the 360° turntable platform 14, and the steel arch frame grasping robotic arm 2 with high degrees of freedom and high load-bearing capacity and its end effector 21, the system achieves fully mechanized operation of the entire process of automatic grasping, translation, precise alignment, and installation of the steel arch frame in the tunnel face area. This utility model employs a dual mechanism of walking drive and parking anchoring, allowing it to advance synchronously with tunnel excavation and form a stable support platform. Combined with hydraulic rotation, degree-of-freedom attitude adjustment, and fine-tuning clamping mechanisms, it effectively improves the construction efficiency, positioning accuracy, and operational safety of steel arch frame installation, significantly reducing the risk of personnel entering the dangerous area of ​​the tunnel face. This system can adapt to the complex and variable construction conditions within tunnels, providing an efficient, safe, and intelligent construction equipment for inverted arch and tunnel face support installation. It has significant engineering application value and promotional significance for promoting the mechanization and intelligentization of tunnel construction.

[0028] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Under the concept of this utility model, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this utility model as described above. For the sake of brevity, they are not provided in detail. Although this 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 of the technical features. These 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. An automatic installation system for steel arch frames of an inverted arch trestle bridge, characterized in that, The system includes an arch bridge (1) and a steel arch frame grabbing robot arm (2). The arch bridge (1) is supported on the ground by multiple legs (11) to form a stable working platform. Multiple supporting brackets (12) are evenly installed on one side of the arch bridge (1). A traveling track (13) is installed on the supporting bracket (12). The traveling track (13) is laid in the direction of the tunnel extension. A 360° turntable platform (14) that can move along the traveling track (13) is provided on the traveling track (13). The steel arch frame grabbing robot arm (2) is installed on the 360° turntable platform (14). Through the cooperation of the traveling track (13) and the 360° turntable platform (14), the steel arch frame grabbing robot arm (2) can move along the tunnel extension direction and achieve all-round posture adjustment. The end of the steel arch frame grabbing robot arm (2) is provided with a mechanical gripper (21) for clamping the steel arch frame.

2. The automatic installation system for the steel arch frame of the inverted arch trestle bridge according to claim 1, characterized in that, The supporting bracket (12) is welded or bolted to the side beam of the arch bridge (1).

3. The automatic installation system for the steel arch frame of the inverted arch trestle bridge according to claim 1, characterized in that, The 360° turntable platform (14) adopts a hydraulic or electric rotation structure to realize the full-angle rotation of the steel arch frame gripping robot arm (2) around the vertical direction.

4. The automatic installation system for the steel arch frame of the inverted arch trestle bridge according to claim 1, characterized in that, The steel arch gripping robotic arm (2) has 6-7 degrees of freedom.

5. The automatic installation system for the steel arch frame of the inverted arch trestle bridge according to claim 1, characterized in that, The steel arch frame grabbing robot arm (2) has a working radius covering the farthest point from the inverted arch bridge (1) to the working face.

6. The automatic installation system for the steel arch frame of the inverted arch trestle bridge according to claim 1, characterized in that, The rated load capacity of the steel arch frame grabbing robot arm (2) is greater than the weight of a single steel arch frame and has a safety factor of not less than 1.5 times it.

7. The automatic installation system for the steel arch frame of the inverted arch trestle bridge according to claim 6, characterized in that, The mechanical gripper (21) is a hydraulic clamp, suitable for clamping steel arch frames with I-beam or H-beam cross sections, and is equipped with a self-locking anti-detachment mechanism.

8. The automatic installation system for the steel arch frame of the inverted arch trestle bridge according to claim 7, characterized in that, The mechanical gripper (21) is equipped with a buffer device and a hydraulic fine-tuning mechanism for the final docking and posture adjustment of the steel arch frame.

9. The automatic installation system for the steel arch frame of the inverted arch trestle bridge according to claim 7, characterized in that, The mechanical gripper (21) has a tool quick-change interface, which can be replaced with a bolt installation tool or a measuring and positioning tool.

10. The automatic installation system for the steel arch frame of the inverted arch trestle bridge according to any one of claims 1-9, characterized in that, The arch bridge (1) is equipped with a walking drive mechanism and a parking anchoring mechanism, which can advance synchronously with the tunnel excavation and be stably fixed during operation.

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