A double-arm lifting and exchanging system applied to the inside of a pipe jacking tunnel

Abstract

The application provides a double-arm lifting and exchanging system applied to the inside of a pipe jacking tunnel, a double track is provided, a full-load residue soil bucket lifting position and an empty residue soil bucket lifting position are arranged on the track; the double-arm lifting and exchanging system further comprises a full-load residue soil lifting device arranged at the full-load residue soil bucket lifting position and an empty residue soil bucket lifting device arranged at the empty residue soil bucket lifting position; the empty residue soil bucket lifting device comprises a hydraulic lifting device, which is used for lifting the empty residue soil bucket placed on the second transport vehicle to a specified height when the second transport vehicle passes through the empty residue soil bucket lifting position; the full-load residue soil lifting device comprises a linkage jack device, the linkage jack device comprises jacks arranged on the outer sides of the double track respectively; the full-load residue soil lifting device is used for driving the residue soil bucket transported by the electric track transport vehicle through the linkage jack device. The technical scheme of the application realizes the adjustment of the top cover through hoisting, and avoids the problems of low efficiency and potential safety hazards in manual overturning.

Description

Technical Field

[0001] This application belongs to the technical field of engineering construction, and in particular relates to a double-arm lifting and exchange system applied inside a pipe jacking tunnel. Background Technology

[0002] With the rapid development of infrastructure and technological advancements, pipe jacking construction technology has been widely applied in underground engineering. Pipe jacking primarily utilizes a jacking machine head to excavate the soil. Currently, the main types of jacking machines used are slurry-balanced and earth pressure-balanced (EPB) jacking machines. Slurry-balanced jacking machines discharge excavated soil as slurry through pipelines, while EPB jacking machines discharge it as dry excavated soil via transport vehicles. Currently, most EPB jacking machines utilize winches in conjunction with rail transport vehicles for muck removal. The winch pulls the transport vehicle by winding and unwinding a steel cable. However, winches pose a safety hazard, as the steel cable is prone to breakage when pulling the transport vehicle.

[0003] Based on this, this application provides a dual-arm lifting and exchange system for use inside pipe jacking tunnels, which improves the construction efficiency of pipe jacking while meeting safety and reliability requirements. Utility Model Content

[0004] This application provides a double-arm lifting and exchange system for use inside pipe jacking tunnels. By using an electric rail transport vehicle and double-arm lifting, it solves the problem of low construction efficiency while meeting safety and reliability requirements.

[0005] This application proposes a double-arm lifting and exchange system for use inside a pipe jacking tunnel, including a track installed inside the pipe jacking tunnel and an electric rail transport vehicle running on the track; the track is a double track, and the track is provided with a lifting position for a fully loaded slag hopper and a lifting position for an empty slag hopper; the electric rail transport vehicle includes a first transport vehicle and a second transport vehicle, which are used for transporting and exchanging empty and fully loaded slag hoppers. The double-arm lifting and exchange system further includes a full-load slag jacking device located at the full-load slag hopper jacking position and an empty slag hopper jacking device located at the empty slag hopper jacking position; the empty slag hopper jacking device includes hydraulic lifting devices symmetrically arranged on the outer side of the double rails; the hydraulic lifting devices are used to lift the empty slag hopper placed on the second transport vehicle to a designated height when the second transport vehicle passes through the empty slag hopper jacking position, so that the second transport vehicle and the first transport vehicle with the full-load slag hopper can pass through; the full-load slag jacking device is used to jack the full-load slag hopper transported by the electric rail transport vehicle to realize the exchange of slag hoppers between the first transport vehicle and the second transport vehicle.

[0006] Preferably, the hydraulic lifting device includes a base, a crossbeam, and a column, as well as multiple L-shaped blocks respectively disposed on the outer sides of the double tracks; one side of the L-shaped block is fixed to the upper surface of the sleeper of the track, and the other side is fixedly connected to the lower surface of a crossbeam through the base, and the upper surface of the crossbeam is connected to the lower end of the column; a horizontal lifting beam spanning the double tracks is provided between the upper ends of the columns respectively disposed on the two outer sides of the double tracks, and the hydraulic lifting device is used to lift the empty slag hopper into position by means of multiple hook assemblies disposed on the horizontal lifting beam.

[0007] Preferably, the hydraulic lifting device includes a set of hydraulic cylinders and a hydraulic cylinder clamping plate disposed on each column. The hydraulic cylinder clamping plate is used to fix the hydraulic cylinders of the same group to the corresponding column. The hydraulic cylinders are used to raise or lower the hook assembly through the transmission component.

[0008] Preferably, there are two crossbeams, which are parallel to the tracks and symmetrically arranged on the two outer sides of the double tracks; there are four columns, which are symmetrically arranged in pairs on the two outer sides of the double tracks, and the columns on the same side are respectively arranged at the two ends of the beams on the same side. Preferably, the fully loaded slag lifting device includes a linkage jack device, which includes jacks respectively set on the outside of the double rails; the fully loaded slag lifting device is used by the linkage jack device to push the slag bucket of the electric rail transport vehicle, so as to realize the exchange of slag buckets between the first transport vehicle and the second transport vehicle.

[0009] Preferably, each jack is provided with a support beam at its bottom, and the side of the support beam away from the jack is fixed to the upper surface of the outer side of the double track.

[0010] Preferably, there are four jacks, which are symmetrically arranged in pairs on the two outer sides of the double track. This application provides a dual-arm lifting and energy storage system for use inside a pipe jacking tunnel. In the initial state, a first transport vehicle carries a fully loaded muck bucket, while a second transport vehicle carries an empty muck bucket and is positioned at the empty muck bucket lifting position. The first transport vehicle is positioned ahead of the second in the direction of travel. In practical application, the hydraulic lifting devices (one on each side) at the empty muck bucket lifting position simultaneously extend their piston rods. The dual arms, through connecting components (such as hooks corresponding to the hydraulic lifting devices on both sides), drive the empty muck bucket and lift it to a set height, allowing the first transport vehicle and the following second transport vehicle to continue moving forward.

[0011] When the second transport vehicle reaches the fully loaded hopper lifting position, the four linked jacks (two on each side) simultaneously lift the hopper, allowing the second transport vehicle to reverse. The first transport vehicle then reverses to the fully loaded hopper lifting position, lowers the hopper, and smoothly places it on the first transport vehicle. The first transport vehicle, carrying the fully loaded hopper, moves forward to transport the hopper to the next work station and returns with an empty hopper. Simultaneously, the second transport vehicle reverses back to reload the fully loaded hopper. Through this double-arm lifting and double-vehicle circulation system, continuous operation of loading and changing hoppers simultaneously can be achieved.

[0012] The beneficial effects are as follows: Considering that the single-track, single-bucket round-trip mode requires waiting for the empty bucket to return, affecting efficiency, this solution adopts a dual-vehicle, dual-position parallel exchange system, allowing the system to operate continuously and with higher efficiency. The dual-arm hydraulic lifting system, compared to single-arm or winch traction, improves lateral stability, eliminates the risk of tipping over, and enhances safety. Attached Figure Description

[0013] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Throughout the drawings, the same reference numerals denote the same components. Obviously, the drawings described below are merely some embodiments described in this application, and those skilled in the art can obtain other drawings based on these drawings.

[0014] Figure 1 This is a schematic diagram of the structure of an empty slag hopper lifting device in the reset state, provided as an embodiment of this application.

[0015] Figure 2 This is a schematic diagram of the structure of an empty slag hopper lifting device in the lifting state, provided as an embodiment of this application.

[0016] Figure 3 This is a schematic diagram of a fully loaded slag lifting device in the lifting state, provided as an embodiment of this application.

[0017] Figure 4 This is a top view schematic diagram of a dual-track structure provided in an embodiment of this application.

[0018] Figure 5 This is a schematic diagram of an L-shaped stop and a sleeper provided in an embodiment of this application.

[0019] Figures 6a to 6h This is a schematic diagram of the structure of a dual-arm lifting and exchanging system used inside a pipe jacking tunnel, as provided in an embodiment of this application.

[0020] Illustration: 100, Track; 110, Fully loaded slag hopper lifting position; 120, Empty slag hopper lifting position; 130, Sleeper; 200, Electric rail transport vehicle; 210, First transport vehicle; 220, Second transport vehicle; 300, Fully loaded slag hopper lifting equipment; 310, Jack; 320, Support beam; 400, Empty slag hopper lifting equipment; 411, Base; 412, Beam; 413, Column; 414, L-shaped stop; 415, Horizontal lifting beam; 416, Hook assembly; 417, Hydraulic cylinder; 418, Hydraulic cylinder clamp; 500, Jacking pipe; 600, Empty slag hopper; 700, Fully loaded slag hopper. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. It should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application. Furthermore, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts disclosed in this application.

[0022] With the development of technology and the emergence of electric rail transport vehicles, the safety of tunnel boring machine (TBM) muck transportation has been improved. However, in related technologies, as the distance of TBM jacking increases, the transportation efficiency decreases significantly, with most of the time spent on hoisting and dumping the muck in the hopper.

[0023] Based on the above phenomenon, the amount of slag discharged in large-diameter pipe jacking construction is large, and the internal space is conducive to the installation of equipment. The double-arm lifting and exchanging device inside the pipe jacking tunnel provided in this application saves the time of dumping slag outside, and facilitates the lifting and exchanging of slag buckets inside. After the exchange is completed, the empty slag bucket is transported to the pipe jacking machine head, and the full slag bucket is transported to the outside of the starting tunnel.

[0024] Meanwhile, considering that the space inside the earth pressure balance pipe jacking machine only allows for the laying of one transport track, only one transport vehicle is allowed to travel during the transportation of excavated soil. A winch can be used for short distances, but using a winch for long distances is unsafe. Using an electric rail transport vehicle is more efficient and has a built-in braking and anti-slip system, significantly improving safety. However, due to the limited internal space of the pipe jacking machine, the electric rail transport vehicle can only transport one excavated soil bucket at a time, and the transport time extends until returning to the pipe jacking machine, at which point the machine is stopped.

[0025] The technical solution provided in this application improves the construction efficiency of pipe jacking while meeting safety and reliability requirements, based on the characteristics of pipe jacking construction. The lifting and exchange device needs to have good strength, rigidity, and stability. Considering the large weight of the excavated soil being transported through pipe jacking and the numerous uncertain safety factors, a single-arm lifting and exchange device was initially considered during the research and development process. However, this method places high demands on the loading of the excavated soil hopper, requiring the soil to be centered, which can easily lead to tipping over. It also requires high ease of operation and involves a cumbersome construction procedure. Therefore, based on this foundation, continuous improvements were made, adopting a double-arm lifting system, which offers greater stability, prevents tipping over, and reduces the cumbersome operation for construction personnel.

[0026] See Figures 1 to 5 This embodiment provides a dual-arm lifting and exchange system for use inside a pipe jacking tunnel. The dual-arm lifting and exchange system includes a track 100 installed inside the tunnel of the pipe jacking 500, and an electric rail transport vehicle 200 running on the track 100; the track 100 is a double track, and the track 100 is provided with a full-load slag hopper lifting position 110 and an empty slag hopper lifting position 120; the electric rail transport vehicle 200 includes a first transport vehicle 210 and a second transport vehicle 220, which are used for transporting and exchanging empty slag hoppers 600 and full-load slag hoppers 700; the dual-arm lifting and exchange system also includes a full-load slag lifting device 300 installed at the full-load slag hopper lifting position 110 and an empty slag hopper lifting device 400 installed at the empty slag hopper lifting position 120. The empty slag hopper lifting device 400 includes two hydraulic lifting devices located on the outer sides of the double track. The hydraulic lifting devices are used to lift the empty slag hopper 600 placed on the second transport vehicle 220 to a specified height when the second transport vehicle 220 passes through the empty slag hopper lifting position 120, so that the second transport vehicle 220 and the first transport vehicle 210 with the full slag hopper 700 can pass through. The fully loaded slag lifting device 300 includes a linkage jack device, which includes jacks 310 respectively set on the outside of the double track; the fully loaded slag lifting device 300 is used by the linkage jack device to push the slag bucket transported by the electric rail transport vehicle 200, so as to realize the exchange of slag buckets between the first transport vehicle 210 and the second transport vehicle 220. As an example, in the initial state, the first transport vehicle 210 carries a fully loaded slag bucket 700, and the second transport vehicle 220 carries an empty slag bucket 600, which is positioned at the empty slag bucket lifting position 120. The positional relationship between the first transport vehicle 210 and the second transport vehicle 220 is that the second transport vehicle 220 is in front in the direction of travel. In specific applications, the hydraulic lifting devices (one on each side) of the empty slag bucket lifting position 120 simultaneously extend their piston rods, and the two arms, through connecting components (such as hooks on each side corresponding to the hydraulic lifting devices), drive the empty slag bucket 600 and lift it to a set height, allowing the first transport vehicle 210 and the second transport vehicle 220, which are carrying the fully loaded slag bucket 700, to continue moving forward. When the first transport vehicle 210 reaches the fully loaded hopper lifting position 110, the four linked jacks 310 (two on each side) of the fully loaded hopper lifting position 110 simultaneously lift the fully loaded hopper 700, allowing the first transport vehicle 210 to retreat. Simultaneously, the second transport vehicle 220 retreats to the fully loaded hopper lifting position 110, the fully loaded hopper 700 descends and smoothly lands on the second transport vehicle 220, and the second transport vehicle 220 carrying the fully loaded hopper 700 moves forward to transport the fully loaded hopper 700 to the next work station, and then transports the empty hopper 600 back. Meanwhile, the first transport vehicle 210 retreats to the empty hopper lifting position 120 to carry the previously empty hopper 600, and then continues to retreat for reloading slag. Through this double-arm lifting and double-vehicle circulation system, continuous operation of loading and changing slag hoppers can be achieved. Therefore, considering that the single-track 100-bucket round-trip mode requires waiting for the empty bucket to return, affecting efficiency, this solution adopts a dual-vehicle, dual-position parallel exchange system, allowing for continuous operation and higher efficiency. The dual-arm hydraulic lifting system, compared to single-arm or winch traction, improves lateral stability, eliminates the risk of tipping over, and enhances safety. In an exemplary embodiment, the hydraulic lifting device includes a base 411, a crossbeam 412, and a column 413, as well as a plurality of L-shaped blocks 414 respectively disposed on the outer side of the double track; one side of the L-shaped block 414 is fixed to the upper surface of the sleeper 130 of the track 100, and the other side is fixedly connected to the lower surface of a crossbeam 412 through the base 411, and the upper surface of the crossbeam 412 is connected to the lower end of the column 413; a horizontal lifting beam 415 spanning the double track is provided between the upper ends of the two columns 413 respectively disposed on the outer side of the double track, and the hydraulic lifting device is used to lift the empty slag hopper 600 into position by means of a plurality of hook assemblies 416 disposed on the horizontal lifting beam 415. As an example, a row of L-shaped blocks 414 is arranged on each side of the double track; the horizontal surface of each L-shaped block 414 is fixed to the upper surface of the sleeper 130 by bolts, and the vertical surface is rigidly connected to the lower surface of the crossbeam 412 through the base 411; the upper surface of the crossbeam 412 is vertically welded / bolted to the column 413; a crossbeam 415 spanning the track is erected between the two columns 413 on the left and right sides to form a portal frame. A hook assembly 416 is suspended under the crossbeam 415 (through a movable pulley block), the cylinder of the hydraulic lifting device is fixed on the crossbeam 412, and the piston rod is connected to the crossbeam 415 to form a double-arm synchronous lifting mechanism. Thus, the L-shaped stop 414, base 411, crossbeam 412, and column 413 form a gantry structure, and together with multiple hook assemblies 416, the overall structure has a higher safety factor than single-point suspension. By adjusting the installation position of the L-shaped stop 414 on the sleeper 130, it can be adapted to different track gauges and bucket specifications, making it highly versatile. In an exemplary embodiment, the hydraulic lifting device includes a set of hydraulic cylinders 417 and a hydraulic cylinder clamping plate 418 disposed on each column 413. The hydraulic cylinder clamping plate 418 is used to fix the hydraulic cylinders 417 of the same group to the corresponding column 413. The hydraulic cylinders 417 are used to raise or lower the hook assembly 416 through a transmission component. The transmission component converts the linear motion of the hydraulic cylinder 417 into the raising or lowering motion of the hook assembly 416. This component may be, for example, a combination of gear-rack transmission components or a movable pulley system. The hydraulic cylinder 417 is mounted on the column 413 and secured by a hydraulic cylinder clamp 418. When the hydraulic system supplies oil to the cylinder, the pressure of the hydraulic oil pushes the piston, causing the piston rod to extend. The hydraulic cylinder 417 is installed along the height of the column 413, and the transmission component performs motion conversion near the column 413. This allows the entire hydraulic lifting device to make better use of limited space, making it suitable for lifting environments with restricted space. In an exemplary embodiment, there are two crossbeams 412, which are parallel to the track 100 and symmetrically arranged on the two outer sides of the double track; there are four columns 413, which are symmetrically arranged in pairs on the two outer sides of the double track, and the columns 413 on the same side are respectively arranged at the two ends of the same side column; there are two horizontal lifting beams 415, which cross the double track and are arranged at both ends on the upper ends of the columns 413 symmetrically arranged on the two outer sides of the double track; there are four hook assemblies 416, which are respectively arranged on the horizontal lifting beams 415 at the end connected to the columns 413. Two crossbeams 412 are parallel to the track 100 and symmetrically arranged on their two outer sides. Four uprights 413 are symmetrically located in pairs on the outer sides of the double track, with each upright 413 on the same side positioned at both ends of the crossbeam 412 on the same side. This layout forms a stable frame structure foundation. Two horizontal lifting beams 415 span the double track, with both ends supported on the upper ends of the uprights 413 on both sides, thus forming a beam system for lifting operations. Four hook assemblies 416 are respectively installed on the horizontal lifting beams 415 near the ends connected to the uprights 413. When lifting is required, the hook assemblies 416 can be lowered from the corresponding positions on the horizontal lifting beams 415 to hook the four corners of the empty slag hopper 600 to be lifted. Therefore, the symmetrical layout of the crossbeam 412, column 413, and horizontal lifting beam 415 ensures good balance of the entire lifting structure in both the horizontal and vertical directions. This effectively reduces the risk of structural swaying and tilting during the lifting of the slag hopper, improving operational stability and safety. The four hook assemblies 416 allow for multi-point lifting in a single operation, distributing the weight of the empty slag hopper by 600 kg, thus improving lifting efficiency and stability. In an exemplary embodiment, the fully loaded slag lifting device 300 includes a linkage jack device, which includes jacks 310 respectively disposed on the outer side of the double track; the fully loaded slag lifting device 300 is used by the linkage jack device to push the slag bucket transported by the electric rail transport vehicle 200, so as to realize the exchange of slag buckets between the first transport vehicle 210 and the second transport vehicle 220. In practical applications, the linkage jacks are installed on the outer side of the double rails, parallel to rail 100, maintaining an appropriate distance. The electric rail transport vehicle 200, fully loaded with a slag hopper 700, moves along rail 100 to directly above the jack 310, ready for the lifting operation. For example, after lifting, the transport vehicle fully loaded with the slag hopper 700 smoothly drives away from the lifting area along rail 100, making room for subsequent exchange operations. The empty vehicle drives along rail 100 into the lifting area, precisely positioning itself directly below the jack 310, ready to receive the slag hopper. The linkage jacks, again under the command of the synchronous control system, descend synchronously, placing the slag hopper smoothly onto the receiving device of the second transport vehicle 220. The equipment can repeatedly perform the above-mentioned lifting, exchanging, lowering and connecting operations to achieve efficient exchange of slag hoppers between different transport vehicles. Thus, by linking the precise lifting and lowering actions of the jacking equipment, the rapid and stable exchange of slag hoppers is achieved. In an exemplary embodiment, each jack 310 is provided with a support beam 320 at its bottom, the side of the support beam 320 away from the jack 310 being fixed to the upper surface of the outer side of the double track.

[0027] The fixed connection between the support beam 320 and the outer upper surface of the double track enhances the lateral and longitudinal stability of the entire lifting system. During the lifting process, it can effectively resist the lateral and torsional forces generated by the weight of the slag bucket or the swaying force during the lifting process, ensuring the stability of the jack 310 during the lifting process and reducing the risk of swaying and displacement. In one exemplary embodiment, there are four jacks 310, symmetrically arranged in pairs on the two outer sides of the double track. Similar to the crossbeam 412, the supporting crossbeams 320 are beams parallel to the track and symmetrically arranged on the two outer sides of the double track. The bottoms of the jacks 310 are respectively located at both ends of the two supporting crossbeams 320. Therefore, the four jacks 310 are symmetrically arranged in pairs on the outside of the double track, forming a stable four-point support structure. During the lifting operation, the jacks 310 work synchronously, sharing the weight of the slag bucket. This stable force-bearing structure helps balance the various forces acting during the lifting process, preventing the slag bucket from tilting or swaying, and improving the stability of the lifting process. As an example, see Figures 6a to 6h This application pertains to the use of a dual-arm lifting and switching system protected in this application within a 500mm pipe jacking tunnel. See also... Figure 6a The second transport vehicle 220 transports the empty slag hopper 600 to the empty slag hopper lifting position 120 where the empty slag hopper lifting equipment 400 is located. (See also...) Figure 6b The hook assembly 416 is fixed at the four corners of the empty slag hopper 600. The first transport vehicle 210, carrying the fully loaded slag hopper 700, moves to the vicinity of the second transport vehicle 220. See also... Figure 6c The empty slag hopper lifting device 400 lifts the empty slag hopper 600 using the hook assembly 416. (See also...) Figure 6d The first transport vehicle 210 and the second transport vehicle 220 move forward, such that the first transport vehicle 210 travels to the empty slag hopper lifting position 120 and the second transport vehicle 220 travels to the fully loaded slag hopper top lifting position 110. (See also...) Figure 6e The second transport vehicle, 220, drove away from the top of the fully loaded slag hopper, which was then raised to position 110. (See also...) Figure 6f The first transport vehicle 210, carrying a fully loaded slag bucket 700, travels to the slag bucket lifting position 110 where the slag bucket lifting device 300 is located. The jacks 310 of the slag bucket lifting device 300 then act on the slag bucket 700, causing it to detach from the first transport vehicle 210. (See also...) Figure 6g The first transport vehicle 210 returns to the empty slag hopper lifting position 120, and the second transport vehicle 220 returns to the fully loaded slag hopper top lifting position 110. (See also...) Figure 6hThe empty slag hopper lifting device 400 at the empty slag hopper lifting position 120 resets the empty slag hopper 600, placing it on the first transport vehicle 210; the full-load slag hopper lifting device 300 at the full-load slag hopper lifting position 110 resets the full-load slag hopper 700, placing it on the second transport vehicle 220. This achieves the transportation and exchange of the empty slag hopper 600 and the full-load slag hopper 700.

[0028] It should be noted that in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple. It is worth noting that "at least one" can also be interpreted as "one or more".

[0029] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are configured to distinguish similar objects and are not necessarily configured to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] It is understood that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and not to limit them. Although this application 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; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A double-arm lifting and exchange system for use inside a pipe jacking tunnel, comprising a track installed inside the pipe jacking tunnel, and an electric rail transport vehicle running on the track; characterized in that, The track is a double track, with a full-load slag hopper lifting position and an empty slag hopper lifting position on the track; the electric rail transport vehicle includes a first transport vehicle and a second transport vehicle, which are used for transporting and exchanging empty and full-load slag hoppers. The double-arm lifting and exchange system further includes a full-load slag jacking device located at the full-load slag hopper jacking position and an empty slag hopper jacking device located at the empty slag hopper jacking position; the empty slag hopper jacking device includes hydraulic lifting devices symmetrically arranged on the outer side of the double rails; the hydraulic lifting devices are used to lift the empty slag hopper placed on the second transport vehicle to a designated height when the second transport vehicle passes through the empty slag hopper jacking position, so that the second transport vehicle and the first transport vehicle with the full-load slag hopper can pass through; the full-load slag jacking device is used to jack the full-load slag hopper transported by the electric rail transport vehicle to realize the exchange of slag hoppers between the first transport vehicle and the second transport vehicle; The hydraulic lifting device includes a base, a crossbeam, and a column, as well as multiple L-shaped blocks respectively disposed on the outer sides of the double tracks. One side of each L-shaped block is fixed to the upper surface of the sleeper of the track, and the other side is fixedly connected to the lower surface of a crossbeam through the base. The upper surface of the crossbeam is connected to the lower end of the column. A horizontal lifting beam spanning the double tracks is provided between the upper ends of the columns respectively disposed on the two outer sides of the double tracks. The hydraulic lifting device is used to lift the empty slag hopper into position by means of multiple hook assemblies disposed on the horizontal lifting beam. The hydraulic lifting device includes a set of hydraulic cylinders and a hydraulic cylinder clamping plate installed on each column. The hydraulic cylinder clamping plate is used to fix the hydraulic cylinders in the same group to the corresponding column. The hydraulic cylinders are used to raise or lower the hook assembly through the transmission component. There are two crossbeams, which are parallel to the tracks and symmetrically arranged on the two outer sides of the double tracks; there are four columns, which are symmetrically arranged in pairs on the two outer sides of the double tracks, with the columns on the same side located at the two ends of the same side beams; there are two horizontal lifting beams, which span the double tracks and are located at the upper ends of the columns symmetrically arranged on the two outer sides of the double tracks; there are four hook assemblies, which are located on the horizontal lifting beams at the ends connected to the columns. The fully loaded slag lifting device includes a linkage jack device, which includes jacks respectively set on the outside of the double rails; the fully loaded slag lifting device is used by the linkage jack device to push the slag bucket of the electric rail transport vehicle, so as to realize the exchange of slag buckets between the first transport vehicle and the second transport vehicle. Each jack has a support beam at its bottom, and the side of the support beam away from the jack is fixed to the upper surface of the outer side of the double track; there are four jacks, which are symmetrically arranged in pairs on the two outer sides of the double track.

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