AU2018431356B2 - Tunnel boring machine steel arch installation system - Google Patents
Tunnel boring machine steel arch installation system Download PDFInfo
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- AU2018431356B2 AU2018431356B2 AU2018431356A AU2018431356A AU2018431356B2 AU 2018431356 B2 AU2018431356 B2 AU 2018431356B2 AU 2018431356 A AU2018431356 A AU 2018431356A AU 2018431356 A AU2018431356 A AU 2018431356A AU 2018431356 B2 AU2018431356 B2 AU 2018431356B2
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 261
- 239000010959 steel Substances 0.000 title claims abstract description 261
- 238000009434 installation Methods 0.000 title claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 238000007789 sealing Methods 0.000 claims abstract description 47
- 238000012546 transfer Methods 0.000 claims abstract description 39
- 230000000007 visual effect Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 210000000078 claw Anatomy 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 4
- 230000032258 transport Effects 0.000 description 75
- 230000009471 action Effects 0.000 description 11
- 230000000875 corresponding effect Effects 0.000 description 8
- 238000010276 construction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/14—Lining predominantly with metal
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
- E21D11/183—Supporting means for arch members, not provided for in E21D11/22
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0607—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining the shield being provided with devices for lining the tunnel, e.g. shuttering
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Environmental & Geological Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Basic Packing Technique (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Lining And Supports For Tunnels (AREA)
- Earth Drilling (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
A tunnel boring machine steel arch installation system comprises: a conveying device, for receiving a steel arch (7) and conveying the steel arch to a preset transfer position; a joining device, for joining multiple steel arches in a head-to-tail manner to form a C-shaped ring; a grasping device, for grasping the steel arch from the conveying device and placing the steel arch on the joining device; an expansion-support device, for grasping the C-shaped ring, conveying the C-shaped ring to an expansion-support position, and causing the C-shaped ring to expand and support the expansion-support position; an ending ring-sealing mechanism (5), for sealing an opening of the C-shaped ring after expansion; and a control device, connected to the conveying device, the joining device, the grasping device, the expansion-support device, and the ending ring-sealing mechanism. The tunnel boring machine steel arch installation system uses the control device to perform supporting operations such as automatic conveying, automatic grasping, automatic joining, moving, expansion and support, and sealing an opening to form a closed ring, has high degree of mechanization, eliminates manual handling and installation of a steel arch, reduces labor intensity, improves efficiency, and eliminates errors caused by manual installation.
Description
[0001] The present application claims the priority to Chinese Patent Application No. 201810729663.5, titled "TUNNEL BORING MACHINE STEEL ARCH INSTALLATION SYSTEM", filed with the China National Intellectual Property Administration on July 05, 2018, which is incorporated herein by reference in its entirety.
[0002] The present application relates to the technical field of tunnel construction machinery, and in particular to a tunnel boring machine steel arch installation system.
[0003] The tunnel boring machine (TBM), as a special engineering machine for tunnel boring, integrates digging, supporting and deslagging and other functions, and is suitable for the boring of hard rock stratum, and is widely used in tunnel projects such as subway, railway, highway, municipal tunnels, and hydropower tunnels.
[0004] During the construction of poor geological conditions, steel arch is one of the most important supporting components for the tunnel boring structure. Its installation speed and installation quality have an important impact on the stability of the tunnel and the safety of the construction personnel. At present, when the TBM operates under harsh geological conditions, steel arches need to be installed after the boring process is completed to initially support the
surrounding rocks. In the prior art, after each round of boring is completed, the operator is usually required to complete the positioning of the steel arch and the installation and fixation
of the arch feet at a position close to the boring surface. The installation steps are: dividing a steel arch into multiple sections, wherein the dividing process is completed in a processing plant outside the tunnel; then, transporting each section into the tunnel by pallet trucks, manually bundling each frame of steel arch in the tunnel, and hoisting the steel arches to a storage mechanism by a lifting machine, and then transporting the steel arches to an installation position by means of a simple installation platform and other lifting auxiliary devices, and then manually transporting and erecting the steel arches to dock the steel arches in the air, and manually installing and tightening bolts. During the entire assembly process of the steel arches, the tunnel basically relies on the internal force of the surrounding rocks to maintain stability. Besides, the operator is close to the tunnel boring surface, which is extremely dangerous in a tunnel with poor stability. While the degree of mechanization of manual installation of steel arch in sections is low in the prior art, and a large amount of labor is required to complete the installation of the steel arches. The labor cost is high and the installation efficiency is low, which affects the construction period, takes a long time for tunnel construction, and undoubtedly increases the danger of manual installation of the arch. Moreover, the erection quality also has deficiency.
[0005] In summary, a technical issue to be addressed presently by those skilled in the art is to provide a highly mechanized and highly automated tunnel boring machine steel arch installation system.
[0006] In view of this, an object of the present application is to provide a tunnel boring machine steel arch installation system, which is highly mechanized and automated, has no need to manually transport and install the steel arch, lowers the labor intensity, and improves the installation efficiency.
[0007] In order to achieve the above object, the following technical solutions are provided according to the present application.
[0008] A tunnel boring machine steel arch installation system includes:
a transport device configured to receive the steel arch and transport the steel arch to a predetermined transfer position;
a splicing device configured to connect multiple steel arches end to end to form a C-shaped ring;
a grabbing device configured to grab the steel arch from the transport device and place the steel arch on the splicing device;
a bracing device configured to grab the C-shaped ring and transport the C-shaped ring to a bracing position to brace the C-shaped ring; an ending ring-sealing mechanism configured to close an opening of the braced C-shaped ring; and a control device connected with the transport device, the splicing device, the grabbing device, the bracing device and the ending ring-sealing mechanism.
[0009] Preferably, the transport device includes:
a transport trolley configured to receive and transport the steel arch, wherein the transport trolley is provided with a position-limiting mechanism configured to limit a placement position of the steel arch;
a transport track configured to guide the transport trolley; and
a stroke displacement sensor configured to detect whether the steel arch has reached the predetermined transfer position, wherein the stroke displacement sensor is connected with the control device, and the control device is connected with a driving device of the transport trolley.
[0010] Preferably, the splicing device includes:
a splicing ring configured to set the steel arches and cause adjacent steel arches to face each other end to end;
a rotation driving device configured to drive the splicing ring to rotate successively by a preset angle;
an automatic connection device configured to fixedly connect the adjacent steel arches end to end; and
a tactile or visual detection device configured to detect whether the steel arch is positioned on the splicing ring and detect whether the steel arch is a first steel arch, where the tactile or visual detection device is connected to the control device, and the control device is respectively connected to the rotation driving device and the automatic connection device.
[0011] Preferably, the splicing device further includes:
a pre-tightening pressure feedback device configured to real-time monitor whether the pre-tightening force reaches a preset value when the steel arch is positioned, wherein the pre-tightening pressure feedback device is connected to the control device.
[0012] Preferably, the splicing device further includes:
a rotation angle measuring sensor configured to detect whether the rotation angle of the rotation driving device reaches a preset rotation angle; and
a rotation torque sensor configured to detect whether the torque of the rotation driving device meets a preset torque requirement, wherein the rotation angle measuring sensor and the rotation torque sensor are both connected to the control device.
[0013] Preferably, the splicing ring is provided with a positioning claw configured to position an outer circumference of the steel arch and position-limiting blocks configured to position end portions of the steel arch.
[0014] Preferably, the grabbing device includes:
a grabbing hand configured to grab the steel arch and a grabbing arm configured to set the grabbing hand;
a linear driving device connected to the grabbing arm and configured to drive the grabbing arm to move between the predetermined transfer position and a feeding position of the splicing device;
a propulsion stroke sensor configured to detect whether the grabbing arm reaches the predetermined transfer position or the feeding position, where the propulsion stroke sensor is connected to the control device, and the control device is connected to the linear driving device;
a telescopic driving device connected to the grabbing arm and configured to drive the grabbing arm to extend and retract;
a lifting stroke sensor configured to detect whether the grabbing hand extends to a gripping position, where the lifting stroke sensor is connected to the control device, and the control device is connected to the telescopic driving device; and
a pressure sensor configured to detect whether the grabbing pressure of the grabbing hand reaches a preset pressure, where the pressure sensor is connected to the control device.
[0015] Preferably, the grabbing hand is connected to a fine adjustment mechanism configured for adjusting the posture of the grabbing hand to assist the positioning of the steel arch on the splicing device, and the fine adjustment mechanism is connected to the control device.
[0016] Preferably, the bracing device includes multiple bracing arms configured to brace the C-shaped ring, the bracing arms are arranged on a bracing ring, the bracing ring is connected to a bracing driving device configured to drive the bracing ring to expand or retract, the bracing ring is movably sleeved on a main beam for bearing, and the bracing ring is connected to the linear driving device; the bracing device further includes a bracing force sensor configured to detect whether the bracing force of the bracing arm reaches a preset bracing force, and the bracing force sensor is connected to the control device, and the control device is connected to the bracing driving device;
the grabbing arm is connected to the linear driving device through the bracing ring; and
the propulsion stroke sensor is further configured to detect whether the bracing ring reaches the bracing position.
[0017] Preferably, the ending ring-sealing mechanism includes:
a clamping portion configured to clamp the C-shaped ring;
a feeding device configured to feed a connector to the opening;
an automatic ring-sealing device configured to connect the connector with an open end of the C-shaped ring; and
a contact force sensor configured to detect whether the clamping force of the clamping portion reaches a preset value, where the contact force sensor is connected to the control device, and the control device is respectively connected to the feeding device and the automatic ring sealing device.
[0018] The tunnel boring machine steel arch installation system according to the present application respectively controls the actions of the transport device, the grabbing device, the splicing device, the bracing device and the ending ring-sealing mechanism in sequence through the control device, so that the above components cooperate to complete the installation and support of the steel arch. During use, the steel arch is placed on the transport device, and the control device controls the action of the transport device so that the transport device transports the steel arch to the predetermined transfer position; then, the control device controls the action of the grabbing device so that the grabbing device transfers the steel arch from the transport device to the splicing device; the control device controls the action of the splicing device to splice multiple steel arches end to end to form a C-shaped ring; the control device controls the action of the bracing device, so that the bracing device transports the C-shaped ring to the bracing position and brace the C-shaped ring on the wall of the tunnel; and finally, the control device controls the action of the ending ring-sealing mechanism to close the opening of the braced C-shaped ring. So far, the supporting work of a ring of the steel arch is completed. That is, the tunnel boring machine steel arch installation system according to the present application adopts mechanical automatic control to realize the automatic transportation, automatic grabbing, automatic splicing, mobile bracing, and sealing of the steel arch, which is highly mechanized, has no need to manually transport and install the steel arch, lowers the labor intensity, and improves the installation efficiency. The installation system is safe and reliable, and avoids manual installation errors.
[0019] In an aspect, the present invention provides a tunnel boring machine steel arch installation system, comprising a transport device configured to receive a steel arch and transport the steel arch to a predetermined transfer position; a splicing device configured to connect a plurality of steel arches end to end to form a C-shaped ring; a grabbing device configured to grab the steel arch from the transport device and place the steel arch on the splicing device; a bracing device configured to grab the C-shaped ring and transport the C-shaped ring to a bracing position to brace the C-shaped ring; an ending ring-sealing mechanism configured to close an opening of the braced C-shaped ring; and a control device connected to the transport device, the splicing device, the grabbing device, the bracing device and the ending ring-sealing mechanism; wherein the splicing device comprises: a splicing ring configured to set the steel arches and cause adjacent steel arches to face each other end to end; a rotation driving device configured to drive the splicing ring to rotate successively by a preset angle; an automatic connection device configured to fixedly connect the adjacent steel arches end to end; and a tactile or visual detection device configured to detect whether the steel arch is positioned on the splicing ring and detect whether the steel arch is a first steel arch, wherein the tactile or visual detection device is connected to the control device, and the control device is respectively connected to the rotation driving device and the automatic connection device.
[0020] For more clearly illustrating embodiments of the present application or technical solutions in the conventional technology, the drawing referred to describe the embodiments or the conventional technology will be briefly described hereinafter. Apparently, the drawing in the following description is only an example of the present application, and for those skilled in the art, other drawings may be obtained based on the provided drawing without any creative efforts.
[0021] Figure 1 is a schematic structural view of a specific embodiment of a tunnel boring machine steel arch installation system according to the present application;
[0022] Figure 2 is a side view of the tunnel boring machine steel arch installation system shown in Figure 1;
[0023] Figure 3 is a front view of the tunnel boring machine steel arch installation system shown in Figure 1; and
[0024] Figure 4 is a control flow chart of the tunnel boring machine steel arch installation system shown in Figure 1.
[0025] Reference numerals in Figure 1 to 3 are listed as follows:
11 transport trolley, 12 transport track,
13 position-limiting mechanism, 21 splicing ring,
22 rotation driving device, 23 automatic connection device,
24 positioning claw, 25 position-limiting block,
31 grabbing arm, 32 grabbing hand,
33 fine adjustment mechanism, 34 connecting ring,
41 bracing arm, 42 bracing ring,
43 linear driving device, 5 ending ring-sealing mechanism,
61 main beam, 62 sliding rail,
63 support leg, 7 steel arch.
[0026] The technical solutions according to the embodiments of the present application will be described clearly and completely as follows in conjunction with the drawings in the embodiments of the present application. It is apparent that the described embodiments are only a part of the embodiments according to the present application, rather than all the embodiments. Any other embodiments obtained by those skilled in the art based on the embodiments in the present disclosure without any creative work fall in the protection scope of the present disclosure.
[0027] A core of the present application is to provide a tunnel boring machine steel arch installation system, which is highly mechanized and automated, has no need to manually transport and install the steel arch, lowers the labor intensity, and improves the installation efficiency.
[0028] Referring to Figures 1 to 4, Figure 1 is a schematic structural view of a specific embodiment of a tunnel boring machine steel arch installation system according to the present application; Figure 2 is a side view of the tunnel boring machine steel arch installation system shown in Figure 1; Figure 3 is a front view of the tunnel boring machine steel arch installation system shown in Figure 1; and Figure 4 is a control flow chart of the tunnel boring machine steel arch installation system shown in Figure 1.
[0029] The tunnel boring machine steel arch installation system according to the present application includes:
a transport device configured to receive the steel arch 7 and transport the steel arch 7 to a predetermined transfer position;
a splicing device configured to connect multiple steel arches 7 end to end to form a
C-shaped ring;
a grabbing device configured to grab the steel arch 7 from the transport device and place the steel arch 7 on the splicing device;
a bracing device configured to grab the C-shaped ring and transport the C-shaped ring to a bracing position to brace the C-shaped ring;
an ending ring-sealing mechanism 5 configured to close an opening of the braced C-shaped ring; and a control device connected to the transport device, the splicing device, the grabbing device, the bracing device and the ending ring-sealing mechanism 5.
[0030] It should be noted that the tunnel boring machine steel arch installation system according to the present application mainly realizes the transformation of the assembly of the steel arch 7 from manual operation to mechanical automatic control, so as to effectively solve the problems of inefficiency and large errors of manual installation, and difficulty in supporting the steel arches 7. For this reason, the tunnel boring machine steel arch installation system according to the present application mainly includes a transport device, a grabbing device, a splicing device, a bracing device, and an ending ring-sealing mechanism 5. The above devices are all connected to the control device. The system is an automatic assembly system that integrates automatic transportation, automatic grabbing, automatic splicing, automatic mobile bracing and automatic sealing into a closed ring.
[0031] It is conceivable that the transport device mainly plays the role of transporting the steel arch 7, transporting the steel arch 7 from an initial position to the predetermined transfer position. The predetermined transfer position in this application refers to the position where the grabbing device removes the steel arch 7 from the transport device. The predetermined transfer position may be at the splicing device or at a certain distance away from the splicing device. In a case that the predetermined transfer position is far away from the splicing device, the grabbing device needs to move a certain distance until it is convenient to transfer the steel arch 7 to the splicing device, after the grabbing device removes the steel arch 7 from the transport device.
[0032] The grabbing device is, for example, a commonly used manipulator in the mechanical field, which can realize six-degree-of-freedom movement to realize the accurate transfer of the steel arch 7 from the transport device to the splicing device, and assist in ensuring the correct position of the steel arch 7 on the splicing device.
[0033] Multiple steel arches 7 are connected end to end on the splicing device to form a C-shaped ring. It should be noted that the C-shaped ring in this application refers to an unclosed ring structure, and open ends of the C-shaped ring may abut against each other as long as the open ends are not connected and the subsequent radial expansion of the C-shaped ring is not affected when the C-shaped ring is braced. That is, preferably, after multiple steel arches 7 are spliced on the splicing device, two opposite ends of two adjacent steel arches 7 abut against each other and are not connected, and other adjacent steel arches 7 are connected end to end.
[0034] On the one hand, the bracing device functions to transport the C-shaped ring to the bracing position. On the other hand, after the C-shaped ring reaches the bracing position, the bracing device can make the C-shaped ring radially expand to brace the wall of the tunnel.
[0035] After the C-shaped ring is braced, the unclosed end of the C-shaped ring is expanded to form an opening with a certain distance. In order to ensure the bracing force of the C-shaped ring, the expanded opening is sealed by the ending ring-sealing mechanism 5 in this application.
[0036] In order to realize the automatic actions of the transport device, the grabbing device, the splicing device, the bracing device, and the ending ring-sealing mechanism 5, and achieve the automatic control, the transport device, the grabbing device, the splicing device, the bracing device and the ending ring-sealing mechanism 5 are all connected to the control device configured to control the above devices to achieve corresponding actions.
[0037] Considering the fixation and support of the above devices, as a preferred solution, the tunnel boring machine steel arch installation system further includes a main beam 61 configured to set the transport device, the grabbing device, the splicing device, the bracing device, and the ending ring-sealing mechanism 5. The main beam 61 is connected to a supporting leg 63 for support.
[0038] It should be noted that the transport device, the grabbing device, the splicing device, the bracing device, and the ending ring-sealing mechanism 5 are all directly or indirectly arranged on the main beam 61 and maintain a corresponding positional relationship on the main beam 61. The main beam 61 plays the role of bearing load, and is connected to the supporting leg 63 to maintain a stable position. Preferably, the number of the supporting leg 63 is two.
[0039] In summary, the tunnel boring machine steel arch installation system according to the present application respectively controls the actions of the transport device, the grabbing device, the splicing device, the bracing device and the ending ring-sealing mechanism 5 through the control device, so that the above devices cooperate to complete the installation and support of the steel arch 7. During use, the steel arch 7 is placed on the transport device and is transported to the predetermined transfer position by the transport device, and at the transfer position, the grabbing device grabs the steel arch 7 from the transport device and then places the steel arch 7 on the splicing device. Multiple steel arches 7 are spliced into a C-shaped ring on the splicing device. Then the C-shaped ring is transported to the bracing position and is braced by the bracing device. Finally, the opening of the braced C-shaped ring is closed by the ending ring-sealing mechanism 5. So far, the supporting work of the steel arch 7 is completed. That is, the tunnel boring machine steel arch installation system according to the present application adopts mechanical automatic control to realize the automatic transportation, automatic grabbing, automatic splicing, automatic mobile bracing, and automatic sealing of the steel arch 7 through the control device, which is highly mechanized, has no need to manually transport and install the steel arch 7, lowers the labor intensity, and improves the installation efficiency. The installation system is safe and reliable, and avoids manual installation errors.
[0040] Considering the specific structure of the transport device and the simplicity and convenience of the specific implementation of the automatic transportation, on the basis of the above embodiments, the transport device includes:
a transport trolley 11 configured to receive and transport the steel arch 7, where the transport trolley 11 is provided with a position-limiting mechanism 13 configured to limit a placement position of the steel arch 7;
a transport track 12 configured to guide the transport trolley 11; and
a stroke displacement sensor configured to detect whether the steel arch 7 reaches the predetermined transfer position, where the stroke displacement sensor is connected to the control device, and the control device is connected to a driving device of the transport trolley 11.
[0041] During use, the steel arch 7 is placed on the transport trolley 11, and the transport trolley 11 moves along a track defined by the transport track 12 to achieve the purpose of receiving and transporting the steel arch 7.
[0042] It is conceivable that, in this embodiment, the position of the steel arch 7 on the transport trolley 11 is limited by the position-limiting mechanism 13 so that the position of the steel arch 7 keeps unchanged during the transportation.
[0043] The stroke displacement sensor is configured to detect and locate the position of the steel arch 7. When the stroke displacement sensor detects that the steel arch 7 reaches the predetermined transfer position, the stroke displacement sensor sends the information that the steel arch 7 is in place to the control device, and the control device sends a control instruction to the driving device of the transport trolley 11 to control the transport trolley 11 to brake.
[0044] Considering the specific structure of the splicing device and the simplicity and convenience of the specific implementation of automatic transportation, on the basis of the above embodiments, the splicing device includes:
a splicing ring 21 configured to set the steel arches 7 and cause adjacent steel arches 7 to butt each other end to end;
a rotation driving device 22 configured to drive the splicing ring 21 to rotate successively by a preset angle;
an automatic connection device 23 configured to fixedly connect the adjacent steel arches 7 end to end; and
a tactile or visual detection device configured to detect whether the steel arch 7 is positioned on the splicing ring 21 and detect whether the steel arch 7 is the first steel arch, where the tactile or visual detection device is connected to the control device, and the control device is respectively connected to the rotation driving device 22 and the automatic connection device 23.
[0045] It is conceivable that, in this embodiment, the rotation driving device 22 drives the splicing ring 21 to successively rotate by the preset angle to realize that different steel arches 7 are sequentially placed in the preset positions of the splicing ring 21, and the splicing ring 21 causes the placed adjacent steel arches 7 to face each other end to end to facilitate the connection of the adjacent steel arches 7. The preset angle corresponds to the arc length of one of the steel arch 7 to ensure that the steel arch 7 is always placed on the splicing device from the feeding position. The automatic connection device 23 preferably corresponds to a fixed position of the splicing device, and the fixed position corresponds to connecting portions of two adjacent steel arches 7, so that the fixed connection of the adjacent steel arches 7 is always completed at the fixed position.
[0046] In this embodiment, the specific structure of the automatic connection device 23 is not limited. The automatic connection device 23 may be an automatic bolting device, an automatic welding device, or other automatic connection structure that can achieve the same function.
[0047] The tactile or visual detection device is configured to detect whether the steel arch 7 is positioned on the splicing ring 21. When the tactile or visual detection device detects that the steel arch 7 has been positioned on the splicing ring 21, the tactile or visual detection device sends the positioning information of the steel arch 7 to the control device. Moreover, the tactile or visual detection device is configured to detect whether the steel arch 7 is the first steel arch, and send the detected corresponding information to the control device. In a case that the steel arch 7 has been positioned and the positioned steel arch is the first steel arch, the control device controls the rotation driving device 22 to start to drive the splicing ring 21 to rotate by a preset angle. In a case that the steel arch 7 has been positioned and the positioned steel arch is not the first steel arch, the control device controls the automatic connection device 23 to start to fixedly connect the adjacent steel arches 7 end to end. After the adjacent steel arches 7 are fixedly connected end to end, the control device controls the rotation driving device 22 to start to drive the splicing ring 21 to rotate by a preset angle, preparing for the splicing of the next steel arch 7.
[0048] It is conceivable that, when the steel arches 7 are positioning, the connecting portions of the adjacent steel arches 7 are completely aligned, so that the automatic connection device 23 fixes the adjacent steel arches 7 end to end. Therefore, as a preferred solution, the tactile or visual detection device in this embodiment is mainly configured to detect whether the connecting portions of two steel arches 7 to be spliced are aligned. If one steel arch 7 is aligned with the connection portion of the adjacent steel arch 7, this steel arch 7 has been positioned.
[0049] It is conceivable that, in order to prevent the steel arch 7 from falling off due to looseness during the rotation, the steel arch 7 has a certain pre-tightening force when being positioned on the splicing ring 21. On the basis of the above embodiments, the splicing device further includes: a pre-tightening pressure feedback device configured to real-time monitor whether the pre-tightening force reaches a preset value when the steel arch 7 is positioned, and the pre-tightening pressure feedback device is connected to the control device.
[0050] That is to say, in this embodiment, the pre-tightening pressure feedback device is adopted to assist the tactile or visual detection device to determine whether the steel arch 7 is fully in place. It is conceivable that the tactile or visual detection device determines whether the steel arch 7 is in place mainly from the position information. The pre-tightening pressure feedback determines whether the steel arch 7 is in place mainly from the pre-tightening force after the steel arch is positioned, so as to ensure more reliable and stable operation of the splicing device.
[0051] When the pre-tightening pressure feedback device detects that the pre-tightening force when the steel arch 7 is positioned reaches the preset value, the pre-tightening pressure feedback device sends the information to the control device, and the control device sends out a control instruction to the rotation driving device 22 or the automatic connection device 23 according to this information and the positioning information sent by the tactile or visual detection device.
[0052] In order to ensure the stability and accuracy of the splicing ring 21 during rotation, on the basis of the above embodiments, the splicing device further includes:
a rotation angle measuring sensor configured to detect whether the rotation angle of the rotation driving device 22 reaches a preset rotation angle; and
a rotation torque sensor configured to detect whether the torque of the rotation driving device 22 meets a preset torque requirement, where the rotation angle measuring sensor and the rotation torque sensor are both connected to the control device.
[0053] It is conceivable that, when the rotation angle measuring sensor detects that the rotation angle of the rotation driving device 22 reaches the preset rotation angle, the control device controls the rotation driving device 22 to brake in time, so that the splicing ring 21 is accurately positioned to the rotation angle position.
[0054] When the rotation torque sensor detects that the torque of the rotation driving device 22 does not meet the preset torque requirement, the control device adjusts the torque of the rotation driving device 22to make the torque of the rotation driving device 22 within the required preset torque range, so that the splicing ring 21 rotates slowly and steadily.
[0055] Considering the positioning of the steel arch 7 on the splicing ring 21, on the basis of the above embodiments, the splicing ring 21 is provided with a positioning claw 24 for positioning the outer periphery of the steel arch 7 and position-limiting blocks 25 for positioning end portions of the steel arch 7.
[0056] When the grabbing device places the steel arch 7 on the splicing ring 21, the position-limiting blocks 25 are configured to limit the positions of the two ends of the steel arch 7, so that the steel arch 7 is just stuck between the two position-limiting blocks 25. Besides, the grabbing device just places the steel arch 7 in the positioning claw 24, and the positioning claw 24 grabs the steel arch 7 tightly to hold the steel arch 7 on the splicing ring 21.
[0057] Considering the specific structure of the grabbing device and the simplicity and convenience of the specific implementation of automatic transportation, on the basis of the above embodiments, the grabbing device includes:
a grabbing hand 32 configured to grab the steel arch 7 and a grabbing arm 31 configured to set the grabbing hand 32;
a linear driving device 43 connected to the grabbing arm 31 and configured to drive the grabbing arm 31 to move between the predetermined transfer position and a feeding position of the splicing device;
a propulsion stroke sensor configured to detect whether the grabbing arm 31 reaches the predetermined transfer position or the feeding position, where the propulsion stroke sensor is connected to the control device, and the control device is connected to the linear driving device 43;
a telescopic driving device connected to the grabbing arm 31 and configured to drive the grabbing arm 31 to extend and retract;
a lifting stroke sensor configured to detect whether the grabbing hand 32 extends to a gripping position, where the lifting stroke sensor is connected to the control device, and the control device is connected to the telescopic driving device; and a pressure sensor configured to detect whether the grabbing pressure of the grabbing hand 32 reaches a preset pressure, where the pressure sensor is connected to the control device.
[0058] It can be conceivable that when the grabbing device grabs the steel arch 7 from the transport device, the linear driving device 43 first drives the grabbing device to move to the predetermined transfer position, and when the propulsion stroke sensor detects that the grabbing arm 31 has reached the predetermined transfer position, the propulsion stroke sensor sends the information that the grabbing arm 31 has reached the predetermined transfer position to the control device, and the control device controls the linear driving device 43 to brake. At the same time, the control device sends out a control instruction to the telescopic driving device to cause the grabbing arm 31 to drive the grabbing hand 32 to extend. When the lifting stroke sensor detects that the grabbing hand 32 extends to the grabbing position, the lifting stroke sensor sends the information that the grabbing hand 32 is in place to the control device, and the control device controls the telescopic driving device to brake. At the same time, the control device controls the grabbing hand 32 to grab the steel arch 7. When the pressure sensor detects that the grabbing pressure of the grabbing hand 32 reaches the preset pressure, the pressure sensor sends this information to the control device, and the control device controls the grabbing arm 31 to lift the steel arch 7 through the telescopic driving device. When the lifting stroke sensor detects that the steel arch 7 is completely separated from the transport device, the control device control the grabbing arm 31 to move to the feeding position of the splicing device through the linear driving device 43, in preparation for placing the steel arch 7 on the splicing device.
[0059] Considering the precise positioning of the steel arch 7 on the splicing device, on the basis of the above embodiments, the grabbing hand 32 is connected to a fine adjustment mechanism 33 for adjusting the posture of the grabbing hand 32 to assist the positioning of the steel arch 7 on the splicing device. The fine adjustment mechanism 33 is connected to the control device.
[0060] That is, in this embodiment, the fine adjustment mechanism 33 is configured to fine-adjust the posture of the grabbing hand 32, so that the grabbing hand 32 assists the positioning of the steel arch 7 on the splicing device.
[0061] Considering the specific structure of the fine adjustment mechanism 33, the fine adjustment structure includes a linkage mechanism spherically hinged with the grabbing hand 32, the linkage mechanism is connected to multiple short-stroke cylinders, and the multiple short-stroke cylinders are all connected to the control device. During work, the stroke of each short-stroke cylinder is controlled by the control device, so that the linkage mechanism is driven to continuously change its position, and then the grabbing hand 32 is driven to rotate, thereby achieving the purpose of fine-adjusting the posture of the grabbing hand 32.
[0062] Preferably, the grasping position of the grabbing hand 32 is close to the connecting portion of the steel arch 7, so that the fine adjustment mechanism 33 mainly adjusts the connecting portion of the steel arch 7.
[0063] Considering the specific structure of the bracing device and the simplicity and convenience of the specific implementation of automatic transportation, on the basis of the above embodiments, the bracing device includes multiple bracing arms for bracing the C-shaped ring, the multiple bracing arms are arranged on a bracing ring 42, the bracing ring 42 is movably sleeved on the main beam 61 for bearing, and the bracing ring 42 is connected to the linear driving device 43;
the grabbing arm is connected to the linear driving device 43 through the bracing ring 42; and
the propulsion stroke sensor is further configured to detect whether the bracing ring 42 reaches the bracing position.
[0064] Considering that the C-shaped ring generally requires multiple bracing arms 41 to be braced, in order to facilitate the fixation and synchronous transportation of the multiple bracing arms 41, the bracing ring 42 is used in this embodiment to fix and transport the multiple bracing arms 41, and the transportation of the C-shaped ring by the bracing arms 41 is realized through the movement of the bracing ring 42.
[0065] Preferably, a sliding rail 62 is provided on the main beam 61, and the bracing ring 42 is slidably connected to the sliding rail 62 through a sliding block, so as to realize the movement of the bracing ring 42 under the action of the linear driving device 43.
[0066] Considering the smoothness of the movement of the bracing ring 42, as a preferred solution, two parallel sliding rails 62 are provided on two opposite sides of the main beam 61.
Obviously, the sliding rails 62 are parallel to the axis of the main beam 61, so that the bracing ring 42 moves along the axial direction of the main beam 61. A sliding block slidably connected to the corresponding sliding rail 62 is provided at the position of the bracing ring 42 corresponding to the sliding rail 62, and the linear driving device 43 is connected to one or at least two sliding blocks. Preferably, the linear driving device 43 is a hydraulic cylinder, and the expansion and contraction direction of the piston rod of the hydraulic cylinder is consistent with the length direction of the sliding rail 62.
[0067] The propulsion stroke sensor is further configured to detect whether the bracing ring 42 reaches the bracing position. When the propulsion stroke sensor detects that the bracing ring 42 has reached the bracing position, the propulsion stroke sensor sends the detected information to the control device, and the control device controls the linear driving device 43 to brake.
[0068] It should be noted that the bracing device further includes a bracing driving device configured to drive the bracing arms 41 to expand and retract, and the bracing driving device is connected to the control device. When the control device controls the bracing ring 42 to stay at the bracing position through the linear driving device 43, the control device controls the bracing driving device to drive the bracing arms 41 to extend, so that the bracing arms 41 brace the wall of the tunnel.
[0069] Considering the support and fixation of the grabbing arm 31, the grabbing arm 31 is connected to the bracing ring 42, and the linear driving device 43 drives the grabbing arm 31 to move through the bracing ring 42. One end of the sliding rail 62 is located at the predetermined transfer position, the other end is located at the splicing device, and the bracing position is located between the predetermined transfer position and the splicing device.
[0070] In other words, in this embodiment, the grabbing arm 31 is fixed on the bracing ring 42, and the grabbing arm 31 is driven by the movement of the bracing ring 42 to move the steel arch 7 from the predetermined transfer position to the splicing device. The length of the sliding rail 62 limits the moving range of the bracing ring 42. At the predetermined transfer position, the bracing ring 42 is connected to the transport device, so that it is convenient for the grabbing arm 31 to grab the steel arch 7. When the steel arch is moved to the splicing device, the bracing ring 42 is connected to the splicing device, so that the grabbing arm 31 transfers the steel arch 7 to the splicing device. In order to prevent the transport device from interfering with the bracing of the C-shaped ring, the bracing position is located between the predetermined transfer position and the splicing device.
[0071] As a preferred solution, the grabbing arm 31 is connected to the bracing ring 42 through a connecting ring 34, the grabbing arm 31 is fixed at an upper end of the connecting ring 34, and the connecting ring 34 is connected to the bracing ring 42. At the predetermined transfer position, the grabbing arm 31 can extend and drive the grabbing hand 32 at the end of the grabbing arm 31 to move upward to grab the steel arch 7, and the grabbing arm 31 continues to move upward until the steel arch 7 is completely separated from the transport device. Then, driven by the bracing ring 42, the bracing ring 42, the connecting ring 34 and the grabbing arm 31 move in translation as a whole until they reach the splicing device.
[0072] In a specific embodiment, in order to facilitate the installation of the automatic connection device 23, a rotatable rotating ring is provided on the connecting ring 34, and the automatic connection device 23 is arranged on the rotating ring. That is to say, the automatic connection device 23 is able to move together with the connecting ring 34. When the bracing ring 42 drives the connecting ring 34 to move to the splicing device as a whole, the automatic connection device 23 moves to a position corresponding to the connecting portion of the steel arch 7, and can be accurately rotated to the connecting portion of the steel arch 7 through the rotating ring, and the adjacent steel arches 7 are fixedly connected.
[0073] Considering the specific structure of the ending ring-sealing mechanism, in a specific embodiment,
the ending ring-sealing mechanism 5 includes:
a clamping portion configured to clamp the C-shaped ring;
a feeding device configured to feed a connector to the opening;
an automatic ring-sealing device configured to connect the connector with an open end of the C-shaped ring; and
a contact force sensor configured to detect whether the clamping force of the clamping portion reaches a preset value, where the contact force sensor is connected to the control device, and the control device is respectively connected to the feeding device and the automatic ring sealing device.
[0074] Preferably, the ending ring-sealing mechanism 5 is arranged at a corresponding position of the bracing ring 42, so that different C-shaped rings are sealed at the corresponding position of the bracing ring 42.
[0075] In the present application, the specific structure of the automatic ring sealing device is not limited. The automatic ring sealing device may be an automatic bolting and tightening device to realize the bolt connection between the connector and the open end of the C-shaped ring. The bolt connection is detachable and is convenient for the subsequent removal of the C-shaped ring. Apparently, the automatic ring sealing device may be an automatic welding device. Preferably, the connector is a structural member that can wrap the opening of the C-shaped ring. After the connector wraps the opening, the connector and the opening of the C-shaped ring are welded to a sealed ring by welding guns located at two ends of the connector.
[0076] The clamping portion is configured to clamp the C-shaped ring to facilitate the operation of the automatic ring sealing device.
[0077] The feeding device includes a feeding trough for stacking the connectors and a pushing cylinder for pushing the lowermost connector to the opening. The control device is connected to the pushing cylinder. When the contact force sensor detects that the clamping force of the clamping portion reaches the preset value, the control device controls the pushing cylinder to push the connector at the lowermost of the feeding trough to the opening of the C-shaped ring. After the connector is pushed into place, the control device controls the action of the automatic ring sealing device to connect the connector with the opening of the C-shaped ring.
[0078] Referring to Figure 4, Figure 4 is a control flow chart of the tunnel boring machine steel arch installation system according to the present application. The control steps of automatic transportation, automatic grabbing, automatic splicing, automatic bracing and automatic sealing to a ring of the tunnel boring machine steel arch installation system are as follows:
[0079] Step SI: automatic transportation of the steel arch: the steel arch 7 is placed on the transport device, and the movement of the transport device is controlled to realize the transportation of the steel arch 7 by the control device, and when the stroke displacement sensor detects that the steel arch 7 reaches the predetermined transfer position, the control device controls the transport device to brake.
[0080] Step S2: automatic grabbing of the steel arch: the linear driving device 43 is controlled to start by the control device after the transport device brakes, so that the linear driving device 43 drives the grabbing arm 31 to move to the predetermined transfer position; the linear driving device 43 is controlled to brake by the control device when the propulsion stroke sensor detects that the grabbing arm 31 moves to a position right below the predetermined transfer position, and the telescopic driving device is controlled to start to extend the grabbing arm 31; the grabbing hand 32 is driven to grab the steel arch 7 by the control device when the lifting stroke sensor detects that the grabbing hand 32 reaches the grabbing position; the telescopic driving device is controlled to further drive the grabbing arm 31 to move upward to remove the steel arch 7 from the transport device by the control device when the pressure sensor on the grabbing hand 32 detects that the grabbing pressure of the grabbing hand 32 reaches the preset pressure; the linear driving device 43 is controlled to start again by the control device, so that the linear driving device 43 drives the grabbing arm 31 to carry the steel arch to the splicing device.
[0081] Step S3: automatic splicing of the steel arch: the steel arch 7 is placed on the splicing device by the grabbing hand 32 under the action of the fine-adjustment mechanism 33, and the steel arch 7 is positioned by the positioning claw 24 and the position-limiting blocks 25 of the splicing device, when the visual or tactile sensor detects that the steel arch 7 has been positioned; and the rotation driving device 22 is controlled to rotate by a present angle by the control device when the pre-tightening pressure feedback device detects that the pre-tightening force during positioning of the steel arch 7 reaches the preset pre-tightening force, and the visual or tactile sensor detects that the positioned steel arch 7 is the first steel arch; and the torque of the rotation driving device 22 is adjusted by the control device when the rotation torque sensor detects that the torque of the rotation driving device 22 does not meet the preset torque requirement, so that the torque of the rotation driving device 22 is within the required preset torque range, and the splicing ring 21 rotates slowly and steadily; the rotation driving device 22 is controlled to brake in time by the control device when the rotation angle measuring sensor detects that the rotation angle of the rotation driving device 22 reaches the preset rotation angle; further another steel arch 7 is installed after the splicing ring is rotated in position. If the visual/tactile sensor detects that the positioned steel arch 7 is not the first steel arch, the control device controls the automatic connection device to fixedly connect the adjacent steel arches 7, and the control device controls the automatic grabbing device to operate after the adjacent steel arches 7 are fixedly connected. Another steel arch 7 is further installed according to the above control process until multiple steel arches 7 are spliced into a C-shaped ring on the splicing device.
[0082] Step S4: automatic bracing of the steel arch: the linear driving device 43 is controlled to move by the control device after multiple steel arches 7 are spliced into the C-shaped ring on the splicing device, so that the bracing device drives the C-shaped ring to move; the bracing arm 41 is controlled to extend to brace the C-shaped ring by the control device when the propulsion stroke sensor detects that the bracing device moves to the bracing position; and the bracing arm 41 is controlled to stop extending by the control device when the bracing force sensor detects that the bracing force reaches the preset bracing force.
[0083] Step S5: automatic sealing of the steel arch: the clamping portion of the ending ring-sealing mechanism 5 is controlled to clamp the C-shaped ring by the control device after the C-shaped ring is braced; the feeding device is controlled to transport the connector to the opening of the C-ring when the contact force sensor detects that the contact force of the clamping portion reaches the preset value; and then the automatic sealing device is controlled to close the opening of the braced C-ring by the control device. So far, the supporting work of one ring of the steel arches is completed, and the support of another ring of the steel arches is next.
[0084] The above embodiments are described in a progressive manner. Each of the embodiments is mainly focuses on describing its differences from other embodiments, and reference may be made among these embodiments with respect to the same or similar parts.
[0085] The tunnel boring machine steel arch installation system provided by the present application is described in detail above. The principle and the embodiments of the present application are illustrated herein by specific examples. The above description of examples is only intended to facilitate the understanding of the method and spirit of the present application. It should be noted that, for those skilled in the art, many modifications and improvements may be made to the present application without departing from the principle of the present application, and these modifications and improvements are also deemed to fall into the protection scope of the present application defined by the claims.
[0086] In compliance with the statute, the invention has been described in language more or less specific to structural or methodical features. The term "comprises" and its variations, such as "comprising" and "comprised of' is used throughout in an inclusive sense and not to the exclusion of any additional features.
Claims (9)
1. A tunnel boring machine steel arch installation system, comprising:
a transport device configured to receive a steel arch and transport the steel arch to a predetermined transfer position;
a splicing device configured to connect a plurality of steel arches end to end to form a C-shaped ring;
a grabbing device configured to grab the steel arch from the transport device and place the steel arch on the splicing device;
a bracing device configured to grab the C-shaped ring and transport the C-shaped ring to a bracing position to brace the C-shaped ring;
an ending ring-sealing mechanism configured to close an opening of the braced C-shaped ring; and
a control device connected to the transport device, the splicing device, the grabbing device, the bracing device and the ending ring-sealing mechanism
wherein the splicing device comprises:
a splicing ring configured to set the steel arches and cause adjacent steel arches to face each other end to end;
a rotation driving device configured to drive the splicing ring to rotate successively by a preset angle;
an automatic connection device configured to fixedly connect the adjacent steel arches end to end; and
a tactile or visual detection device configured to detect whether the steel arch is positioned on the splicing ring and detect whether the steel arch is a first steel arch, wherein the tactile or visual detection device is connected to the control device, and the control device is respectively connected to the rotation driving device and the automatic connection device.
2. The tunnel boring machine steel arch installation system according to claim 1, wherein the transport device comprises: a transport trolley configured to receive and transport the steel arch, wherein the transport trolley is provided with a position-limiting mechanism configured to limit a placement position of the steel arch; a transport track configured to guide the transport trolley; and a stroke displacement sensor configured to detect whether the steel arch reaches the predetermined transfer position, wherein the stroke displacement sensor is connected to the control device, and the control device is connected to a driving device of the transport trolley.
3. The tunnel boring machine steel arch installation system according to claim 1, wherein the splicing device further comprises:
a pre-tightening pressure feedback device configured to real-time monitor whether the pre-tightening force reaches a preset value when the steel arch is positioned, wherein the pre-tightening pressure feedback device is connected to the control device.
4. The tunnel boring machine steel arch installation system according to claim 1, wherein the splicing device further comprises:
a rotation angle measuring sensor configured to detect whether the rotation angle of the rotation driving device reaches a preset rotation angle; and
a rotation torque sensor configured to detect whether the torque of the rotation driving device meets a preset torque requirement, wherein the rotation angle measuring sensor and the rotation torque sensor are both connected to the control device.
5. The tunnel boring machine steel arch installation system according to claim 1, wherein the splicing ring is provided with a positioning claw configured to position an outer circumference of the steel arch and position-limiting blocks configured to position end portions of the steel arch.
6. The tunnel boring machine steel arch installation system according to any one of claims 1 to 5, wherein the grabbing device comprises:
a grabbing hand configured to grab the steel arch and a grabbing arm configured to set the grabbing hand;
a linear driving device connected to the grabbing arm and configured to drive the grabbing arm to move between the predetermined transfer position and a feeding position of the splicing device;
a propulsion stroke sensor configured to detect whether the grabbing arm reaches the predetermined transfer position or the feeding position, wherein the propulsion stroke sensor is connected to the control device, and the control device is connected to the linear driving device;
a telescopic driving device connected to the grabbing arm and configured to drive the grabbing arm to extend and retract;
a lifting stroke sensor configured to detect whether the grabbing hand extends to a gripping position, wherein the lifting stroke sensor is connected to the control device, and the control device is connected to the telescopic driving device; and
a pressure sensor configured to detect whether a grabbing pressure of the grabbing hand reaches a preset pressure, wherein the pressure sensor is connected to the control device.
7. The tunnel boring machine steel arch installation system according to claim 6, wherein the grabbing hand is connected to a fine adjustment mechanism configured for adjusting a posture of the grabbing hand to assist the positioning of the steel arch on the splicing device, and the fine adjustment mechanism is connected to the control device.
8. The tunnel boring machine steel arch installation system according to claim 6, wherein the bracing device comprises:
a plurality of bracing arms configured to brace the C-shaped ring, the bracing arms are arranged on a bracing ring, the bracing ring is connected to a bracing driving device configured to drive the bracing ring to expand or retract, the bracing ring is movably sleeved on a main beam for bearing, and the bracing ring is connected to the linear driving device; the bracing device further comprises: a bracing force sensor configured to detect whether the bracing force of the bracing arm reaches a preset bracing force, and the bracing force sensor is connected to the control device, and the control device is connected to the bracing driving device; the grabbing arm is connected to the linear driving device through the bracing ring; and the propulsion stroke sensor is further configured to detect whether the bracing ring reaches the bracing position.
9. The tunnel boring machine steel arch installation system according to claim 1, wherein the ending ring-sealing mechanism comprises:
a clamping portion configured to clamp the C-shaped ring;
a feeding device configured to feed a connector to the opening;
an automatic ring-sealing device configured to connect the connector with an open end of the C-shaped ring; and
a contact force sensor configured to detect whether the clamping force of the clamping portion reaches a preset value, wherein the contact force sensor is connected to the control device, and the control device is respectively connected to the feeding device and the automatic ring sealing device.
English translation of PCT/CN2018/124199
23 33 32 31 43 7 42 13 24 11 25
12 62
34 61
21
22 63 41 5
Figure 1
- 1/3 -
English translation of PCT/CN2018/124199
7 11 32 33
25 12
42 21
41
34
24
61
5 22
Figure 2
23 31 7 13 25 11
12 21
43
61
63 24 41 62
Figure 3
- 2/3 -
English translation of PCT/CN2018/124199
Start
Transport device operates S1 No Stroke displacement sensor detects whether the steel arch is in place
Yes
Grabbing arm moves to a predetermined transfer position and extends out
No Lifting stroke sensor detects whether the grabbing hand is in position S2 Yes Grabbing hand grabs the steel arch
No Pressure sensor detects whether the grabbing pressure reaches a preset pressure
Yes
Fine adjustment mechanism assists the positioning of the steel arch on the splicing device
Tactile or visual detection device detects No whether the steel arch is positioned, the pre-tightening pressure feedback device detects whether the pre-tightening force of the steel arch reaches a preset value S3 Yes Positioning of the steel arch at the splicing position
Tactile or visual detection device detects whether the steel arch is the first steel arch Yes No
Grab next steel arch Automatic connection device connects the steel arches into a C-shaped ring
Move the C-shaped ring to the bracing position
Bracing arm braces the C-shaped ring on the wall of the tunnel S4 No Bracing force sensor detects whether the bracing force reaches a preset value Yes
Ending sealing-ring mechanism clamps the C-shaped ring
No Contact force sensor detects whether the clamping force reaches a preset value S5
Yes Automatic sealing device seals the opening of the C-shaped ring
Figure 4 - 3/3 -
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810729663.5 | 2018-07-05 | ||
| CN201810729663.5A CN108756927B (en) | 2018-07-05 | 2018-07-05 | Steel arch installing system of heading machine |
| PCT/CN2018/124199 WO2020007003A1 (en) | 2018-07-05 | 2018-12-27 | Tunnel boring machine steel arch installation system |
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| AU2018431356A1 AU2018431356A1 (en) | 2021-01-28 |
| AU2018431356B2 true AU2018431356B2 (en) | 2022-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| AU2018431356A Active AU2018431356B2 (en) | 2018-07-05 | 2018-12-27 | Tunnel boring machine steel arch installation system |
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| Country | Link |
|---|---|
| CN (1) | CN108756927B (en) |
| AU (1) | AU2018431356B2 (en) |
| PE (1) | PE20210505A1 (en) |
| PH (1) | PH12021550021A1 (en) |
| WO (1) | WO2020007003A1 (en) |
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- 2018-07-05 CN CN201810729663.5A patent/CN108756927B/en active Active
- 2018-12-27 WO PCT/CN2018/124199 patent/WO2020007003A1/en active Application Filing
- 2018-12-27 PE PE2021000001A patent/PE20210505A1/en unknown
- 2018-12-27 AU AU2018431356A patent/AU2018431356B2/en active Active
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2021
- 2021-01-04 PH PH12021550021A patent/PH12021550021A1/en unknown
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2020007003A1 (en) | 2020-01-09 |
| AU2018431356A1 (en) | 2021-01-28 |
| PH12021550021A1 (en) | 2021-09-27 |
| CN108756927B (en) | 2024-01-19 |
| PE20210505A1 (en) | 2021-03-15 |
| CN108756927A (en) | 2018-11-06 |
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