CN108756927A - A kind of development machine steel arch-shelf installation system - Google Patents
A kind of development machine steel arch-shelf installation system Download PDFInfo
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- CN108756927A CN108756927A CN201810729663.5A CN201810729663A CN108756927A CN 108756927 A CN108756927 A CN 108756927A CN 201810729663 A CN201810729663 A CN 201810729663A CN 108756927 A CN108756927 A CN 108756927A
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- steel arch
- shelf
- stretching
- control device
- ring
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 240
- 239000010959 steel Substances 0.000 title claims abstract description 240
- 238000009434 installation Methods 0.000 title claims abstract description 51
- 238000011161 development Methods 0.000 title claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 238000007789 sealing Methods 0.000 claims abstract description 19
- 238000007689 inspection Methods 0.000 claims description 13
- 230000036316 preload Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 210000000078 claw Anatomy 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000032258 transport Effects 0.000 description 42
- 230000009471 action Effects 0.000 description 15
- 230000000875 corresponding effect Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007363 ring formation reaction Methods 0.000 description 2
- 238000005476 soldering Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 206010068052 Mosaicism Diseases 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 210000003765 sex chromosome Anatomy 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
The invention discloses a kind of development machine steel arch-shelf installation systems, including：For receiving steel arch-shelf and steel arch-shelf being delivered to the transport device of default transferring position；For keeping several steel arch-shelfs end to end to form the splicing apparatus of C-shaped ring；For capturing steel arch-shelf from transport device and steel arch-shelf being placed on to the grabbing device on splicing apparatus；For capturing C-shaped ring and being transported to stretching position and make the tightening device of its stretching；For by the closed ending seal ring mechanism of the opening of the C-shaped ring after stretching；The control device being connected with transport device, splicing apparatus, grabbing device, tightening device and ending seal ring mechanism.The development machine steel arch-shelf installation system realizes automatic transportation, automatic crawl, automatic Mosaic, mobile stretching and the sealing of steel arch-shelf at support works such as closed loops by control device, mechanization degree is high, it avoids manually carrying and installing steel arch-shelf, reduce labor intensity, efficiency is improved, and avoids manually installed error.
Description
Technical field
The present invention relates to tunnel construction machinery technical fields, and system is installed more specifically to a kind of development machine steel arch-shelf
System.
Background technology
Special engineering machinery of the complete-section tunnel boring machine (TBM) as tunnel piercing, collection driving, supporting and slags tap etc. more
Function is integrated, and is suitable for the driving of ground consisting of hard rock, is obtained in the Tunnel Engineering such as subway, railway, highway, municipal administration, water power wide
General application.
In unfavorable geology construction, steel arch-shelf is for one of most important support unit of tunnel excavation structural plane, peace
Speed, installation quality etc. are filled to the stability in tunnel and the safety important of construction personnel.Currently, TBM is severe
When geology is constructed, need that steel arch-shelf is installed after excavating sequences to carry out preliminary bracing to country rock.In the prior art, each
After wheel excavates, usually it is required for operating personnel in the installation for the positioning and arch springing for completing steel arch-shelf close to the position of excavation face
It is fixed.This installation steps are：Steel arch-shelf is divided into several sections, processing factory completes segmental machining outside tunnel；Then, by each section
By in the transport to hole such as wooden handcart, will manually be tied up per Pin steel arch-shelfs in hole, and be hoisted to steel arch-shelf by handling machinery and deposit
Mechanism is stored up, then steel arch-shelf is delivered to by installation site by simple mounting platform and other handling auxiliary devices, is then manually removed
Fortune and setting up steel arch-shelf makes it dock in the air, and it is manually installed and tighten bolt.During the entire assembly of steel arch-shelf, tunnel
Road is substantially only capable of keeping stablizing by the active force inside country rock, and since operating personnel is close to tunnel excavation face, this
It is installation mechanization degree that is extremely hazardous, and being segmented manually installed steel arch-shelf in the prior art in the poor tunnel of stability
It is relatively low, the installation that steel arch-shelf is completed by a large amount of labour, high labor cost are needed, and installation effectiveness is low, influences the duration,
The occupancy constructing tunnel activity duration is longer, undoubtedly also increases the danger of manually installed arch, and there is also ask for erection quality
Topic.
It is mesh in conclusion how to provide a kind of mechanization, the higher development machine steel arch-shelf installation system of the degree of automation
Preceding those skilled in the art's urgent problem to be solved.
Invention content
In view of this, the object of the present invention is to provide a kind of development machine steel arch-shelf installation system, development machine steel arch-shelf peace
The mechanization of dress system, the degree of automation are higher, avoid manually carrying and installing steel arch-shelf, reduce labor intensity, improve
Installation effectiveness.
To achieve the goals above, the present invention provides the following technical solutions：
A kind of development machine steel arch-shelf installation system, including：
For receiving steel arch-shelf and the steel arch-shelf being delivered to the transport device of default transferring position；
For keeping several described steel arch-shelfs end to end to form the splicing apparatus of C-shaped ring；
For capturing the steel arch-shelf from the transport device and the steel arch-shelf being placed on the splicing apparatus
Grabbing device；
For capturing the C-shaped ring and being transported to stretching position and make the tightening device of its stretching；
For by the closed ending seal ring mechanism of the opening of the C-shaped ring after stretching；
With the transport device, the splicing apparatus, the grabbing device, the tightening device and the ending seal ring
The connected control device of mechanism.
Preferably, the transport device includes：
Travelling bogie for receiving and conveying the steel arch-shelf, the travelling bogie are equipped with for limiting the steel arch
The position-limit mechanism of the placement position of frame；
Conveying track for being oriented to the travelling bogie；
The Stroke Displacement Transducer of the default transferring position, the stroke position whether are reached for detecting the steel arch-shelf
Displacement sensor is connected with the control device, and the control device is connected with the driving device of the travelling bogie.
Preferably, the splicing apparatus includes：
Assembled ring for the steel arch-shelf to be arranged and keeps adjacent steel arch-shelf head and the tail opposite；
For driving the assembled ring gradually to rotate the device of rotation driving of predetermined angle；
Automatic Link Establishment for being fixedly connected with adjacent steel arch-shelf head and the tail；
For detecting whether the steel arch-shelf positions on the assembled ring and for detecting whether the steel arch-shelf is the
The tactile or vision inspection apparatus of one piece of steel arch-shelf, the tactile or vision inspection apparatus are connected with the control device, described
Control device is connected with the device of rotation driving and the Automatic Link Establishment respectively.
Preferably, the splicing apparatus further includes：
The preload pressure for whether reaching default preload force value for pretightning force when monitoring the steel arch-shelf positioning in real time is anti-
Device is presented, the preload pressure feedback device is connected with the control device.
Preferably, the splicing apparatus further includes：
Whether the corner for detecting the device of rotation driving reaches the angle of revolution measurement sensor of default corner；
Whether the torque for detecting the device of rotation driving meets the rotary torque sensor of predetermined torque requirement, institute
It states angle of revolution measurement sensor and the rotary torque sensor is connected with the control device.
Preferably, the assembly is equipped with the positioning claw of the peripheral part for positioning the steel arch-shelf and for positioning
State the limited block of the end of steel arch-shelf.
Preferably, the grabbing device includes：
Crawl hand for capturing the steel arch-shelf and the crawl arm for the crawl hand to be arranged；
It is connected with the crawl arm, for driving the crawl arm in the default transferring position and the splicing apparatus
The linear drive apparatus moved between feeding position；
The propulsion stroke that the default transferring position or the feeding position whether are reached for detecting the crawl arm passes
Sensor, the propulsion stroke sensor are connected with the control device, and the control device is connected with the linear drive apparatus；
It is connected with the crawl arm, the retractable driving device for driving the crawl arm flexible；
The lifting stroke sensor of crawl position, the lifting stroke sensing whether are extend out to for detecting the crawl hand
Device is connected with the control device, and the control device is connected with the retractable driving device；
Whether the crawl pressure for detecting the crawl hand reaches the pressure sensor of preset pressure value, and the pressure passes
Sensor is connected with the control device.
Preferably, the crawl hand is connected with the micro-adjusting mechanism of the pose for adjusting the crawl hand, described in auxiliary
Steel arch-shelf positions on the splicing apparatus, and the micro-adjusting mechanism is connected with the control device.
Preferably, the tightening device includes several stretching arms for C-shaped ring described in stretching, the stretching arm setting
On stretching ring, the stretching ring is connected with the stretching driving device for driving the stretching ring to open or retract, the support
Tight ring is movably set in the girder for carrying, and the stretching ring is connected with the linear drive apparatus；The stretching
Device further includes whether reaching the stretching force snesor of default clamping force, the stretching for detecting the clamping force of the stretching arm
Force snesor is connected with the control device, and the control device is connected with the stretching driving device；
The crawl arm is connected by the stretching ring with the linear drive apparatus；
The propulsion stroke sensor is additionally operable to detect whether the stretching ring reaches the stretching position.
Preferably, the ending seal ring mechanism includes：
Clamping part for the C-shaped ring to be clamped；
For sending connector to the feeding device of the opening；
Automatic sealing package loop device for the connector to be connect with the open end of the C-shaped ring；
Whether the chucking power for detecting the clamping part reaches the contact force sensor of contact force preset value, the contact
Force snesor is connected with the control device, the control device respectively with the feeding device and the automatic sealing package loop device phase
Even.
Development machine steel arch-shelf installation system provided by the invention is controlled transport device by control device, grabbed successively respectively
The action for taking device, splicing apparatus, tightening device and ending seal ring mechanism makes above-mentioned each component cooperating complete steel arch-shelf
Supporting is installed.In use, steel arch-shelf is placed on transport device, control device controls transport device action, makes transport device
Steel arch-shelf is delivered to default transferring position；Then, control device control grabbing device action, make grabbing device by steel arch-shelf from
It is transferred on splicing apparatus on transport device；Control device control splicing apparatus action, by several steel arch-shelfs it is end to end with
Form C-shaped ring；Control device controls tightening device action, makes tightening device that C-shaped ring is delivered to stretching position and supports C-shaped ring
Tightly on the wall of hole；Finally, control device control ending seal ring mechanism action, the opening of the C-shaped ring after stretching is closed.So far
Complete the support work of a ring steel arch-shelf.That is, development machine steel arch-shelf installation system provided by the present application uses machine automatization control
The mode of system realizes that automatic transportation, automatic crawl, automatic Mosaic, mobile stretching and the sealing of steel arch-shelf are all propped up at closed loop etc.
Nurse makees, and mechanization degree is high, avoids manually carrying and installing steel arch-shelf, reduces labor intensity, improve installation effectiveness, pacify
It is complete reliable, and avoid manually installed error.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the structural schematic diagram of development machine steel arch-shelf installation system specific embodiment provided by the present invention；
Fig. 2 is the side view of development machine steel arch-shelf installation system shown in Fig. 1；
Fig. 3 is the front view of development machine steel arch-shelf installation system shown in Fig. 1；
Fig. 4 is the control flow chart of development machine steel arch-shelf installation system shown in Fig. 1.
Reference numeral in Fig. 1 to Fig. 3 is as follows：
11 it is travelling bogie, 12 be conveying track, 13 be position-limit mechanism, 21 be assembled ring, 22 is device of rotation driving, 23
It is positioning claw for Automatic Link Establishment, 24,25 be limited block, 31 be crawl arm, 32 be crawl hand, 33 is micro-adjusting mechanism, 34
It is stretching arm for connection ring, 41,42 be stretching ring, 43 be linear drive apparatus, 5 be ending seal ring mechanism, 61 be girder, 62 is
Sliding rail, 63 be support leg, 7 be steel arch-shelf.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of development machine steel arch-shelf installation system, the machine of the development machine steel arch-shelf installation system
Tool degree is higher, avoids manually carrying and installing steel arch-shelf, reduces labor intensity, improve installation effectiveness.
- Fig. 4 is please referred to Fig.1, Fig. 1 is the structure of development machine steel arch-shelf installation system specific embodiment provided by the present invention
Schematic diagram；Fig. 2 is the side view of development machine steel arch-shelf installation system shown in Fig. 1；Fig. 3 is development machine steel arch-shelf installation shown in Fig. 1
The front view of system；Fig. 4 is the control flow chart of development machine steel arch-shelf installation system shown in Fig. 1.
The application provides a kind of development machine steel arch-shelf installation system, including：
For receiving steel arch-shelf 7 and steel arch-shelf 7 being delivered to the transport device of default transferring position；
For keeping several steel arch-shelfs 7 end to end to form the splicing apparatus of C-shaped ring；
For capturing steel arch-shelf 7 from transport device and steel arch-shelf 7 being placed on to the grabbing device on splicing apparatus；
For capturing C-shaped ring and being transported to stretching position and make the tightening device of its stretching；
For by the closed ending seal ring mechanism of the opening of the C-shaped ring after stretching 5；
The control being connected with transport device, splicing apparatus, grabbing device, tightening device and ending seal ring mechanism 5 fills
It sets.
It should be noted that development machine steel arch-shelf installation system provided by the present application mainly realizes that steel arch-shelf 7 is assembled from people
Work operates the transformation that is controlled to mechanical automation, and effectively to solve, manually installed inefficient, error is larger and 7 supporting of steel arch-shelf
The problems such as difficult.For this purpose, development machine steel arch-shelf installation system provided by the present application includes mainly transport device, grabbing device, spelling
Connection device, tightening device and ending seal ring mechanism 5, above each device is connected with control device, is collection automatic transportation, automatic
Crawl, automatic Mosaic automatically move stretching and automatic sealing into closed loop in the automatic assembling system of one.
It is understood that transport device mainly plays a part of to transport steel arch-shelf 7, steel arch-shelf 7 is conveyed from initial position
To default transferring position, the default transferring position in the application refers to the position that grabbing device removes steel arch-shelf 7 from transport device
It sets.Default transferring position can be at splicing apparatus, away from splicing apparatus certain distance, when default transferring position is separate
When splicing apparatus, after grabbing device removes steel arch-shelf 7 from conveying device, need to move a certain distance again until its facilitate by
Steel arch-shelf 7 is transferred on splicing apparatus.
Grabbing device like the common manipulator of machinery field, it can be achieved that the movement of six degree of freedom, with realize steel arch-shelf 7 from
Transport device assists ensureing correct position of the steel arch-shelf 7 on splicing apparatus to the accurate transfer of splicing apparatus.
Several steel arch-shelfs 7 are end to end on splicing apparatus, to form C-shaped ring, it should be noted that in the application
C-shaped ring refers to unclosed cyclic structure, and the open end of C-shaped ring can offset, as long as not connected, does not influence follow-up C-shaped ring support
It is radially expanded when tight.Namely, it is preferable that after several steel arch-shelfs 7 splice on splicing apparatus, the adjacent steel of two of which
The opposite both ends of arch 7 offset and are not connected with, and the head and the tail opposite end of other adjacent steel arch-shelfs 7 is all connected with.
On the one hand tightening device plays the role of transporting C-shaped ring to stretching position, on the other hand, supportted when C-shaped ring reaches
Behind tight position, tightening device can make C-shaped ring radially expand stretching hole wall.
After C-shaped ring stretching, unclosed end will strut, and the opening with certain intervals distance be formed, in order to ensure C-shaped ring
Clamping force, this struts interval sealing by the application by the seal ring mechanism 5 that finishes up.
In order to realize the automatic dynamic of transport device, grabbing device, splicing apparatus, tightening device and ending seal ring mechanism 5
Make, achieve the purpose that automatically control, transport device, grabbing device, splicing apparatus, tightening device and ending seal ring mechanism 5 are
Realize that the control device of corresponding actions is connected with for controlling above-mentioned each device.
Problem is fixed and supported in view of above-mentioned each device, as a preferred embodiment, development machine steel arch-shelf installation
System further includes the girder for transport device, grabbing device, splicing apparatus, tightening device and ending seal ring mechanism 5 to be arranged
61, girder 61 is connected with the support leg 63 being used to support.
It should be noted that transport device, grabbing device, splicing apparatus, tightening device and ending seal ring mechanism 5 are straight
It connects or is indirectly arranged on girder 61, and keep corresponding position relationship on girder 61.Girder 61 plays the role of carrying,
And girder is connected with support leg 63, and the position of its stabilization is kept by support leg 63.Preferably, the quantity of support leg 63 is two
It is a.
In conclusion development machine steel arch-shelf installation system provided by the present application, transport dress is controlled by control device respectively
It sets, the action of splicing apparatus, grabbing device, tightening device and ending seal ring mechanism 5, above-mentioned each device cooperating is made to complete steel
The installation supporting of arch 7.In use, steel arch-shelf 7 is placed on transport device, steel arch-shelf 7 is transported extremely using transport device
Default transferring position, and at this location, grabbing device captures steel arch-shelf 7 from transport device, then grabbing device is by steel arch
Frame 7 is placed on splicing apparatus, several steel arch-shelfs 7 are spliced into C-shaped ring on splicing apparatus, then use tightening device by C-shaped
Ring is delivered to stretching position and by C-shaped ring stretching, and finally, by finishing up, seal ring mechanism 5 seals the opening of the C-shaped ring after stretching
It closes, so far completes the support work of steel arch-shelf 7.That is, development machine steel arch-shelf installation system provided by the present application is filled by controlling
It sets and realizes the automatic transportation of steel arch-shelf 7 by the way of machine automatization control, automatic crawl, automatic Mosaic, automatically moves stretching
And automatic sealing, at whole support works such as closed loop, mechanization degree is high, avoids manually carrying and installing steel arch-shelf 7, reduce
Labor intensity, improves installation effectiveness, securely and reliably, and avoids manually installed error.
In view of the simple and convenient property of the specific implementation of the concrete structure and automatic transportation of transport device, in above-mentioned reality
It applies on the basis of example, transport device includes：
Travelling bogie 11 for receiving and conveying steel arch-shelf 7, travelling bogie 11 are equipped with the pendulum for limiting steel arch-shelf 7
Put the position-limit mechanism 13 of position；
Conveying track 12 for being oriented to travelling bogie 11；
Whether reach the Stroke Displacement Transducer of default transferring position for detecting steel arch-shelf 7, Stroke Displacement Transducer with
Control device is connected, and control device is connected with the driving device of travelling bogie 11.
In use, steel arch-shelf 7 is placed on travelling bogie 11, travelling bogie 11 is moved along the track that conveying track 12 limits
It is dynamic, achieve the purpose that receiving and transports steel arch-shelf 7.
It is understood that the present embodiment limits position of the steel arch-shelf 7 on travelling bogie 11 by position-limit mechanism 13,
Keep the holding position in transportational process of steel arch-shelf 7 constant.
Stroke Displacement Transducer is for being detected and positioning to the position of steel arch-shelf 7, when Stroke Displacement Transducer detects
When reaching default transferring position to steel arch-shelf 7, the information of steel arch-shelf 7 in place is sent to control device by Stroke Displacement Transducer,
Control device sends control instruction to the driving device of travelling bogie 11, and control travelling bogie 11 is braked.
In view of the simple and convenient property of the specific implementation of the concrete structure and automatic transportation of splicing apparatus, in above-mentioned reality
It applies on the basis of example, splicing apparatus includes：
Assembled ring 21 for steel arch-shelf 7 to be arranged and keeps adjacent 7 head and the tail of steel arch-shelf opposite；
For driving assembled ring 21 gradually to rotate the device of rotation driving 22 of predetermined angle；
Automatic Link Establishment 23 for being fixedly connected with adjacent 7 head and the tail of steel arch-shelf；
For detecting whether steel arch-shelf 7 positions on assembled ring 21 and for detecting whether steel arch-shelf 7 is first piece of steel arch
The tactile or vision inspection apparatus of frame, tactile or vision inspection apparatus are connected with control device, and control device drives with rotation respectively
Dynamic device 22 is connected with Automatic Link Establishment.
It is understood that the present embodiment drives splicing ring 21 gradually to rotate predetermined angle by device of rotation driving 22,
Realize that different steel arch-shelfs 7 are placed on successively on the predeterminated position of assembled ring 21, assembled ring 21 makes the adjacent steel arch placed
The head and the tail of frame 7 are opposite, in order to the connection of adjacent steel arch-shelf 7.Predetermined angle just corresponds to the arc length of a steel arch-shelf 7, to protect
Card steel arch-shelf 7 is placed on from a feeding position on splicing apparatus always.Automatic Link Establishment 23 preferably corresponds to splicing dress
The fixed position set, the fixed position correspond to the interconnecting piece of two neighboring steel arch-shelf 7, so that adjacent steel arch-shelf 7 is solid at this always
Positioning is set completion and is fixedly connected.
The present embodiment does not limit the concrete structure of Automatic Link Establishment 23, and Automatic Link Establishment 23 can be beaten automatically
Bolt device can also be automatic soldering device or other automatic connection structures that identical function may be implemented.
Tactile or vision inspection apparatus are for detecting whether steel arch-shelf 7 positions on assembled ring 21, when tactile or vision are examined
It surveys device and detects steel arch-shelf 7 when being positioned on assembled ring 21, tactile or vision inspection apparatus are by the location information of steel arch-shelf 7
It is sent to control device.Meanwhile tactile or vision inspection apparatus are used to detect whether steel arch-shelf 7 is first piece of steel arch-shelf, and will
The corresponding informance detected is sent to control device.When steel arch-shelf 7 has positioned and the positioning steel arch-shelf is first piece of steel arch-shelf,
Control device controls device of rotation driving 22 and starts, and assembled ring 21 is made to rotate predetermined angle；When steel arch-shelf 7 has positioned and the positioning
When steel arch-shelf is not first piece of steel arch-shelf, control device controls Automatic Link Establishment 23 and starts, and adjacent steel arch-shelf 7 is solid from beginning to end
Fixed connection.After adjacent 7 head and the tail of steel arch-shelf are fixedly connected, control device controls device of rotation driving 22 and starts, and makes assembled ring
21 rotation predetermined angles, prepare the assembly of next steel arch-shelf 7.
It is understood that when steel arch-shelf 7 positions, the interconnecting piece of adjacent steel arch-shelf 7 is perfectly aligned, in order to connect automatically
Adjacent 7 head and the tail of steel arch-shelf are fixedly connected by connection device 23.Therefore, as a preferred embodiment, the tactile in the present embodiment or
Whether vision inspection apparatus is aligned mainly for detection of the interconnecting piece of two steel arch-shelfs 7 mutually spliced, when a certain steel arch-shelf 7 and phase
When the interconnecting piece alignment of adjacent steel arch-shelf 7, then it represents that the steel arch-shelf 7 has positioned.
It is understood that in order to avoid steel arch-shelf 7 is fallen off in rotation process due to loosening, steel arch-shelf 7 is in assembly
With certain pretightning force when being positioned on ring 21, on the basis of above-described embodiment, splicing apparatus further includes：
For monitoring whether pretightning force when steel arch-shelf 7 positions reaches the default preload pressure feedback dress for pre-tightening force value in real time
It sets, preload pressure feedback device is connected with control device.
That is, the present embodiment assists tactile or vision inspection apparatus to judge steel arch using preload pressure feedback device
Completely in place whether frame 7, it is to be understood that tactile or vision inspection apparatus are mainly from location information to judge steel arch-shelf 7
It is no in place；Mainly in place whether pretightning force suffered after the positioning of steel arch-shelf 7 judge it to preload pressure feedback device.To protect
Demonstrate,prove the work of the more reliable stabilization of splicing apparatus.
Pretightning force when preload pressure feedback device monitors that steel arch-shelf 7 positions reaches default and pre-tightens force value, presses in advance
Device for force feedback sends this information to control device, and control device is sent according to the information and tactile or vision inspection apparatus
Location information control instruction occurs to device of rotation driving 22 or Automatic Link Establishment 23.
Stationarity and accuracy when in order to ensure that assembled ring 21 rotates, on the basis of above-described embodiment, splicing dress
It sets and further includes：
Whether the corner for detecting device of rotation driving 22 reaches the angle of revolution measurement sensor of default corner；
Whether the torque for detecting device of rotation driving 22 meets the rotary torque sensor of predetermined torque requirement, revolution
Angle measuring sensor and rotary torque sensor are connected with control device.
It is understood that when angle of revolution measurement sensor detects that the corner of device of rotation driving 22 reaches default and turns
When angle, then device of rotation driving 22 is controlled by control device and braked in time, assembled ring 21 is made to be accurately positioned to the angular position.
When rotary torque sensor detects that the torque of device of rotation driving 22 is unsatisfactory for predetermined torque requirement, then pass through
Control device adjusts the torque of device of rotation driving 22, makes the torque of device of rotation driving 22 in the range of predetermined torque requirement
It is interior, so that assembled ring 21 slowly and steadily rotates.
In view of orientation problem of the steel arch-shelf 7 on assembled ring 21, on the basis of above-described embodiment, assembled ring 21 is set
It is useful for the limited block 25 of the positioning claw 24 of the peripheral part of positioning steel arch-shelf 7 and the end for positioning steel arch-shelf 7.
When steel arch-shelf 7 is placed on assembled ring 21 by grabbing device, limited block 25 is used to limit the both ends of steel arch-shelf 7
Position makes steel arch-shelf 7 just be stuck between two limited blocks 25；Meanwhile steel arch-shelf 7 is just placed in positioning claw by grabbing device
In 24, positioning claw 24 firmly grasps steel arch-shelf 7, and steel arch-shelf 7 is made to be maintained on assembled ring 21.
In view of the simple and convenient property of the specific implementation of the concrete structure and automatic transportation of grabbing device, at above-mentioned
On the basis for an embodiment of anticipating, grabbing device includes：
Crawl hand 32 for capturing steel arch-shelf 7 and the crawl arm 31 for crawl hand 32 to be arranged；
It is connected with crawl arm 31, for driving crawl arm 31 default between transferring position and the feeding position of splicing apparatus
Mobile linear drive apparatus 43；
The propulsion stroke sensor of default transferring position or feeding position whether is reached for detecting crawl arm 31, promotes row
Journey sensor is connected with control device, and control device is connected with linear drive apparatus 43；
It is connected with crawl arm 31, the retractable driving device for driving crawl arm 31 flexible；
The lifting stroke sensor of crawl position, lifting stroke sensor and control whether are extend out to for detecting crawl hand 32
Device processed is connected, and control device is connected with retractable driving device；
Whether the crawl pressure for detecting crawl hand 32 reaches the pressure sensor of preset pressure value, pressure sensor and
Control device is connected.
It is understood that when grabbing device captures steel arch-shelf 7 from transport device, linear drive apparatus 43 drives first
Dynamic grabbing device is moved to default transferring position, and transferring position is preset when promoting stroke sensor to detect that crawl arm 31 reaches
When, promote the information that crawl arm 31 is reached default transferring position by stroke sensor to be sent to control device, control device control
Linear drive apparatus 43 is braked, meanwhile, control device sends control instruction to retractable driving device, and crawl arm 31 is made to drive crawl
Hand 32 stretches out, and when lifting stroke sensor detects that crawl hand 32 extend out to crawl position, lifting stroke sensor will capture
The information of hand 32 in place is sent to control device, and control device controls retractable driving device braking, meanwhile, control device control is grabbed
It takes hand 32 to act, crawl hand 32 is made to capture steel arch-shelf 7, when pressure sensor detects that the crawl pressure of crawl hand 32 reaches default
When pressure value, pressure sensor sends this information to control device, and control device controls crawl arm by retractable driving device
31 hold up steel arch-shelf 7, and when lifting stroke sensor detects that steel arch-shelf 7 completely disengages transport device, control device passes through
Linear drive apparatus 43 controls the feeding position that crawl arm 31 is moved to splicing apparatus, for the steel arch-shelf 7 is placed into splicing dress
It sets and prepares.
In view of steel arch-shelf 7 on splicing apparatus the problem of being accurately positioned, on the basis of above-described embodiment, hand is captured
32 are connected with the micro-adjusting mechanism 33 of the pose for adjusting crawl hand 32, to assist steel arch-shelf 7 to be positioned on splicing apparatus, fine tuning
Mechanism 33 is connected with control device.
That is, the present embodiment finely tunes the pose of crawl hand 32 by micro-adjusting mechanism 33, crawl hand 32 is made to assist steel
Arch 7 positions on splicing apparatus.
In view of the concrete structure of micro-adjusting mechanism 33, fine tuning structure includes the link mechanism with crawl 32 globular hinge of hand,
Link mechanism is connected with several short distance oil cylinders, several short distance oil cylinders are connected with control device.When work, filled by controlling
The stroke for controlling each short distance oil cylinder is set, to drive link mechanism constantly to convert self-position, and then crawl hand 32 is driven to rotate,
To achieve the purpose that fine tuning crawl 32 pose of hand.
Preferably, the crawl position of crawl hand 32 is at the interconnecting piece of steel arch-shelf 7, so that micro-adjusting mechanism 33 is main right
The interconnecting piece of steel arch-shelf 7 is adjusted.
In view of the simple and convenient property of the specific implementation of the concrete structure and automatic transportation of tightening device, in above-mentioned reality
It applies on the basis of example, tightening device includes several stretching arms for C-shaped ring described in stretching, and stretching arm is arranged in stretching ring
On, stretching ring 42 is movably set in the girder 61 for carrying, and stretching ring 42 is connected with linear drive apparatus 43；
Crawl arm 31 is connected by stretching ring with linear drive apparatus 43；
Stroke sensor is promoted to be additionally operable to whether detection stretching ring reaches stretching position.
In view of C-shaped ring it is generally necessary to several 41 stretchings of stretching arm, in order to facilitate the fixation of several stretching arms and same
Several stretching arms 41, and the mobile reality for passing through stretching ring 42 are fixed using stretching ring 42 and carried to step transport, the present embodiment
Existing transport of the stretching arm 41 to C-shaped ring.
Preferably, girder 61 is equipped with sliding rail 62, and stretching ring 42 is slidably connected by sliding block and sliding rail 62, to be driven in straight line
Under the action of dynamic device 43, the movement of stretching ring 42 is realized.
In view of the steady sex chromosome mosaicism that stretching ring 42 moves, as a preferred embodiment, in the opposite both sides of girder 61 point
It She Zhi two parallel sliding rails 62, it is clear that sliding rail 62 is parallel to the axis of girder 61, so that stretching ring 42 is along girder 61
Axis direction moves.The sliding block that setting is slidably connected with corresponding sliding rail 62 on the position that stretching ring 42 corresponds to sliding rail 62, straight line
Driving device 43 is connected with any one or at least two sliding blocks.Preferably, linear drive apparatus 43 is hydraulic cylinder, and hydraulic cylinder is lived
The telescopic direction of plug cylinder is consistent with the length direction of sliding rail 62.
Stroke sensor is promoted to be additionally operable to whether detection stretching ring reaches stretching position.It is detected when promoting stroke sensor
When stretching ring reaches stretching position, promote stroke sensor that the information detected is sent to control device, control device control
Linear drive apparatus 43 processed is braked.
It should be noted that tightening device further includes the stretching driving device for driving stretching arm flexible, stretching driving
Device is connected with control device.When control device controls stretching ring by linear drive apparatus 43 to stop to stretching position, control
Device control stretching driving device processed starts, and to drive stretching arm to stretch out, makes stretching arm stretching hole wall.
In view of the support fixation problem of crawl arm 31, crawl arm 31 is connected with stretching ring 42, and linear drive apparatus 43 is logical
Stretching ring driving crawl arm 31 is crossed to move.One end of sliding rail 62 is located at default transferring position, and the other end is located at splicing apparatus, supports
Tight position, which is located at, presets between transferring position and splicing apparatus.
That is, crawl arm 31 is fixed on stretching ring 42 by the present embodiment, and the mobile drive for passing through stretching ring 42
Steel arch-shelf 7 is moved to from default transferring position from splicing apparatus by crawl arm 31.The length of sliding rail 62 defines stretching ring 42
Moving range, in default transferring position, stretching ring 42 connects with transport device, to facilitate crawl arm 31 to capture steel arch-shelf 7；?
When at splicing apparatus, stretching ring 42 connects with splicing apparatus, so that steel arch-shelf 7 is transferred on splicing apparatus by crawl arm 31.For
Transport device is avoided to cause to interfere to the stretching of C-shaped ring, stretching position is located at default between transferring position and splicing apparatus.
As a preferred embodiment, crawl arm 31 is connected by connection ring 34 with stretching ring 42,31 company of being fixed on of crawl arm
The upper end of ring 34 is connect, connection ring 34 is connected with stretching ring 42.In default transferring position, crawl arm 31 is extended, and drives and grab
The crawl hand 32 of 31 end of arm is taken to capture steel arch-shelf 7 upwards, crawl arm 31 continues to rise until steel arch-shelf 7 completely disengages transport dress
It sets, then under the drive of stretching ring 42,31 integral translation of stretching ring 42, connection ring 34 and crawl arm, until reaching splicing dress
Set place.
In a specific embodiment, in order to facilitate the setting of Automatic Link Establishment 23, connection ring 34 is equipped with rotatable
Swivel becket, Automatic Link Establishment 23 be arranged on the swivel becket.That is, Automatic Link Establishment 23 can be with connection ring 34 1
Movement is played, is made at the overall movement to splicing apparatus of connection ring 34 when stretching ring 42 drives, Automatic Link Establishment 23 is moved to and steel
The corresponding position of interconnecting piece of arch 7, and the interconnecting piece of steel arch-shelf 7 can be accurately gone to by swivel becket, by adjacent steel arch-shelf 7
It is fixedly connected.
In view of the concrete structure of head and the tail seal ring mechanism, in a specific embodiment,
Ending seal ring mechanism 5 includes：
Clamping part for C-shaped ring to be clamped；
For sending connector to the feeding device of opening；
Automatic sealing package loop device for connector to be connect with the open end of the C-shaped ring；
Whether the chucking power for detecting clamping part reaches the contact force sensor of contact force preset value, contact force sensor
It is connected with control device, control device is connected with feeding device and automatic sealing package loop device respectively.
Preferably, ending seal ring mechanism 5 is arranged makes different C-shaped rings in stretching in the corresponding position of stretching ring 42
It seals the corresponding position of ring 42.
The application does not limit the concrete structure of automatic sealing package loop device, and automatic sealing package loop device can be to wear bolt simultaneously automatically
Bolt device is tightened, it is detachable to realize that the bolt connection of the open end of connector and C-shaped ring is bolted, facilitates follow-up C-shaped ring
Dismounting.Certainly, automatic sealing package loop device can also be automatic soldering device, it is preferable that connector is that can wrap C-shaped ring
The structural member of opening, after connector wraps up the opening, using the welding gun positioned at connector both ends by connector and C-shaped ring
Weld seal ring in open end.
Clamping part is for being clamped C-shaped ring, in order to the operation of automatic sealing package loop device.
Feeding device includes for the feeding groove of stacking connector and for nethermost connector to be pushed to opening
Pusher cylinder, control device is connected with the pusher cylinder, connect when contact force sensor detects that the chucking power of clamping part reaches
When touch preset value, control device controls pusher cylinder action, makes pusher cylinder that feeding groove the lowermost connector is pushed to C
The opening of shape ring, after connector is pushed in place, control device control automatic sealing package loop device action, make connector with it is described
The open end of C-shaped ring connects.
Referring to FIG. 4, for the control flow chart of development machine steel arch-shelf installation system specific embodiment provided by the present invention.
Development machine steel arch-shelf installation system automatic transportation, automatic crawl, the control of automatic assembling, automatic tensioning and automatic sealing cyclization
Steps are as follows：
Step S1：The automatic transportation of steel arch-shelf：Steel arch-shelf 7 is placed on transport device, control device control transport dress
Action is set, realizes the transport of steel arch-shelf, when Stroke Displacement Transducer detects that steel arch-shelf 7 reaches default transferring position, control
Device controls transport device braking.
Step S2：The automatic crawl of steel arch-shelf：After transport device is braked, control device control linear drive apparatus 43 opens
It is dynamic, make linear drive apparatus 43 that crawl arm 31 be driven to be moved to default transferring position, crawl is sensed when promoting stroke sensor
When arm 31 is moved to the underface of default transferring position, control device controls linear drive apparatus 43 and brakes, and controls flexible drive
Dynamic device starts, and crawl arm 31 is made to stretch out, when lifting stroke sensor detects that crawl hand 32 reaches crawl position, control dress
It sets driving crawl hand 32 to act, crawl hand 32 captures steel arch-shelf 7, when the pressure sensor on crawl hand 32 detects crawl hand 32
Crawl pressure when reaching preset pressure value, control device control retractable driving device continues to start, and makes on crawl arm 31 continues
It rises, steel arch-shelf 7 is removed from transport device.Control device control linear drive apparatus 43 is again started up, and linear drives is made to fill
Setting 43 driving crawl arms 31 drives steel arch-shelf to be moved at splicing apparatus.
Step S3：The automatic assembling of steel arch-shelf：Hand 32 is captured under the action of micro-adjusting mechanism, steel arch-shelf is placed on splicing
On device, the positioning claw and limited block of splicing apparatus position steel arch-shelf, when vision/touch sensor detects steel arch
When frame has positioned, meanwhile, when preload pressure feedback device monitors that pretightning force when steel arch-shelf positioning reaches default preload force value,
And vision/touch sensor detect the positioning steel arch-shelf be first piece of steel arch-shelf when, control device control device of rotation driving
Angle is preset in 22 rotations, when rotary torque sensor detects that the torque of device of rotation driving 22 is unsatisfactory for predetermined torque requirement
When, then the torque of device of rotation driving 22 is adjusted by control device, and the torque of device of rotation driving 22 is made to be wanted in predetermined torque
In the range of asking, so that assembled ring 21 slowly and steadily rotates.When angle of revolution, measurement sensor detects device of rotation driving
When 22 corner reaches default corner, then device of rotation driving 22 is controlled by control device and braked in time.When assembled ring rotates
After in place, continue that next piece of steel arch-shelf is installed.When vision/touch sensor detects that the positioning steel arch-shelf is not first piece of steel arch
When frame, control device controls Automatic Link Establishment action, adjacent steel arch-shelf is fixedly connected, adjacent steel arch-shelf is fixedly connected with completion
Afterwards, control device control automatic grabbing device action.Continue the fixed next piece of steel arch-shelf of installation by the above control process, if until
Dry steel arch-shelf 7 is spliced into C-shaped ring on splicing apparatus.
Step S4：The automatic tensioning of steel arch-shelf：After several steel arch-shelfs 7 are spliced into C-shaped ring on splicing apparatus, control
Device controls linear drive apparatus 43 and acts, and tightening device is made to drive C-shaped ring movement, and stretching is detected when promoting stroke sensor
When device is moved to stretching position, control device controls stretching arm 41 and stretches out, by C-shaped ring stretching, when stretching force snesor is examined
When measuring clamping force up to default stretching force value, control device, which controls stretching arm 41, to be stopped stretching out.
Step S5：The automatic sealing cyclization of steel arch-shelf：After C-shaped ring stretching, control device control ending seal ring mechanism 5
Clamping part clamps C-shaped ring, when contact force sensor detects that the contact force of clamping part reaches preset value, control device control
Feeding device acts, and connector is delivered to the opening of C-shaped ring, and then, control device controls the action of automatic sealing package loop device, will
The opening of C-shaped ring after stretching is closed, and so far completes the support work of a ring steel arch-shelf, and enter the steel arch-shelf branch of next ring
Shield.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Development machine steel arch-shelf installation system provided by the present invention is described in detail above.Tool used herein
Principle and implementation of the present invention are described for body example, and the explanation of above example is only intended to help to understand this hair
Bright method and its core concept.It should be pointed out that for those skilled in the art, not departing from the present invention
, can be with several improvements and modifications are made to the present invention under the premise of principle, these improvement and modification also fall into right of the present invention
It is required that protection domain in.
Claims (10)
1. a kind of development machine steel arch-shelf installation system, which is characterized in that including：
For receiving steel arch-shelf (7) and the steel arch-shelf (7) being delivered to the transport device of default transferring position；
For keeping several described steel arch-shelfs (7) end to end to form the splicing apparatus of C-shaped ring；
For capturing the steel arch-shelf (7) from the transport device and the steel arch-shelf (7) being placed on the splicing apparatus
On grabbing device；
For capturing the C-shaped ring and being transported to stretching position and make the tightening device of its stretching；
For by the closed ending seal ring mechanism (5) of the opening of the C-shaped ring after stretching；
With the transport device, the splicing apparatus, the grabbing device, the tightening device and the ending seal ring mechanism
(5) connected control device.
2. development machine steel arch-shelf installation system according to claim 1, which is characterized in that the transport device includes：
Travelling bogie (11) for receiving and conveying the steel arch-shelf (7), the travelling bogie (11) are equipped with for limiting
The position-limit mechanism (13) of the placement position of the steel arch-shelf (7)；
Conveying track (12) for being oriented to the travelling bogie (11)；
The Stroke Displacement Transducer of the default transferring position, the stroke position whether are reached for detecting the steel arch-shelf (7)
Displacement sensor is connected with the control device, and the control device is connected with the driving device of the travelling bogie (11).
3. development machine steel arch-shelf installation system according to claim 1, which is characterized in that the splicing apparatus includes：
Assembled ring (21) for the steel arch-shelf (7) to be arranged and keeps the adjacent steel arch-shelf (7) opposite from beginning to end；
For driving the assembled ring (21) gradually to rotate the device of rotation driving (22) of predetermined angle；
Automatic Link Establishment (23) for the adjacent steel arch-shelf (7) to be fixedly connected from beginning to end；
It is for detecting the steel arch-shelf (7) and whether being positioned on the assembled ring (21) and be used to detect the steel arch-shelf (7)
No is the tactile or vision inspection apparatus of first piece of steel arch-shelf, the tactile or vision inspection apparatus and the control device phase
Even, the control device is connected with the device of rotation driving (22) and the Automatic Link Establishment (23) respectively.
4. development machine steel arch-shelf installation system according to claim 3, which is characterized in that the splicing apparatus further includes：
Whether reach the default preload pressure feedback for pre-tightening force value for pretightning force when monitoring the steel arch-shelf (7) positioning in real time
Device, the preload pressure feedback device are connected with the control device.
5. development machine steel arch-shelf installation system according to claim 3, which is characterized in that the splicing apparatus further includes：
Whether the corner for detecting the device of rotation driving (22) reaches the angle of revolution measurement sensor of default corner；
Whether the torque for detecting the device of rotation driving (22) meets the rotary torque sensor of predetermined torque requirement, institute
It states angle of revolution measurement sensor and the rotary torque sensor is connected with the control device.
6. development machine steel arch-shelf installation system according to claim 3, which is characterized in that the assembly ring (21), which is equipped with, to be used
In the limit of the positioning claw (24) for the peripheral part for positioning the steel arch-shelf (7) and end for positioning the steel arch-shelf (7)
Block (25).
7. according to claim 1-6 any one of them development machine steel arch-shelf installation systems, which is characterized in that the grabbing device
Including：
Crawl hand (32) for capturing the steel arch-shelf (7) and the crawl arm (31) for the crawl hand (32) to be arranged；
It is connected with the crawl arm (31), for driving the crawl arm (31) to be filled in the default transferring position and the splicing
The linear drive apparatus (43) moved between the feeding position set；
The propulsion stroke that the default transferring position or the feeding position whether are reached for detecting the crawl arm (31) passes
Sensor, the propulsion stroke sensor are connected with the control device, the control device and the linear drive apparatus (43)
It is connected；
It is connected with the crawl arm (31), the retractable driving device for driving the crawl arm (31) flexible；
The lifting stroke sensor of crawl position, the lifting stroke sensing whether are extend out to for detecting the crawl hand (32)
Device is connected with the control device, and the control device is connected with the retractable driving device；
Whether the crawl pressure for detecting the crawl hand (32) reaches the pressure sensor of preset pressure value, and the pressure passes
Sensor is connected with the control device.
8. development machine steel arch-shelf installation system according to claim 7, which is characterized in that the crawl hand (32) be used for
The micro-adjusting mechanism (33) for adjusting the pose of the crawl hand (32) is connected, to assist the steel arch-shelf (7) in the splicing apparatus
Upper positioning, the micro-adjusting mechanism (33) are connected with the control device.
9. development machine steel arch-shelf installation system according to claim 7, which is characterized in that the tightening device includes being used for
Several stretching arms (41) of C-shaped ring described in stretching, the stretching arm (41) are arranged on stretching ring (42), the stretching ring
(42) it is connected with the stretching driving device for driving the stretching ring (42) to open or retract, the stretching ring (42) is removable
Ground is set in the girder (61) for carrying, and the stretching ring (42) is connected with the linear drive apparatus (43)；The support
Tight device further includes whether reaching the stretching force snesor of default clamping force, institute for detecting the clamping force of the stretching arm (41)
It states stretching force snesor with the control device to be connected, the control device is connected with the stretching driving device；
The crawl arm (31) is connected by the stretching ring (42) with the linear drive apparatus (43)；
The propulsion stroke sensor is additionally operable to detect whether the stretching ring (42) reaches the stretching position.
10. development machine steel arch-shelf installation system according to claim 1, which is characterized in that the ending seal ring mechanism (5)
Including：
Clamping part for the C-shaped ring to be clamped；
For sending connector to the feeding device of the opening；
Automatic sealing package loop device for the connector to be connect with the open end of the C-shaped ring；
Whether the chucking power for detecting the clamping part reaches the contact force sensor of contact force preset value, and the contact force passes
Sensor is connected with the control device, and the control device is connected with the feeding device and the automatic sealing package loop device respectively.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810729663.5A CN108756927B (en) | 2018-07-05 | 2018-07-05 | Steel arch installing system of heading machine |
| AU2018431356A AU2018431356B2 (en) | 2018-07-05 | 2018-12-27 | Tunnel boring machine steel arch installation system |
| PCT/CN2018/124199 WO2020007003A1 (en) | 2018-07-05 | 2018-12-27 | Tunnel boring machine steel arch installation system |
| PE2021000001A PE20210505A1 (en) | 2018-07-05 | 2018-12-27 | SYSTEM FOR THE INSTALLATION OF STEEL ARCHES OF A TUNNEL MACHINE |
| PH12021550021A PH12021550021A1 (en) | 2018-07-05 | 2021-01-04 | Tunnel boring machine steel arch installation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810729663.5A CN108756927B (en) | 2018-07-05 | 2018-07-05 | Steel arch installing system of heading machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108756927A true CN108756927A (en) | 2018-11-06 |
| CN108756927B CN108756927B (en) | 2024-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810729663.5A Active CN108756927B (en) | 2018-07-05 | 2018-07-05 | Steel arch installing system of heading machine |
Country Status (5)
| 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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Also Published As
| Publication number | Publication date |
|---|---|
| AU2018431356B2 (en) | 2022-08-25 |
| 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 |
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