Intelligent steel arch frame assembling robot

Abstract

The invention discloses an intelligent steel arch frame assembling robot. The intelligent steel arch frame assembling robot comprises a transporting system, an assembling system, an installing systemand a slag clearing system. The slag clearing system is installed on the lower end surface of a main beam of a hard-rock tunnel boring machine (TBM, for short). The transporting system comprises a transporting trolley and a transporting track. The transporting track is fixed to the upper end face of the TBM main beam. The transporting trolley reciprocates on the transporting track to transport assembling annular pieces into an assembling annular channel of the assembling system. The assembling annular channel is installed on a supporting seat of a supporting ring and rotates on the supportingseat. The supporting ring is installed at the side end of the TBM main beam. A mechanical arm of the installing system is matched with the assembling annular pieces on the assembling annular channel,and the assembling annular pieces are assembled together. The mechanical arm is installed on an installing track through a base in a rolling mode. The installing track is fixed to the side end of theTBM main beam and is parallel to the assembling annular channel. According to the intelligent steel arch frame assembling robot, intelligent installing is achieved, manpower is liberated, the installing quality and stability are improved, the technical maturity is high, and cooperating and efficient operation of a single mechanical arm or multiple mechanical arms is achieved.

Description

technical field [0001] The invention belongs to the technical field of tunnel construction, and in particular relates to an intelligent steel arch assembly robot. Background technique [0002] Large-diameter hard rock tunnel boring machine (TBM) is a large and complex complete set of equipment for tunneling that integrates functions such as tunneling, slag removal, and support. It is the tunnel construction equipment for national railways, highways, water conservancy, urban construction, and national defense construction. [0003] During TBM excavation construction, initial support is required to improve the stability of surrounding rock and prevent collapse. The initial support generally adopts steel arches, combined with steel mesh, anchor rods, steel bar rows, and shotcrete for reinforced support. The steel arch installation system is an important part of the full-face rock roadheader. Its main function is to provide timely and effective support for the exposed surroundi...

AI Technical Summary

Problems solved by technology

[0011] The present invention aims at the technical problem of low efficiency of steel arch assembly manual support described in the above prior art, thus providing an intelligent steel arch assembly robot

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