CN108131153A - A kind of multifunctional tunnel working vehicle - Google Patents

Abstract

The invention discloses a kind of multifunctional tunnel working vehicles, including running gear, revolving platform is equipped on running gear, boom device is equipped on revolving platform, the boom device includes main mechanical arm and the two auxiliary mechanical arms for being installed in main mechanical arm both sides, each mechanical arm is telescopic mechanical arm, each mechanical arm is driven respectively by corresponding pitching driving mechanism, realize the pitching motion of each mechanical arm, the pitching driving mechanism is installed on revolving platform, in main mechanical arm, the front end of two auxiliary mechanical arms is respectively equipped with operating platform, there is multifunction manipulator in the front-end configuration of each mechanical arm, it is equipped with gripping body on hand in multi-functional mechanical.The present invention is multiple functional, strong to different adaptability for working condition, performance stablizes safety, can improve construction efficiency, the multifunctional tunnel working vehicle for reducing security risk, reducing construction cost.

Description

A multifunctional tunnel construction vehicle

technical field

The invention relates to a multifunctional tunnel construction operation vehicle.

Background technique

In order to improve the safety factor of tunnel construction and ensure the efficient completion of the construction, it is necessary to carry out support in time during the excavation process of the tunnel, especially for the weak surrounding rock of grade IV and above, it is necessary to carry out various supporting procedures, including Advance support, primary support, secondary lining, etc. Among them, the steps of initial spraying concrete, driving anchor rods, hanging steel mesh, erecting steel arch frames, and spraying concrete again are important measures in the initial support. Because these initial supports have relatively high rigidity, they will also serve as tunnel load-bearing A permanent load-bearing part of a structure.

At present, the technical level of railway and highway tunnel construction in my country still lags behind that of developed countries, and it is still in the initial stage of mechanized construction. The application of automation and mechanization in the actual construction process is still insufficient. The variety of professional construction equipment Short boards such as fewer, poorer quality, higher failure rate, and mechanical properties that cannot meet construction needs often lead to protracted construction periods and increased safety risks during construction. Especially in the construction process of weak surrounding rock and soil tunnels, manual operations are generally still the main method, and a large number of manual operations have low construction efficiency, many safety hazards, and greater difficulty in implementing support.

The initial support is a very critical part of the entire tunnel construction process. The installation of anchor rods, steel mesh, steel arches and concrete spraying are the main measures for the initial support. However, most of the existing tunnel construction equipment has single functions. The stability is poor, the structure is unreasonable, the construction cost is high, the difficulty is great, the operation is cumbersome, and the safety factor is low.

However, the traditional tunnel construction technology is relatively backward, and the main construction links still rely on manual work. Although a small number of imported and domestic tunnel construction equipment have appeared on the market, these equipment do not have a high degree of matching with the actual construction environment and are not compatible. Strong, and the corresponding construction cost is high, so it is rarely used in actual tunnel construction.

For the difficult and important part of the vertical steel arch frame in the initial support, the traditional technology mostly uses manual work, and a few mechanical constructions are difficult to achieve the expected effect. The steel arch frame is generally lifted to the palm by the lifting device. The position to be installed on the sub-surface, and then the welding is completed by manpower lifting and supporting (the safety hazard and labor intensity of this process are very large, and personnel injuries often occur), or the installation position of the arch frame is completed by equipment with a grabbing mechanism Adjustment, fixation and support, but the general construction equipment has a single function and poor performance, which affects the installation accuracy and efficiency of the steel arch.

In addition, the current tunnel construction equipment on the market does not combine the functions of anchor rod, vertical steel arch frame, shotcrete and other functions to form a complete set of solutions, so the scope of application and popularization is limited, and the integration of these functions can be greatly improved. Reduce costs and energy consumption, improve efficiency, and reduce potential safety hazards.

The technical purpose of the present invention is mainly aimed at the shortcomings and defects of relevant tunnel construction equipment in the current market, and develops a fully functional, strong adaptability to different working conditions, stable and safe performance, which can improve construction efficiency, reduce safety hazards, reduce A multifunctional tunnel construction vehicle for construction costs.

Contents of the invention

The technical problem to be solved by the present invention is to provide a multi-functional tunnel construction vehicle with strong adaptability and improved work efficiency in view of the deficiencies in the above-mentioned prior art.

The technical solution adopted in the present invention is: a multi-functional tunnel construction vehicle, characterized in that: it includes a traveling device, a turntable is arranged on the traveling device, an arm support device is arranged on the turntable, and the arm support device It includes the main mechanical arm and two auxiliary mechanical arms installed on both sides of the main mechanical arm. Each mechanical arm is a telescopic mechanical arm. The rotary table is three independent rotary tables. Each mechanical arm is connected to the corresponding rotary table. Hinged, each rotary table is driven by the rotary mechanism to realize the swing of each mechanical arm. The rotary mechanism is installed on the walking device, and each mechanical arm is driven by the corresponding pitch drive mechanism to realize the pitching action of each mechanical arm. The above-mentioned pitching drive mechanism is installed on the turntable, and the front ends of the main mechanical arm and the two auxiliary mechanical arms are respectively equipped with operating platforms. The front ends of each mechanical arm are equipped with multi-functional manipulators, and the multi-functional manipulators are equipped with gripping mechanisms. .

According to the above technical solution, the traveling device includes a vehicle body, the vehicle body is driven by front and rear drive axles, and hydraulic outriggers are arranged on the vehicle body.

According to the above-mentioned technical scheme, a front driver's cab and a rear driver's cab are respectively arranged at two ends of the traveling device.

According to the above technical solution, the pitching drive mechanism is a hydraulic cylinder type drive mechanism, which includes a pitching cylinder, and the two ends of the pitching cylinder are respectively connected with the corresponding mechanical arm and the turntable.

According to the above technical solution, the pitch driving mechanism further includes an auxiliary oil cylinder, and the two ends of the auxiliary oil cylinder are respectively connected with the corresponding mechanical arm and the turntable.

According to the above-mentioned technical scheme, each mechanical arm is telescopic at least in two stages, and is respectively driven by hydraulic oil cylinders.

According to the above technical solution, the slewing mechanism is a hydraulic cylinder type drive mechanism, which includes a slewing oil cylinder, and the two ends of the slewing oil cylinder are respectively connected with the corresponding slewing table and the traveling device.

According to the above technical solution, a connecting plate is provided at the front end of each mechanical arm, one end of the operation platform is hinged to the corresponding connecting plate, the other end is hinged to the telescopic cylinder, and the other end of the telescopic cylinder is connected to the connecting plate.

According to the above technical scheme, an integrated module for tunnel construction is installed on the operating platform of the two auxiliary mechanical arms. The integrated module can change functions and corresponding devices according to the specific needs of tunnel construction, including winch, concrete spray head, hydraulic welding machine and Rock drilling device.

The beneficial effects obtained by the present invention are: the present invention can greatly reduce the process of manually completing the vertical arch, shorten the time for the vertical arch, and greatly improve the safety and accuracy of the vertical arch, and can simultaneously complete the tensioning and The welding of the mesh, the measurement and setting-out of the positioning reference before the installation of the arch frame, and the initial risk elimination work, etc., are multi-purpose with one machine and have strong practicability.

Description of drawings

1-3 are perspective views of the present invention in different states.

Fig. 4 is a structural schematic diagram of the telescopic mechanical arm of the present invention.

Fig. 5 is a structural schematic diagram of the operating platform and the mechanical arm of the present invention.

Fig. 6 is a schematic structural view of the front and rear drive axles on the traveling gear of the present invention.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing.

As shown in Figures 1-6, this embodiment provides a multifunctional tunnel construction vehicle, including a traveling device 1, on which are provided three turntables 4, the three turntables are independent of each other, and pass through the traveling device. Bearing connection, a boom device 9 is provided on the turntable 4, and the boom device 9 includes a main mechanical arm 10 and two auxiliary mechanical arms 11 arranged on both sides of the main mechanical arm. The table is hinged in 4 phases, and each mechanical arm is a telescopic mechanical arm. Each rotary table is driven by a rotary mechanism to realize the swing of each mechanical arm. Each mechanical arm is driven by a corresponding pitch drive mechanism to realize the pitching action of each mechanical arm. Described pitch driving mechanism is installed on the turntable 4, is respectively provided with operating platform 12 at the front end of main mechanical arm 10, two auxiliary mechanical arms 11, is equipped with multifunctional manipulator 14 at the front end of each mechanical arm, in multifunctional manipulator 14 is provided with clamping mechanism 15, and power system 8 is also configured on the turntable in addition.

In the present embodiment, the walking device 1 includes a car body, the car body is driven by the front and rear drive axles 29, 30, and the front and rear drive axles 29, 30 drive four tires 19 for walking and steering functions. The transmission system 20 (that is, the vehicle engine system) that provides driving power provides four hydraulic cylinder legs 18 that stabilize the whole machine during operation, the main pump 21 that provides power for the mechanical arm and the slewing system, and some control valve groups and Service brake and parking brake system, in which the two front outrigger cylinders can be stretched horizontally to meet the stability of the whole vehicle during operation. Front cab 7 and rear cab 17 are respectively arranged at both ends of the car body, which can be used for two-way driving to prevent unnecessary accidents when reversing out of the tunnel. Among them, the rear cab 17 can be lifted vertically to provide a wider working field of vision. , no dead ends.

The slewing mechanism is a hydraulic cylinder type driving mechanism, which includes a swing cylinder 2, and there are 3 swing cylinders 2 in total. The two ends of each are connected to the corresponding mechanical arm and the car body respectively. Three swing oil cylinders 2 swing left and right for three mechanical arms, so as to satisfy the construction of personnel and equipment on the operating platform.

The boom device 9 is composed of three mechanical arms, the main mechanical arm 10 is in the middle, and two auxiliary mechanical arms 11 are on both sides. Each mechanical arm is in the form of a three-section box-shaped telescopic mechanical arm, and the pitch angle is -15°～40°. °, the swing range of the main manipulator is -5°～5°, and the swing angle of the auxiliary manipulator is 0～45°. The three robotic arms operate independently of each other and do not affect each other. The operating platform has a safety confirmation switch to ensure that the three robotic arms do not interfere during operation. Each mechanical arm is respectively driven by hydraulic oil cylinders (ie combined oil cylinders 31, 32), and combined oil cylinders 31, 32 can be used for two-stage inner mechanical arms to expand and contract, so as to meet the height of tunnel face construction. Wherein, the pitching drive mechanism is a hydraulic cylinder type drive mechanism, which includes a pitching cylinder 5 , and the two ends of the pitching cylinder 5 are respectively connected with the corresponding mechanical arm and the turntable 4 . The pitch driving mechanism also includes an auxiliary oil cylinder 6, and the two ends of the auxiliary oil cylinder 6 are respectively connected with the corresponding mechanical arm and the turntable. The pitching oil cylinder 5 mainly provides the pitching of the mechanical arm, and the auxiliary oil cylinder 6 is automatically adjusted along with the pitching oil cylinder 5 to ensure that the operating platform 12 is always in a horizontal state. Each manipulator front end is equipped with multifunctional manipulator 14, clamping mechanism 15, and oil cylinder 24 provides the pitching of manipulator 14, comes clamping steel arch frame with adjustment suitable angle, and the expansion and contraction of oil cylinder 23 is loosened and clamped for clamping mechanism 15. Tunnel construction integrated modules 13 are installed on the front guardrails of the auxiliary mechanical arms on both sides. This integrated module can change functions and corresponding devices according to the specific needs of tunnel construction, including but not limited to winches, concrete spray heads, hydraulic welding machines and rock drills. device.

The power system 8 provides the power for the expansion and contraction of the boom and controls the expansion and contraction of the boom. The cable reel 3 is externally connected with high-voltage electricity to provide the power for the operation of the vehicle in the tunnel. The electric drive is cleaner and pollution-free than the diesel engine drive, which is very good. The construction environment in the tunnel has been improved. In an emergency, if the external power supply is cut off, the vehicle can use the engine system of the crane to complete the retraction of the mechanical arms and outrigger cylinders, and leave the work site smoothly.

The operating platform 12 on each telescopic mechanical arm can be equipped with a hydraulic welding machine, and two conduits are led from the hydraulic system to the platform to form a circuit.

A connecting plate is arranged at the front end of each mechanical arm, and one end of the operating platform 12 is hinged with the corresponding connecting plate, and the other end is hinged with the telescopic cylinder 16, and the other end of the telescopic cylinder 16 is connected with the connecting plate to realize The lifting of each operating platform.

When the multifunctional trolley realizes the installation function of the steel arch, the tunnel construction integrated module 13 on the auxiliary mechanical arm is switched to a winch hoisting mechanism for hoisting the arch section. Angle, put down by pitching oil cylinder 5, under the assistance of ground support personnel, clamp a piece of arch in the middle section by manipulator 14. After clamping, the arch is turned 90 degrees by pitching cylinder 5. Then adjust the arch to the approximate position through the main mechanical arm pitching and other actions. After lifting each arch frame to the height in place, the arch frame is roughly aligned through the telescopic, pitching, and swinging actions of the main mechanical arm 10, and then the manipulator 14 on the operating platform 12 precisely aligns the arch frame to complete the three-piece Arch installation. The installation process is shown in Figure 6.

When the multifunctional trolley realizes the functions of rock drilling and concrete spraying, the tunnel construction integrated module 13 on the auxiliary mechanical arm is switched to a rock drilling mechanism and a concrete spraying mechanism.

The two-axle chassis in Figure 5 can provide four steering modes, making the operation of the trolley efficient and precise, and its lightweight steel structure design and tire drive improve the efficiency and stability of the trolley's reverse movement and deformation.

Moreover, the main actions of the multifunctional tunnel construction trolley can be operated manually, and also can adopt wireless remote control, which is used for deploying and storing working devices on the car under special circumstances.

Claims (9)

1. a kind of multifunctional tunnel working vehicle, it is characterised in that：Including running gear, revolution is equipped on running gear Platform, is equipped with boom device on revolving platform, and the boom device includes main mechanical arm and is installed in the two auxiliary of main mechanical arm both sides Mechanical arm, each mechanical arm be telescopic mechanical arm, the revolving platform be three independent revolving platforms, each mechanical arm respectively with it is corresponding Revolving platform be hinged, each revolving platform is driven respectively by swing mechanism, realizes each mechanical arm rotation, and the swing mechanism is installed On running gear, each mechanical arm is driven respectively by corresponding pitching driving mechanism, realizes the pitching motion of each mechanical arm, institute It states pitching driving mechanism to be installed on revolving platform, operating platform is respectively equipped in the front end of main mechanical arm, two auxiliary mechanical arms, each The front-end configuration of mechanical arm has multifunction manipulator, and gripping body is equipped on hand in multi-functional mechanical.

2. multifunctional tunnel working vehicle according to claim 1, it is characterised in that：The running gear includes vehicle Body, the car body are driven by front and rear drive axle, are configured with hydraulic leg on the car body.

3. multifunctional tunnel working vehicle according to claim 1 or 2, it is characterised in that：Two on running gear End is each configured with preceding drivers' cab and rear drivers' cab.

4. multifunctional tunnel working vehicle according to claim 1 or 2, it is characterised in that：The pitching driving mechanism For hydraulic oil cylinder type driving mechanism, including pitching oil cylinder, the both ends of the pitching oil cylinder are respectively with corresponding mechanical arm and returning Turntable is connected.

5. multifunctional tunnel working vehicle according to claim 4, it is characterised in that：The pitching driving mechanism is also wrapped Auxiliary cylinder is included, the both ends of the auxiliary cylinder are connected respectively with corresponding mechanical arm and revolving platform.

6. multifunctional tunnel working vehicle according to claim 1 or 2, it is characterised in that：Each mechanical arm is at least two Grade is flexible, is driven respectively by hydraulic cylinder.

7. multifunctional tunnel working vehicle according to claim 1 or 2, it is characterised in that：The swing mechanism is liquid Compressing cylinder formula driving mechanism, including rotation oil cylinder, the both ends of the rotation oil cylinder respectively with corresponding revolving platform and walking Device is connected.

8. multifunctional tunnel working vehicle according to claim 1 or 2, it is characterised in that：In the front end of each mechanical arm Equipped with connecting plate, one end of the operating platform is hinged with corresponding connecting plate, and the other end is hinged with telescoping cylinder, described to stretch The other end of contracting cylinder is connected with connecting plate.

9. multifunctional tunnel working vehicle according to claim 1 or 2, it is characterised in that：In the behaviour of two auxiliary mechanical arms Make that constructing tunnel integration module is installed on platform, the integration module can according to the specific requirements of constructing tunnel come change function and Corresponding device, including hoist engine, concrete ejection head, hydraulic pressure welding machine and rock drilling device.