CN109209435A - The automatic detection tunnel duct piece of band spells the assembling machine of ring circularity - Google Patents
The automatic detection tunnel duct piece of band spells the assembling machine of ring circularity Download PDFInfo
- Publication number
- CN109209435A CN109209435A CN201811423372.XA CN201811423372A CN109209435A CN 109209435 A CN109209435 A CN 109209435A CN 201811423372 A CN201811423372 A CN 201811423372A CN 109209435 A CN109209435 A CN 109209435A
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- Prior art keywords
- assembling machine
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- jurisdiction
- assembling
- frame
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- 238000001514 detection method Methods 0.000 title abstract description 7
- 238000004088 simulation Methods 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 6
- 238000007363 ring formation reaction Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
-
- 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
- E21D11/04—Lining with building materials
- E21D11/08—Lining with building materials with preformed concrete slabs
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
本发明公开了一种带自动检测隧道管片拼环圆度的拼装机，包括拼装机支撑架、拼装机行走机构、拼装机固定框架、拼装机旋转框架、拼装机旋转驱动装置、管片抓取提升装置和管片抓取盘，拼装机旋转框架上安装有激光测距仪测量管片内表面与该激光测距仪之间的距离并传信给盾构机控制中心；拼装机旋转驱动装置上安装有旋转编码器测量管片单位时间内旋转的角度并传信给盾构机控制中心；盾构机控制中心根据接收到的管片单位时间的旋转角度以及与激光测距仪的距离计算模拟得到管片成环的圆度。该拼装机可在拼装管片时自动将管片拼装成环的结果及时地测量出来，并将结果反馈给操作人员及时纠正不合的管片，可以大大提升管片拼环圆度这一重要指标。
The invention discloses an assembly machine with automatic detection of the roundness of the ring segment of the tunnel segment. Take the lifting device and the segment grabbing disc. A laser range finder is installed on the rotating frame of the assembly machine to measure the distance between the inner surface of the segment and the laser range finder and send a letter to the shield machine control center; the assembly machine rotates to drive A rotary encoder is installed on the device to measure the rotation angle of the segment per unit time and transmit a signal to the shield machine control center; the shield machine control center receives the rotation angle of the segment per unit time and the distance from the laser range finder. The circularity of the ring of the segment is obtained by calculation and simulation. The assembling machine can automatically measure the results of assembling the segments into a ring in a timely manner when assembling segments, and feed the results back to the operator to correct the different segments in time, which can greatly improve the important index of segment ring roundness. .
Description
Technical field
The invention belongs to shield machine equipment technical field, particularly relate to a kind of band and detect tunnel duct piece automatically to spell ring
The assembling machine of circularity.
Background technique
Shield machine is generally used the mode of segment assembly when tunneling tunnel, and the tunnel that new driving comes out is formed with branch
The tunnel of liner is supportted, these tunnels can be used for subway, railway, highway, diversion, underground pipe gallery etc..Due to circular tunnel liner
Uniform force, so being widely used.The spelling ring quality of tunnel liner section of jurisdiction directly affects tunnel quality after molding, or even influences
Later purposes.So circular tunnel plays critically important effect to the circularity of internal lining pipe piece.
The duct piece assembling machine on shield machine is all without circularity detection device at present, when carrying out section of jurisdiction spelling ring operation,
The circularity of section of jurisdiction cyclization all relies on the operation level and the sense of duty of pipe sheet assembling manipulator.After the completion of built tunnel piping, to
Shield machine promotes a distance, and pipe sheet assembling quality could be detected using special equipment by reserving enough spaces, at this moment
Detection often subsequent detection, the pipe sheet assembling result not conformed to can not be modified.
Summary of the invention
In order to overcome drawbacks described above, the present invention provides a kind of bands to detect the assembling machine that tunnel duct piece spells ring circularity automatically,
The result of pipe sheet assembling cyclization can be measured in time automatically in segment assembly, and result is fed back into operator,
And the section of jurisdiction not conformed to is corrected, it can thus greatly promote section of jurisdiction and spell this important indicator of ring circularity.
The present invention is to solve technical solution used by its technical problem: a kind of band detects tunnel duct piece automatically and spells ring
The assembling machine of circularity, including assembling machine support frame, assembling machine walking mechanism, assembling machine fixed frame, assembling machine rotating frame, spelling
Installation rotation drive device, section of jurisdiction crawl lifting device and section of jurisdiction grab disk, and section of jurisdiction grabs disk and is set to section of jurisdiction crawl lifting device
On, section of jurisdiction grabs lifting device and is set to assembling machine rotating frame, and assembling machine rotating frame and assembling machine rotation drive device are set to
On assembling machine fixed frame, assembling machine rotation drive device is able to drive assembling machine rotating frame and revolves with respect to assembling machine fixed frame
Turn；Assembling machine fixed frame is fixed in assembling machine walking mechanism, and assembling machine walking mechanism is fixed on assembling machine support frame, is spelled
Installation walking mechanism is able to drive assembling machine fixed frame and moves forward and backward along assembling machine support frame, on the assembling machine rotating frame
Laser range finder is installed and is rotated with the assembling machine rotating frame, which measures section of jurisdiction crawl disk crawl
Simultaneously communication gives shield machine control centre for the distance between section of jurisdiction inner surface and the laser range finder；The assembling machine rotation driving dress
It sets and rotary encoder is installed, which can measure the angle rotated in the assembling machine unit time i.e. section of jurisdiction and grab
Rotation angle and communication of the section of jurisdiction of disk crawl within the unit time give shield machine control centre；Shield machine control centre is according to connecing
Rotation angle of the section of jurisdiction received within the unit time and calculating simulation obtains section of jurisdiction cyclization at a distance from laser range finder
Circularity.
The beneficial effects of the present invention are: 1, the achievable measurement for spelling ring circularity to tunnel duct piece；2, laser range finder and rotation
Turn encoder composition automatic measurement system, has the characteristics that precision is high, accuracy is good, automation；3, it realizes and measures in time, in time
Feedback, data can directly exist in the calculating of control centre, facilitate consultation and manage；4, due to that can detect pipe sheet assembling in time
Circularity, timely amendment can be realized to exceeded section of jurisdiction, easy to operate, pipe sheet assembling quality is high, securely and reliably.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is another visual angle schematic diagram of the present invention.
In conjunction with attached drawing, make the following instructions:
1 --- laser range finder；2 --- assembling machine rotation drive device；
3 --- assembling machine support frame；4 --- assembling machine walking mechanism；
5 --- section of jurisdiction grabs lifting device；6 --- assembling machine rotating frame；
7 --- assembling machine fixed frame；8 --- rotary encoder；
9 --- section of jurisdiction grabs disk；10 --- section of jurisdiction.
Specific embodiment
Below in conjunction with attached drawing, elaborate to a preferred embodiment of the invention.But protection scope of the present invention is not
Be limited to following embodiments, i.e., in every case with simple equivalence changes made by scope of the present invention patent and description with repair
Decorations, all still belong within the invention patent covering scope.
It refering to fig. 1-2, is that a kind of band of the present invention detects the assembling machine that tunnel duct piece spells ring circularity automatically, including spells
Installation support frame 3, assembling machine walking mechanism 4, assembling machine fixed frame 7, assembling machine rotating frame 6, assembling machine rotation driving dress
2, section of jurisdiction crawl lifting device 5 and section of jurisdiction crawl disk 9 are set, section of jurisdiction grabs disk 9 and is set on section of jurisdiction crawl lifting device 5, and section of jurisdiction is grabbed
Lifting device 5 is taken to be set to assembling machine rotating frame 6, assembling machine rotating frame 6 and assembling machine rotation drive device 2 are set to assembling machine
On fixed frame 7, assembling machine rotation drive device 2 is able to drive assembling machine rotating frame 6 and revolves with respect to assembling machine fixed frame 7
Turn；Assembling machine fixed frame 7 is fixed in assembling machine walking mechanism 4, and assembling machine walking mechanism 4 is fixed on assembling machine support frame 3
On, assembling machine walking mechanism 4 is able to drive assembling machine fixed frame 7 and moves forward and backward along assembling machine support frame 3, the assembling machine rotation
Turn that laser range finder 1 is installed on frame 6 and rotated with the assembling machine rotating frame 6, which measures section of jurisdiction
Simultaneously communication gives shield machine control centre for the distance between 10 inner surface of section of jurisdiction and the laser range finder that crawl disk 9 grabs；It is described
Rotary encoder 8 is installed, which can measure assembling machine unit time inward turning in assembling machine rotation drive device 2
Rotation angle and communication of the section of jurisdiction 10 that the angle turned, that is, section of jurisdiction crawl disk 9 grabs within the unit time are in shield machine control
The heart；Shield machine control centre is according to rotation angle of the section of jurisdiction received within the unit time and at a distance from laser range finder
Calculating simulation obtains the circularity of section of jurisdiction cyclization.
Laser range finder is mounted on assembling machine rotating frame by the assembling machine, can be with assembling machine rotating frame together
Rotation, and can measurement pipe plate inner surface at a distance from laser range finder.It and the rotation being mounted on assembled machine actuating device
Encoder is formed together the measuring system that ring circularity is spelled in section of jurisdiction.When assembling machine segment assembly, disk need to be grabbed with section of jurisdiction, and by spelling
Rotation drive device of installing drives the rotation of assembling machine rotating frame, so that section of jurisdiction crawl disk and section of jurisdiction be driven to rotate together.At this moment
The angle that laser range finder and rotary encoder record section of jurisdiction inner surface rotate at a distance from laser range finder and in the unit time,
It passes data back shield machine control centre, calculate data analysis by control centre and simulates the circle of section of jurisdiction cyclization, convenient for referring to
Live pipe sheet assembling operation and amendment are led, section of jurisdiction can be greatly promoted in this way and spell this important indicator of ring circularity.
It can be seen that the band assembling machine that detection tunnel duct piece spells ring circularity automatically can be realized and spell ring circularity to tunnel duct piece
Measurement；Laser range finder and rotary encoder form automatic measurement system, have precision high, and accuracy is good, the spies such as automation
Point；Realization is measured in time, is timely feedbacked, and data can directly exist in the calculating of control centre, facilitate consultation and manage；Due to can
The circularity for detecting pipe sheet assembling in time, can realize timely amendment to exceeded section of jurisdiction, easy to operate, and pipe sheet assembling quality is high,
Securely and reliably.
Claims (1)
1. a kind of band detects the assembling machine that tunnel duct piece spells ring circularity, including assembling machine support frame (3), assembling machine vehicle with walking machine automatically
Structure (4), assembling machine fixed frame (7), assembling machine rotating frame (6), assembling machine rotation drive device (2), section of jurisdiction crawl are promoted
Device (5) and section of jurisdiction crawl disk (9), section of jurisdiction grab disk (9) and are set in section of jurisdiction crawl lifting device (5), and section of jurisdiction crawl promotes dress
It sets (5) and is set to assembling machine set on assembling machine rotating frame (6), assembling machine rotating frame (6) and assembling machine rotation drive device (2)
On fixed frame (7), assembling machine rotation drive device (2) is able to drive assembling machine rotating frame (6) with respect to assembling machine fixed frame
Frame (7) rotation；Assembling machine fixed frame (7) is fixed on assembling machine walking mechanism (4), and assembling machine walking mechanism (4) is fixed on
On assembling machine support frame (3), assembling machine walking mechanism (4) is able to drive assembling machine fixed frame (7) along assembling machine support frame (3)
It moves forward and backward, it is characterised in that: laser range finder (1) is installed on the assembling machine rotating frame (6) and is revolved with the assembling machine
Turn frame (6) to rotate together, which measures section of jurisdiction (10) inner surface and the Laser Measuring of section of jurisdiction crawl disk (9) crawl
Simultaneously communication gives shield machine control centre to the distance between distance meter；Rotation is installed to compile on the assembling machine rotation drive device (2)
Code device (8), the rotary encoder can measure the angle rotated in the assembling machine unit time the i.e. pipe of section of jurisdiction crawl disk (9) crawl
Simultaneously communication gives shield machine control centre to rotation angle of the piece (10) within the unit time；Shield machine control centre is according to receiving
Rotation angle of the section of jurisdiction within the unit time and calculating simulation obtains the circularity of section of jurisdiction cyclization at a distance from laser range finder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811423372.XA CN109209435A (en) | 2018-11-27 | 2018-11-27 | The automatic detection tunnel duct piece of band spells the assembling machine of ring circularity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811423372.XA CN109209435A (en) | 2018-11-27 | 2018-11-27 | The automatic detection tunnel duct piece of band spells the assembling machine of ring circularity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109209435A true CN109209435A (en) | 2019-01-15 |
Family
ID=64994453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811423372.XA Pending CN109209435A (en) | 2018-11-27 | 2018-11-27 | The automatic detection tunnel duct piece of band spells the assembling machine of ring circularity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109209435A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110593885A (en) * | 2019-10-10 | 2019-12-20 | 中国铁建重工集团股份有限公司 | Tunneling equipment comprising segment erector |
| CN110749288A (en) * | 2019-11-26 | 2020-02-04 | 江苏凯宫隧道机械有限公司 | Lifting and swivel measuring device |
| CN111504224A (en) * | 2020-04-30 | 2020-08-07 | 中铁工程装备集团有限公司 | Pipe sheet roundness detection device and detection method |
| CN114941543A (en) * | 2022-05-31 | 2022-08-26 | 浙江大学高端装备研究院 | RGB-D vision segment grabbing identification system, assembly positioning system and assembly positioning method |
| CN115182759A (en) * | 2022-07-14 | 2022-10-14 | 中铁隧道局集团有限公司 | Segment auxiliary assembly system and assembly method |
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| CN103195445A (en) * | 2013-04-15 | 2013-07-10 | 辽宁北方重工机器制造有限公司 | Self-positioning quick segment erector |
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| CN105443136A (en) * | 2015-12-30 | 2016-03-30 | 中船重型装备有限公司 | Segment erector device of shield tunneling machine |
| CN107620602A (en) * | 2017-08-09 | 2018-01-23 | 中国铁建重工集团有限公司 | A kind of duct piece assembling machine and pipe sheet assembling method |
| CN207163422U (en) * | 2017-09-22 | 2018-03-30 | 中国铁建重工集团有限公司 | A kind of section of jurisdiction automatic identification grabbing device |
| CN108104834A (en) * | 2018-01-05 | 2018-06-01 | 杭州图溪科技有限公司 | Shield duct piece automatic assembling method and system |
| CN108625885A (en) * | 2018-06-29 | 2018-10-09 | 中铁工程装备集团有限公司 | A kind of semi-automatic duct piece assembling machine and its assembling method |
| CN209100051U (en) * | 2018-11-27 | 2019-07-12 | 江苏凯宫隧道机械有限公司 | Assembly machine with automatic detection of ring roundness of tunnel segments |
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| CN104903679A (en) * | 2013-01-09 | 2015-09-09 | 日立造船株式会社 | Segment roundness measuring device and segment roundness measuring method |
| CN103195445A (en) * | 2013-04-15 | 2013-07-10 | 辽宁北方重工机器制造有限公司 | Self-positioning quick segment erector |
| CN105443136A (en) * | 2015-12-30 | 2016-03-30 | 中船重型装备有限公司 | Segment erector device of shield tunneling machine |
| CN107620602A (en) * | 2017-08-09 | 2018-01-23 | 中国铁建重工集团有限公司 | A kind of duct piece assembling machine and pipe sheet assembling method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110593885A (en) * | 2019-10-10 | 2019-12-20 | 中国铁建重工集团股份有限公司 | Tunneling equipment comprising segment erector |
| CN110749288A (en) * | 2019-11-26 | 2020-02-04 | 江苏凯宫隧道机械有限公司 | Lifting and swivel measuring device |
| CN111504224A (en) * | 2020-04-30 | 2020-08-07 | 中铁工程装备集团有限公司 | Pipe sheet roundness detection device and detection method |
| CN114941543A (en) * | 2022-05-31 | 2022-08-26 | 浙江大学高端装备研究院 | RGB-D vision segment grabbing identification system, assembly positioning system and assembly positioning method |
| CN115182759A (en) * | 2022-07-14 | 2022-10-14 | 中铁隧道局集团有限公司 | Segment auxiliary assembly system and assembly method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20190115 |