CN112502716A - Monitoring device and method for cutter head of shield tunneling machine - Google Patents
Monitoring device and method for cutter head of shield tunneling machine Download PDFInfo
- Publication number
- CN112502716A CN112502716A CN202011371229.8A CN202011371229A CN112502716A CN 112502716 A CN112502716 A CN 112502716A CN 202011371229 A CN202011371229 A CN 202011371229A CN 112502716 A CN112502716 A CN 112502716A
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- camera
- plate
- shield
- tunneling machine
- cutter head
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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Abstract
The utility model relates to a monitoring device and method for shield machine cutter head, including the box, the box is equipped with the opening towards the side department of shield machine cutter head, is equipped with open-ended lateral wall department in the box and forms the guard plate, is equipped with the camera that is used for shooing the shield machine cutter head in the box inner chamber, and the camera lens of camera can stretch out or retract into the box inner chamber from the opening part under the drive of actuating mechanism, and the camera can communicate with remote control terminal to the image of transmission shield machine cutter head department. This openly can replace artifical mode that gets into the earth storehouse and observe shield structure machine blade disc, improve the wearing and tearing monitoring efficiency of shield structure machine blade disc, reduce the risk.
Description
Technical Field
The disclosure belongs to the technical field of shield tunneling machines, and particularly relates to a monitoring device and method for a shield tunneling machine cutter head.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The shield machine belongs to an underground tunnel construction machine, mainly depends on the cutting of cutter head and the extrusion force of machine body to realize the breaking of underground tunnel, and the soil cut by the cutter head is transported to a muck truck through a conveyor and then transported away from the tunnel through an above-ground crane.
The inventor knows that, in the shield construction, the blade disc is as the shield constructs the very important part of machine, if appear damaging will influence the tunnelling speed, to these problems, prior art mainly is that the manual work that gets into soil storehouse after shutting down monitors the wearing and tearing situation of blade disc, because the underground condition is complicated, the personnel that shut down get into soil storehouse and observe the wearing and tearing situation of blade disc, this one side can reduce tunnel efficiency of construction, and on the other hand can bring certain danger for the staff.
Disclosure of Invention
The present disclosure is directed to a monitoring device and method for a cutter head of a shield tunneling machine, which can solve at least one of the above technical problems.
In order to achieve the above object, a first aspect of the present disclosure provides a monitoring device for a shield tunneling machine cutterhead, which includes a box body, an opening is provided at a side of the box body facing the shield tunneling machine cutterhead, a protection plate is provided at a side wall of the box body, a camera for shooting the shield tunneling machine cutterhead is provided in an inner cavity of the box body, a lens of the camera can extend out or retract into the inner cavity of the box body from the opening under the driving of a driving mechanism, and the camera can communicate with a remote control terminal to transmit an image at the shield tunneling machine cutterhead.
The protection plate is provided with a sensor, the sensor can sense the residue soil and muddy water moving from the outside to the protection plate, and transmits signals to the remote control terminal.
The box includes a guard plate and two curb plates, and curb plate and guard plate enclose to close and form triangle tubular structure, and the end plate shutoff is passed through at the both ends of triangle tubular structure, two curb plates mutually perpendicular.
The wall surface of the protection plate, which is close to the inner cavity of the box body, is provided with a guide plate, and the guide plate can limit so that the relative motion direction between the cameras is perpendicular to the guide plate; the curb plate includes vertical board and horizontal plate, and the inner wall of vertical board is articulated with the one end of bull stick, deviates from open-ended side department in the camera and is fixed with the connecting plate, is equipped with the spout in the connecting plate, and the extending direction of spout is parallel with the guard plate, is equipped with the slide in the spout, and the other end and the slide of bull stick are articulated, the bull stick can be followed self and the pin joint rotation between the vertical board to the camera lens of drive camera stretches out or contracts the inner chamber of income box.
The outer wall surface of the protection plate is provided with a cover plate, a sliding groove is formed in the protection plate, a sliding block is arranged in the sliding groove, and the cover plate can slide back and forth along the sliding groove to intermittently open and close the opening; the other end of the sliding block extends into the inner cavity of the box body, the sliding block is hinged with one end of the pull rod, and the other end of the pull rod is hinged with one end of the rotating rod, which is close to the connecting plate;
one end of an electric push rod is hinged to the inner wall surface of the vertical plate, and the other end of the electric push rod is hinged to one end, close to the connecting plate, of a rotating rod; the electric push rod is arranged above the rotating rod, and the pull rod is arranged below the rotating rod.
A second aspect of the present disclosure provides a method for monitoring a cutter head of a shield tunneling machine, which utilizes a monitoring device for a cutter head of a shield tunneling machine, including the following steps:
the remote control terminal sends a command downwards, and the driving mechanism drives the camera to move, so that the lens of the camera extends out of the opening of the box body;
after a lens of the camera extends out of the opening for a set distance, the camera shoots a picture of a cutter head of the shield tunneling machine and then transmits the picture to the remote control terminal;
the remote control terminal judges the difference between the shot shield machine cutter head image and a preset image in an image recognition mode so as to judge the wear condition of the shield machine cutter head;
when the cutter head of the shield tunneling machine is seriously worn, the remote control terminal gives an alarm.
The beneficial effects of one or more technical schemes are as follows:
according to the method, the camera and the remote control terminal are adopted for image recognition, so that the real-time image shot can be compared with the preset image in time, and the abrasion condition of the cutter head of the shield tunneling machine can be automatically judged. The monitoring device does not need to be stopped for a long time, does not need to enter a soil bin manually for observation, and can effectively reduce the danger while improving the monitoring efficiency.
The mode that the camera can stretch out or retract relative to the opening of guard plate department is adopted in this disclosure to whether can utilize sensor monitoring to have muddy water and dregs to be close to the camera around, prevent that wide angle camera's camera lens from being influenced real-time supervision effect by dregs, muddy water pollution damage.
Adopt rocker, dwang and electric putter's three member combination in this disclosure, can utilize electric putter to realize the flexible linkage with the apron switching of camera, saved a power driving source to can in time close the opening when the camera is retracted, reduce muddy water, the risk that dregs got into the box inner chamber from the opening part.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a sectional view of the overall structure in embodiment 1 of the present disclosure;
fig. 2 is an isometric view of the overall structure in example 1 of the present disclosure;
FIG. 3 is an isometric view of another aspect of the overall structure in example 1 of the present disclosure;
fig. 4 is a sectional view of the entire structure in embodiment 2 of the present disclosure.
In the figure, 1, a protection plate; 2. a sensor; 3. a first signal line; 4. a seal ring; 5. a data line hole; 6. a second signal line; 7. fixing the sleeve; 8. a camera; 9. an electric telescopic rod; 10. a horizontal plate; 10A, a vertical plate; 11. a screw; 12. an electric push rod hole; 13. mounting holes; 14. rotating the rod; 15. a pull rod; 16. a slider; 17. a cover plate; 18. a guide plate; 19. a chute; 20. a connecting plate; 21. an electric push rod.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
For convenience of description, the words "up, down, left and right" in this disclosure, if any, merely indicate correspondence with the up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate description of the disclosure and simplify description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the disclosure.
Example 1
As shown in fig. 1-3, the present embodiment provides a monitoring device for a shield tunneling machine cutter, which includes a box body, an opening is provided at a side of the box body facing the shield tunneling machine cutter, a protection plate 1 is formed at a side wall of the box body where the opening is provided, a camera 8 for shooting the shield tunneling machine cutter is provided in an inner cavity of the box body, a lens of the camera 8 can extend out or retract into the inner cavity of the box body from the opening under the driving of a driving mechanism, and the camera 8 can communicate with a remote control terminal to transmit an image at the shield tunneling machine cutter.
The box driving mechanism comprises an electric telescopic rod 9, the base body end of the electric telescopic rod 9 is fixedly connected with the box, the telescopic end is fixedly connected with the camera 8, and the telescopic axis direction of the electric telescopic rod 9 is perpendicular to the protection plate 1.
And a sealing ring 4 is fixed at the opening, and the shape and the size of the inner ring of the sealing ring 4 are matched with those of a lens extending out of the protection plate 1 from the camera 8. The protection plate 1 is perpendicular to the vertical surface of settlement, and the acute angle setting is personally submitted with the level to protection plate 1, and protection plate 1 is in the one side of slant decurrent in the box, and the box can pass through fastener fixed mounting at the upside of shield structure machine blade disc. The sealing ring 4 is sleeved on the outside of the camera 8, so that the dregs and muddy water can be prevented from entering the camera 8 to damage a line.
It can be understood that, in the embodiment, the sensor 2 may adopt the existing laser ranging sensor 2 to measure the distance between the surrounding muck and muddy water and the protection plate 1, when the distance is too small, it is determined that the muck and the muddy water have a risk of polluting the lens of the camera 8, and the retraction of the camera 8 is realized by using the driving mechanism.
In this implementation, the camera 8 may be a wide-angle camera, and is convenient for shooting more picture contents under the condition that the distance between the camera and the cutter head of the shield tunneling machine is not changed.
Specifically, in this embodiment, the sensor 2 is in signal communication with the remote control terminal through the first signal line 3, and the camera 8 is in signal communication with the remote control terminal through the second signal line 6, so as to facilitate the first signal line 3 and the second signal line 6 to extend out of the box body, a data line hole 5 is arranged at the side wall of the box body for passing through the first signal line 3 and the second signal line 6.
It can be understood that, in the present embodiment, the camera 8 is not convenient to be directly connected with the rod in the driving mechanism, therefore, in the present embodiment, a fixing sleeve 7 is provided, one end of the fixing sleeve 7 is opened, the existing camera 8 is embedded and arranged inside the fixing sleeve 7 to form a whole, a tightening bolt can be arranged between the fixing sleeve 7 and the camera 8 through binding or at the side wall of the fixing sleeve 7, and the end of the tightening bolt is pressed at the side wall of the camera 8 after passing through the fixing sleeve 7. There are various ways to achieve the fixation between the camera 8 and the fixation sleeve 7, which will not be described in detail here.
The box includes a guard plate 1 and two curb plates, and curb plate and guard plate 1 enclose to close and form triangle tubular structure, and the end plate shutoff is passed through at the both ends of triangle tubular structure, two curb plates mutually perpendicular.
Specifically, in the present embodiment, the protection plate 1 is fixedly connected with the side plate through a screw 11. The side plates are fixed on the inner wall of the top of the earth cabin of the shield tunneling machine through the mounting holes 13 and the bolt connecting pieces in the mounting holes 13.
In the embodiment, a hole 12 of the electric push rod 21 is also arranged at the side plate for inserting a fixed end with a motor in the electric push rod 21.
Example 2
As shown in fig. 4, the present embodiment provides a monitoring device for a shield tunneling machine cutterhead, and the monitoring device provided in the present embodiment is basically the same as the structure provided in embodiment 1, except that the driving mechanism and the cover plate 17 are specifically:
a guide plate 18 is arranged on the wall surface of the protection plate 1 close to the inner cavity of the box body, and the guide plate 18 can limit to enable the relative movement direction between the camera 8 and the camera 8 to be perpendicular to the guide plate 18; the curb plate includes vertical board 10A and horizontal plate 10, and vertical board 10A's inner wall is articulated with the one end of bull stick, deviates from open-ended side department in the camera 8 and is fixed with connecting plate 20, is equipped with spout 19 in the connecting plate 20, and the extending direction of spout 19 is parallel with guard plate 1, is equipped with the slide in the spout 19, and the other end and the slide of bull stick are articulated, the bull stick can be followed self and vertical board 10A between the pin joint rotation to the camera lens of drive camera 8 stretches out or the inner chamber of the income box that contracts.
A cover plate 17 is arranged on the outer wall surface of the protection plate 1, a sliding groove (shown in the figure) is arranged in the protection plate 1, a sliding block 16 is arranged in the sliding groove, and the cover plate 17 can slide back and forth along the sliding groove to open and close the opening intermittently; the other end of the sliding block 16 extends into the inner cavity of the box body, the sliding block 16 is hinged with one end of the pull rod 15, and the other end of the pull rod 15 is hinged with one end of the rotating rod close to the connecting plate 20;
one end of an electric push rod 21 is hinged to the inner wall surface of the vertical plate 10A, and one end, close to the connecting plate 20, of a rotating rod at the other end of the electric push rod 21 is hinged; the electric push rod 21 is arranged above the rotating rod, and the pull rod 15 is arranged below the rotating rod.
It can be understood that, in the present embodiment, by using the structural arrangement of the guide plate 18, the camera 8 can only move in the direction perpendicular to the protection plate 1, the end of the rotating rod 14 is slidably connected with the sliding slot 19 at the connecting plate 20, and at the same time, the rotating rod 14 is also connected with the sliding block 16 at the cover plate 17 through the pull rod 15; that is, only one rotating rod 14 needs to be driven to simultaneously realize the opening of the cover plate 17 and the extension of the camera 8, or the closing of the cover plate 17 and the retraction of the camera 8, and the linkage of two action processes can be synchronously realized by adopting one electric push rod 21 as a power source, so that the control difficulty is greatly reduced, one power source is saved, and the internal space arrangement of the box body is optimized.
It will be appreciated that the lens of the camera 8 may extend to touch the cover 17 when the cover 17 is not fully opened, or to touch the camera 8 during closing of the cover 17 when the camera 8 is not fully retracted; therefore, in the present embodiment, the cover 17 should be made of a flexible material, such as rubber and silicone.
The working process is as follows: when the electric push rod 21 pushes the rotating lever 14 to move down counterclockwise, the rotating lever 14 provides a downward pushing force to the camera 8 in a slanting direction, and the camera 8 is driven to extend out of the opening. At the same time, the rotating rod 14 pushes the lower end of the pull rod 15 to move downward obliquely, and the cover plate 17 is opened.
On the contrary, when the electric push rod 21 pushes the rotating lever 14 to move clockwise and upward, the rotating lever 14 provides an upward oblique pushing force to the camera 8, and the camera 8 is driven to retract into the opening. At the same time, the rotating rod 14 pushes the lower end of the pull rod 15 to move obliquely upward, and the cover plate 17 is closed.
It can be understood that, in order to avoid the motion of apron 17 and rocker to reach the dead point, and then influence the action process, in this embodiment, through the size setting for apron 17 is when two extreme positions of totally closing and totally opening, and the rocker is the acute angle in the contained angle between the guard plate 1 slope extending direction up, and the contained angle between the rocker and the dwang 14 slope extending direction down is the acute angle.
Example 3
The embodiment provides a monitoring method of a shield tunneling machine cutterhead, which utilizes the monitoring device for the shield tunneling machine cutterhead, and comprises the following steps:
the remote control terminal sends a command downwards, and the driving mechanism drives the camera 8 to move, so that the lens of the camera 8 extends out of the opening of the box body;
after the lens of the camera 8 extends out of the opening for a set distance, the camera 8 shoots a picture of a cutter head of the shield tunneling machine and then transmits the picture to the remote control terminal;
the remote control terminal judges the difference between the shot shield machine cutter head image and a preset image in an image recognition mode so as to judge the wear condition of the shield machine cutter head;
when the cutter head of the shield tunneling machine is seriously worn, the remote control terminal gives an alarm.
Utilize the sensor 2 of guard plate 1 surface to respond to the external environment of guard plate 1, when sediment soil and muddy water move towards guard plate 1, remote control terminal control camera 8 contracts into the box inner chamber.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. The utility model provides a monitoring devices for shield constructs quick-witted blade disc, a serial communication port, including the box, the box is equipped with the opening towards the side department of shield constructs quick-witted blade disc, is equipped with open-ended lateral wall department in the box and forms the guard plate, is equipped with the camera that is used for shooing shield and constructs quick-witted blade disc in the box inner chamber, and the camera lens of camera can stretch out or retract into the box inner chamber from the opening part under actuating mechanism's drive, and the camera can communicate with remote control terminal to the image of transmission shield constructs quick-witted blade disc department.
2. The monitoring device for the shield tunneling machine cutterhead according to claim 1, wherein the box body driving mechanism comprises an electric telescopic rod, a base end of the electric telescopic rod is fixedly connected with the box body, a telescopic end of the electric telescopic rod is fixedly connected with the camera, and a telescopic axis direction of the electric telescopic rod is perpendicular to the protection plate.
3. The monitoring device for the shield tunneling machine cutterhead according to claim 1, wherein a sealing ring is fixed at the opening, and the shape and size of the inner ring of the sealing ring are adapted to the lens of the protection plate extending out of the camera.
4. The monitoring device for the shield tunneling machine cutterhead according to claim 1, wherein the protection plate is perpendicular to a set vertical plane, the protection plate is arranged at an acute angle with a horizontal plane, the protection plate is positioned at one side of the box body which is inclined downwards, and the box body can be fixedly installed at the upper side of the shield tunneling machine cutterhead through a fastening piece.
5. The monitoring device for the shield tunneling machine cutterhead according to claim 1, wherein a sensor is installed at the shield plate, the sensor being capable of sensing the dregs and muddy water moving from the outside towards the shield plate and transmitting the signal to a remote control terminal.
6. The monitoring device for the shield tunneling machine cutterhead according to claim 1, wherein the box body includes a protection plate and two side plates, the side plates and the protection plate enclose to form a triangular cylindrical structure, two ends of the triangular cylindrical structure are sealed by end plates, and the two side plates are perpendicular to each other.
7. The monitoring device for the shield tunneling machine cutterhead according to claim 6, wherein a guide plate is arranged on the wall surface of the protection plate close to the inner cavity of the box body, and the guide plate can limit the relative movement direction between the cameras so as to be perpendicular to the guide plate;
the curb plate includes vertical board and horizontal plate, and the inner wall of vertical board is articulated with the one end of bull stick, deviates from open-ended side department in the camera and is fixed with the connecting plate, is equipped with the spout in the connecting plate, and the extending direction of spout is parallel with the guard plate, is equipped with the slide in the spout, and the other end and the slide of bull stick are articulated, the bull stick can be followed self and the pin joint rotation between the vertical board to the camera lens of drive camera stretches out or contracts the inner chamber of income box.
8. The monitoring device for the shield tunneling machine cutterhead according to claim 7, wherein a cover plate is arranged on the outer wall surface of the protection plate, a sliding groove is formed in the protection plate, a sliding block is arranged in the sliding groove, and the cover plate can slide back and forth along the sliding groove to intermittently open and close the opening; the other end of the sliding block extends into the inner cavity of the box body, the sliding block is hinged with one end of the pull rod, and the other end of the pull rod is hinged with one end of the rotating rod, which is close to the connecting plate;
one end of an electric push rod is hinged to the inner wall surface of the vertical plate, and the other end of the electric push rod is hinged to one end, close to the connecting plate, of a rotating rod; the electric push rod is arranged above the rotating rod, and the pull rod is arranged below the rotating rod.
9. A method for monitoring a cutter head of a shield tunneling machine, which utilizes the monitoring device for the cutter head of the shield tunneling machine of any one of claims 1 to 8, and is characterized by comprising the following steps:
the remote control terminal sends a command downwards, and the driving mechanism drives the camera to move, so that the lens of the camera extends out of the opening of the box body;
after a lens of the camera extends out of the opening for a set distance, the camera shoots a picture of a cutter head of the shield tunneling machine and then transmits the picture to the remote control terminal;
the remote control terminal judges the difference between the shot shield machine cutter head image and a preset image in an image recognition mode so as to judge the wear condition of the shield machine cutter head;
when the cutter head of the shield tunneling machine is seriously worn, the remote control terminal gives an alarm.
10. The method of claim 9, wherein the sensor on the outer surface of the shield plate is used to sense the environment outside the shield plate, and the remote control terminal controls the camera to retract into the interior of the housing when debris and mud move toward the shield plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011371229.8A CN112502716B (en) | 2020-11-30 | 2020-11-30 | Monitoring device and method for cutter head of shield tunneling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011371229.8A CN112502716B (en) | 2020-11-30 | 2020-11-30 | Monitoring device and method for cutter head of shield tunneling machine |
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| Publication Number | Publication Date |
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| CN112502716A true CN112502716A (en) | 2021-03-16 |
| CN112502716B CN112502716B (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011371229.8A Active CN112502716B (en) | 2020-11-30 | 2020-11-30 | Monitoring device and method for cutter head of shield tunneling machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189001A (en) * | 2021-03-31 | 2021-07-30 | 山东大学 | Shield tunneling machine and method capable of achieving cutter abrasion image detection |
| CN114487296A (en) * | 2022-01-26 | 2022-05-13 | 山东大学 | Visual monitoring experiment device and method for simulating soil bin environment |
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| CN104198490A (en) * | 2014-08-19 | 2014-12-10 | 中交隧道工程局有限公司 | Device and method for visually detecting front part of cutter head of cutter of shield tunneling machine |
| CN204128971U (en) * | 2014-08-19 | 2015-01-28 | 中交隧道工程局有限公司 | Cutter head of shield machine abrasion detection camera drill autofeeder |
| CN111496816A (en) * | 2020-05-29 | 2020-08-07 | 中国铁建重工集团股份有限公司 | Inspection robot system for shield tunneling machine and inspection method thereof |
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| JPH1136785A (en) * | 1997-07-17 | 1999-02-09 | Kajima Corp | Photographic processing system for tbm cutting image |
| CN104155300A (en) * | 2014-08-19 | 2014-11-19 | 中交隧道工程局有限公司 | Rear part visualization detection apparatus for wearing of shield machine cutter and method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189001A (en) * | 2021-03-31 | 2021-07-30 | 山东大学 | Shield tunneling machine and method capable of achieving cutter abrasion image detection |
| CN114487296A (en) * | 2022-01-26 | 2022-05-13 | 山东大学 | Visual monitoring experiment device and method for simulating soil bin environment |
| CN114487296B (en) * | 2022-01-26 | 2023-09-26 | 山东大学 | Visual monitoring experimental device and method for simulating soil bin environment |
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| CN112502716B (en) | 2022-02-11 |
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