CN113184678A - Automatic cruise-based intelligent hoisting system for tunnel inner pipe sheets and working method thereof - Google Patents
Automatic cruise-based intelligent hoisting system for tunnel inner pipe sheets and working method thereof Download PDFInfo
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- 230000005641 tunneling Effects 0.000 claims description 8
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0256—Operating and control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0293—Single lifting units; Only one suction cup
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- 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
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- 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
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Abstract
The intelligent hoisting system comprises a shield segment collecting system, an unmanned automatic driving storage battery car, a shield tail feeding machine of a shield machine and a shield industrial computer, wherein the shield industrial computer is used for controlling the whole system, the shield segment collecting system is driven to move to the unmanned automatic driving storage battery car to collect materials and to the shield machine feeding machine to feed materials, and the shield segment is installed after the shield machine feeding machine receives the materials. According to the shield segment identification device, the shield segment is identified, sucked and transported through the lifting mechanism, the construction progress is accelerated, and the construction efficiency is improved.
Description
Technical Field
The invention relates to the field of shield construction, in particular to a working method of an intelligent hoisting system for tunnel inner pipe sheets based on automatic cruising.
Background
The subway is constructed through a densely populated area, so that large-area ground surface excavation cannot be carried out, and a shield excavation technology needs to be adopted. Although shield construction has the advantages of high tunneling speed, high construction quality, small interference to surrounding environment, high construction safety and the like, and is applied to China with high development trend, the intelligent and automatic construction is still in an initial exploration stage, a large amount of manual intervention is needed, most links need to be operated by personnel, and only few links can realize less humanization or no humanization. The pipe piece handling in the tunnel adopts double track roof beam cooperation workman to accomplish, and automatic intelligent degree is low, and pipe piece handling operation personnel frequently operate and easily take place fatigue, and the pipe piece handling is fixed not to the position and takes place the bodily injury accident, and long-term construction also easily causes the healthy impaired of operation personnel in the tunnel, and in addition the ageing reason of labor operation personnel, the efficiency of construction of shield structure has been restricted, has increased construction cost.
Disclosure of Invention
The invention aims to provide a working method of an intelligent tunnel segment lifting system based on automatic cruising, and aims to solve the technical problems that manual operation of lifting equipment in the prior art is time-consuming and labor-consuming in transporting shield segments and low in construction efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
tunnel inner tube piece intelligence handling system based on automatic cruise, its characterized in that: the shield segment collecting system is driven to move towards the unmanned automatic driving storage battery car to collect materials and move towards the shield machine feeding machine to feed materials, and the shield machine feeding machine carries out mounting preparation work of shield segments after receiving the materials;
the shield segment collecting system comprises a traveling track beam arranged along a bridge part of the shield machine and the upper half part of a trolley No. 1 in a through-length mode, and a steel frame hung on the traveling track beam, wherein the steel frame travels along the traveling track beam through traveling wheels and a driving motor which are arranged on the upper portion of the steel frame, a data instruction control mechanism for controlling the whole shield segment collecting system, an image recognition mechanism for recognizing shield segments, a lifting mechanism for transporting and recognizing shield segments, a measuring device for measuring the relative positions of the shield segment collecting system, a hydraulic thousand-gold top for controlling a mechanical arm operating platform to move transversely along the steel frame and a hydraulic pump station for controlling a hydraulic jack are arranged on the steel frame, the measuring device comprises a laser range finder arranged on the steel frame and a laser target positioned in front of a shield machine feeding machine, and the lifting mechanism comprises a sliding block sequentially arranged on the bottom surface of the steel frame from top to bottom, The mechanical arm lifting device comprises a mechanical arm operating platform, a vertical adjustable mechanical arm and a vacuum chuck lifting tool located on the bottom surface of the vertical adjustable mechanical arm.
Further preferably, the whole shield segment collecting system is of a symmetrical structure and comprises two parallel walking track beams, and two ends of each walking track beam are fixed with the shield tunneling machine through flanges respectively.
Further, the steel framework is U type structure, and two perpendicular portions of U type structure are connected with two walking track roof beams respectively, driving motor drives the drive shaft of locating on the steel framework, drives the walking wheel then and walks along walking track roof beam lower limb board, driving motor is the small-size motor that has positive and negative rotation function, the external variable frequency controller of driving motor, variable frequency controller receives the signal that data instruction control mechanism sent and carries out this signal and then control driving motor operation through wired form, variable frequency controller receives the signal that shield constructs quick-witted industry computer and carries out this signal and then control driving motor operation through wireless form, and the signal priority that shield machine industry computer sent is higher than the signal that data instruction control mechanism sent.
Preferably, the laser range finder is fixed with the bottom surfaces of two vertical parts of the U-shaped structure through a hanging rod, and a horizontal perpendicular bisector of the laser range finder penetrates through the target center of the laser target.
Furthermore, the vertical adjustable mechanical arm is composed of a plurality of mechanical arms, joint bearing oil cylinders are arranged between the adjacent mechanical arms and between the mechanical arms and the mechanical arm operating platform, the vacuum sucker lifting appliance is provided with an energy accumulator with a variable frequency controller, and the frequency converter is connected with the data instruction control mechanism in a wired mode.
In addition, the data instruction control mechanism is a single chip microcomputer, the data instruction control mechanism is connected with the lifting mechanism, the laser range finder, the driving motor and the image recognition mechanism through wired data and is in communication connection with a shield industrial computer through wireless communication equipment, and the shield industrial computer drives the shield segment collecting system through the data instruction control mechanism.
More preferably, the shield segment is adhered with a two-dimensional code for collecting information by an image recognition mechanism.
The working method of the tunnel inner pipe sheet intelligent lifting system based on automatic cruising is characterized by comprising the following steps:
step one, data input: the shield segment collecting system is started up integrally, a shield industrial computer inputs three-dimensional coordinate information of a shield machine, three-dimensional coordinate information of an unmanned automatic driving storage battery car, segment two-dimensional code information, three-dimensional coordinate information of a laser target, a shield segment mounting sequence and tunnel information into a data instruction control mechanism, the data instruction control mechanism determines the position of the shield segment collecting system in the shield machine according to the distance between the data instruction control mechanism and the laser target measured by a laser distance meter, and a mechanical arm is in a folding and shrinking state;
step two, the shield segment collecting system firstly confirms the information of the shield segment to be installed: the unmanned automatic driving storage battery car transports the pipe piece in place, the pipe piece material is transported in place and self three-dimensional coordinate information is fed back to a shield industrial computer, the shield industrial computer receives the information and then feeds back the information to a data instruction control mechanism, the data instruction control mechanism analyzes the distance between a shield pipe piece collecting system and the unmanned automatic driving storage battery car according to the three-dimensional coordinate information of the unmanned automatic driving storage battery car, an instruction driving motor works to the position near the unmanned automatic driving storage battery car, and an image recognition mechanism starts to scan and recognize the shape information of the shield pipe piece on the unmanned automatic driving and feeds back the information to the analysis shield pipe piece collecting system;
step three, confirming the information of the shield segment with installation again: after the data command control mechanism determines that the shield segment is the shield segment to be installed according to the shape information identified by the image identification mechanism, the data command control mechanism continues to command the driving motor to drive the shield segment collecting system to move to the shield segment to be installed, the distance between the center position of the mechanical arm operating platform and the center position of the segment is calculated, the data command control mechanism sends a signal to the hydraulic pump station according to the calculated distance, the hydraulic pump station controls the hydraulic jack to move according to the signal command after receiving the signal, and then the mechanical arm operating platform connected with the sliding block is driven to be finely adjusted, so that the lifting mechanism is positioned right above the center position of the shield segment, the image identification mechanism scans the two-dimensional code information on the shield segment, the two-dimensional code information is compared with the shield segment information to be installed stored in the data command control mechanism again until the two-dimensional code information is consistent, and the data command control mechanism enables the vertical adjustable mechanical arm to work through the mechanical arm operating platform, the vacuum chuck lifting appliance touches the central part of the shield segment, the data instruction control mechanism feeds back that the vacuum chuck lifting appliance is in place, the data instruction control mechanism sends a signal to a variable frequency controller for controlling an energy accumulator, and the vacuum chuck lifting appliance absorbs the shield segment to be installed;
step four, hoisting to a shield tunneling machine feeding machine: the data instruction control mechanism determines the distance between the shield segment collecting system and the shield machine feeding machine according to the distance between the laser range finder and the laser target, and instructs the shield segment collecting system to move to the shield machine feeding machine, the data instruction control mechanism sends a signal to a frequency converter for controlling the energy accumulator, a vacuum chuck lifting appliance is placed to wait for mounting of the shield segment, the mechanical arms are folded and contracted, the steps are repeated, the data instruction control mechanism instructs the shield segment collecting system to sequentially complete the transfer of the standard block, the abutting block and the top sealing block according to the shield segment mounting sequence information stored in the data instruction control mechanism, and then the in-tunnel lifting work of the next ring of tunnel segments is waited.
Compared with the prior art, the invention has the following characteristics and beneficial effects:
according to the shield segment handling device, shield segments are identified, sucked and transported through the handling mechanism, the construction progress is accelerated, the construction intellectualization is improved, segment handling operators are reduced, the health of the operators in the long-term tunnel is prevented from being damaged, the labor cost is saved, the construction efficiency is improved, and the construction cost is reduced.
Drawings
Fig. 1 is a schematic structural diagram of an automatic cruise-based intelligent lifting system for the pipe sheets in the tunnel.
Reference numerals: 1-shield segment; 2-a walking track beam; 3-a steel frame; 4-travelling wheels; 5-driving a motor; 6-data command control mechanism; 7-an image recognition mechanism; 8, a hoisting mechanism; 81-mechanical arm operating platform; 82-a vertically adjustable robotic arm; 83-vacuum chuck sling; 84-knuckle bearing cylinder; 9-laser rangefinder; 10-a drive shaft; 11-a boom; 12-hydraulic jacks; 13-a hydraulic pump station; 14-a slide block.
Detailed Description
In order to make the technical means, innovative features, objectives and functions realized by the present invention easy to understand, the present invention is further described below.
The examples described herein are specific embodiments of the present invention, are intended to be illustrative and exemplary in nature, and are not to be construed as limiting the scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to employ other technical solutions which are obvious based on the disclosure of the claims and the specification of the present application, and these technical solutions include technical solutions which make any obvious replacement or modification for the embodiments described herein.
An intelligent hoisting system for tunnel inner duct pieces based on automatic cruising is shown in figure 1 and comprises a shield duct piece collecting system, an unmanned automatic driving storage battery car, a shield machine feeding machine and a shield industrial computer, wherein the shield industrial computer is used for controlling the whole system in a general way, the shield duct piece collecting system is driven to move towards the unmanned automatic driving storage battery car to collect materials and move towards the shield machine feeding machine to feed materials, the shield machine feeding machine carries out installation preparation work of the shield duct pieces 1 after receiving the materials, and the shield duct pieces 1 are pasted with two-dimensional codes for collecting information by an image recognition mechanism 7;
the shield segment collecting system comprises a walking track beam 2 which is arranged along the bridge part of the shield machine and the upper half part of a trolley No. 1 through the length, and a steel frame 3 which is hung on the walking track beam 2, wherein the steel frame 3 walks along the walking track beam 2 through a walking wheel 4 and a driving motor 5 which are arranged on the upper part of the steel frame 3, the steel frame 3 is provided with a data instruction control mechanism 6 for controlling the whole shield segment collecting system, an image recognition mechanism 7 for recognizing the shield segment 1, a hoisting mechanism 8 for transporting and recognizing the shield segment 1, a measuring device for measuring the relative position of the shield segment collecting system, a hydraulic jack 12 for controlling the mechanical arm operating platform to move along the transverse direction of the steel frame 3 and a hydraulic pump station 13 for controlling the hydraulic jack 12, the measuring device comprises a laser range finder 9 arranged on the steel frame 3 and a laser target positioned in front of the shield machine, the hoisting mechanism 8 comprises a slide block 12, a mechanical arm operating platform 81, a vertical adjustable mechanical arm 82 and a vacuum chuck lifting tool 83 positioned on the bottom surface of the vertical adjustable mechanical arm 82 from top to bottom in sequence, the slide block 14 is sunken in a track arranged on the steel frame 3, the vertical adjustable mechanical arm 82 consists of a plurality of mechanical arms, joint bearing oil cylinders 84 are arranged between adjacent mechanical arms and between the mechanical arms and the mechanical arm operating platform 81, the vacuum chuck lifting tool 83 is provided with an energy accumulator with a variable frequency controller, the frequency converter is connected with the data instruction control mechanism 6 through a wired form, the data instruction control mechanism 6 is a single chip microcomputer, is connected with the lifting mechanism 8, the laser range finder 9, the driving motor 5 and the image recognition mechanism 7 through wired data, the wireless communication equipment is in communication connection with a shield industrial computer, and the shield industrial computer drives a shield segment collecting system through a data instruction control mechanism 6.
The whole shield segment collecting system is of a symmetrical structure and comprises two parallel walking track beams 2, two ends of each walking track beam 2 are respectively fixed with a shield machine through flange plates, a steel frame 3 is of a U-shaped structure, two vertical parts of the U-shaped structure are respectively connected with the two walking track beams 2, a driving motor 5 drives a driving shaft 10 arranged on the steel frame 3 to drive a walking wheel 4 to walk along a lower flange plate of the walking track beam 2, the driving motor 5 is a small motor with a forward and reverse rotation function, a frequency conversion controller is externally arranged on the driving motor 5, receives signals sent by a data command control mechanism 6 in a wired mode and executes the signals to further control the driving motor 5 to operate, and receives signals sent by a shield machine industrial computer in a wireless mode and executes the signals to further control the driving motor 5 to operate, and the signal priority level sent by the shield tunneling machine industrial computer is higher than the signal sent by the data instruction control mechanism 6.
The laser range finder 9 is fixed with the bottom surfaces of two vertical parts of the U-shaped structure through a hanging rod 11, and the horizontal perpendicular bisector of the laser range finder 9 penetrates through the target center of the laser target.
The working method of the tunnel inner pipe sheet intelligent lifting system based on automatic cruising is characterized by comprising the following steps:
step one, data input: the shield segment collecting system is started up integrally, a shield industrial computer inputs three-dimensional coordinate information of a shield machine, three-dimensional coordinate information of an unmanned automatic driving storage battery car, segment two-dimensional code information, three-dimensional coordinate information of a laser target, the mounting sequence of shield segments 1 and tunnel information into a data instruction control mechanism 6, the data instruction control mechanism 6 determines the position of the shield segment collecting system in the shield machine according to the distance between the laser range finder 9 and the laser target, and mechanical arms are in a folding and shrinking state;
step two, the shield segment collecting system firstly confirms the information of the shield segment to be installed: the unmanned automatic driving storage battery car transports the pipe piece in place, the pipe piece material is transported in place and self three-dimensional coordinate information is fed back to a shield industrial computer, the shield industrial computer receives the information and then feeds back the information to the data instruction control mechanism 6, the data instruction control mechanism 6 analyzes the distance between a shield pipe piece collecting system and the unmanned automatic driving storage battery car according to the three-dimensional coordinate information of the unmanned automatic driving storage battery car, the driving motor 5 is instructed to work to the position near the unmanned automatic driving storage battery car, and the image recognition mechanism 7 starts to scan and recognize the shape information of the shield pipe piece 1 on the unmanned automatic driving and feeds the information back to the analysis shield pipe piece collecting system;
step three, confirming the information of the shield segment with installation again: after the data instruction control mechanism 6 determines that the shield segment 1 is the shield segment to be installed according to the shape information identified by the image identification mechanism 7, the data instruction control mechanism 6 continues to instruct the driving motor 5 to drive the shield segment collecting system to move to the shield segment to be installed, the distance between the center position of the mechanical arm operation platform 81 and the center position of the segment is calculated, the data instruction control mechanism 6 sends a signal to the hydraulic pump station according to the calculated distance, the hydraulic pump station 13 receives the signal and controls the hydraulic jack 12 to move according to the signal instruction so as to drive the mechanical arm operation platform 81 connected with the sliding block 14 to be finely adjusted, the lifting mechanism 8 is positioned right above the center position of the shield segment 1, the image identification mechanism 7 scans two-dimensional code information on the shield segment 1 and compares the two-dimensional code information with the shield segment information to be installed stored in the data instruction control mechanism 6 again to be consistent, and the data instruction control mechanism 6 enables the vertical adjustable mechanical arm 82 to work through the mechanical arm operation platform 81, the vacuum chuck lifting appliance 83 touches the central part of the shield segment, the data instruction control mechanism 6 is fed back that the vacuum chuck lifting appliance 83 is in place, the data instruction control mechanism 6 sends a signal to a variable frequency controller for controlling an energy accumulator, and the vacuum chuck lifting appliance 83 absorbs the shield segment to be installed;
step four, hoisting to a shield tunneling machine feeding machine: the data instruction control mechanism 6 determines the distance between the shield segment collecting system and the shield machine feeding machine according to the distance between the laser range finder 9 and the laser target, and instructs the shield segment collecting system to move to the shield machine feeding machine, the data instruction control mechanism sends a signal to a frequency converter for controlling an energy accumulator, a vacuum chuck lifting appliance 83 is used for lowering the shield segment to be installed, the mechanical arms are folded and contracted, the steps are repeated, the data instruction control mechanism 6 instructs the shield segment collecting system to sequentially complete the transportation of the standard block, the adjacent block and the top sealing block according to the stored shield segment 1 installation sequence information, and then the next ring of tunnel segments are waited for lifting operation in the tunnel.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. Tunnel inner tube piece intelligence handling system based on automatic cruise, its characterized in that: the shield segment collecting system comprises a shield segment collecting system, an unmanned automatic driving storage battery car, a shield machine feeding machine and a shield industrial computer, wherein the shield industrial computer is used for controlling the whole system in a general control manner, driving the shield segment collecting system to move towards the unmanned automatic driving storage battery car for collecting materials and moving towards the shield machine feeding machine for feeding materials, and carrying out mounting preparation work of shield segments (1) after the shield machine feeding machine receives the materials;
the shield segment collecting system comprises a traveling track beam (2) which is arranged along the bridge part of the shield machine and the upper half part of a trolley No. 1 in a through-length manner, and a steel frame (3) hung on the traveling track beam (2), wherein the steel frame (3) travels along the traveling track beam (2) through a traveling wheel (4) and a driving motor (5) which are arranged on the upper part of the steel frame (3), the steel frame (3) is provided with a data instruction control mechanism (6) for controlling the whole shield segment collecting system, an image recognition mechanism (7) for recognizing the shield segments (1), a hoisting mechanism (8) for transporting and recognizing the shield segments (1), a measuring device for measuring the relative position of the shield segment collecting system, a hydraulic jack (12) for controlling the mechanical arm operating platform to move transversely along the steel frame (3) and a hydraulic pump station (13) for controlling the hydraulic jack (12), the measuring device comprises a laser range finder (9) arranged on a steel frame (3) and a laser target positioned in front of a shield machine feeding machine, and the lifting mechanism (8) comprises a sliding block (14), a mechanical arm operating platform (81), a vertical adjustable mechanical arm (82) and a vacuum chuck lifting appliance (83) positioned on the bottom surface of the vertical adjustable mechanical arm (82) which are sequentially arranged from top to bottom.
2. The auto-cruise based intelligent handling system for the tunnel inner pipe sheets as claimed in claim 1, wherein: the whole shield segment collecting system is of a symmetrical structure and comprises two parallel walking track beams (2), and two ends of each walking track beam (2) are fixed with a shield tunneling machine through flanges respectively.
3. The auto-cruise based intelligent handling system for the tunnel internal pipe sheets as claimed in claim 2, wherein: the steel frame (3) is of a U-shaped structure, two vertical parts of the U-shaped structure are respectively connected with the two walking track beams (2), the driving motor (5) drives a driving shaft (10) arranged on the steel frame (3) to drive the traveling wheels (4) to travel along the lower flange plate of the traveling track beam (2), the driving motor (5) is a small motor with positive and negative rotation functions, the driving motor (5) is externally provided with a variable frequency controller, the frequency conversion controller receives the signal sent by the data instruction control mechanism (6) in a wired form and executes the signal to further control the driving motor (5) to operate, the variable frequency controller receives a signal sent by the shield machine industrial computer in a wireless mode and executes the signal to further control the driving motor (5) to operate, and the signal priority level sent by the shield tunneling machine industrial computer is higher than the signal sent by the data instruction control mechanism (6).
4. The auto-cruise based intelligent handling system for the tunnel internal pipe sheets as claimed in claim 2, wherein: laser range finder (9) are fixed through jib (11) and two vertical bottom surfaces of U type structure, the level perpendicular bisector of laser range finder (9) passes the laser target centre of target.
5. The auto-cruise based intelligent handling system for the tunnel internal pipe sheets as claimed in claim 2, wherein: the vertical adjustable mechanical arm (82) is composed of a plurality of mechanical arms, joint bearing oil cylinders (84) are arranged between the adjacent mechanical arms and between the mechanical arms and a mechanical arm operating platform (81), an energy accumulator with a variable frequency controller is arranged on the vacuum sucker lifting appliance (83), and the frequency converter is connected with the data instruction control mechanism (6) in a wired mode.
6. The auto-cruise based intelligent handling system for the tunnel internal pipe sheets as claimed in claim 2, wherein: the data instruction control mechanism (6) is a single chip microcomputer, is connected with the lifting mechanism (8), the laser range finder (9), the driving motor (5) and the image recognition mechanism (7) through wired data, is in communication connection with the shield industry computer through wireless communication equipment, and the shield industry computer drives the shield segment collecting system through the data instruction control mechanism (6).
7. The auto-cruise based intelligent handling system for the tunnel internal pipe sheets as claimed in claim 2, wherein: the shield segment (1) is pasted with a two-dimensional code for collecting information by an image recognition mechanism (7).
8. The working method of the automatic cruise-based intelligent lifting system for the tunnel inner pipe sheets is characterized by comprising the following steps of:
step one, data input: the shield segment collecting system is started up integrally, a shield industrial computer inputs three-dimensional coordinate information of a shield machine, three-dimensional coordinate information of an unmanned automatic driving storage battery car, segment two-dimensional code information, three-dimensional coordinate information of a laser target, the mounting sequence of shield segments (1) and tunnel information into a data instruction control mechanism (6), the data instruction control mechanism (6) determines the position of the shield segment collecting system in the shield machine according to the distance between the shield segment collecting system and the laser target measured by a laser distance meter (9), and mechanical arms are in a folding and shrinking state;
step two, the shield segment collecting system firstly confirms the information of the shield segment to be installed: the unmanned automatic driving storage battery car transports the pipe piece in place, the pipe piece material is transported in place and self three-dimensional coordinate information is fed back to a shield industrial computer, the shield industrial computer receives the information and then feeds back the information to a data instruction control mechanism (6), the data instruction control mechanism (6) analyzes the distance between a shield pipe piece collecting system and the unmanned automatic driving storage battery car according to the three-dimensional coordinate information of the unmanned automatic driving storage battery car, an instruction driving motor (5) works to the position near the unmanned automatic driving storage battery car, and an image recognition mechanism (7) starts to scan and recognizes the shape information of the shield pipe piece (1) on the unmanned automatic driving and feeds back the information to the analysis shield pipe piece collecting system;
step three, confirming the information of the shield segment with installation again: after the data instruction control mechanism (6) determines that the shield segment (1) is the shield segment to be installed according to the shape information identified by the image identification mechanism (7), the data instruction control mechanism (6) continues to instruct the driving motor (5) to drive the shield segment collecting system to move to the shield segment to be installed, the distance between the central position of the mechanical arm operating platform (81) and the central position of the segment is calculated, the data instruction control mechanism (6) sends a signal to a hydraulic pump station according to the calculated distance, the hydraulic pump station (13) controls the hydraulic jack (12) to move according to the signal instruction after receiving the signal, and then the mechanical arm operating platform (81) connected with the sliding block is driven to be finely adjusted, so that the lifting mechanism (8) is positioned at the central part of the shield segment (1), the image identification mechanism (7) scans two-dimensional code information on the shield segment (1), and is compared with the shield segment information to be installed stored in the data instruction control, the data instruction control mechanism (6) enables the vertical adjustable mechanical arm (82) to work through an instruction mechanical arm operating platform (81), the vacuum chuck lifting appliance (83) touches the central part of the shield segment, the data instruction control mechanism (6) feeds back that the vacuum chuck lifting appliance (83) is in place, the data instruction control mechanism (6) sends a signal to a variable frequency controller for controlling an energy accumulator, and the vacuum chuck lifting appliance (83) sucks the shield segment to be installed;
step four, hoisting to a shield tunneling machine feeding machine: the method comprises the following steps that a data instruction control mechanism (6) determines the distance between a shield segment collecting system and a shield machine feeding machine according to the distance between the data instruction control mechanism and a laser target measured by a laser range finder (9), and instructs the shield segment collecting system to move to the shield machine feeding machine, the data instruction control mechanism sends a signal to a frequency converter for controlling an energy accumulator, a vacuum chuck lifting appliance (83) lowers a shield segment to be installed, mechanical arms are folded and contracted, the steps are repeated, the data instruction control mechanism (6) instructs the shield segment collecting system to sequentially complete the transportation of a standard block, a connecting block and a top sealing block according to stored shield segment (1) installation sequence information, and then the next ring of tunnel segments are waited for lifting operation in a tunnel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110634409.9A CN113184678B (en) | 2021-06-08 | 2021-06-08 | Automatic cruise-based intelligent hoisting system for tunnel inner pipe sheets and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110634409.9A CN113184678B (en) | 2021-06-08 | 2021-06-08 | Automatic cruise-based intelligent hoisting system for tunnel inner pipe sheets and working method thereof |
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Cited By (5)
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| CN113983941A (en) * | 2021-09-13 | 2022-01-28 | 中铁二十五局集团第五工程有限公司 | Shield segment deformation monitoring system and monitoring method thereof |
| CN114151104A (en) * | 2021-12-17 | 2022-03-08 | 成都工投装备有限公司 | Automatic grabbing device of shield machine section of jurisdiction |
| CN114165264A (en) * | 2021-12-17 | 2022-03-11 | 成都工投装备有限公司 | Automatic hoisting system for shield machine pipe pieces and construction method |
| CN114212678A (en) * | 2021-11-29 | 2022-03-22 | 郑州轻工业大学 | Intelligent segment grabbing device and intelligent grabbing method thereof |
| DE102022129860B3 (en) | 2022-11-11 | 2024-02-15 | Herrenknecht Aktiengesellschaft | Tunnel boring machine and method for installing segments |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113983941A (en) * | 2021-09-13 | 2022-01-28 | 中铁二十五局集团第五工程有限公司 | Shield segment deformation monitoring system and monitoring method thereof |
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| CN114212678B (en) * | 2021-11-29 | 2022-12-02 | 郑州轻工业大学 | Intelligent segment grabbing device and intelligent grabbing method thereof |
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| CN114165264A (en) * | 2021-12-17 | 2022-03-11 | 成都工投装备有限公司 | Automatic hoisting system for shield machine pipe pieces and construction method |
| DE102022129860B3 (en) | 2022-11-11 | 2024-02-15 | Herrenknecht Aktiengesellschaft | Tunnel boring machine and method for installing segments |
| WO2024099748A1 (en) | 2022-11-11 | 2024-05-16 | Herrenknecht Aktiengesellschaft | Tunnel boring machine and method for installing tubbings |
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| CN113184678B (en) | 2022-01-28 |
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