CN113189001A - Shield tunneling machine and method capable of achieving cutter abrasion image detection - Google Patents
Shield tunneling machine and method capable of achieving cutter abrasion image detection Download PDFInfo
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- CN113189001A CN113189001A CN202110351120.6A CN202110351120A CN113189001A CN 113189001 A CN113189001 A CN 113189001A CN 202110351120 A CN202110351120 A CN 202110351120A CN 113189001 A CN113189001 A CN 113189001A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N21/15—Preventing contamination of the components of the optical system or obstruction of the light path
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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Abstract
The shield machine comprises an earth cabin, a front shield, a middle shield and a tail shield which are sequentially arranged from front to back, wherein a partition plate is arranged between the earth cabin and the front shield, an opening is formed in the partition plate, a sealing plate capable of being automatically opened and closed is arranged at the opening, a storage barrel is fixed on one side of the partition plate, which is far away from the earth cabin, one end of the storage barrel is provided with an opening, the opening is inserted into the opening, and an end plate is detachably arranged at the other end of the storage barrel; the binocular camera and the driving assembly are arranged in the storage barrel, and the driving assembly can drive the binocular camera to extend into or retract back to the soil chamber from the storage barrel; the binocular camera can be used for finishing camera shooting of the cutter in the soil cabin and transmitting the camera to the upper computer, the upper computer can finish three-dimensional modeling of the cutter according to image information of the binocular camera, and the abrasion degree of the cutter is judged. The imaging detection of the cutter in the shield machine earth cabin can be completed, and the efficiency and the accuracy of cutter abrasion detection are improved.
Description
Technical Field
The disclosure belongs to the technical field of geotechnical engineering, and particularly relates to a shield machine and a shield method capable of achieving cutter abrasion image detection.
Background
The statements herein merely provide background related to the present disclosure and may not necessarily constitute prior art.
The shield machine cutter needs to be replaced in time after being worn or failed, otherwise, excessive wear, breakage, displacement, abnormal bearing damage and even serious cutter head wear of the cutter can be caused, and the tunneling efficiency is greatly reduced. In the existing cutter abrasion condition detection methods, the method of directly checking the cabin by a diver is most effective, but the shield machine has great safety risk in cabin opening under the action of the soil pressure and the water pressure of the stratum.
In the technical scheme for realizing the detection of the cutter of the shield machine through three-dimensional image modeling and comparison, in order to meet the sealing requirement of the soil cabin and not influence the normal operation of the shield soil cabin, a detection device needs to be installed on site during each detection, a large amount of time is wasted, the installation air tightness is limited by the proficiency of current operators, and the detection device is manually dismantled after the detection is finished.
Meanwhile, the process of shooting by the cutter needs the rotation matching of the cutter head to shoot different cutters, complete shutdown cannot be realized, the rotation of the cutter head easily causes the change of water pressure and soil pressure, and unstable factors can be increased in the detection process.
Disclosure of Invention
The present disclosure is directed to a shield machine and a method for detecting a wear image of a cutting tool, which can solve at least one of the above technical problems.
In order to achieve the above purpose, one or more embodiments of the present disclosure provide a shield machine capable of detecting a tool wear image, including an earth cabin, a front shield, a middle shield and a tail shield, which are sequentially arranged from front to back, wherein a partition plate is arranged between the earth cabin and the front shield, an opening is formed in the partition plate, a sealing plate capable of being automatically opened and closed is arranged at the opening, a storage barrel is fixed on one side of the partition plate away from the earth cabin, an opening at one end of the storage barrel is arranged and inserted into the opening, and an end plate is detachably mounted at the other end of the storage barrel;
the binocular camera and the driving assembly are arranged in the storage barrel, and the driving assembly can drive the binocular camera to extend into or retract back to the soil chamber from the storage barrel; the binocular camera can be used for finishing camera shooting of the cutter in the soil cabin and transmitting the camera to the upper computer, the upper computer can finish three-dimensional modeling of the cutter according to image information of the binocular camera, and the abrasion degree of the cutter is judged.
As a further improvement, partition panel department is equipped with the spout with the opening intercommunication, is equipped with the slip table in the spout, the one end fixed connection of slip table and connection platform, and the one end of connecting the platform and keeping away from the slip table rotates with the closing plate to be connected, and the slip table passes through the drive of sharp drive unit in order to realize self along the slip of spout, and the closing plate can rotate along the connection platform under the drive of rotary drive spare.
As a further improvement, the driving assembly comprises a linear driving piece and a multi-joint mechanical arm, the linear driving piece is connected with a base of the mechanical arm and drives the mechanical arm to extend out or retract back to the storage barrel, and the binocular camera is installed at the tail end of the mechanical arm.
As a further improvement, a multi-axis rotary table is installed at the tail end of the mechanical arm, a binocular camera is installed at the position of the multi-axis rotary table, and the position relation between the binocular camera and the tail end of the mechanical arm can be adjusted through the multi-axis rotary table.
As a further improvement, a lens cleaning spray head is arranged on the working surface; the lens cleaning spray head can be selectively communicated with the water source supply system or the air source supply system.
As a further improvement, a dust fall spray head and a cutter cleaning spray head are installed on the working surface and are respectively communicated with a water source supply system.
One or more embodiments of the present disclosure further provide a method for detecting wear of a cutter in a shield soil chamber, including the following steps:
before the shield machine excavates, the sealing plate is opened to communicate the soil cabin and the storage barrel, the driving assembly drives the binocular camera to enter the shield soil cabin, the binocular camera sequentially aims at different cutters to shoot, the upper computer completes cutter three-dimensional modeling in an initial state according to shot images, and then the sealing plate is closed;
when the cutter needs to be detected, the sealing plate is opened to communicate the soil cabin and the storage barrel, the driving assembly drives the binocular camera to enter the shield soil cabin, the binocular camera sequentially aims at different cutters to shoot, the upper computer completes three-dimensional modeling of the cutter in a detection state, and then the sealing plate is closed;
and the upper computer compares the three-dimensional models of the cutter in the initial state and the detection state to obtain the wear information of the cutter.
The beneficial effects of one or more technical schemes are as follows:
adopt the partition panel to separate soil compartment and anterior shield in this disclosure, set up the closing plate that can automatic switching at the opening part of partition panel, the storage cylinder deviates from the one end demountable installation end plate of partition panel, utilizes the end plate to be the sealed of greek storage cylinder. The structure arrangement ensures that the soil cabin is not communicated with the front shield when the sealing plate or the end plate is opened alone, and the sealing performance of the soil cabin and the front shield is effectively ensured. Especially, under the condition that the detection device does not work, the double-layer sealing of the sealing plate and the end plate can effectively ensure the sealing effect.
Because binocular camera and drive assembly set up in the receiver, consequently can retrieve to the anterior shield automatically when not using, can not influence the operation of blade disc in the soil cabin, detection devices such as binocular camera can not influenced yet to soil pressure and the water pressure that blade disc operation produced in the soil cabin. Compared with a field assembly detection device, the detection time is shortened, and the detection efficiency is improved.
The combination of the structure of the sliding groove, the sliding table, the connecting table and the linear driving piece is adopted, so that the sealing plate has a process of acting along the axial direction of the opening after being opened and closed in a rotating mode, namely, when the sealing plate is closed, the sealing plate can sink into the partition plate, and the sealing plate is prevented from protruding outwards to bear larger soil pressure and water pressure.
The mechanical arm in the detection assembly is of a multi-axis linkage structure, can complete movement of each position and angle of a joint, and is convenient for acquisition of image information of a plurality of tools.
The multi-axis rotary table can drive the binocular camera to rotate so as to change the direction of an optical axis of the binocular camera, and under the condition that the posture of the tail end of the mechanical arm is adjustable, the degree of freedom of posture adjustment of the binocular camera is further increased, so that the binocular camera can effectively shoot any position of a cutter, and accurate three-dimensional modeling of the cutter is completed.
The mode that the spray head can be selectively communicated with the water source supply system and the air source supply system is adopted, so that different cleaning modes can be selected by the spray head according to the pollution condition of the binocular camera lens.
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 schematic view of a partition plate, a receiving cylinder, a robot arm, and other structures in an embodiment of the disclosure;
FIG. 2 is a schematic side view of the structure of the storage barrel and the robot in the embodiment of the present disclosure;
fig. 3 is a schematic view of the structures of the turntable, the binocular camera and the like in the embodiment of the present disclosure;
FIG. 4 is an enlarged view of the structure of portion A in FIG. 1;
fig. 5 is a schematic structural diagram of a first robot according to an embodiment of the disclosure.
In the figure, 1, a receiving cylinder; 2. a partition panel; 3. a sealing plate; 4. a base; 5. a first robot arm; 6. a second mechanical arm; 7. a multi-axis turntable; 8. a binocular camera; 9. mounting a plate; 9A, opening; 10. an end plate; 11. a first turntable; 12. a second turntable; 13. cleaning the spray head by using a cutter; 14. a dust fall sprayer; 15. cleaning the nozzle by the lens; 16. a light supplement lamp; 17. a lead screw; 18. a guide bar; 19. a sliding table; 20. a connecting table; 21. a first motor; 22. a second motor; 51. a first bending section; 52. a main body section; 53. a second bending section.
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.
The multi-axis turntable in this disclosure refers to: the rotary table is composed of a plurality of rotary tables which are connected in sequence in a rotating mode, and the rotation between every two adjacent rotary tables can be adjusted independently.
Example 1
As shown in fig. 1-3, the embodiment provides a shield machine capable of detecting a cutter abrasion image, including an earth cabin, a front shield, a middle shield and a tail shield which are sequentially arranged from front to back, a partition plate 2 is arranged between the earth cabin and the front shield, an opening 9A is arranged on the partition plate 2, a sealing plate 3 capable of being automatically opened and closed is arranged at the opening 9A, a storage barrel 1 is fixed at one side of the partition plate 2 departing from the earth cabin, an opening at one end of the storage barrel 1 is arranged and plugged into the opening 9A, and an end plate 10 is detachably arranged at the other end of the storage barrel. The storage barrel 1 is fixedly connected with the partition board 2 through an installation board 9 welded on the outside.
The binocular camera 8 and the driving assembly are arranged in the storage barrel 1, and the driving assembly can drive the binocular camera 8 to extend into or retract into the soil chamber from the storage barrel 1; the binocular camera 8 can accomplish the camera of cutter in the soil cabin and transmit to the host computer, and the host computer can accomplish the three-dimensional modeling of cutter according to the image information of binocular camera 8, judges the degree of wear of cutter.
The outer side face of the sealing plate 3 contacting the opening 9A is provided with an annular sealing groove, and an annular air cushion is arranged in the sealing groove to seal the inner wall face of the opening 9A by the sealing plate 3.
In the present embodiment, a first motor 21 is installed at the rotary connection between the sealing plate 3 and the connection table 20, and the rotation of the first motor 21 is used to drive the mutual rotation between the sealing plate 3 and the connection table 20. The linear driving unit here may be in the form of a nut screw 17, i.e. a second motor 22 is provided, the second motor 22 drives the screw 17 to rotate, the screw 17 is disposed in a sliding slot, the screw 17 passes through a threaded hole in the sliding table 19, and a guide rod 18 is disposed in the sliding slot, and the guide rod 18 passes through a guide hole in the sliding table 19.
In other embodiments, the first electric machine 21 and the second electric machine 22 may be replaced by a hydraulic motor or the like, and may be set by those skilled in the art.
The drive assembly comprises a linear drive piece and a multi-joint mechanical arm, the linear drive piece is connected with the base 4 of the mechanical arm and drives the mechanical arm to extend out or retract back to the storage barrel 1, and the binocular camera 8 is installed at the tail end of the mechanical arm.
It should be noted that the multi-joint mechanical arm has multiple joints (such as the first mechanical arm 5 and the second mechanical arm 6 in the drawings of the present disclosure). The specific number of the sections can be set by a person skilled in the art, and is not described in detail herein. The multi-axis linkage structure of the mechanical arm can complete movement of each position and angle of the joint, and image information acquisition of a plurality of tools is achieved.
In this embodiment, the first robot arm 5 includes a main body section 52, and a first bending section 51 and a second bending section 53 fixed at two ends of the main body section 52, and a storage space is formed between the first bending section 51 and the second bending section 53, so that the second robot arm 6, the binocular camera 8, and the multi-axis turntable 7 can be placed in the storage space after the robot arm retracts.
It should be noted that, in the present embodiment, the linear driving member includes a motor installed in the storage barrel 1, an output shaft of the motor is coaxially fixed with a screw rod, and an axial direction of the screw rod is parallel to an axial direction of the storage barrel 1. Screw holes and guide holes are formed in the base 4 of the mechanical arm, a guide rod is fixed in the storage barrel 1, and the extending direction of the guide rod is parallel to the screw rod. The screw rod is matched with the screw hole, and the guide rod is matched with the guide hole. In other embodiments, the linear driving member may adopt a linear driving structure such as an air cylinder, a hydraulic cylinder, etc., and may be set by a person skilled in the art, which is not described herein again.
The multi-axis rotary table 7 is installed at the tail end of the mechanical arm, a binocular camera 8 is installed at the position of the multi-axis rotary table 7, and the position relation between the binocular camera 8 and the tail end of the mechanical arm can be adjusted through the multi-axis rotary table 7.
The multi-axis rotary table 7 comprises a first rotary table 11, the first rotary table 11 is rotatably connected with the tail end of the mechanical arm, the rotating axis of the first rotary table 11 is a first axis, the first rotary table 11 is rotatably connected with a second rotary table 12, the rotating axis of the first rotary table is a second axis, the first axis coincides with the central axis of the tail end mechanical arm, and the second axis is perpendicular to the first axis.
It will be appreciated that one preferred rotational drive element between the first turntable 11 and the end of the arm, and between the first turntable 11 and the second turntable 12, is a speed reduction motor. In other embodiments, the rotational driving element may be configured by one skilled in the art, and will not be described herein.
First revolving stage 11 and second revolving stage 12 can rotate at the settlement within range, and the side that second revolving stage 12 deviates from the arm forms the working face, and working face department installs binocular camera 8.
A lens cleaning spray head 15 is arranged on the working surface; the lens cleaning nozzle 15 can be selectively connected to a water supply system or an air supply system.
And the working surface is provided with a dust fall spray head 14 and a cutter cleaning spray head 13, and the dust fall spray head 14 and the cutter cleaning spray head 13 are respectively communicated with a water source supply system.
Example 2
The embodiment provides a method for detecting cutter abrasion in a shield soil cabin, which is used for detecting cutter abrasion of a shield machine capable of realizing cutter abrasion image detection in embodiment 1, and comprises the following steps:
before the shield machine excavates, the sealing plate 3 is opened to be communicated with the soil cabin and the storage barrel 1, the driving assembly drives the binocular camera 8 to enter the shield soil cabin, the binocular camera 8 sequentially aims at different cutters to shoot, the upper computer completes a three-dimensional modeling program according to obtained image information, the three-dimensional model comprises a detection device tail end space coordinate system, a cutter head and cutter morphological model, after the shield cutter initial model is built, the binocular camera 8 and the driving assembly retract, and then the sealing plate 3 is closed;
when the cutter needs to be detected, the sealing plate 3 is opened to communicate the soil cabin and the storage barrel 1, the driving assembly drives the binocular camera 8 to enter the shield soil cabin, the binocular camera 8 sequentially aims at different cutters for shooting, the upper computer completes three-dimensional modeling of the cutter in a detection state, and then the sealing plate 3 is closed;
after the shield constructs machine normal work a period, the cutter need examine time measuring, the shield constructs machine pause tunnelling, closing plate 3 is opened with intercommunication soil cabin and receiver 1, drive assembly drives two mesh cameras 8 and gets into the shield and constructs the soil cabin, the clean cutter surface dust of cutter cleaning spray 13, dust fall shower nozzle 14 reduces the soil cabin interior dust concentration through the spraying and improves the soil cabin environment, light filling lamp 16 illuminates the shield soil cabin, clean camera assurance definition before two mesh cameras are gathered to camera lens cleaning spray 15. The binocular camera 8 is sequentially aligned to different cutters for shooting; the upper computer completes three-dimensional modeling of the cutter in a detection state;
and the upper computer compares the three-dimensional models of the cutter in the initial state and the detection state to obtain the wear information of the cutter.
Wherein binocular camera 8 installs in multiaxis revolving stage 7, carries out the cutter rotation through rotary driving mechanism, can realize not having the dead angle rotation, more comprehensive more clear shoots the cutter form, acquires cutter image information completely.
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. A shield machine capable of realizing cutter abrasion image detection is characterized by comprising an earth cabin, a front shield, a middle shield and a tail shield which are sequentially arranged from front to back, wherein a partition plate is arranged between the earth cabin and the front shield, an opening is formed in the partition plate, a sealing plate capable of being automatically opened and closed is arranged at the opening, a storage barrel is fixed on one side of the partition plate, which is far away from the earth cabin, one end of the storage barrel is provided with an opening, and is inserted into the opening, and an end plate is detachably arranged at the other end of the storage barrel;
the binocular camera and the driving assembly are arranged in the storage barrel, and the driving assembly can drive the binocular camera to extend into or retract back to the soil chamber from the storage barrel;
the binocular camera can be used for finishing camera shooting of the cutter in the soil cabin and transmitting the camera to the upper computer, the upper computer can finish three-dimensional modeling of the cutter according to image information of the binocular camera, and the abrasion degree of the cutter is judged.
2. The shield tunneling machine capable of detecting the wear image of the cutter according to claim 1, wherein a sliding groove communicated with the opening is formed in the partition plate, a sliding table is arranged in the sliding groove and fixedly connected with one end of the connecting table, one end of the connecting table far away from the sliding table is rotatably connected with the sealing plate, the sliding table is driven by the linear driving unit to slide along the sliding groove, and the sealing plate can be driven by the rotary driving piece to rotate along the connecting table.
3. The shield tunneling machine capable of detecting the cutter wear image according to claim 2, wherein an annular sealing groove is formed in an outer side surface of the sealing plate contacting the opening, and an annular air cushion is arranged in the sealing groove to seal the sealing plate and the inner wall surface of the opening.
4. The shield tunneling machine capable of realizing cutter wear image detection according to claim 1, wherein the driving assembly comprises a linear driving piece and a multi-joint mechanical arm, the linear driving piece is connected with a base of the mechanical arm and drives the mechanical arm to extend out of or retract back to the storage barrel, and the binocular camera is mounted at the tail end of the mechanical arm.
5. The shield tunneling machine capable of realizing cutter wear image detection according to claim 4, wherein a multi-axis turntable is mounted at the tail end of the mechanical arm, a binocular camera is mounted at the multi-axis turntable, and the multi-axis turntable can adjust the position relation between the binocular camera and the tail end of the mechanical arm.
6. The shield tunneling machine capable of detecting the wear image of the tool as claimed in claim 5, wherein the multi-axis turntable comprises a first turntable, the first turntable is rotatably connected with the tail end of the mechanical arm, the rotation axis of the first turntable is a first axis, the first turntable is rotatably connected with a second turntable, the rotation axis of the first turntable is a second axis, the first axis coincides with the central axis of the tail end mechanical arm, and the second axis is perpendicular to the first axis.
7. The shield tunneling machine capable of detecting the wear image of the cutter according to claim 6, wherein the first rotary table and the second rotary table can rotate within a set range, the side of the second rotary table departing from the mechanical arm forms a working surface, and the binocular camera is mounted at the working surface.
8. The shield machine capable of realizing the cutter wear image detection according to claim 7, wherein a lens cleaning nozzle is installed at the working face; the lens cleaning spray head can be selectively communicated with the water source supply system or the air source supply system.
9. The shield tunneling machine capable of detecting the cutter wear image according to claim 7, wherein a dust-fall sprayer and a cutter cleaning sprayer are installed at the working surface, and are respectively communicated with a water source supply system.
10. A method for detecting cutter wear in a shield soil chamber, which is used for detecting cutter wear of a shield machine capable of detecting cutter wear images according to any one of claims 1 to 9, and is characterized by comprising the following steps:
before the shield machine excavates, the sealing plate is opened to communicate the soil cabin and the storage barrel, the driving assembly drives the binocular camera to enter the shield soil cabin, the binocular camera sequentially aims at different cutters to shoot, the upper computer completes cutter three-dimensional modeling in an initial state according to shot images, and then the sealing plate is closed;
when the cutter needs to be detected, the sealing plate is opened to communicate the soil cabin and the storage barrel, the driving assembly drives the binocular camera to enter the shield soil cabin, the binocular camera sequentially aims at different cutters to shoot, the upper computer completes three-dimensional modeling of the cutter in a detection state, and then the sealing plate is closed;
and the upper computer compares the three-dimensional models of the cutter in the initial state and the detection state to obtain the wear information of the cutter.
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| CN202110351120.6A CN113189001A (en) | 2021-03-31 | 2021-03-31 | Shield tunneling machine and method capable of achieving cutter abrasion image detection |
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| CN202110351120.6A CN113189001A (en) | 2021-03-31 | 2021-03-31 | Shield tunneling machine and method capable of achieving cutter abrasion image detection |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113686880A (en) * | 2021-09-18 | 2021-11-23 | 北京清瞳时代科技有限公司 | Cutter quality detection device based on vision |
| CN113984569A (en) * | 2021-10-26 | 2022-01-28 | 深圳市地铁集团有限公司 | Hob abrasion image identification and measurement method, hob detection system and shield machine |
| CN114487296A (en) * | 2022-01-26 | 2022-05-13 | 山东大学 | Visual monitoring experiment device and method for simulating soil bin environment |
| CN115319538A (en) * | 2022-08-30 | 2022-11-11 | 上海诺倬力机电科技有限公司 | Intelligent detection method and system for wear of five-spindle-head cutter |
| CN117347361A (en) * | 2023-11-03 | 2024-01-05 | 中铁山河工程装备股份有限公司 | Movable visual detection device for shield tunneling machine |
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