CN113482643A - Less-humanized shield machine and control system thereof - Google Patents
Less-humanized shield machine and control system thereof Download PDFInfo
- Publication number
- CN113482643A CN113482643A CN202110975931.3A CN202110975931A CN113482643A CN 113482643 A CN113482643 A CN 113482643A CN 202110975931 A CN202110975931 A CN 202110975931A CN 113482643 A CN113482643 A CN 113482643A
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- segment
- machine
- slag
- camera
- hoisting
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- 239000002893 slag Substances 0.000 claims abstract description 63
- 238000007599 discharging Methods 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 230000005641 tunneling Effects 0.000 claims abstract description 8
- 239000002689 soil Substances 0.000 claims description 6
- 210000000078 claw Anatomy 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000009412 basement excavation Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0607—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining the shield being provided with devices for lining the tunnel, e.g. shuttering
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
- E21D9/124—Helical conveying means therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
本发明公开了一种少人化的盾构机及其控制系统，涉及盾构机技术领域，包括盾壳，所述盾壳的内部设置有掘进系统、管片拼装系统、管片调运系统以及出渣系统，所述掘进系统包括刀盘，所述刀盘安装于盾壳的一端，所述管片拼装系统包括管片拼装机，所述管片拼装机设置于刀盘的后方，所述管片拼装机的底端安装有管片拼装摄像头，所述管片调运系统以及出渣系统包括管片吊装机，所述管片吊装机设置于管片拼装机的后方。本发明通过监控视频，远程控制管片拼装机进行拼装管片，并实现管片的自动转运，以及对送渣车是否装满进行识别，以自动化功能来实现之前人工操作的功能目的，减少了工作人数，提高了盾构机的工作效率。
The invention discloses a shield machine with less manpower and a control system thereof, and relates to the technical field of shield machines. Slag removal system, the tunneling system includes a cutter head, the cutter head is installed at one end of the shield shell, the segment assembly system includes a segment assembly machine, and the segment assembly machine is arranged at the rear of the cutter head, the A segment assembling camera is installed at the bottom end of the segment assembling machine, and the segment arranging and transporting system and the slag discharging system include a segment hoisting machine, and the segment hoisting machine is arranged behind the segment assembling machine. The invention uses monitoring video to remotely control the segment assembling machine to assemble segments, realizes the automatic transfer of segments, and recognizes whether the slag feeder is full, and realizes the function of the previous manual operation with the automatic function, reducing the need for manual operation. The number of workers improves the work efficiency of the shield machine.
Description
Technical Field
The invention relates to the technical field of shield machines, in particular to a shield machine with less humanization and a control system thereof.
Background
The shield is a complex device integrating light, mechanical, electrical, hydraulic, sensing and information technologies, has the functions of excavating and cutting soil, conveying soil slag, assembling tunnel lining and the like, and the realization of each function is an indispensable link for tunnel construction. At present, each link personnel goes to operate or watch, manpower is wasted, the front of the tunnel face is poor in working environment, long-term work of personnel is not facilitated, the health is not facilitated, manpower input needs to be reduced by means of methods, and automation is achieved as far as possible.
In the prior art, each main process of the shield machine needs manual operation, the cost is high, the risk is large, the efficiency is low, once dangerous situations such as mud outburst and water gushing and tunnel collapse occur, workers close to the front of the tunnel, especially segment assembling workers at the bottom of the tunnel cannot evacuate in time, and personal casualty accidents are easy to occur, for example, taking a conventional subway tunnel as an example, 4 persons are assembled on segments, 2 persons are transported on segments, and 1 person is discharged from a slag system (1 person is needed to observe whether a storage battery car is full and the state of slag soil is observed when slag is pushed).
Disclosure of Invention
The invention aims to provide a shield machine with less humanization and a control system thereof, so as to solve the defects in the prior art.
In order to achieve the above purpose, the invention provides the following technical scheme: a shield tunneling machine with less humanization comprises a shield shell, wherein a tunneling system, a segment assembling system, a segment transporting system and a slag discharging system are arranged inside the shield shell, the tunneling system comprises a cutter head, the cutter head is installed at one end of the shield shell, the segment assembling system comprises a segment assembling machine, the segment assembling machine is arranged behind the cutter head, a segment assembling camera is installed at the bottom end of the segment assembling machine, the segment transporting system and the slag discharging system comprise a segment hoisting machine, the segment hoisting machine is arranged behind the segment assembling machine, a segment transporting vehicle is arranged between the segment assembling machine and the segment hoisting machine in a sliding mode, the segment transporting vehicle transports between the segment hoisting machine and the cutter head, the segment transporting system preferably comprises a segment storage battery vehicle, and the segment storage battery vehicle is used for transporting a buckle type from the outside to the position below the segment hoisting machine, the section of jurisdiction hoisting machine is including shifting the frame, shift a horizontal sliding installation inside the tunnel, the hoist and mount seat is installed to the bottom of shifting the frame, the section of jurisdiction jack catch is installed to the bottom of hoist and mount seat, the section of jurisdiction jack catch is used for snatching the buckle formula section of jurisdiction, the hoist and mount camera is installed to the bottom of section of jurisdiction jack catch, slag discharging system includes dregs conveyer belt and auger delivery pipe, auger delivery pipe one end is connected to blade disc department, and the other end extends to the one end of dregs conveyer belt, the other end of dregs conveyer belt extends to the rear of section of jurisdiction hoisting machine, just the bottom of slagging tap camera is equipped with the slag car of sending, send the slag car to be used for carrying dregs outside the tunnel, the bottom fixed mounting of slagging tap camera output has the camera of slagging tap.
Preferably, the camera is assembled to the section of jurisdiction, hoist and mount camera and the camera of slagging tap all chooses for use the variable camera of control angle.
Preferably, the transfer frame is connected with the hoisting seat through a winch, the top of the hoisting seat is fixedly connected with a directional guide rod, and the top end of the directional guide rod is in sliding fit with the transfer frame.
Preferably, a plurality of positioning cameras are arranged around the top end of the slag conveying vehicle.
The less-human shield machine control system comprises a main driver operation room, wherein a main control system is arranged in the main driver operation room, a segment assembling machine, a muck conveying belt, a spiral conveying pipe, a segment transfer vehicle and a segment hoisting machine are directly controlled by the main control system through a control circuit, a segment storage battery car and a segment conveying vehicle are remotely controlled by the main control system through a remote control connecting device, a segment assembling camera, a hoisting camera and a slag discharging camera respectively and directly transmit signals through a connecting circuit with the main control system, the segment assembling camera monitors the segment assembling condition, the hoisting camera monitors the transportation condition of a buckle type segment transported by the segment storage battery car, and the slag discharging camera monitors the soil quality and the loading capacity condition of the muck in the segment conveying vehicle.
Preferably, the main control system is arranged on an operation panel of the shield machine in a matched manner, and the operation functions of the segment erector, the spiral conveying pipe, the muck conveying belt, the slag car and the segment hoisting machine are all displayed on the operation panel of the shield machine.
In the technical scheme, the invention provides the following technical effects and advantages:
according to the invention, the monitoring video is observed through the segment assembling camera, the segment assembling machine is remotely controlled to assemble the segments, the clamping type segments conveyed by the segment storage battery car are subjected to video monitoring by utilizing the hoisting camera, so that a worker can be automatically positioned, the clamping jaws of the segments are clamped and clamped, the clamping type segments are hoisted to the segment transfer trolley and conveyed to the segment assembling machine, the automatic transfer of the segments is realized, meanwhile, the video monitoring is carried out through the slag discharging camera, whether the slag conveying car is filled or not is identified, the slag conveying car is automatically conveyed out in a remote control manner, and the function purpose of manual operation in the prior art is realized through an automatic function, so that the workload is greatly reduced, the number of working people is reduced, and the working efficiency of the shield machine is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a block diagram of the control system of the present invention.
Description of reference numerals:
1. a shield shell; 2. a cutter head; 3. a segment erector; segment assembling cameras 31 and segment assembling cameras; 4. a transfer frame; 41. a segment battery truck; 42. a duct piece transfer trolley; 43. hoisting a seat; 44. a segment claw; 45. hoisting the camera; 46. a directional guide rod; 5. a muck conveyer belt; 51. a spiral conveying pipe; 52. a slag conveying vehicle; 53. a deslagging camera; 54. and positioning the camera.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
The invention provides a less-human shield tunneling machine which comprises a shield shell 1, wherein a tunneling system, a segment assembling system, a segment transferring system and a slag discharging system are arranged in the shield shell 1, the tunneling system comprises a cutter head 2, the cutter head 2 is arranged at one end of the shield shell 1, the segment assembling system comprises a segment assembling machine 3, the segment assembling machine 3 is arranged behind the cutter head 2, a segment assembling camera 31 is arranged at the bottom end of the segment assembling machine 3, the segment transferring system and the slag discharging system comprise a segment hoisting machine, the segment hoisting machine is arranged behind the segment assembling machine 3, a segment transfer trolley 42 is arranged between the segment assembling machine 3 and the segment hoisting machine in a sliding manner, and the segment transfer trolley 42 is transported between the segment hoisting machine and the cutter head 2, the duct piece allocation and transportation system well comprises a duct piece battery car 41, the duct piece battery car 41 is used for transporting a buckle type duct piece from the outside to the lower part of a duct piece hoisting machine, the duct piece hoisting machine comprises a transfer frame 4, the transfer frame 4 is transversely installed inside a tunnel in a sliding manner, a hoisting seat 43 is installed at the bottom of the transfer frame 4, a duct piece clamping jaw 44 is installed at the bottom of the hoisting seat 43, the duct piece clamping jaw 44 is used for grabbing the buckle type duct piece, a hoisting camera 45 is installed at the bottom end of the duct piece clamping jaw 44, a slag discharging system comprises a slag conveying belt 5 and a spiral conveying pipe 51, one end of the spiral conveying pipe 51 is connected to a cutter head 2, the other end of the spiral conveying pipe extends to one end of the slag conveying belt 5, the other end of the slag conveying belt 5 extends to the rear part of the duct piece hoisting machine, a slag conveying car 52 is arranged at the bottom of the slag discharging camera 53, and the slag conveying car 52 is used for conveying slag to the outside the tunnel, the bottom of the output end of the slag discharging camera 53 is fixedly provided with the slag discharging camera 53;
further, in the above technical scheme, the segment assembling camera 31, the hoisting camera 45 and the slag discharging camera 53 are all monitoring angle variable cameras, so that richer areas can be monitored;
further, in the above technical solution, the transfer frame 4 is connected with the hoisting base 43 through a winch, the top of the hoisting base 43 is fixedly connected with the directional guide rod 46, and the top end of the directional guide rod 46 is in sliding fit with the transfer frame 4, so as to ensure that the hoisting base 43 is accurately lifted;
further, in the above technical solution, a plurality of positioning cameras 54 are installed around the top end of the slag car 52;
as shown in fig. 2, the shield machine with less humanization and the control system thereof are a shield machine control system with less humanization, which comprises a main driver operation room, the main driver operating room is provided with a main control system, the segment erector 3, the muck conveyer belt 5, the spiral conveyer pipe 51, the segment transfer trolley 42 and the segment hoisting machine are all directly controlled by the main control system through a control circuit, the segment battery car 41 and the slag conveying car 52 are remotely controlled by a main control system through remote control connecting equipment, the segment assembling camera 31, the hoisting camera 45 and the slag discharging camera 53 respectively carry out signal transmission with the main control system through a connecting circuit, the segment assembling camera 31 monitors segment assembling conditions, the hoisting camera 45 monitors the transportation conditions of the snap-in segments transported by the segment battery car 41, and the slag discharging camera 53 monitors the soil quality and loading capacity conditions of slag in the slag conveying car 52;
further, in the above technical scheme, the main control system is provided on a shield machine operation panel in a matching manner, and the operation functions of the segment erector 3, the spiral delivery pipe 51, the muck conveyor belt 5, the slag car 52 and the segment hoisting machine are all displayed on the shield machine operation panel;
the implementation mode is specifically as follows: for segment assembly, the monitoring video is observed through a segment assembly camera 31, so that segment assembly is remotely controlled by a segment assembly machine 3, and meanwhile, segments with further simplified structures are adopted, connecting bolts are not used, and segment connection is realized directly through the structural form of segment buckles; for the duct piece transfer, by arranging a duct piece hoisting machine, the transverse movement of the transfer frame 4 is utilized and the reciprocating transportation of the duct piece storage battery car 41 and the duct piece transfer car 42 is matched, the hoisting camera 45 is synchronously utilized to perform video monitoring on the buckled duct piece transported by the duct piece storage battery car 41, so that a worker can automatically position the buckled duct piece, clamp and control the duct piece clamping jaws 44 to clamp the buckled duct piece, hoist the buckled duct piece to the duct piece transfer car 42 and transport the buckled duct piece to the duct piece erector 3, and further the automatic transfer of the duct piece is realized;
for the slag tapping system, set up the camera 53 of slagging tap in the bottom of dregs conveyer belt 5 and carry out video monitoring, whether fill with to sending the sediment car 52 and discern, can send the signal that stops to adorn dregs simultaneously. And the remote control slag car 52 automatically sends out;
and then assemble, the section of jurisdiction is transferred, the supervision of slag tap system goes on, reforms transform to manual operation's function purpose before the automatic function realizes, thereby greatly reduced work load, reduced the work number, improved the work efficiency of shield structure machine.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110975931.3A CN113482643B (en) | 2021-08-24 | 2021-08-24 | A less-manned shield machine and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110975931.3A CN113482643B (en) | 2021-08-24 | 2021-08-24 | A less-manned shield machine and its control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113482643A true CN113482643A (en) | 2021-10-08 |
| CN113482643B CN113482643B (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110975931.3A Active CN113482643B (en) | 2021-08-24 | 2021-08-24 | A less-manned shield machine and its control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114622925A (en) * | 2022-01-18 | 2022-06-14 | 中铁工程装备集团有限公司 | A tunnel slag removal device and roadheader |
| CN118790313A (en) * | 2024-09-10 | 2024-10-18 | 华东交通大学 | A shield-based horizontal transport locomotive automatic driving system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114622925A (en) * | 2022-01-18 | 2022-06-14 | 中铁工程装备集团有限公司 | A tunnel slag removal device and roadheader |
| CN118790313A (en) * | 2024-09-10 | 2024-10-18 | 华东交通大学 | A shield-based horizontal transport locomotive automatic driving system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113482643B (en) | 2023-10-20 |
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